support multiple fields in ros2topic echo (#964)

* support multiple fields in ros2topic echo Signed-off-by: Sangtaek Lee <[email protected]> Signed-off-by: Sangtaek Lee <[email protected]> * add tests for echo multi fields Signed-off-by: Sangtaek Lee <[email protected]> * fix line too long Signed-off-by: Sangtaek Lee <[email protected]> * update line end Signed-off-by: Sangtaek Lee <[email protected]> --------- Signed-off-by: Sangtaek Lee <[email protected]> Signed-off-by: Sangtaek Lee <[email protected]>
ros2 · Jan 24, 2025 · e8138a1 · e8138a1
1 parent f3fc36c
commit e8138a1
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Showing 2 changed files with 131 additions and 41 deletions.
diff --git a/ros2topic/ros2topic/verb/echo.py b/ros2topic/ros2topic/verb/echo.py
@@ -69,7 +69,7 @@ def add_arguments(self, parser, cli_name):
             )
         )
         parser.add_argument(
-            '--field', type=str, default=None,
+            '--field', action='append', type=str, default=None,
             help='Echo a selected field of a message. '
                  "Use '.' to select sub-fields. "
                  'For example, to echo the position field of a nav_msgs/msg/Odometry message: '
@@ -180,11 +180,14 @@ def main(self, *, args):
         self.csv = args.csv
 
         # Validate field selection
-        self.field = args.field
-        if self.field is not None:
-            self.field = list(filter(None, self.field.split('.')))
-            if not self.field:
-                raise RuntimeError(f"Invalid field value '{args.field}'")
+        self.fields_list = []
+        if args.field:
+            for field in args.field:
+                if field is not None:
+                    field_filtered = list(filter(None, field.split('.')))
+                    self.fields_list.append(field_filtered)
+                    if not field_filtered:
+                        raise RuntimeError(f"Invalid field value '{field}'")
 
         self.truncate_length = args.truncate_length if not args.full_length else None
         self.no_arr = args.no_arr
@@ -272,17 +275,26 @@ def _timed_out(self):
         self.future.set_result(True)
 
     def _subscriber_callback(self, msg, info):
-        submsg = msg
-        if self.field is not None:
-            for field in self.field:
-                try:
-                    submsg = getattr(submsg, field)
-                except AttributeError as ex:
-                    raise RuntimeError(f"Invalid field '{'.'.join(self.field)}': {ex}")
+        submsgs = []
+        if self.fields_list:
+            for fields in self.fields_list:
+                submsg = msg
+                for field in fields:
+                    try:
+                        submsg = getattr(submsg, field)
+                    except AttributeError as ex:
+                        raise RuntimeError(f"Invalid field '{'.'.join(fields)}': {ex}")
+                submsgs.append(submsg)
+        else:
+            submsgs.append(msg)
 
         # Evaluate the current msg against the supplied expression
-        if self.filter_fn is not None and not self.filter_fn(submsg):
-            return
+        if self.filter_fn is not None:
+            for submsg in submsgs:
+                if not self.filter_fn(submsg):
+                    submsgs.remove(submsg)
+            if not submsgs:
+                return
 
         if self.future is not None and self.once:
             self.future.set_result(True)
@@ -291,33 +303,39 @@ def _subscriber_callback(self, msg, info):
         if self.clear_screen:
             clear_terminal()
 
-        if not hasattr(submsg, '__slots__'):
-            # raw
-            if self.include_message_info:
-                print('---Got new message, message info:---')
-                print(info)
-                print('---Message data:---')
-            print(submsg, end='\n---\n')
-            return
-
-        if self.csv:
-            to_print = message_to_csv(
-                submsg,
-                truncate_length=self.truncate_length,
-                no_arr=self.no_arr,
-                no_str=self.no_str)
+        for i, submsg in enumerate(submsgs):
+            if i == len(submsgs)-1:
+                line_end = '---\n'
+            else:
+                line_end = ''
+            if not hasattr(submsg, '__slots__'):
+                # raw
+                if self.include_message_info:
+                    print('---Got new message, message info:---')
+                    print(info)
+                    print('---Message data:---')
+                line_end = '\n' + line_end
+                print(submsg, end=line_end)
+                continue
+
+            if self.csv:
+                to_print = message_to_csv(
+                    submsg,
+                    truncate_length=self.truncate_length,
+                    no_arr=self.no_arr,
+                    no_str=self.no_str)
+                if self.include_message_info:
+                    to_print = f'{",".join(str(x) for x in info.values())},{to_print}'
+                print(to_print)
+                continue
+            # yaml
             if self.include_message_info:
-                to_print = f'{",".join(str(x) for x in info.values())},{to_print}'
-            print(to_print)
-            return
-        # yaml
-        if self.include_message_info:
-            print(yaml.dump(info), end='---\n')
-        print(
-            message_to_yaml(
-                submsg, truncate_length=self.truncate_length,
-                no_arr=self.no_arr, no_str=self.no_str, flow_style=self.flow_style),
-            end='---\n')
+                print(yaml.dump(info), end=line_end)
+            print(
+                message_to_yaml(
+                    submsg, truncate_length=self.truncate_length,
+                    no_arr=self.no_arr, no_str=self.no_str, flow_style=self.flow_style),
+                end=line_end)
 
 
 def _expr_eval(expr):

diff --git a/ros2topic/test/test_cli.py b/ros2topic/test/test_cli.py
@@ -589,6 +589,20 @@ def test_topic_echo_field(self):
             ), timeout=10)
         assert topic_command.wait_for_shutdown(timeout=10)
 
