Add documentation for included types
This commit is contained in:
Marko Durkovic
parent
dd357fa3e4
commit
b924fd4642
@ -9,3 +9,4 @@ Rosbags namespace
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rosbags.rosbag2
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rosbags.serde
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rosbags.typesys
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rosbags.typesys.types
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6
docs/api/rosbags.typesys.types.rst
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6
docs/api/rosbags.typesys.types.rst
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@ -0,0 +1,6 @@
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rosbags.typesys.types
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=====================
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.. automodule:: rosbags.typesys.types
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:members:
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:show-inheritance:
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@ -22,6 +22,7 @@ copyright = '2020-2022, Ternaris'
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author = 'Ternaris'
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autoapi_python_use_implicit_namespaces = True
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autodoc_typehints = 'description'
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extensions = [
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'sphinx.ext.autodoc',
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194
docs/topics/typesys-types.rst
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194
docs/topics/typesys-types.rst
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@ -0,0 +1,194 @@
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builtin_interfaces
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******************
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- :py:class:`Duration <rosbags.typesys.types.builtin_interfaces__msg__Duration>`
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- :py:class:`Time <rosbags.typesys.types.builtin_interfaces__msg__Time>`
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diagnostic_msgs
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***************
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- :py:class:`DiagnosticArray <rosbags.typesys.types.diagnostic_msgs__msg__DiagnosticArray>`
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- :py:class:`DiagnosticStatus <rosbags.typesys.types.diagnostic_msgs__msg__DiagnosticStatus>`
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- :py:class:`KeyValue <rosbags.typesys.types.diagnostic_msgs__msg__KeyValue>`
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geometry_msgs
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*************
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- :py:class:`Accel <rosbags.typesys.types.geometry_msgs__msg__Accel>`
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- :py:class:`AccelStamped <rosbags.typesys.types.geometry_msgs__msg__AccelStamped>`
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- :py:class:`AccelWithCovariance <rosbags.typesys.types.geometry_msgs__msg__AccelWithCovariance>`
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- :py:class:`AccelWithCovarianceStamped <rosbags.typesys.types.geometry_msgs__msg__AccelWithCovarianceStamped>`
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- :py:class:`Inertia <rosbags.typesys.types.geometry_msgs__msg__Inertia>`
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- :py:class:`InertiaStamped <rosbags.typesys.types.geometry_msgs__msg__InertiaStamped>`
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- :py:class:`Point <rosbags.typesys.types.geometry_msgs__msg__Point>`
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- :py:class:`Point32 <rosbags.typesys.types.geometry_msgs__msg__Point32>`
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- :py:class:`PointStamped <rosbags.typesys.types.geometry_msgs__msg__PointStamped>`
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- :py:class:`Polygon <rosbags.typesys.types.geometry_msgs__msg__Polygon>`
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- :py:class:`PolygonStamped <rosbags.typesys.types.geometry_msgs__msg__PolygonStamped>`
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- :py:class:`Pose <rosbags.typesys.types.geometry_msgs__msg__Pose>`
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- :py:class:`Pose2D <rosbags.typesys.types.geometry_msgs__msg__Pose2D>`
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- :py:class:`PoseArray <rosbags.typesys.types.geometry_msgs__msg__PoseArray>`
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- :py:class:`PoseStamped <rosbags.typesys.types.geometry_msgs__msg__PoseStamped>`
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- :py:class:`PoseWithCovariance <rosbags.typesys.types.geometry_msgs__msg__PoseWithCovariance>`
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- :py:class:`PoseWithCovarianceStamped <rosbags.typesys.types.geometry_msgs__msg__PoseWithCovarianceStamped>`
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- :py:class:`Quaternion <rosbags.typesys.types.geometry_msgs__msg__Quaternion>`
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- :py:class:`QuaternionStamped <rosbags.typesys.types.geometry_msgs__msg__QuaternionStamped>`
