├── .gitignore ├── LICENSE ├── README.md ├── examples ├── html_example │ ├── camera.html │ ├── imu_node.html │ ├── index.html │ └── node1.html └── markdown_example │ ├── README.md │ ├── camera.md │ ├── imu_node.md │ └── node1.md ├── rosautodoc ├── __init__.py ├── docWriter.py ├── formatConverters.py └── masterProxy.py ├── scripts └── rosautodoc └── setup.py /.gitignore: -------------------------------------------------------------------------------- 1 | build 2 | 3 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | Apache License 2 | Version 2.0, January 2004 3 | http://www.apache.org/licenses/ 4 | 5 | TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 6 | 7 | 1. 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The text should be enclosed in the appropriate 184 | comment syntax for the file format. We also recommend that a 185 | file or class name and description of purpose be included on the 186 | same "printed page" as the copyright notice for easier 187 | identification within third-party archives. 188 | 189 | Copyright {yyyy} {name of copyright owner} 190 | 191 | Licensed under the Apache License, Version 2.0 (the "License"); 192 | you may not use this file except in compliance with the License. 193 | You may obtain a copy of the License at 194 | 195 | http://www.apache.org/licenses/LICENSE-2.0 196 | 197 | Unless required by applicable law or agreed to in writing, software 198 | distributed under the License is distributed on an "AS IS" BASIS, 199 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 200 | See the License for the specific language governing permissions and 201 | limitations under the License. 202 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # rosautodoc 2 | 3 | The rosautodoc project provides a python executable that can automatically 4 | generate documentation for ROS nodes that are running on the system. 5 | 6 | ## Why should I care? 7 | 8 | This tool makes it possible to quickly generate initial documentation of 9 | the interface for a specific ROS node (or several nodes) based on how it 10 | performs at runtime. This eliminates the need to search through your code 11 | to make sure you document all the ROS parameters being used, or all the 12 | topics that your node is subscribing to. This script manages all of that 13 | for you -- you just need to fill in the descriptions of the API. 14 | 15 | ## Installation 16 | 17 | Follow these instructions to download and install this project: 18 | 19 | git clone https://github.com/bponsler/rosautodoc 20 | cd rosautodoc 21 | sudo python setup.py install 22 | 23 | ## How does this work? 24 | 25 | The rosautodoc script creates a proxy server that stands between a ROS system and the 26 | ROS master to intercept all requests made by nodes. This allows the proxy server to 27 | keep track of all publishers, subscribers, parameters, and services used by each 28 | node and then use this information to create documentation for the node. 29 | 30 | ## Usage 31 | 32 | This section describes how to use this project to automatically generate documentation. 33 | 34 | $ rosautodoc --help 35 | usage: rosautodoc [-h] [--output-dir OUTPUT_DIR] [--proxy-port PROXY_PORT] 36 | [--doc-format DOC_FORMAT] 37 | [node [node ...]] 38 | 39 | Automatically document the API for a ROS node. 40 | 41 | positional arguments: 42 | node The name of the nodes to document. If empty, all nodes 43 | will be documented 44 | 45 | optional arguments: 46 | -h, --help show this help message and exit 47 | --output-dir OUTPUT_DIR 48 | The directory where documentation should be written 49 | --proxy-port PROXY_PORT 50 | The port to use for the ROS master proxy server 51 | --doc-format DOC_FORMAT 52 | The format of the documentation to generate (markdown, 53 | html) 54 | 55 | # Examples 56 | 57 | First, run the ROS master in one terminal (using the default master URI http://localhost:11311): 58 | 59 | roscore 60 | 61 | Next, run the auto doc script in another terminal: 62 | 63 | mkdir /tmp/my_documentation 64 | rosautodoc --proxy-port=33133 --output=/tmp/my_documentation 65 | 66 | Finally, run your node in another terminal, and be sure to connect it to the same port that the rosautodoc script is using: 67 | 68 | export ROS_MASTER_URI=http://localhost:33133 69 | rosrun my_package my_node 70 | 71 | Once your node has finished starting up, you can stop the rosautodoc process which will 72 | write one documentation file for every node on the system. The documentation will be 73 | located in the /tmp/my_documentation directory. 74 | 75 | Alternatively, you can document only a specific node: 76 | 77 | rosautodoc --proxy-port=33133 --output=/tmp/my_documentation /ns/my_node_name 78 | 79 | The following command can be used to generate HTML documentation: 80 | 81 | rosautodoc --proxy-port=33133 --doc-format=html --output=/tmp/my_documentation 82 | 83 | This will generate an HTML documentation page for every node in your system and 84 | also a main index.html page that links to all the node documentation pages. 85 | 86 | You can also generate documentation for only a specific set of nodes. 87 | 88 | rosautodoc --proxy-port=33133 node1 node2 node3 89 | 90 | This command will generated a markdown (the default documentation format) file 91 | for the three nodes provides: node1, node2, and node3. It will also generate 92 | a main README.md file that links to the individual node documentation pages. 93 | 94 | Note that since the --output-dir argument was not provided, the documentation 95 | will be generated in the current working directory by defualt. 96 | 97 | # Example documentation 98 | 99 | For example documentation view one of the following pages: 100 | 101 | - [Example Markdown documentation](examples/markdown_example/README.md) 102 | - [Example HTML documentation (raw)](examples/html_example/index.html) 103 | - [Example HTML documentation (rendered)](https://rawgit.com/bponsler/rosautodoc/master/examples/html_example/index.html) 104 | -------------------------------------------------------------------------------- /examples/html_example/camera.html: -------------------------------------------------------------------------------- 1 | 2 | 3 |

