[ros2action] Remove show verb

ros2action/ros2action/api/__init__.py

@@ -12,17 +12,12 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import os
-
-from ament_index_python import get_resource
-from ament_index_python import get_resources
-from ament_index_python import has_resource
-
 import rclpy.action
 from rclpy.expand_topic_name import expand_topic_name
 from rclpy.validate_full_topic_name import validate_full_topic_name
 from ros2cli.node.direct import DirectNode
-from rosidl_runtime_py.convert import message_to_yaml
+from rosidl_runtime_py import get_action_interfaces
+from rosidl_runtime_py import message_to_yaml
 from rosidl_runtime_py.utilities import get_action
 
 
@@ -74,40 +69,6 @@ def get_action_names(*, node):
     return [n for (n, t) in action_names_and_types]
 
 
-def get_action_types(package_name):
-    if not has_resource('packages', package_name):
-        raise LookupError('Unknown package name')
-    try:
-        content, _ = get_resource('rosidl_interfaces', package_name)
-    except LookupError:
-        return []
-    interface_names = content.splitlines()
-    # TODO(jacobperron) this logic should come from a rosidl related package
-    # Only return actions in action folder
-    return {
-        n[7:-7]
-        for n in interface_names
-        if n.startswith('action/') and n[-7:] in ('.idl', '.action')}
-
-
-def get_all_action_types():
-    all_action_types = {}
-    for package_name in get_resources('rosidl_interfaces'):
-        action_types = get_action_types(package_name)
-        if action_types:
-            all_action_types[package_name] = action_types
-    return all_action_types
-
-
-def get_action_path(package_name, action_name):
-    action_types = get_action_types(package_name)
-    if action_name not in action_types:
-        raise LookupError('Unknown action type')
-    prefix_path = has_resource('packages', package_name)
-    # TODO(jacobperron) this logic should come from a rosidl related package
-    return os.path.join(prefix_path, 'share', package_name, 'action', action_name + '.action')
-
-
 def action_name_completer(prefix, parsed_args, **kwargs):
     """Callable returning a list of action names."""
     with DirectNode(parsed_args) as node:
@@ -117,11 +78,9 @@ def action_name_completer(prefix, parsed_args, **kwargs):
 def action_type_completer(**kwargs):
     """Callable returning a list of action types."""
     action_types = []
-    action_types_dict = get_all_action_types()
-    for package_name in sorted(action_types_dict.keys()):
-        for action_name in sorted(action_types_dict[package_name]):
-            action_types.append(
-                '{package_name}/action/{action_name}'.format_map(locals()))
+    for package_name, action_names in get_action_interfaces.items():
+        for action_name in action_names:
+            action_types.append(f'{package_name}/{action_name}')
     return action_types
 
 

ros2action/setup.py

@@ -44,7 +44,6 @@
             'info = ros2action.verb.info:InfoVerb',
             'list = ros2action.verb.list:ListVerb',
             'send_goal = ros2action.verb.send_goal:SendGoalVerb',
-            'show = ros2action.verb.show:ShowVerb',
         ],
     }
 )

ros2action/test/test_api.py

@@ -12,14 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import os
-
-import pytest
-
 from ros2action.api import get_action_clients_and_servers
 from ros2action.api import get_action_names
-from ros2action.api import get_action_path
-from ros2action.api import get_action_types
 from ros2cli.node.strategy import DirectNode
 
 
@@ -36,25 +30,3 @@ def test_get_action_clients_and_servers():
 def test_get_action_names():
     with DirectNode(None) as node:
         get_action_names(node=node)
-
-
-def test_get_action_path():
-    action_path = get_action_path('test_msgs', 'Fibonacci')
-    assert os.path.isfile(action_path)
-
-    with pytest.raises(LookupError):
-        get_action_path('_not_a_real_package_name', 'Fibonacci')
-
-
-def test_get_action_types():
-    action_types = get_action_types('test_msgs')
-    # Expect only strings
-    for t in action_types:
-        assert isinstance(t, str)
-    # Explicit dependencies of this package should be available
-    assert 'Fibonacci' in action_types
-    assert 'NestedMessage' in action_types
-    # Some things that should not be in the list
-    assert '' not in action_types
-    assert 'test_msgs' not in action_types
-    assert 'NotAnActionMessage' not in action_types

ros2action/test/test_cli.py

@@ -248,66 +248,3 @@ def test_send_fibonacci_goal_with_feedback(self):
             ),
             text=action_command.output, strict=True
         )
-
-    def test_show_fibonacci(self):
-        with self.launch_action_command(
-            arguments=['show', 'test_msgs/action/Fibonacci'],
-        ) as action_command:
-            assert action_command.wait_for_shutdown(timeout=2)
-        assert action_command.exit_code == launch_testing.asserts.EXIT_OK
-        assert launch_testing.tools.expect_output(
-            expected_lines=[
-                'int32 order',
-                '---',
-                'int32[] sequence',
-                '---',
-                'int32[] sequence'
-            ],
-            text=action_command.output,
-            strict=False
-        )
-
-    def test_show_not_a_package(self):
-        with self.launch_action_command(
-            arguments=['show', 'not_a_package/action/Fibonacci'],
-        ) as action_command:
-            assert action_command.wait_for_shutdown(timeout=2)
-        assert action_command.exit_code == 1
-        assert launch_testing.tools.expect_output(
-            expected_lines=['Unknown package name'],
-            text=action_command.output, strict=True
-        )
-
-    # TODO(hidmic): make 'ros2 action show' fail accordingly
-    # def test_show_not_an_action_ns(self):
-    #     with self.launch_action_command(
-    #             arguments=['show', 'test_msgs/foo/Fibonacci'],
-    #     ) as action_command:
-    #         assert action_command.wait_for_shutdown(timeout=2)
-    #     assert action_command.exit_code == 1
-    #     assert launch_testing.tools.expect_output(
-    #         expected_lines=['Unknown action type'],
-    #         text=action_command.output, strict=True
-    #     )
-
-    def test_show_not_an_action_typename(self):
-        with self.launch_action_command(
-            arguments=['show', 'test_msgs/action/NotAnActionTypeName'],
-        ) as action_command:
-            assert action_command.wait_for_shutdown(timeout=2)
-        assert action_command.exit_code == 1
-        assert launch_testing.tools.expect_output(
-            expected_lines=['Unknown action type'],
-            text=action_command.output, strict=True
-        )
-
-    def test_show_not_an_action_type(self):
-        with self.launch_action_command(
-            arguments=['show', 'not_an_action_type']
-        ) as action_command:
-            assert action_command.wait_for_shutdown(timeout=2)
-        assert action_command.exit_code == 1
-        assert launch_testing.tools.expect_output(
-            expected_lines=['The passed action type is invalid'],
-            text=action_command.output, strict=True
-        )