WIP: Add enclave information

ros2node/ros2node/api/__init__.py

@@ -25,6 +25,7 @@
 )
 
 NodeName = namedtuple('NodeName', ('name', 'namespace', 'full_name'))
+NodeNameEnclave = namedtuple('NodeNameEnclave', ('name', 'enclave'))
 TopicInfo = namedtuple('Topic', ('name', 'types'))
 
 
@@ -71,6 +72,102 @@ def get_node_names(*, node, include_hidden_nodes=False):
     ]
 
 
+def get_node_names_with_enclaves(*, node, include_hidden_nodes=False):
+    node_names_and_namespaces_with_enclaves = node.get_node_names_and_namespaces_with_enclaves()
+    return [
+        NodeNameEnclave(
+            name=NodeName(
+                name=t[0],
+                namespace=t[1],
+                full_name=t[1] + ('' if t[1].endswith('/') else '/') + t[0]),
+            enclave=t[2])
+        for t in node_names_and_namespaces_with_enclaves
+        if (
+            include_hidden_nodes or
+            (t[0] and not t[0].startswith(HIDDEN_NODE_PREFIX))
+        )
+    ]
+
+
+def get_topics(remote_node_name, func, *, include_hidden_topics=False):
+    node = parse_node_name(remote_node_name)
+    names_and_types = func(node.name, node.namespace)
+    return [
+        TopicInfo(
+            name=t[0],
+            types=t[1])
+        for t in names_and_types if include_hidden_topics or not _is_hidden_name(t[0])]
+
+
+def get_subscriber_info(*, node, remote_node_name, include_hidden=False):
+    return get_topics(
+        remote_node_name,
+        node.get_subscriber_names_and_types_by_node,
+        include_hidden_topics=include_hidden
+    )
+
+
+def get_publisher_info(*, node, remote_node_name, include_hidden=False):
+    return get_topics(
+        remote_node_name,
+        node.get_publisher_names_and_types_by_node,
+        include_hidden_topics=include_hidden
+    )
+
+
+def get_service_client_info(*, node, remote_node_name, include_hidden=False):
+    return get_topics(
+        remote_node_name,
+        node.get_client_names_and_types_by_node,
+        include_hidden_topics=include_hidden
+    )
+
+
+def get_service_server_info(*, node, remote_node_name, include_hidden=False):
+    return get_topics(
+        remote_node_name,
+        node.get_service_names_and_types_by_node,
+        include_hidden_topics=include_hidden
+    )
+
+
+def get_action_server_info(*, node, remote_node_name, include_hidden=False):
+    remote_node = parse_node_name(remote_node_name)
+    names_and_types = node.get_action_server_names_and_types_by_node(
+        remote_node.name, remote_node.namespace)
+    return [
+        TopicInfo(
+            name=n,
+            types=t)
+        for n, t in names_and_types if include_hidden or not _is_hidden_name(n)]
+
+
+def get_action_client_info(*, node, remote_node_name, include_hidden=False):
+    remote_node = parse_node_name(remote_node_name)
+    names_and_types = node.get_action_client_names_and_types_by_node(
+        remote_node.name, remote_node.namespace)
+    return [
+        TopicInfo(
+            name=n,
+            types=t)
+        for n, t in names_and_types if include_hidden or not _is_hidden_name(n)]
+
+
+class NodeNameCompleter:
+    """Callable returning a list of node names."""
+
+    def __init__(self, *, include_hidden_nodes_key=None):
+        self.include_hidden_nodes_key = include_hidden_nodes_key
+
+    def __call__(self, prefix, parsed_args, **kwargs):
+        include_hidden_nodes = getattr(
+            parsed_args, self.include_hidden_nodes_key) \
+            if self.include_hidden_nodes_key else False
+        with NodeStrategy(parsed_args) as node:
+            return [
+                n.full_name for n in get_node_names(
+                    node=node, include_hidden_nodes=include_hidden_nodes)]
+
 def get_topics(remote_node_name, func, *, include_hidden_topics=False):
     node = parse_node_name(remote_node_name)
     names_and_types = func(node.name, node.namespace)

ros2node/ros2node/verb/info.py

@@ -18,7 +18,7 @@
 from ros2cli.node.strategy import NodeStrategy
 from ros2node.api import get_action_client_info
 from ros2node.api import get_action_server_info
-from ros2node.api import get_node_names
+from ros2node.api import get_node_names_with_enclaves
 from ros2node.api import get_publisher_info
 from ros2node.api import get_service_client_info
 from ros2node.api import get_service_server_info
@@ -28,6 +28,10 @@
 from ros2node.verb import VerbExtension
 
 
+def print_enclaves(enclaves):
+    print(*[2 * '    {}'.format(e) for e in enclaves if e != '/'], sep='\n')
+
+
 def print_names_and_types(names_and_types):
     print(*[2 * '  ' + s.name + ': ' + ', '.join(s.types) for s in names_and_types], sep='\n')
 
@@ -47,8 +51,10 @@ def add_arguments(self, parser, cli_name):
 
     def main(self, *, args):
         with NodeStrategy(args) as node:
-            node_names = get_node_names(node=node, include_hidden_nodes=args.include_hidden)
-            count = [n.full_name for n in node_names].count(args.node_name)
+            node_names_with_enclaves = get_node_names_with_enclaves(
+                node=node,
+                include_hidden_nodes=args.include_hidden)
+            count = [n.name.full_name for n in node_names_with_enclaves].count(args.node_name)
             if count > 1:
                 print(
                     INFO_NONUNIQUE_WARNING_TEMPLATE.format(
@@ -80,5 +86,9 @@ def main(self, *, args):
                     node=node, remote_node_name=args.node_name, include_hidden=args.include_hidden)
                 print('  Action Clients:')
                 print_names_and_types(actions_clients)
+                print('  Enclaves:')
+                print_enclaves([n.enclave for n in node_names_with_enclaves
+                    if n.name.full_name == args.node_name])
+
             else:
                 return "Unable to find node '" + args.node_name + "'"