The /camera node

4 | 5 |

Parameters:

6 | 9 | 10 |

Services:

11 | 14 | 15 |

Subscribers:

16 | 17 |

Publishers:

18 | 22 | 23 | -------------------------------------------------------------------------------- /examples/html_example/imu_node.html: -------------------------------------------------------------------------------- 1 | 2 | 3 |

The /imu_node node

4 | 5 |

Parameters:

6 | 9 | 10 |

Services:

11 | 12 |

Subscribers:

13 | 14 |

Publishers:

15 | 18 | 19 | -------------------------------------------------------------------------------- /examples/html_example/index.html: -------------------------------------------------------------------------------- 1 | 2 | 3 |

ROS system documentation

4 |

Nodes

5 | 6 | 11 | 12 | -------------------------------------------------------------------------------- /examples/html_example/node1.html: -------------------------------------------------------------------------------- 1 | 2 | 3 |

The /node1 node

4 | 5 |

Parameters:

6 | 10 | 11 |

Services:

12 | 16 | 17 |

Subscribers:

18 | 21 | 22 |

Publishers:

23 | 28 | 29 | -------------------------------------------------------------------------------- /examples/markdown_example/README.md: -------------------------------------------------------------------------------- 1 | # ROS system documentation 2 | ## Nodes 3 | 4 | - [/node1](node1.md) 5 | - [/camera](camera.md) 6 | - [/imu_node](imu_node.md) 7 | -------------------------------------------------------------------------------- /examples/markdown_example/camera.md: -------------------------------------------------------------------------------- 1 | # The /camera node 2 | 3 | ## Parameters: 4 | - ~/device [TODO: type] -- TODO: description 5 | 6 | ## Services: 7 | - ~/calibrate [TODO: type] -- TODO: description 8 | 9 | ## Subscribers: 10 | 11 | ## Publishers: 12 | - ~/camera_info [sensor_msgs/CameraInfo] -- TODO: description 13 | - ~/image [sensor_msgs/Image] -- TODO: description 14 | -------------------------------------------------------------------------------- /examples/markdown_example/imu_node.md: -------------------------------------------------------------------------------- 1 | # The /imu_node node 2 | 3 | ## Parameters: 4 | - ~/imu_device [TODO: type] -- TODO: description 5 | 6 | ## Services: 7 | 8 | ## Subscribers: 9 | 10 | ## Publishers: 11 | - ~/imu_data [sensor_msgs/Imu] -- TODO: description 12 | -------------------------------------------------------------------------------- /examples/markdown_example/node1.md: -------------------------------------------------------------------------------- 1 | # The /node1 node 2 | 3 | ## Parameters: 4 | - /another_param [TODO: type] -- TODO: description 5 | - ~/my_config_param [TODO: type] -- TODO: description 6 | 7 | ## Services: 8 | - ~/trigger [TODO: type] -- TODO: description 9 | - ~/shutdown [TODO: type] -- TODO: description 10 | 11 | ## Subscribers: 12 | - ~/odom [nav_msgs/Odometry] -- TODO: description 13 | 14 | ## Publishers: 15 | - ~/counter [std_msgs/Int32] -- TODO: description 16 | - ~/running [std_msgs/Bool] -- TODO: description 17 | - /global_topic [std_msgs/Float32] -- TODO: description 18 | -------------------------------------------------------------------------------- /rosautodoc/__init__.py: -------------------------------------------------------------------------------- 1 | from formatConverters import * 