rosmaster: adding getTopicTypes in order to support subscribers declaring types

core/roslib/src/roslib/masterapi.py

@@ -430,6 +430,16 @@ class Master(object):
         """
         return self._succeed(self.handle.getPublishedTopics(self.caller_id, subgraph))        
     
+    def getTopicTypes(self): 
+        """
+        Retrieve list topic names and their types.
+        @param caller_id: ROS caller id    
+        @type  caller_id: str
+        @rtype: (int, str, [[str,str]] )
+        @return: (code, statusMessage, topicTypes). topicTypes is a list of [topicName, topicType] pairs.
+        """
+        return self._succeed(self.handle.getTopicTypes(self.caller_id))
+    
     def getSystemState(self): 
         """
         Retrieve list representation of system state (i.e. publishers, subscribers, and services).

core/rosmaster/src/rosmaster/master_api.py

@@ -681,6 +681,12 @@ class ROSMasterHandler(object):
         try:
             self.ps_lock.acquire()
             self.reg_manager.register_subscriber(topic, caller_id, caller_api)
+
+            # ROS 1.1: subscriber can now set type if it is not already set
+            #  - don't let '*' type squash valid typing
+            if not topic in self.topics_types and topic_type != roslib.names.ANYTYPE:
+                self.topics_types[topic] = topic_type
+
             mloginfo("+SUB [%s] %s %s",topic, caller_id, caller_api)
             pub_uris = self.publishers.get_apis(topic)
         finally:
@@ -824,6 +830,22 @@ class ROSMasterHandler(object):
             self.ps_lock.release()
         return 1, "current topics", retval
     
+    @apivalidate([])
+    def getTopicTypes(self, caller_id): 
+        """
+        Retrieve list topic names and their types.
+        @param caller_id: ROS caller id    
+        @type  caller_id: str
+        @rtype: (int, str, [[str,str]] )
+        @return: (code, statusMessage, topicTypes). topicTypes is a list of [topicName, topicType] pairs.
+        """
+        try: 
+            self.ps_lock.acquire()
+            retval = self.topics_types.items()
+        finally:
+            self.ps_lock.release()
+        return 1, "current system state", retval
+
     @apivalidate([[],[], []])
     def getSystemState(self, caller_id): 
         """

test/test_roslib/test/test_roslib_masterapi_offline.py

@@ -97,6 +97,10 @@ class MasterMock(object):
     def getPublishedTopics(self, caller_id, subgraph):
         self.call = ('getPublishedTopics', caller_id, subgraph)
         return self.return_val
+
+    def getTopicTypes(self, caller_id):
+        self.call = ('getTopicTypes', caller_id)
+        return self.return_val
     
     def getSystemState(self, caller_id):
         self.call = ('getSystemState', caller_id)
@@ -279,6 +283,16 @@ class MasterApiOfflineTest(unittest.TestCase):
         self.throw_failure('getPublishedTopics', args, (0, '', r))
         self.throw_error('getPublishedTopics', args, (-1, '', r))
         
+    def test_getTopicTypes(self):
+        h = self.m.handle
+        r = [ ['/foo', 'std_msgs/String'], ['/baz', 'std_msgs/Int32'] ]
+        h.return_val = (1, '', r)
+        self.assertEquals(r, self.m.getTopicTypes())
+        self.assertEquals(('getTopicTypes',_ID), h.call)
+        self.throw_failure('getTopicTypes', (), (0, '', r))
+        self.throw_error('getTopicTypes', (), (-1, '', r))
+        
+
     def test_getSystemState(self):
         h = self.m.handle
         r = [ [], [], [] ]

test/test_roslib/test/test_roslib_masterapi_online.py

@@ -104,6 +104,9 @@ class MasterApiOnlineTest(unittest.TestCase):
         
     def test_getPublishedTopics(self):
         topics = self.m.getPublishedTopics('/')
+
+    def test_getTopicTypes(self):
+        topic_types = self.m.getTopicTypes()
         
     def test_getSystemState(self):
         pub, sub, srvs = self.m.getSystemState()