Rebase from 'upstream'

.github/workflows/debian_packaging.yml

@@ -9,9 +9,11 @@ on:
 
 jobs:
   build_debs:
-    name: Build debs on linux x86_64
-    runs-on: ubuntu-latest
-
+    strategy:
+      matrix:
+        os: [ubuntu-latest, ubuntu-24.04-arm]
+    name: Build debs
+    runs-on: ${{ matrix.os }}
     steps:
       - uses: actions/checkout@v4
 

CHANGELOG.rst

@@ -2,6 +2,21 @@
 Changelog for package automatika_ros_sugar
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.2.6 (2025-01-17)
+------------------
+* (fix) Fixes type hint
+* (fix) Fixes getting available events
+* (feature) checks for components and events duplicate names
+* (fix) Changes type of monitor components to activate
+* (chore) Fixes OS versions in CI
+* (chore) Adds arms builds to debian packaging
+* (refactor) Changes the fuction to create events from jsons
+* (fix) Fixes events parsing using serialized events as dictionary keys
+* (docs) Adds verification tag
+* (docs) Adds external links to docs
+* (docs) Adds source link to docs
+* Contributors: ahr, mkabtoul
+
 0.2.5 (2025-01-07)
 ------------------
 * (fix) Gets imports and default values based on installed distro

docs/conf.py

@@ -60,7 +60,10 @@
     "substitution",
     "tasklist",
 ]
-
+language = "en"
+myst_html_meta = {
+    "google-site-verification": "cQVj-BaADcGVOGB7GOvfbkgJjxni10C2fYWCZ03jOeo"
+}
 
 html_theme = "sphinx_book_theme"  # install with `pip install sphinx-book-theme`
 html_static_path = ["_static"]
@@ -69,5 +72,29 @@
     "logo": {
         "image_light": "_static/ROS_SUGAR_DARK.png",
         "image_dark": "_static/ROS_SUGAR.png",
-    }
+    },
+    "icon_links": [
+        {
+            "name": "Automatika",
+            "url": "https://automatikarobotics.com/",
+            "icon": "_static/automatika-logo.png",
+            "type": "local",
+        },
+        {
+            "name": "GitHub",
+            "url": "https://github.com/automatika-robotics/ros-sugar",
+            "icon": "fa-brands fa-github",
+        },
+        {
+            "name": "Discord",
+            "url": "https://discord.gg/cAW3BWwt",
+            "icon": "fa-brands fa-discord",
+        },
+    ],
+    "path_to_docs": "docs",
+    "repository_url": "https://github.com/automatika-robotics/ros-sugar",
+    "repository_branch": "main",
+    "use_source_button": True,
+    "use_issues_button": True,
+    "use_edit_page_button": True,
 }

package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>automatika_ros_sugar</name>
-  <version>0.2.5</version>
+  <version>0.2.6</version>
   <description>Syntactic sugar for ROS2 nodes creation and management</description>
   <maintainer email="[email protected]">Automatika Robotics</maintainer>
   <url type="website">https://github.com/automatika/ros-sugar</url>

ros_sugar/core/component.py

@@ -31,7 +31,7 @@
 
 from .action import Action
 from .event import Event
-from ..events import json_to_events_list
+from ..events import json_to_events_list, event_from_json
 from ..io.callbacks import GenericCallback
 from ..config.base_config import BaseComponentConfig, ComponentRunType, BaseAttrs
 from ..io.topic import Topic
@@ -178,6 +178,16 @@ def rclpy_init_node(self, *args, **kwargs):
         )
         self._create_default_services()
 
+    def is_node_initialized(self) -> bool:
+        """Checks if the rclpy Node is initialized
+
+        :return: Is node initialized
+        :rtype: bool
+        """
+        from rclpy.utilities import ok
+
+        return ok()
+
     def _reparse_inputs_callbacks(self, inputs: Sequence[Topic]) -> Sequence[Topic]:
         """Select inputs callbacks. Selects a callback for each input from the same component package if it exists. Otherwise, the first available callback will be assigned. Note: This method is added to enable using components from multiple packages in the same script, where each component prioritizes using callbacks from its own package.
 
@@ -388,6 +398,8 @@ def activate(self):
         """
         Create required subscriptions, publications, timers, ... etc. to activate the node
         """
+        self.create_all_subscribers()
+
         self.create_all_publishers()
 
         # Setup node services: servers and clients
@@ -407,20 +419,20 @@ def deactivate(self):
         """
         Destroy all declared subscriptions, publications, timers, ... etc. to deactivate the node
         """
+        self.destroy_all_timers()
+
         self.destroy_all_action_servers()
 
         self.destroy_all_services()
 
-        self.destroy_all_subscribers()
-
-        self.destroy_all_publishers()
-
-        self.destroy_all_timers()
-
         self.destroy_all_action_clients()
 
         self.destroy_all_service_clients()
 
+        self.destroy_all_subscribers()
+
+        self.destroy_all_publishers()
+
     def configure(self, config_file: Optional[str] = None):
         """
         Configure component from yaml file
@@ -435,9 +447,6 @@ def configure(self, config_file: Optional[str] = None):
         # Init any global node variables
         self.init_variables()
 