2 | from docWriter import * 3 | from masterProxy import * 4 | -------------------------------------------------------------------------------- /rosautodoc/docWriter.py: -------------------------------------------------------------------------------- 1 | from os.path import join 2 | 3 | from formatConverters import FileExtension, MarkdownToHtml, MARKDOWN, HTML 4 | 5 | 6 | # String to tag things as needing work 7 | TODO_DESC = "TODO: description" 8 | 9 | 10 | class NodeInfo: 11 | """The NodeInfo class contains all the information pertaining to 12 | a single ROS Node. This keeps track of the published topics, 13 | subscribed topics, parameters, and services used or provided 14 | by this node. 15 | 16 | """ 17 | 18 | def __init__(self, nodeName): 19 | """Create a NodeInfo object. 20 | 21 | * nodeName -- the name of the node 22 | 23 | """ 24 | self.__nodeName = nodeName 25 | 26 | # Info about a node 27 | self.__params = [] 28 | self.__pubs = {} 29 | self.__subs = {} 30 | self.__services = {} 31 | 32 | def getCleanName(self): 33 | """Get a clean name for this node so that it can be used 34 | as a filename. 35 | 36 | """ 37 | # Create a node name that can be used as a filename 38 | cleanNodeName = self.__nodeName.replace("/", "_") 39 | if cleanNodeName.startswith("_"): 40 | cleanNodeName = cleanNodeName[1:] 41 | 42 | return cleanNodeName 43 | 44 | def addParam(self, param): 45 | """Add a parameter to this node. 46 | 47 | * param -- the parameter 48 | 49 | """ 50 | if param not in self.__params: 51 | self.__params.append(param) 52 | 53 | def addPub(self, topic, pubType): 54 | """Add a published topic to this node. 55 | 56 | * topic -- the published topic 57 | * pubType -- the type of data 58 | 59 | """ 60 | self.__pubs[topic] = pubType 61 | 62 | def addSub(self, topic, subType): 63 | """Add a subscribed topic to this node. 64 | 65 | * topic -- the subscription topic 66 | * pubType -- the type of data 67 | 68 | """ 69 | self.__subs[topic] = subType 70 | 71 | def addService(self, service, serviceType): 72 | """Add a service to this node. 73 | 74 | * service -- the service 75 | * serviceType -- the type of service 76 | 77 | """ 78 | self.__services[service] = serviceType 79 | 80 | def document(self, outputDir, docFormat=MARKDOWN): 81 | """Document the information pertaining to the nodes. 82 | 83 | * outputDir -- the directory where the documentation will be output 84 | * docFormat -- the desired format of the documentation 85 | 86 | """ 87 | lines = [ 88 | "# The %s node" % self.__nodeName, 89 | "", 90 | ] 91 | 92 | # Document parameters 93 | lines.extend([ 94 | "## Parameters:", 95 | ]) 96 | for name in sorted(self.__params): 97 | name = self.__removeNamespace(name) 98 | lines.append("- %s [TODO: type] -- %s" % (name, TODO_DESC)) 99 | 100 | # Document services 101 | lines.extend([ 102 | "", 103 | "## Services:", 104 | ]) 105 | sortedServices = sorted(self.__services.keys()) 106 | for name in sortedServices: 107 | serviceType = self.__services[name] 108 | name = self.__removeNamespace(name) 109 | lines.append("- %s [%s] -- %s" % (name, serviceType, TODO_DESC)) 110 | 111 | # Document subscriptions 112 | lines.extend([ 113 | "", 114 | "## Subscribers:", 115 | ]) 116 | sortedSubs = sorted(self.__subs.keys()) 117 | for name in sortedSubs: 118 | subType = self.__subs[name] 119 | name = self.