Topics list

Author: LaurieCheers-unity

ROS_Packages/ros_tcp_endpoint/src/ros_tcp_endpoint/client.py

@@ -21,7 +21,6 @@
 import json
 
 from .exceptions import TopicOrServiceNameDoesNotExistError
-from unity_interfaces.msg import RosUnitySrvMessage
 
 
 class ClientThread(threading.Thread):
@@ -217,6 +216,7 @@ def run(self):
                     pass
                 elif destination.startswith("__"):
                     # handle a system command, such as registering new topics
+                    rospy.loginfo(destination)
                     self.tcp_server.handle_syscommand(destination, data)
                 elif destination in self.tcp_server.source_destination_dict:
                     ros_communicator = self.tcp_server.source_destination_dict[destination]

ROS_Packages/ros_tcp_endpoint/src/ros_tcp_endpoint/server.py

@@ -26,8 +26,6 @@
 from .publisher import RosPublisher
 from .service import RosService
 from .unity_service import UnityService
-from unity_interfaces.msg import RosUnitySysCommand
-from unity_interfaces.srv import RosUnityTopicListResponse
 
 
 class TcpServer:
@@ -103,9 +101,6 @@ def send_unity_service(self, topic, service_class, request):
     def send_unity_service_response(self, srv_id, data):
         self.unity_tcp_sender.send_unity_service_response(srv_id, data)
 
-    def topic_list(self, data):
-        return RosUnityTopicListResponse(self.source_destination_dict.keys())
-
     def handle_syscommand(self, topic, data):
         function = getattr(self.syscommands, topic[2:])
         if function is None:
@@ -232,6 +227,8 @@ def request(self, srv_id): # the next message is a service request
         self.tcp_server.pending_srv_id = srv_id 
         self.tcp_server.pending_srv_is_request = True
 
+    def topic_list(self):
+        self.tcp_server.unity_tcp_sender.send_topic_list()
 
 
 def resolve_message_name(name, extension="msg"):

ROS_Packages/ros_tcp_endpoint/src/ros_tcp_endpoint/tcp_sender.py

@@ -19,8 +19,6 @@
 import struct
 from .client import ClientThread
 from .thread_pauser import ThreadPauser
-from unity_interfaces.msg import RosUnityError
-from unity_interfaces.msg import RosUnitySrvMessage
 from io import BytesIO
 
 # queue module was renamed between python 2 and 3
@@ -116,6 +114,16 @@ def send_unity_service_response(self, srv_id, data):
 
         thread_pauser.resume_with_result(data)
 
+    def send_topic_list(self):
+        if self.queue is not None:
+            rospy.loginfo("Sending topic list")
+            topic_list = SysCommand_TopicsResponse()
+            topics_and_types = rospy.get_published_topics()
+            topic_list.topics = [item[0] for item in topics_and_types]
+            topic_list.types = [item[1] for item in topics_and_types]
+            serialized_bytes = ClientThread.serialize_command("__topic_list", topic_list)
+            self.queue.put(serialized_bytes)
+
     def start_sender(self, conn, halt_event):
         sender_thread = threading.Thread(
             target=self.sender_loop, args=(conn, self.sender_id, halt_event)
@@ -162,3 +170,7 @@ class SysCommand_Log:
 
 class SysCommand_Service:
     srv_id = 0
+
+class SysCommand_TopicsResponse:
+    topics = []
+    types = []