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- :py:class:`Transform <rosbags.typesys.types.geometry_msgs__msg__Transform>`
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- :py:class:`TransformStamped <rosbags.typesys.types.geometry_msgs__msg__TransformStamped>`
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- :py:class:`Twist <rosbags.typesys.types.geometry_msgs__msg__Twist>`
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- :py:class:`TwistStamped <rosbags.typesys.types.geometry_msgs__msg__TwistStamped>`
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- :py:class:`TwistWithCovariance <rosbags.typesys.types.geometry_msgs__msg__TwistWithCovariance>`
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- :py:class:`TwistWithCovarianceStamped <rosbags.typesys.types.geometry_msgs__msg__TwistWithCovarianceStamped>`
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- :py:class:`Vector3 <rosbags.typesys.types.geometry_msgs__msg__Vector3>`
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- :py:class:`Vector3Stamped <rosbags.typesys.types.geometry_msgs__msg__Vector3Stamped>`
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- :py:class:`Wrench <rosbags.typesys.types.geometry_msgs__msg__Wrench>`
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- :py:class:`WrenchStamped <rosbags.typesys.types.geometry_msgs__msg__WrenchStamped>`
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libstatistics_collector
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***********************
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- :py:class:`DummyMessage <rosbags.typesys.types.libstatistics_collector__msg__DummyMessage>`
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lifecycle_msgs
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**************
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- :py:class:`State <rosbags.typesys.types.lifecycle_msgs__msg__State>`
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- :py:class:`Transition <rosbags.typesys.types.lifecycle_msgs__msg__Transition>`
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- :py:class:`TransitionDescription <rosbags.typesys.types.lifecycle_msgs__msg__TransitionDescription>`
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- :py:class:`TransitionEvent <rosbags.typesys.types.lifecycle_msgs__msg__TransitionEvent>`
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nav_msgs
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********
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- :py:class:`GridCells <rosbags.typesys.types.nav_msgs__msg__GridCells>`
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- :py:class:`MapMetaData <rosbags.typesys.types.nav_msgs__msg__MapMetaData>`
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- :py:class:`OccupancyGrid <rosbags.typesys.types.nav_msgs__msg__OccupancyGrid>`
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- :py:class:`Odometry <rosbags.typesys.types.nav_msgs__msg__Odometry>`
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- :py:class:`Path <rosbags.typesys.types.nav_msgs__msg__Path>`
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rcl_interfaces
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**************
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- :py:class:`FloatingPointRange <rosbags.typesys.types.rcl_interfaces__msg__FloatingPointRange>`
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- :py:class:`IntegerRange <rosbags.typesys.types.rcl_interfaces__msg__IntegerRange>`
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- :py:class:`ListParametersResult <rosbags.typesys.types.rcl_interfaces__msg__ListParametersResult>`
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- :py:class:`Log <rosbags.typesys.types.rcl_interfaces__msg__Log>`
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- :py:class:`Parameter <rosbags.typesys.types.rcl_interfaces__msg__Parameter>`
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- :py:class:`ParameterDescriptor <rosbags.typesys.types.rcl_interfaces__msg__ParameterDescriptor>`
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- :py:class:`ParameterEvent <rosbags.typesys.types.rcl_interfaces__msg__ParameterEvent>`
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- :py:class:`ParameterEventDescriptors <rosbags.typesys.types.rcl_interfaces__msg__ParameterEventDescriptors>`
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- :py:class:`ParameterType <rosbags.typesys.types.rcl_interfaces__msg__ParameterType>`
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- :py:class:`ParameterValue <rosbags.typesys.types.rcl_interfaces__msg__ParameterValue>`
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- :py:class:`SetParametersResult <rosbags.typesys.types.rcl_interfaces__msg__SetParametersResult>`
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rmw_dds_common
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**************
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- :py:class:`Gid <rosbags.typesys.types.rmw_dds_common__msg__Gid>`
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- :py:class:`NodeEntitiesInfo <rosbags.typesys.types.rmw_dds_common__msg__NodeEntitiesInfo>`
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- :py:class:`ParticipantEntitiesInfo <rosbags.typesys.types.rmw_dds_common__msg__ParticipantEntitiesInfo>`
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rosgraph_msgs
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*************
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- :py:class:`Clock <rosbags.typesys.types.rosgraph_msgs__msg__Clock>`
