(fix) Updates AllowedTopics config and its validator

ros_sugar/core/component.py

@@ -260,16 +260,16 @@ def _wrapper(*, output, **_):
         _wrapper.__name__ = func.__name__
         return _wrapper
 
-    def attach_custom_callback(self, input_topic: Topic, callable: Callable) -> None:
+    def attach_custom_callback(self, input_topic: Topic, func: Callable) -> None:
         """
         Method to attach custom method to subscriber callbacks
         """
-        if not callable(callable):
-            raise TypeError("A custom callback must be a Callable")
+        if not callable(func):
+            raise TypeError(f"A custom callback must be a Callable, got {type(func)}")
         if callback := self.callbacks.get(input_topic.name):
             if not callback:
                 raise TypeError("Specified input topic does not exist")
-            callback.on_callback_execute(callable)
+            callback.on_callback_execute(func)
 
     def add_callback_postprocessor(self, input_topic: Topic, func: Callable) -> None:
         """Adds a callable as a post processor for topic callback.
@@ -1455,6 +1455,8 @@ def _replace_input_topic(
         if idx:
             self.in_topics.pop(idx)
             self.in_topics.insert(idx, new_topic)
+            self.callbacks.pop(normalized_topic_name)
+            self.callbacks[new_name] = callback
         return None
 
     def _replace_output_topic(
@@ -1497,6 +1499,8 @@ def _replace_output_topic(
         if idx:
             self.out_topics.pop(idx)
             self.out_topics.insert(idx, new_topic)
+            self.publishers_dict.pop(normalized_topic_name)
+            self.publishers_dict[new_name] = publisher
         return None
 
     @log_srv

ros_sugar/core/event.py

@@ -87,7 +87,9 @@ def _get_attribute_type(obj: Any, attrs: tuple):
             result = getattr(result, attr)
         return type(result)
     except AttributeError as e:
-        raise AttributeError(f"Given attribute is not part of class {type(obj)}") from e
+        raise AttributeError(
+            f"Given nested attributes '{attrs}' are not part of class {type(obj)}"
+        ) from e
 
 
 def _check_attribute(cls, expected_type, attrs: tuple):
@@ -328,7 +330,6 @@ def __init__(
         nested_attributes: Union[str, List[str]],
         handle_once: bool = False,
         keep_event_delay: float = 0.0,
-        topic_template: Optional[Topic] = None,
     ) -> None:
         """Creates an event
 
@@ -358,10 +359,7 @@ def __init__(
 
         # Init from dictionary values
         elif isinstance(event_source, Dict):
-            if topic_template:
-                self.set_dictionary(event_source, topic_template)
-            else:
-                self.dictionary = event_source
+            self.dictionary = event_source
 
         elif isinstance(event_source, Topic):
             self.event_topic = event_source
@@ -382,10 +380,12 @@ def __init__(
 
         # Check if given trigger is of valid type
         if trigger_value and not _check_attribute(
-            self.event_topic.ros_msg_type, type(self.trigger_ref_value), self._attrs
+            self.event_topic.msg_type._ros_type,
+            type(self.trigger_ref_value),
+            self._attrs,
         ):
             raise TypeError(
-                f"Cannot initiate with trigger of type {type(trigger_value)} for a data of type {_get_attribute_type(self.event_topic.ros_msg_type, self._attrs)}"
+                f"Cannot initiate with trigger of type {type(trigger_value)} for a data of type {_get_attribute_type(self.event_topic.msg_type._ros_type, self._attrs)}"
             )
 
         # Init trigger as False

ros_sugar/events.py

@@ -9,7 +9,6 @@
 
 def json_to_events_list(
     json_obj: Union[str, bytes, bytearray],
-    topic_template: Optional[Topic] = None,
 ) -> List:
     """
     Loads a list of events from a JSON object
@@ -48,7 +47,6 @@ def json_to_events_list(
                     event_as_dict,
                     event_as_dict["trigger_ref_value"],
                     nested_attributes=[],
-                    topic_template=topic_template,
                 )
                 # Add to events dictionary
                 events_list.append(deepcopy(new_event))

ros_sugar/io/__init__.py

@@ -3,8 +3,7 @@
 from .publisher import Publisher
 from .topic import (
     Topic,
-    AllowedTopic,
-    RestrictedTopicsConfig,
+    AllowedTopics,
     get_all_msg_types,
     get_msg_type,
 )
@@ -14,8 +13,7 @@
 __all__ = [
     "Publisher",
     "Topic",
-    "AllowedTopic",
-    "RestrictedTopicsConfig",
+    "AllowedTopics",
     "get_all_msg_types",
     "get_msg_type",
 ]

ros_sugar/io/supported_types.py

@@ -47,6 +47,10 @@ def add_additional_datatypes(types: List[type]) -> None:
             # Update the existing class with non-None attributes from the new class
             existing_class = type_dict[new_type.__name__]
 