__removeNamespace(name) 120 | lines.append("- %s [%s] -- %s" % (name, subType, TODO_DESC)) 121 | 122 | # Document publications 123 | lines.extend([ 124 | "", 125 | "## Publishers:", 126 | ]) 127 | sortedPubs = sorted(self.__pubs) 128 | for name in sortedPubs: 129 | pubType = self.__pubs[name] 130 | name = self.__removeNamespace(name) 131 | lines.append("- %s [%s] -- %s" % (name, pubType, TODO_DESC)) 132 | 133 | cleanNodeName = self.getCleanName() 134 | extension = FileExtension.get(docFormat) 135 | filename = join(outputDir, "%s.%s" % (cleanNodeName, extension)) 136 | 137 | # Convert the markdown format 138 | if docFormat == HTML: 139 | lines = MarkdownToHtml.convert(lines) 140 | 141 | # Write the data to the file 142 | fd = open(filename, "w") 143 | fd.write("%s\n" % "\n".join(lines)) 144 | fd.close() 145 | 146 | def __removeNamespace(self, namespace): 147 | """Update the given namespace to remove the private namespace 148 | for this node, if it exists. 149 | 150 | * namespace -- the namespace item (topic, parameter, etc) 151 | 152 | """ 153 | if namespace.startswith(self.__nodeName): 154 | namespace = namespace.replace(self.__nodeName, "~", 1) 155 | return namespace 156 | 157 | 158 | class RosDocWriter: 159 | """The RosDocWriter class manages data for a set of nodes 160 | and makes it possible to generate documentation for all of 161 | those nodes. 162 | 163 | """ 164 | 165 | def __init__(self, nodeNames): 166 | """Create a RosDocWriter object. 167 | 168 | * nodeNames -- the list of node names to monitor (all nodes 169 | will be monitored if the list is empty) 170 | 171 | """ 172 | self.__nodeNames = nodeNames 173 | 174 | self.__nodes = {} 175 | for nodeName in nodeNames: 176 | self.__nodes[nodeName] = NodeInfo(nodeName) 177 | 178 | def addParam(self, nodeName, param): 179 | """Add a parameter to a node. 180 | 181 | * nodeName -- the node 182 | * param -- the parameter 183 | 184 | """ 185 | if self.__hasNode(nodeName): 186 | self.__getNode(nodeName).addParam(param) 187 | 188 | def addPub(self, nodeName, topic, pubType): 189 | """Add a published topic to a node. 190 | 191 | * nodeName -- the node 192 | * topic -- the published topic 193 | * pubType -- the type of data 194 | 195 | """ 196 | if self.__hasNode(nodeName): 197 | self.__getNode(nodeName).addPub(topic, pubType) 198 | 199 | def addSub(self, nodeName, topic, subType): 200 | """Add a subscribed topic to a node. 201 | 202 | * nodeName -- the node 203 | * topic -- the subscribed topic 204 | * subType -- the type of data 205 | 206 | """ 207 | if self.__hasNode(nodeName): 208 | self.__getNode(nodeName).addSub(topic, subType) 209 | 210 | def addService(self, nodeName, service, serviceType): 211 | """Add a service to a node. 212 | 213 | * nodeName -- the node 214 | * service -- the service topic 215 | * serviceType -- the type of data 216 | 217 | """ 218 | if self.__hasNode(nodeName): 219 | self.__getNode(nodeName).addService(service, serviceType) 220 | 221 | def document(self, outputDir, docFormat=MARKDOWN): 222 | """Document the information pertaining to the nodes. 223 | 224 | * outputDir -- the directory where the documentation will be output 225 | * docFormat -- the desired format of the documentation 226 | 227 | """ 228 | for nodeName, node in self.__nodes.iteritems(): 229 | print " Documenting %s..." % nodeName 230 | node.document(outputDir, docFormat) 231 | 232 | # Write a manifest file to link to all other nodes, if there are 233 | # multiple nodes being documented 234 | if len(self.