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Make list controller and list hardware components immediately visuali…
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…ze the state. (#1606)

(cherry picked from commit cce79eb)

# Conflicts:
#	ros2controlcli/ros2controlcli/verb/list_hardware_components.py
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destogl authored and mergify[bot] committed Aug 16, 2024
1 parent b6bdce9 commit 088b182
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Showing 3 changed files with 29 additions and 6 deletions.
2 changes: 1 addition & 1 deletion controller_manager/controller_manager/spawner.py
Original file line number Diff line number Diff line change
Expand Up @@ -41,7 +41,7 @@


class bcolors:
HEADER = "\033[95m"
MAGENTA = "\033[95m"
OKBLUE = "\033[94m"
OKCYAN = "\033[96m"
OKGREEN = "\033[92m"
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14 changes: 11 additions & 3 deletions ros2controlcli/ros2controlcli/verb/list_controllers.py
Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@
from ros2controlcli.api import add_controller_mgr_parsers


def print_controller_state(c, args):
def print_controller_state(c, args, col_width_name, col_width_state, col_width_type):
state_color = ""
if c.state == "active":
state_color = bcolors.OKGREEN
Expand All @@ -31,7 +31,9 @@ def print_controller_state(c, args):
elif c.state == "unconfigured":
state_color = bcolors.WARNING

print(f"{c.name:20s}[{c.type:20s}] {state_color}{c.state:10s}{bcolors.ENDC}")
print(
f"{state_color}{c.name:<{col_width_name}}{bcolors.ENDC} {c.type:<{col_width_type}} {state_color}{c.state:<{col_width_state}}{bcolors.ENDC}"
)
if args.claimed_interfaces or args.verbose:
print("\tclaimed interfaces:")
for claimed_interface in c.claimed_interfaces:
Expand Down Expand Up @@ -96,7 +98,13 @@ def add_arguments(self, parser, cli_name):
def main(self, *, args):
with NodeStrategy(args) as node:
response = list_controllers(node, args.controller_manager)

# Structure data as table for nicer output
col_width_name = max(len(ctrl.name) for ctrl in response.controller)
col_width_type = max(len(ctrl.type) for ctrl in response.controller)
col_width_state = max(len(ctrl.state) for ctrl in response.controller)

for c in response.controller:
print_controller_state(c, args)
print_controller_state(c, args, col_width_name, col_width_state, col_width_type)

return 0
19 changes: 17 additions & 2 deletions ros2controlcli/ros2controlcli/verb/list_hardware_components.py
Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,8 @@
from controller_manager import list_hardware_components
from controller_manager.spawner import bcolors

from lifecycle_msgs.msg import State

from ros2cli.node.direct import add_arguments
from ros2cli.node.strategy import NodeStrategy
from ros2cli.verb import VerbExtension
Expand All @@ -39,20 +41,33 @@ def main(self, *, args):
hardware_components = list_hardware_components(node, args.controller_manager)

for idx, component in enumerate(hardware_components.component):
# Set activity color for nicer visualization
activity_color = bcolors.FAIL
if component.state.id == State.PRIMARY_STATE_UNCONFIGURED:
activity_color = bcolors.WARNING
if component.state.id == State.PRIMARY_STATE_INACTIVE:
activity_color = bcolors.MAGENTA
if component.state.id == State.PRIMARY_STATE_ACTIVE:
activity_color = bcolors.OKGREEN

print(
f"Hardware Component {idx+1}\n\tname: {component.name}\n\ttype: {component.type}"
f"Hardware Component {idx+1}\n\tname: {activity_color}{component.name}{bcolors.ENDC}\n\ttype: {component.type}"
)
if hasattr(component, "plugin_name"):
<<<<<<< HEAD
plugin_name = component.plugin_name
# Keep compatibility to the obsolete filed name in Humble
elif hasattr(component, "class_type"):
plugin_name = component.class_type
=======
plugin_name = f"{component.plugin_name}"
>>>>>>> cce79eb (Make list controller and list hardware components immediately visualize the state. (#1606))
else:
plugin_name = f"{bcolors.WARNING}plugin name missing!{bcolors.ENDC}"

print(
f"\tplugin name: {plugin_name}\n"
f"\tstate: id={component.state.id} label={component.state.label}\n"
f"\tstate: id={component.state.id} label={activity_color}{component.state.label}{bcolors.ENDC}\n"
f"\tcommand interfaces"
)
for cmd_interface in component.command_interfaces:
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