-        # Setup node subscribers
-        self.create_all_subscribers()
-
     # CREATION AND DESTRUCTION METHODS
     def init_variables(self):
         """
@@ -560,7 +569,7 @@ def destroy_all_subscribers(self):
         for listener in self.__event_listeners:
             self.destroy_subscription(listener)
         # Destroy all input subscribers
-        for callback in self.callbacks:
+        for callback in self.callbacks.values():
             if callback._subscriber:
                 self.destroy_subscription(callback._subscriber)
                 callback._subscriber = None
@@ -573,6 +582,7 @@ def destroy_all_publishers(self):
         if self.__enable_health_publishing:
             # Destroy health status publisher
             self.destroy_publisher(self.health_status_publisher)
+            self.health_status_publisher = None
 
         for publisher in self.publishers_dict.values():
             if publisher._publisher:
@@ -813,14 +823,6 @@ def loop_rate(self) -> float:
     def loop_rate(self, value: float):
         self.config.loop_rate = value
 
-    @property
-    def events(self) -> Optional[List[Event]]:
-        return self.__events
-
-    @events.setter
-    def events(self, event_list: List[Event]) -> None:
-        self.__events = event_list
-
     @property
     def events_actions(self) -> Dict[str, List[Action]]:
         """Getter of component Events/Actions
@@ -837,7 +839,7 @@ def events_actions(self) -> Dict[str, List[Action]]:
 
     @events_actions.setter
     def events_actions(
-        self, events_actions_dict: Dict[Event, Union[Action, List[Action]]]
+        self, events_actions_dict: Dict[str, Union[Action, List[Action]]]
     ):
         """Setter of component Events/Actions
 
@@ -847,14 +849,14 @@ def events_actions(
         """
         self.__events = []
         self.__actions = []
-        for event, actions in events_actions_dict.items():
+        for event_serialized, actions in events_actions_dict.items():
             action_set = actions if isinstance(actions, list) else [actions]
             for action in action_set:
                 if not hasattr(self, action.action_name):
                     raise ValueError(
                         f"Component '{self.node_name}' does not support action '{action.action_name}'"
                     )
-            self.__events.append(event)
+            self.__events.append(event_from_json(event_serialized))
             self.__actions.append(action_set)
 
     # SERIALIZATION AND DESERIALIZATION
@@ -1691,7 +1693,7 @@ def _main(self):
         # Execute main loop
         self._execution_step()
 
-        if self.__enable_health_publishing:
+        if self.__enable_health_publishing and self.health_status_publisher:
             self.health_status_publisher.publish(self.health_status())
 
         # Execute once
@@ -2250,9 +2252,6 @@ def on_deactivate(
         :rtype: lifecycle.TransitionCallbackReturn
         """
         try:
-            # Call custom method
-            self.custom_on_deactivate()
-
             self.deactivate()
             # Declare transition
             self.get_logger().info(
@@ -2262,6 +2261,9 @@ def on_deactivate(
             self.destroy_timer(self.__fallbacks_check_timer)
             self.health_status.set_healthy()
 
+            # Call custom method
+            self.custom_on_deactivate()
+
         except Exception as e:
             self.get_logger().error(
                 f"Transition error for node {self.get_name()} to transition to state 'inactive': {e}"

ros_sugar/core/event.py

@@ -1,7 +1,6 @@
 """Event"""
 
 import json
-import os
 import threading
 import time
 import logging
@@ -361,7 +360,6 @@ def __init__(
                     if isinstance(nested_attributes, List)
                     else [nested_attributes]
                 )
-
                 self.trigger_ref_value = trigger_value
 
         else:
@@ -451,18 +449,21 @@ def dictionary(self) -> Dict:
         :return: Event description dictionary
         :rtype: Dict
         """
-        return {
+        event_dict = {
             "event_name": self.name,
             "event_class": self.__class__.__name__,
             "topic": self.event_topic.to_json(),
-            "trigger_ref_value": self.trigger_ref_value,
-            "_attrs": self._attrs,
             "handle_once": self._handle_once,
             "event_delay": self._keep_event_delay,
         }
+        if hasattr(self, "trigger_ref_value"):
+            event_dict["trigger_ref_value"] = self.trigger_ref_value
+        if hasattr(self, "_attrs"):
+            event_dict["_attrs"] = self._attrs
+        return event_dict
 
     @dictionary.setter
-    def dictionary(self, dict_obj) -> None:
+    def dictionary(self, dict_obj: Dict) -> None:
         """
         Setter of the event using a dictionary
 
@@ -476,10 +477,12 @@ def dictionary(self, dict_obj) -> None:
                     name="dummy_init", msg_type="String"
                 )  # Dummy init to set from json
             self.event_topic.from_json(dict_obj["topic"])
-            self.trigger_ref_value = dict_obj["trigger_ref_value"]
-            self._attrs = dict_obj["_attrs"]
             self._handle_once = dict_obj["handle_once"]
             self._keep_event_delay = dict_obj["event_delay"]
+            if dict_obj.get("trigger_ref_value"):
+                self.trigger_ref_value = dict_obj["trigger_ref_value"]
+            if dict_obj.get("_attrs"):
+                self._attrs = dict_obj["_attrs"]
         except Exception as e:
             logging.error(f"Cannot set Event from incompatible dictionary. {e}")
             raise