__nodes) > 0: 235 | print "Creating documentation manifest..." 236 | self.__writeManifest(outputDir, docFormat) 237 | 238 | def __writeManifest(self, outputDir, docFormat=MARKDOWN): 239 | """Write the documentation manifest file which links to the 240 | documentation for all nodes. 241 | 242 | * outputDir -- the directory where the documentation will be output 243 | * docFormat -- the desired format of the documentation 244 | 245 | """ 246 | extension = FileExtension.get(docFormat) 247 | filename = "index" if docFormat == HTML else "README" 248 | manifest = join(outputDir, "%s.%s" % (filename, extension)) 249 | 250 | lines = [ 251 | "# ROS system documentation" 252 | "", 253 | "## Nodes", 254 | "", 255 | ] 256 | 257 | # Add links to all nodes in alphabetical order 258 | sortedNodes = sorted(self.__nodes.keys()) 259 | for nodeName in sortedNodes: 260 | node = self.__nodes[nodeName] 261 | cleanNodeName = node.getCleanName() 262 | 263 | link = "- [%s](%s.md)" % (nodeName, cleanNodeName) 264 | if docFormat == HTML: 265 | link = '- %s' % (cleanNodeName, nodeName) 266 | 267 | lines.append(link) 268 | 269 | # Convert the markdown format 270 | if docFormat == HTML: 271 | lines = MarkdownToHtml.convert(lines) 272 | 273 | # Write the data to the manifest file 274 | fd = open(manifest, "w") 275 | fd.write("%s\n" % "\n".join(lines)) 276 | fd.close() 277 | 278 | def __hasNode(self, nodeName): 279 | """Determine if this node is being monitored. 280 | 281 | * nodeName -- the node 282 | 283 | """ 284 | return (len(self.__nodeNames) == 0 or nodeName in self.__nodes) 285 | 286 | def __getNode(self, nodeName): 287 | """Get the NodeInfo object. 288 | 289 | * nodeName -- the name of the node 290 | 291 | """ 292 | if nodeName not in self.__nodes: 293 | self.__nodes[nodeName] = NodeInfo(nodeName) 294 | return self.__nodes[nodeName] 295 | -------------------------------------------------------------------------------- /rosautodoc/formatConverters.py: -------------------------------------------------------------------------------- 1 | # Set of valid doc formats 2 | MARKDOWN = "markdown" 3 | HTML = "html" 4 | 5 | # List of supported documentation formats 6 | SUPPORTED_DOC_FORMATS = [ 7 | MARKDOWN, 8 | HTML, 9 | ] 10 | 11 | 12 | class FileExtension: 13 | """The FileExtension class makes it possible to get the file extension 14 | based on the format of the file. 15 | 16 | """ 17 | 18 | @classmethod 19 | def get(cls, docFormat): 20 | """Return the file extension string (e.g., "html") for the 21 | desired documentation format. 22 | 23 | * docFormat -- the documentation format identifier 24 | 25 | """ 26 | extensionMap = { 27 | MARKDOWN: "md", 28 | HTML: "html", 29 | } 30 | 31 | return extensionMap.get(docFormat) 32 | 33 | 34 | class MarkdownToHtml: 35 | """The MarkdownToHtml class deals with converting markdown content 36 | to HTML content. 37 | 38 | """ 39 | 40 | @classmethod 41 | def convert(cls, lines): 42 | """Conver the given markdown data (as a list of strings) into HTML 43 | content (also as a list of strings). 44 | 45 | * lines -- the input list of markdown lines 46 | 47 | """ 48 | htmlLines = [ 49 | "", 50 | "" 51 | "", 52 | ] 53 | 54 | writingList = False 55 | for line in lines: 56 | isList = False 57 | if line.startswith("## "): 58 | # Subsection 59 | data = line[3:] 60 | line = "