+    @launch_testing.markers.retry_on_failure(times=5, delay=1)
+    def test_topic_echo_multi_fields(self):
+        with self.launch_topic_command(
+            arguments=['echo', '/defaults', '--field', 'int8_value', '--field', 'uint8_value'],
+        ) as topic_command:
+            assert topic_command.wait_for_output(functools.partial(
+                launch_testing.tools.expect_output, expected_lines=[
+                    '-50',
+                    '200',
+                    '---',
+                ], strict=True
+            ), timeout=10)
+        assert topic_command.wait_for_shutdown(timeout=10)
+
     @launch_testing.markers.retry_on_failure(times=5, delay=1)
     def test_topic_echo_field_nested(self):
         with self.launch_topic_command(
@@ -604,6 +618,21 @@ def test_topic_echo_field_nested(self):
             ), timeout=10)
         assert topic_command.wait_for_shutdown(timeout=10)
 
+    @launch_testing.markers.retry_on_failure(times=5, delay=1)
+    def test_topic_echo_multi_fields_nested(self):
+        with self.launch_topic_command(
+            arguments=['echo', '/cmd_vel', '--field', 'twist.linear.x',
+                       '--field', 'twist.linear.y'],
+        ) as topic_command:
+            assert topic_command.wait_for_output(functools.partial(
+                launch_testing.tools.expect_output, expected_lines=[
+                    '1.0',
+                    '0.0',
+                    '---',
+                ], strict=True
+            ), timeout=10)
+        assert topic_command.wait_for_shutdown(timeout=10)
+
     @launch_testing.markers.retry_on_failure(times=5, delay=1)
     def test_topic_echo_field_not_a_member(self):
         with self.launch_topic_command(
@@ -616,6 +645,28 @@ def test_topic_echo_field_not_a_member(self):
             ), timeout=10)
         assert topic_command.wait_for_shutdown(timeout=10)
 
+    @launch_testing.markers.retry_on_failure(times=5, delay=1)
+    def test_topic_echo_multi_fields_not_a_member(self):
+        with self.launch_topic_command(
+            arguments=['echo', '/arrays', '--field', 'not_member', '--field', 'alignment_check'],
+        ) as topic_command:
+            assert topic_command.wait_for_output(functools.partial(
+                launch_testing.tools.expect_output, expected_lines=[
+                    "Invalid field 'not_member': 'Arrays' object has no attribute 'not_member'",
+                ], strict=True
+            ), timeout=10)
+        assert topic_command.wait_for_shutdown(timeout=10)
+
+        with self.launch_topic_command(
+            arguments=['echo', '/arrays', '--field', 'alignment_check', '--field', 'not_member'],
+        ) as topic_command:
+            assert topic_command.wait_for_output(functools.partial(
+                launch_testing.tools.expect_output, expected_lines=[
+                    "Invalid field 'not_member': 'Arrays' object has no attribute 'not_member'",
+                ], strict=True
+            ), timeout=10)
+        assert topic_command.wait_for_shutdown(timeout=10)
+
     def test_topic_echo_field_invalid(self):
         with self.launch_topic_command(
             arguments=['echo', '/arrays', '--field', '/'],
@@ -637,6 +688,27 @@ def test_topic_echo_field_invalid(self):
             ), timeout=10)
         assert topic_command.wait_for_shutdown(timeout=10)
 
+    def test_topic_echo_multi_fields_invalid(self):
+        with self.launch_topic_command(
+            arguments=['echo', '/arrays', '--field', '/', '--field', 'alignment_check'],
+        ) as topic_command:
+            assert topic_command.wait_for_output(functools.partial(
+                launch_testing.tools.expect_output, expected_lines=[
+                    "Invalid field '/': 'Arrays' object has no attribute '/'",
+                ], strict=True
+            ), timeout=10)
+        assert topic_command.wait_for_shutdown(timeout=10)
+
+        with self.launch_topic_command(
+            arguments=['echo', '/arrays', '--field', 'alignment_check', '--field', '.'],
+        ) as topic_command:
+            assert topic_command.wait_for_output(functools.partial(
+                launch_testing.tools.expect_output, expected_lines=[
+                    "Invalid field value '.'",
+                ], strict=True
+            ), timeout=10)
+        assert topic_command.wait_for_shutdown(timeout=10)
+
     def test_topic_echo_no_publisher(self):
         with self.launch_topic_command(
             arguments=['echo', '/this_topic_has_no_pub'],