+            if existing_class == SupportedType:
+                # Skip parent
+                continue
+
             if not existing_class.callback:
                 existing_class.callback = new_type.callback
 
@@ -303,7 +307,7 @@ def convert(
 
         # Set MetaData
         msg.info = ROSMapMetaData()
-        msg.info.map_load_time = msg_header.stamp
+        msg.info.map_load_time = msg.header.stamp
         msg.info.width = output.shape[0]
         msg.info.height = output.shape[1]
         msg.info.resolution = resolution

ros_sugar/io/topic.py

@@ -158,14 +158,12 @@ def _msg_type_validator(self, _, val):
 
 
 @define(kw_only=True)
-class AllowedTopic(BaseAttrs):
-    """Configure a key name and allowed types to restrict a component Topic"""
+class AllowedTopics(BaseAttrs):
+    """Configure allowed types to restrict a component Topic"""
 
     types: List[Union[type[supported_types.SupportedType], str]] = field(
-        converter=_get_msg_types,
-        validator=base_validators.list_contained_in(get_all_msg_types()),
+        converter=_get_msg_types
     )
-    key: str = field(default="")
     number_required: int = field(
         default=1, validator=base_validators.in_range(min_value=0, max_value=100)
     )
@@ -174,67 +172,17 @@ class AllowedTopic(BaseAttrs):
         default=0, validator=base_validators.in_range(min_value=-1, max_value=100)
     )
 
+    @types.validator
+    def _types_validator(self, _, vals):
+        msg_types = get_all_msg_types()
+        if any(v not in msg_types for v in vals):
+            raise ValueError(
+                f"Got value of 'msg_type': {vals}, which is not in available datatypes. Topics can only be created with one of the following types: { {msg_t.__name__: msg_t for msg_t in msg_types} }"
+            )
+
     def __attrs_post_init__(self):
         """__attrs_post_init__."""
         if self.number_required == 0 and self.number_optional == 0:
             raise ValueError(
                 "Logical error - Cannot define an AllowedTopic with zero optional and required streams"
             )
-
-
-class RestrictedTopicsConfig:
-    """
-    Class used to define a restriction on component inputs/outputs topics
-    """
-
-    @classmethod
-    def keys(cls) -> List[str]:
-        """keys.
-
-        :rtype: List[str]
-        """
-        return [
-            member.key
-            for _, member in inspect.getmembers(
-                cls, lambda a: isinstance(a, AllowedTopic)
-            )
-        ]
-
-    @classmethod
-    def types(cls, key: str) -> List[Union[supported_types.SupportedType, str]]:
-        """types.
-
-        :param key:
-        :type key: str
-        :rtype: List[Union[supported_types.SupportedType, str]]
-        """
-        for _, member in inspect.getmembers(cls, lambda a: isinstance(a, AllowedTopic)):
-            if member.key == key:
-                return member.types
-        raise KeyError(f"Unknown Topic key '{key}'")
-
-    @classmethod
-    def required_number(cls, key: str) -> int:
-        """required_number.
-
-        :param key:
-        :type key: str
-        :rtype: int
-        """
-        for _, member in inspect.getmembers(cls, lambda a: isinstance(a, AllowedTopic)):
-            if member.key == key:
-                return member.number_required
-        raise KeyError(f"Unknown Topic key '{key}'")
-
-    @classmethod
-    def optional_number(cls, key: str) -> int:
-        """optional_number.
-
-        :param key:
-        :type key: str
-        :rtype: int
-        """
-        for _, member in inspect.getmembers(cls, lambda a: isinstance(a, AllowedTopic)):
-            if member.key == key:
-                return member.number_optional
-        raise KeyError(f"Unknown Topic key '{key}'")

ros_sugar/launch/launcher.py

@@ -206,7 +206,7 @@ def add_pkg(
                 self._pkg_log_level[component.node_name] = ros_log_level
             if self._config_file:
                 component._config_file = self._config_file
-                component.configure(self._config_file)
+                component.config_from_yaml(self._config_file)
 
     def _setup_component_events_handlers(self, comp: BaseComponent):
         """Parse a component events/actions from the overall components actions
@@ -705,12 +705,12 @@ def configure(
         if component_name:
             for component in self.components:
                 if component.node_name == component_name:
-                    component.configure(config_file)
+                    component.config_from_yaml(config_file)
             return
 
         # If no component is specified -> configure all components
         for component in self.components:
-            component.configure(config_file)
+            component.config_from_yaml(config_file)
 
     def add_py_executable(self, path_to_executable: str, name: str = "python3"):
         """