%s

" % data 61 | elif line.startswith("# "): 62 | # Section 63 | data = line[2:] 64 | line = "

%s

" % data 65 | elif line.startswith("- "): 66 | # List entry 67 | isList = True 68 | if not writingList: 69 | htmlLines.append("") 81 | writingList = False 82 | 83 | htmlLines.append(line) 84 | 85 | # Close the list if one was being created 86 | if writingList: 87 | htmlLines.append("") 88 | 89 | htmlLines.extend([ 90 | "", 91 | ]) 92 | 93 | return htmlLines 94 | -------------------------------------------------------------------------------- /rosautodoc/masterProxy.py: -------------------------------------------------------------------------------- 1 | import socket 2 | import argparse 3 | from os.path import exists, abspath, curdir 4 | 5 | import xmlrpclib 6 | from SimpleXMLRPCServer import SimpleXMLRPCServer 7 | 8 | from docWriter import RosDocWriter 9 | from formatConverters import MARKDOWN, SUPPORTED_DOC_FORMATS 10 | 11 | import rosgraph 12 | 13 | 14 | class RosMasterFunctions: 15 | """The RosMasterFunctions class provides a class that exports all 16 | of the XMLRPC functions provided by the ROS master. This class 17 | intercepts calls to some of those methods in order to keep track 18 | of the publishers, subscribers, services, and parameters used by 19 | nodes. This class then makes it possible to generate documentation 20 | for that information. 21 | 22 | """ 23 | RosMasterHost = "localhost" 24 | RosMasterPort = 11311 25 | 26 | # List of all methods supported by the ROS master 27 | RosMasterMethods = [ 28 | "getPid", 29 | "registerService", 30 | "unregisterService", 31 | "registerSubscriber", 32 | "unregisterSubscriber", 33 | "registerPublisher", 34 | "unregisterPublisher", 35 | "lookupNode", 36 | "getPublishedTopics", 37 | "getTopicTypes", 38 | "getSystemState", 39 | "getUri", 40 | "lookupService", 41 | "deleteParam", 42 | "setParam", 43 | "getParam", 44 | "searchParam", 45 | "subscribeParam", 46 | "unsubscribeParam", 47 | "hasParam", 48 | "getParamNames", 49 | ] 50 | 51 | # List of ROS parameters to ignore 52 | FilterParameters = [ 53 | "/tcp_keepalive", 54 | "/use_sim_time", 55 | ] 56 | 57 | # List of published ROS topics to ignore 58 | FilterPublishedTopic = [ 59 | "/rosout", 60 | ] 61 | 62 | # List of subscribed ROS topics to ignore 63 | FilterSubscribedTopics = [ 64 | ] 65 | 66 | # List of ROS services to ignore 67 | FilterServices = [ 68 | ] 69 | 70 | def __init__(self, nodeNames): 71 | """Create a RosMasterFunctions object. 72 | 73 | * nodeNames -- the list of node names to document 74 | 75 | """ 76 | masterUri = 'http://%s:%s' % (self.RosMasterHost, self.RosMasterPort) 77 | 78 | # Create an XMLRPC client to connect to the ROS master 79 | self.__client = xmlrpclib.ServerProxy(masterUri) 80 | 81 | # Register all ROS master methods with this class to allow custom 82 | # functionality to be executed prior to sending the data to the 83 | # ROS master 84 | for method in self.RosMasterMethods: 85 | wrapper = self.__getWrapper(method) 86 | setattr(self, method, wrapper) 87 | 88 | self.__nodeNames = nodeNames 89 | 90 | # Add a prefix slash if one is not given 91 | for i in range(len(self.__nodeNames)): 92 | if not nodeNames[i].startswith("/"): 93 | self.__nodeNames[i] = "/%s" % nodeNames[i] 94 | 95 | self.__docWriter = RosDocWriter(self.__nodeNames) 96 | 97 | def document(self, outputDir, docFormat=MARKDOWN): 98 | """Document the information pertaining to the nodes. 99 | 100 | * outputDir -- the directory where the documentation will be output 101 | * docFormat -- the desired format of the documentation 102 | 103 | """ 104 | self.__docWriter.document(outputDir, docFormat) 105 | 106 | def __getWrapper(self, method): 107 | """Return a XMLRPC wrapper function which can optionally intercept 108 | a call to the given ROS master XMLRPC method. 