feat: add services, clients and topic types

README.md

@@ -11,10 +11,19 @@ Exports ROS2 nodes (publishers, subcribers and nodes) into a [D2](https://d2lang
 - [x] Simple serialisable diagram format
 - [ ] Ros node descriptions pulled from the package.xml
 - [ ] Topic QOS descriptions
-- [ ] Topic Types
+- [x] Topic Types
 - [ ] Advanced theming
 - [ ] Pytest helpers that ensure your ROS2 System architecture matches that of your .d2 diagram
 
+
+## Examples
+
+### Simple
+
+![Simple example](example_output/ros-diagram-dagre-verbose.svg)
+
+
+### More complex applications
 ![Example](example_output/ros-complex-example-dagre.svg)
 
 ## Installation
@@ -110,3 +119,7 @@ From the root of this repo:
 
   Elk:
   ![elk](example_output/ros-diagram-elk.svg)
+
+5. We can also export with more info using `ros_d2 export example_output/ros-diagram.d2`
+
+![dagre](example_output/ros-diagram-dagre-verbose.svg)

example_output/ros-complex-example.d2

@@ -376,4 +376,4 @@
 /stub_glendinning <- /vessel/glendinning/propulsion
 /stub_glendinning <- /vessel/glendinning/steering
 /stub_glendinning <- /vessel/glendinning/system_status
-/webrtc_video_node -> /vessel/sensors/cameras/bow/image_raw
+/webrtc_video_node -> /vessel/sensors/cameras/bow/image_raw

example_output/ros-diagram.d2

@@ -1,17 +1,50 @@
+/adder_1/add: {
+  shape: class
+  topic: |
+    example_interfaces/srv/AddTwoInts
+  |
+}
 /adder_1/output: {
   shape: class
+  topic: |
+    example_interfaces/msg/Bool
+  |
+}
+/adder_2/add: {
+  shape: class
+  topic: |
+    example_interfaces/srv/AddTwoInts
+  |
 }
 /adder_2/output: {
   shape: class
+  topic: |
+    example_interfaces/msg/Bool
+  |
+}
+/adder_3/add: {
+  shape: class
+  topic: |
+    example_interfaces/srv/AddTwoInts
+  |
 }
 /adder_3/output: {
   shape: class
+  topic: |
+    example_interfaces/msg/Bool
+  |
 }
 /input_1: {
   shape: class
+  topic: |
+    example_interfaces/msg/Bool
+  |
 }
 /input_2: {
   shape: class
+  topic: |
+    example_interfaces/msg/Bool
+  |
 }
 /adder_1: {
   style: {
@@ -33,9 +66,12 @@
 }
 /adder_1 -> /adder_3/output
 /adder_1 <- /adder_1/output
+/adder_1 <- /adder_1/add
 /adder_2 -> /input_1
 /adder_2 -> /input_2
 /adder_2 <- /adder_2/output
+/adder_2 <- /adder_2/add
 /adder_3 -> /adder_1/output
 /adder_3 -> /adder_2/output
 /adder_3 <- /adder_3/output
+/adder_3 <- /adder_3/add

src/ros_d2/ros_d2/__init__.py

@@ -1,2 +1,2 @@
 # -*- coding: utf-8 -*-
-__version__ = "1.0.1"
+__version__ = "1.0.2"

src/ros_d2/ros_d2/export.py

@@ -5,7 +5,7 @@
 from ros_d2.helpers.get_ros_architecture import get_ros_architecture
 
 
-def export(output_file: Path):
+def export(output_file: Path, verbose: bool = False):
     ros_architecture = get_ros_architecture()
-    d2_graph = convert(ros_architecture)
+    d2_graph = convert(ros_architecture, verbose)
     open(output_file, "w+").write(d2_graph)

src/ros_d2/ros_d2/helpers/convert.py

@@ -1,7 +1,9 @@
 # -*- coding: utf-8 -*-
+from typing import List
+
 from py_d2.D2Connection import D2Connection, Direction
 from py_d2.D2Diagram import D2Diagram
-from py_d2.D2Shape import D2Shape, Shape
+from py_d2.D2Shape import D2Shape, D2Text, Shape
 from py_d2.D2Style import D2Style
 
 from ros_d2.helpers.get_ros_architecture import RosArchitecture
@@ -12,12 +14,24 @@
 )
 
 
-def convert(ros_architecture: RosArchitecture) -> str:
+def concat_strings(strings: List[str]) -> str:
+    """Concatenates a list of strings into a single string."""
+    return ", ".join(strings)
+
+
+def convert(ros_architecture: RosArchitecture, verbose: bool = False) -> str:
     """Converts a list of NodeInfo objects to a d2 graph."""
     diagram = D2Diagram()
 
     for topic in ros_architecture.topics:
-        shape = D2Shape(name=topic.name, shape=Shape.classs)
+        if verbose:
+            shape = D2Shape(
+                name=topic.name,
+                shape=Shape.classs,
+                topic=D2Text(text=concat_strings(topic.types), format=""),
+            )
+        else:
+            shape = D2Shape(name=topic.name, shape=Shape.classs)
         diagram.add_shape(shape)
 
     for node_info in ros_architecture.nodes:
@@ -26,6 +40,7 @@ def convert(ros_architecture: RosArchitecture) -> str:
         for sub in node_info.subs:
             diagram.add_connection(
                 D2Connection(
+                    # label=concat_strings(sub.types),
                     shape_1=node_info.name,
                     shape_2=sub.name,
                     direction=Direction.TO,
@@ -34,10 +49,29 @@ def convert(ros_architecture: RosArchitecture) -> str:
         for pub in node_info.pubs:
             diagram.add_connection(
                 D2Connection(
+                    # label=concat_strings(pub.types),
                     shape_1=node_info.name,
                     shape_2=pub.name,
                     direction=Direction.FROM,
                 )
             )
+        for client in node_info.clients:
+            diagram.add_connection(
+                D2Connection(
+                    # label=concat_strings(pub.types),
+                    shape_1=node_info.name,
+                    shape_2=client.name,
+                    direction=Direction.TO,
+                )
+            )
+        for service in node_info.services:
+            diagram.add_connection(
+                D2Connection(
+                    # label=concat_strings(pub.types),
+                    shape_1=node_info.name,
+                    shape_2=service.name,
+                    direction=Direction.FROM,
+                )
+            )
 
     return str(diagram)

src/ros_d2/ros_d2/helpers/get_ros_architecture.py

@@ -10,6 +10,15 @@
     "/rosout",
 ]
 