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sensor_msgs
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***********
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- :py:class:`BatteryState <rosbags.typesys.types.sensor_msgs__msg__BatteryState>`
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- :py:class:`CameraInfo <rosbags.typesys.types.sensor_msgs__msg__CameraInfo>`
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- :py:class:`ChannelFloat32 <rosbags.typesys.types.sensor_msgs__msg__ChannelFloat32>`
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- :py:class:`CompressedImage <rosbags.typesys.types.sensor_msgs__msg__CompressedImage>`
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- :py:class:`FluidPressure <rosbags.typesys.types.sensor_msgs__msg__FluidPressure>`
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- :py:class:`Illuminance <rosbags.typesys.types.sensor_msgs__msg__Illuminance>`
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- :py:class:`Image <rosbags.typesys.types.sensor_msgs__msg__Image>`
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- :py:class:`Imu <rosbags.typesys.types.sensor_msgs__msg__Imu>`
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- :py:class:`JointState <rosbags.typesys.types.sensor_msgs__msg__JointState>`
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- :py:class:`Joy <rosbags.typesys.types.sensor_msgs__msg__Joy>`
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- :py:class:`JoyFeedback <rosbags.typesys.types.sensor_msgs__msg__JoyFeedback>`
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- :py:class:`JoyFeedbackArray <rosbags.typesys.types.sensor_msgs__msg__JoyFeedbackArray>`
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- :py:class:`LaserEcho <rosbags.typesys.types.sensor_msgs__msg__LaserEcho>`
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- :py:class:`LaserScan <rosbags.typesys.types.sensor_msgs__msg__LaserScan>`
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- :py:class:`MagneticField <rosbags.typesys.types.sensor_msgs__msg__MagneticField>`
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- :py:class:`MultiDOFJointState <rosbags.typesys.types.sensor_msgs__msg__MultiDOFJointState>`
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- :py:class:`MultiEchoLaserScan <rosbags.typesys.types.sensor_msgs__msg__MultiEchoLaserScan>`
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- :py:class:`NavSatFix <rosbags.typesys.types.sensor_msgs__msg__NavSatFix>`
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- :py:class:`NavSatStatus <rosbags.typesys.types.sensor_msgs__msg__NavSatStatus>`
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- :py:class:`PointCloud <rosbags.typesys.types.sensor_msgs__msg__PointCloud>`
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- :py:class:`PointCloud2 <rosbags.typesys.types.sensor_msgs__msg__PointCloud2>`
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- :py:class:`PointField <rosbags.typesys.types.sensor_msgs__msg__PointField>`
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- :py:class:`Range <rosbags.typesys.types.sensor_msgs__msg__Range>`
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- :py:class:`RegionOfInterest <rosbags.typesys.types.sensor_msgs__msg__RegionOfInterest>`
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- :py:class:`RelativeHumidity <rosbags.typesys.types.sensor_msgs__msg__RelativeHumidity>`
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- :py:class:`Temperature <rosbags.typesys.types.sensor_msgs__msg__Temperature>`
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- :py:class:`TimeReference <rosbags.typesys.types.sensor_msgs__msg__TimeReference>`
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shape_msgs
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**********
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- :py:class:`Mesh <rosbags.typesys.types.shape_msgs__msg__Mesh>`
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- :py:class:`MeshTriangle <rosbags.typesys.types.shape_msgs__msg__MeshTriangle>`
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- :py:class:`Plane <rosbags.typesys.types.shape_msgs__msg__Plane>`
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- :py:class:`SolidPrimitive <rosbags.typesys.types.shape_msgs__msg__SolidPrimitive>`
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statistics_msgs
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***************
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- :py:class:`MetricsMessage <rosbags.typesys.types.statistics_msgs__msg__MetricsMessage>`
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- :py:class:`StatisticDataPoint <rosbags.typesys.types.statistics_msgs__msg__StatisticDataPoint>`
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- :py:class:`StatisticDataType <rosbags.typesys.types.statistics_msgs__msg__StatisticDataType>`
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std_msgs
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********
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- :py:class:`Bool <rosbags.typesys.types.std_msgs__msg__Bool>`
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- :py:class:`Byte <rosbags.typesys.types.std_msgs__msg__Byte>`
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- :py:class:`ByteMultiArray <rosbags.typesys.types.std_msgs__msg__ByteMultiArray>`
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- :py:class:`Char <rosbags.typesys.types.std_msgs__msg__Char>`