109 | 110 | * method -- is the desired ROS master XMLRPC function to call 111 | 112 | """ 113 | def wrap(*args): 114 | """Callback function for an XMLRPC function. 115 | 116 | * args -- the method input arguments 117 | 118 | """ 119 | # If this class has a method callback registered, then 120 | # make sure we call the callback. Otherwise, just pass 121 | # the call through to the true ROS master server 122 | try: 123 | callback = "_%s" % method 124 | if hasattr(self, callback): 125 | callbackFn = getattr(self, callback) 126 | callbackFn(*args) 127 | except Exception, e: 128 | import traceback 129 | traceback.print_exc() 130 | 131 | # Pass the call through to the ROS master 132 | masterFn = getattr(self.__client, method) 133 | return masterFn(*args) 134 | 135 | return wrap 136 | 137 | def _registerPublisher(self, callerId, topic, topicType, callerApi): 138 | """Intercept callback for the registerPublisher function. 139 | 140 | * callerId -- the caller id (calling node name) 141 | * topic -- the publisher topic 142 | * topicType -- the type of the publisher 143 | * callerApi -- the caller API string 144 | 145 | """ 146 | if topic not in self.FilterPublishedTopic: 147 | self.__docWriter.addPub(callerId, topic, topicType) 148 | 149 | def _registerSubscriber(self, callerId, topic, topicType, callerApi): 150 | """Intercept callback for the registerSubscriber function. 151 | 152 | * callerId -- the caller id (calling node name) 153 | * topic -- the subscriber topic 154 | * topicType -- the type of the subscriber 155 | * callerApi -- the caller API string 156 | 157 | """ 158 | if topic not in self.FilterSubscribedTopics: 159 | self.__docWriter.addSub(callerId, topic, topicType) 160 | 161 | def _registerService(self, callerId, service, serviceApi, callerApi): 162 | """Intercept callback for the registerService function. 163 | 164 | * callerId -- the caller id (calling node name) 165 | * service -- the service topic 166 | * serviceApi -- the service API string 167 | * callerApi -- the caller API string 168 | 169 | """ 170 | if service not in self.FilterServices: 171 | # The type of the service is not included in the XMLRPC call 172 | self.__docWriter.addService(callerId, service, "TODO: type") 173 | 174 | def _getParam(self, callerId, key): 175 | """Intercept callback for the getParam function. 176 | 177 | * callerId -- the caller id (calling node name) 178 | * key -- the parameter name 179 | 180 | """ 181 | if key not in self.FilterParameters: 182 | self.__docWriter.addParam(callerId, key) 183 | 184 | def _hasParam(self, callerId, key): 185 | """Intercept callback for the hasParam function. 186 | 187 | * callerId -- the caller id (calling node name) 188 | * key -- the parameter name 189 | 190 | """ 191 | if key not in self.FilterParameters: 192 | self.__docWriter.addParam(callerId, key) 193 | 194 | def _setParam(self, callerId, key, value): 195 | """Intercept callback for the setParam function. 196 | 197 | * callerId -- the caller id (calling node name) 198 | * key -- the parameter name 199 | * value -- the parameter value 200 | 201 | """ 202 | if key not in self.FilterParameters: 203 | self.__docWriter.addParam(callerId, key) 204 | 205 | 206 | class RosMasterProxy: 207 | """The RosMasterProxy class implements an XMLRPC proxy server to 208 | intercept calls to the ROS master. These calls are monitored and 209 | documentation can be generated containing that information. 210 | 211 | """ 212 | 213 | def __init__(self, 214 | nodeName, 215 | hostname="localhost", 216 | port=33133, 217 | verbose=False): 218 | """Create a RosMasterProxy object. 219 | 220 | * nodeName -- the name of the node to document 221 | * hostname -- the hostname for the proxy server 222 | * port -- the port for the proxy 223 | * verbose -- true for verbose mode 224 | 225 | """ 226 | # Create the XMLRPC server 227 | self.