+TOPIC_TYPES_TO_IGNORE = [
+    "rcl_interfaces/srv/ListParameters",
+    "rcl_interfaces/srv/SetParameters",
+    "rcl_interfaces/srv/GetParameterTypes",
+    "rcl_interfaces/srv/GetParameters",
+    "rcl_interfaces/srv/SetParametersAtomically",
+    "rcl_interfaces/srv/DescribeParameters",
+]
+
 
 @dataclass
 class TopicInfo:
@@ -27,6 +36,10 @@ class NodeInfo:
     subs: List[TopicInfo]
     # Node subscriber topics
     pubs: List[TopicInfo]
+    # Node services
+    services: List[TopicInfo]
+    # Node service clients
+    clients: List[TopicInfo]
 
 
 @dataclass
@@ -36,7 +49,11 @@ class RosArchitecture:
 
 
 def filter_topics(topics: List[TopicInfo]) -> List[TopicInfo]:
-    return [t for t in topics if t.name not in TOPICS_TO_IGNORE]
+    return [
+        t
+        for t in topics
+        if t.name not in TOPICS_TO_IGNORE and t.types[0] not in TOPIC_TYPES_TO_IGNORE
+    ]
 
 
 def topic_tuple_to_info(topic_tuple: Tuple[str, List[str]]) -> TopicInfo:
@@ -57,11 +74,21 @@ def get_ros_architecture() -> RosArchitecture:
             pubs_tuple = node.get_publisher_names_and_types_by_node(n.name, n.namespace)
             subs = [topic_tuple_to_info(t) for t in subs_tuple]
             pubs = [topic_tuple_to_info(t) for t in pubs_tuple]
+            services_tuple = node.get_service_names_and_types_by_node(
+                n.name, n.namespace
+            )
+            services = [topic_tuple_to_info(t) for t in services_tuple]
+            clients_tuple = node.get_client_names_and_types_by_node(n.name, n.namespace)
+            clients = [topic_tuple_to_info(t) for t in clients_tuple]
 
             subs = filter_topics(subs)
             pubs = filter_topics(pubs)
+            services = filter_topics(services)
+            clients = filter_topics(clients)
 
-            node_info = NodeInfo(name=node_name, subs=subs, pubs=pubs)
+            node_info = NodeInfo(
+                name=node_name, subs=subs, pubs=pubs, services=services, clients=clients
+            )
             nodes.append(node_info)
 
     # Get all the unique topics
@@ -76,6 +103,10 @@ def get_ros_architecture() -> RosArchitecture:
             if pub.name not in topic_names:
                 topic_names.add(pub.name)
                 topics.append(pub)
+        for srv in node_info.services:
+            if srv.name not in topic_names:
+                topic_names.add(srv.name)
+                topics.append(srv)
 
     # Order them alphabetically
     topics.sort(key=lambda t: t.name)

src/ros_d2/ros_d2/main.py

@@ -12,15 +12,21 @@ def cli():
 
 
 @cli.command("export", help="Export ROS 2 node graph to D2")
+@click.option(
+    "--verbose",
+    is_flag=True,
+    default=False,
+    help="Make the diagram more verbose with topic types and more.",
+)
 @click.argument("output", type=str)
-def export_command(output: str):
+def export_command(output: str, verbose: bool):
     output_file = Path(output)
 
     # If the output_file is not a .d2 file, add the extension.
     if output_file.suffix != ".d2":
         output_file = output_file.with_suffix(".d2")
 
-    export(output_file)
+    export(output_file, verbose)
 
 
 if __name__ == "__main__":

src/ros_example_adder_node/launch/launch.py

@@ -14,6 +14,7 @@ def generate_launch_description():
                     ("input_1", "adder_3/output"),
                     ("input_2", "adder_3/output"),
                     ("output", "adder_1/output"),
+                    ("add", "/adder_1/add"),
                 ],
             ),
             Node(
@@ -24,6 +25,7 @@ def generate_launch_description():
                     ("input_1", "input_1"),
                     ("input_2", "input_2"),
                     ("output", "adder_2/output"),
+                    ("add", "/adder_2/add"),
                 ],
             ),
             Node(
@@ -34,6 +36,7 @@ def generate_launch_description():
                     ("input_1", "adder_1/output"),
                     ("input_2", "adder_2/output"),
                     ("output", "adder_3/output"),
+                    ("add", "/adder_3/add"),
                 ],
             ),
         ]

tests/test_ros_d2/test_convert.py

@@ -13,6 +13,8 @@ def test_convert():
                     TopicInfo(name="topic1", types=["std_msgs/String"]),
                     TopicInfo(name="topic2", types=["std_msgs/String"]),
                 ],
+                services=[],
+                clients=[],
             ),
             NodeInfo(
                 name="node2",
@@ -21,6 +23,8 @@ def test_convert():
                     TopicInfo(name="topic2", types=["std_msgs/String"]),
                 ],
                 pubs=[],
+                services=[],
+                clients=[],
             ),
         ],
         topics=[