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- :py:class:`ColorRGBA <rosbags.typesys.types.std_msgs__msg__ColorRGBA>`
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- :py:class:`Empty <rosbags.typesys.types.std_msgs__msg__Empty>`
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- :py:class:`Float32 <rosbags.typesys.types.std_msgs__msg__Float32>`
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- :py:class:`Float32MultiArray <rosbags.typesys.types.std_msgs__msg__Float32MultiArray>`
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- :py:class:`Float64 <rosbags.typesys.types.std_msgs__msg__Float64>`
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- :py:class:`Float64MultiArray <rosbags.typesys.types.std_msgs__msg__Float64MultiArray>`
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- :py:class:`Header <rosbags.typesys.types.std_msgs__msg__Header>`
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- :py:class:`Int16 <rosbags.typesys.types.std_msgs__msg__Int16>`
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- :py:class:`Int16MultiArray <rosbags.typesys.types.std_msgs__msg__Int16MultiArray>`
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- :py:class:`Int32 <rosbags.typesys.types.std_msgs__msg__Int32>`
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- :py:class:`Int32MultiArray <rosbags.typesys.types.std_msgs__msg__Int32MultiArray>`
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- :py:class:`Int64 <rosbags.typesys.types.std_msgs__msg__Int64>`
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- :py:class:`Int64MultiArray <rosbags.typesys.types.std_msgs__msg__Int64MultiArray>`
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- :py:class:`Int8 <rosbags.typesys.types.std_msgs__msg__Int8>`
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- :py:class:`Int8MultiArray <rosbags.typesys.types.std_msgs__msg__Int8MultiArray>`
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- :py:class:`MultiArrayDimension <rosbags.typesys.types.std_msgs__msg__MultiArrayDimension>`
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- :py:class:`MultiArrayLayout <rosbags.typesys.types.std_msgs__msg__MultiArrayLayout>`
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- :py:class:`String <rosbags.typesys.types.std_msgs__msg__String>`
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- :py:class:`UInt16 <rosbags.typesys.types.std_msgs__msg__UInt16>`
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- :py:class:`UInt16MultiArray <rosbags.typesys.types.std_msgs__msg__UInt16MultiArray>`
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- :py:class:`UInt32 <rosbags.typesys.types.std_msgs__msg__UInt32>`
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- :py:class:`UInt32MultiArray <rosbags.typesys.types.std_msgs__msg__UInt32MultiArray>`
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- :py:class:`UInt64 <rosbags.typesys.types.std_msgs__msg__UInt64>`
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- :py:class:`UInt64MultiArray <rosbags.typesys.types.std_msgs__msg__UInt64MultiArray>`
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- :py:class:`UInt8 <rosbags.typesys.types.std_msgs__msg__UInt8>`
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- :py:class:`UInt8MultiArray <rosbags.typesys.types.std_msgs__msg__UInt8MultiArray>`
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stereo_msgs
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***********
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- :py:class:`DisparityImage <rosbags.typesys.types.stereo_msgs__msg__DisparityImage>`
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tf2_msgs
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********
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- :py:class:`TF2Error <rosbags.typesys.types.tf2_msgs__msg__TF2Error>`
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- :py:class:`TFMessage <rosbags.typesys.types.tf2_msgs__msg__TFMessage>`
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trajectory_msgs
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***************
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- :py:class:`JointTrajectory <rosbags.typesys.types.trajectory_msgs__msg__JointTrajectory>`
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- :py:class:`JointTrajectoryPoint <rosbags.typesys.types.trajectory_msgs__msg__JointTrajectoryPoint>`
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- :py:class:`MultiDOFJointTrajectory <rosbags.typesys.types.trajectory_msgs__msg__MultiDOFJointTrajectory>`
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- :py:class:`MultiDOFJointTrajectoryPoint <rosbags.typesys.types.trajectory_msgs__msg__MultiDOFJointTrajectoryPoint>`
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unique_identifier_msgs
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**********************
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- :py:class:`UUID <rosbags.typesys.types.unique_identifier_msgs__msg__UUID>`
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visualization_msgs
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******************
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- :py:class:`ImageMarker <rosbags.typesys.types.visualization_msgs__msg__ImageMarker>`
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- :py:class:`InteractiveMarker <rosbags.typesys.types.visualization_msgs__msg__InteractiveMarker>`