__server = SimpleXMLRPCServer( 228 | (hostname, port), 229 | logRequests=verbose) 230 | 231 | # Register XMLRCP introspection methods like: 232 | # system.listMethods, system.methodHelp and system.methodSignature 233 | # NOTE: These are not supported by the proper ROS master 234 | self.__server.register_introspection_functions() 235 | 236 | # Support multi-call methods which are used by roslaunch 237 | self.__server.register_multicall_functions() 238 | 239 | # Register the XMLRPC functions to support the ROS master API 240 | self.__masterFunctions = RosMasterFunctions(nodeName) 241 | self.__server.register_instance(self.__masterFunctions) 242 | 243 | def start(self): 244 | """Start the RosMasterProxy""" 245 | # Run the server's main loop 246 | self.__server.serve_forever() 247 | 248 | def document(self, outputDir, docFormat=MARKDOWN): 249 | """Document the information pertaining to the nodes. 250 | 251 | * outputDir -- the directory where the documentation will be output 252 | * docFormat -- the desired format of the documentation 253 | 254 | """ 255 | self.__masterFunctions.document(outputDir, docFormat) 256 | 257 | 258 | def main(): 259 | """The main function for the rosautodoc application.""" 260 | parser = argparse.ArgumentParser( 261 | description='Automatically document the API for a ROS node.') 262 | parser.add_argument( 263 | 'nodes', 264 | metavar="node", 265 | type=str, nargs='*', 266 | help='The name of the nodes to document. If empty, ' + 267 | 'all nodes will be documented') 268 | parser.add_argument( 269 | '--output-dir', 270 | type=str, 271 | default=abspath(curdir), 272 | help='The directory where documentation should be written') 273 | parser.add_argument( 274 | '--proxy-port', 275 | type=int, 276 | default=33133, 277 | help='The port to use for the ROS master proxy server') 278 | parser.add_argument( 279 | '--doc-format', 280 | type=str, 281 | default=MARKDOWN, 282 | help="The format of the documentation to generate " + 283 | "(%s)" % ", ".join(SUPPORTED_DOC_FORMATS)) 284 | 285 | args = parser.parse_args() 286 | 287 | # Grab command line arguments 288 | nodeNames = args.nodes 289 | outputDir = args.output_dir 290 | proxyPort = args.proxy_port 291 | docFormat = args.doc_format.lower() 292 | 293 | # Make sure the format is valid 294 | if docFormat not in SUPPORTED_DOC_FORMATS: 295 | print "ERROR: unknown doc-format argument: %s" % docFormat 296 | exit(2) 297 | 298 | # Ensure that the output directory exists 299 | if not exists(outputDir): 300 | print "ERROR: the output directory does not exist: %s" % outputDir 301 | exit(3) 302 | 303 | # Make sure the ROS master is running 304 | try: 305 | rosgraph.Master('/rostopic').getPid() 306 | except socket.error: 307 | print "ERROR: failed to communicate with the ROS master!" 308 | exit(4) 309 | 310 | # Create the ROS master proxy node 311 | masterProxy = RosMasterProxy(nodeNames, port=proxyPort) 312 | 313 | try: 314 | print "Starting server..." 315 | masterProxy.start() 316 | except (KeyboardInterrupt, SystemExit): 317 | pass 318 | 319 | # Document the information about the node 320 | print "Documenting..." 321 | masterProxy.document(outputDir, docFormat=docFormat) 322 | -------------------------------------------------------------------------------- /scripts/rosautodoc: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | from rosautodoc import main 3 | 4 | 5 | if __name__ == '__main__': 6 | main() 7 | -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | from distutils.core import setup 3 | 4 | 5 | setup( 6 | name='rosautodoc', 7 | version='1.0', 8 | description='Automatically generate documentation for ROS nodes', 9 | author='Brett Ponsler', 10 | author_email='ponsler@gmail.com', 11 | url='https://github.com/bponsler/rosautodoc', 12 | packages=['rosautodoc'], 13 | scripts=['scripts/rosautodoc'] 14 | ) 15 | --------------------------------------------------------------------------------