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- :py:class:`InteractiveMarkerControl <rosbags.typesys.types.visualization_msgs__msg__InteractiveMarkerControl>`
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- :py:class:`InteractiveMarkerFeedback <rosbags.typesys.types.visualization_msgs__msg__InteractiveMarkerFeedback>`
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- :py:class:`InteractiveMarkerInit <rosbags.typesys.types.visualization_msgs__msg__InteractiveMarkerInit>`
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- :py:class:`InteractiveMarkerPose <rosbags.typesys.types.visualization_msgs__msg__InteractiveMarkerPose>`
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- :py:class:`InteractiveMarkerUpdate <rosbags.typesys.types.visualization_msgs__msg__InteractiveMarkerUpdate>`
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- :py:class:`Marker <rosbags.typesys.types.visualization_msgs__msg__Marker>`
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- :py:class:`MarkerArray <rosbags.typesys.types.visualization_msgs__msg__MarkerArray>`
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- :py:class:`MenuEntry <rosbags.typesys.types.visualization_msgs__msg__MenuEntry>`
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@ -13,6 +13,11 @@ The type system generates a dataclass for each message type. These dataclasses g
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Limitation: While the type system parses message definitions with array bounds and/or default values, neither bounds nor default values are enforced or assigned to message instances.
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Included message types
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----------------------
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.. include:: ./typesys-types.rst
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Extending the type system
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-------------------------
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Adding custom message types consists of two steps. First, message definitions are converted into parse trees using :py:func:`get_types_from_idl() <rosbags.typesys.get_types_from_idl>` or :py:func:`get_types_from_msg() <rosbags.typesys.get_types_from_msg>`, and second the types are registered in the type system via :py:func:`register_types() <rosbags.typesys.register_types>`. The following example shows how to add messages type definitions from ``.msg`` and ``.idl`` files:
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@ -4,6 +4,7 @@
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from __future__ import annotations
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from itertools import groupby
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from os import walk
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from pathlib import Path
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from typing import TYPE_CHECKING
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@ -16,6 +17,19 @@ if TYPE_CHECKING:
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from .base import Typesdict
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def generate_docs(typs: Typesdict) -> str:
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"""Generate types documentation."""
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res = []
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for namespace, msgs in groupby([x.split('/msg/') for x in typs], key=lambda x: x[0]):
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res.append(namespace)
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res.append('*' * len(namespace))
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for _, msg in msgs:
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res.append(f'- :py:class:`{msg} <rosbags.typesys.types.{namespace}__msg__{msg}>`')
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res.append('')
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return '\n'.join(res)
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def main() -> None: # pragma: no cover
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"""Update builtin types.
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@ -24,6 +38,7 @@ def main() -> None: # pragma: no cover
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"""
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typs: Typesdict = {}
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selfdir = Path(__file__).parent
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projectdir = selfdir.parent.parent.parent
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for root, dirnames, files in walk(selfdir.parents[2] / 'tools' / 'messages'):
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if '.rosbags_ignore' in files:
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dirnames.clear()
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@ -40,6 +55,7 @@ def main() -> None: # pragma: no cover
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typs = dict(sorted(typs.items()))
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register_types(typs)
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(selfdir / 'types.py').write_text(generate_python_code(typs))
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(projectdir / 'docs' / 'topics' / 'typesys-types.rst').write_text(generate_docs(typs))
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if __name__ == '__main__':
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