<?cs def:copy(from,from_str) ?> <?cs if:(from && !node.0)?> <?cs set:node.0[ <?cs /if?> <?cs if:(node[
from_str] = from?>
<?cs set:node.0[from_str] = node[from_str]?>
<?cs /if?> <?cs /def?>
<?cs def:copy_list(from,from_str) ?>
<?cs if:(from.no_header && !node.0)?>
<?cs set:node.0[
<?cs /if?> <?cs if:(node[from_str].no_header && !node.0)?>
<?cs set:node.0[from_str].no_header = node[from_str].no_header?>
<?cs /if?> <?cs each:_e=from?> <?cs each:_sube=_e?> <?cs set:node.0[
from_str][name(_e)][name(_sube)] = _sube?>
<?cs /each?>
<?cs /each?> <?cs each:_g=from.group?> <?cs each:_subg=_g?> <?cs set:node.0[
from_str].group[name(_g)][name(_subg)] = _subg?> <?cs each:_subge=_subg?>
<?cs set:node.0[from_str].group[name(_g)][name(_subg)][name(_subge)] = _subge?>
<?cs /each?>
<?cs /each?>
<?cs /each?> <?cs each:_e=node[from_str]?>
<?cs each:_sube=_e?>
<?cs set:node.0[from_str][name(_e)][name(_sube)] = _sube?>
<?cs /each?>
<?cs /each?> <?cs each:_g=node[from_str].group?>
<?cs each:_subg=_g?>
<?cs set:node.0[from_str].group[name(_g)][name(_subg)] = _subg?> <?cs each:_subge=_subg?>
<?cs set:node.0[
<?cs /each?>
<?cs /each?>
<?cs /each?>
<?cs /def?>
<?cs call:copy(name,"name")?> <?cs call:copy(desc,"desc")?> <?cs call:copy_list(pub,"pub")?> <?cs call:copy_list(sub,"sub")?> <?cs call:copy_list(srv,"srv")?> <?cs call:copy_list(srv_called,"srv_called")?> <?cs call:copy_list(param,"param")?> <?cs call:copy_list(param_set,"param_set")?> <?cs call:copy_list(req_tf,"req_tf")?> <?cs call:copy_list(prov_tf,"prov_tf")?>
<?cs each:_n=node?>
<?cs each:_l=_n?>
<?cs each:_e=_l?>
<?cs if:(name(_e) != 'group')?>
<?cs each:_sube=_e?>
<?cs set:_l.group.0[name(_e)][name(_sube)] = _sube?>
<?cs /each?>
<?cs /if?>
<?cs /each?>
<?cs /each?>
<?cs /each?>
<?cs def:topic_list(name,var)?> <?cs if:(subcount(var))?> <?cs if:!var.no_header?>
<?cs var:__name?>
<?cs /if?> <?cs each:_group=var.group?> <?cs if:_group.name?>
<?cs var:_group.desc ?> <?cs /if?> <?cs each:_elem=_group?> <?cs if:(name(_elem) != 'name' && name(_elem) != 'desc')?> <?cs var:_elem.name ?> (<?cs var:_elem.type ?>) <?cs var:_elem.desc ?> <?cs /if?> <?cs /each ?> <?cs /each ?> <?cs /if?> <?cs /def?> <?cs def:service_list( <?cs /if?> <?cs each:_group=<?cs var:_group.name ?>
<?cs var:__name?>
<?cs var:_group.name ?>
<?cs var:_group.desc ?>
<?cs /if?> <?cs each:_elem=_group?> <?cs if:(name(_elem) != 'name' && name(_elem) != 'desc')?> <?cs var:_elem.name ?> (<?cs var:_elem.type ?>)
<?cs var:_elem.desc ?>
<?cs /if?> <?cs /each ?> <?cs /each ?> <?cs /if?> <?cs /def?>
<?cs def:param_list(name,var)?> <?cs if:(subcount(var))?> <?cs if:!var.no_header?>
<?cs var:__name?>
<?cs /if?> <?cs each:_group=var.group?> <?cs if:_group.name?>
<?cs var:_group.desc ?> <?cs /if?> <?cs each:_elem=_group?> <?cs if:(name(_elem) != 'name' && name(_elem) != 'desc')?> <?cs var:_elem.name ?> (<?cs var:_elem.type ?>, default: <?cs var:_elem.default ?>) <?cs var:_elem.desc ?> <?cs /if?> <?cs /each ?> <?cs /each ?> <?cs /if?> <?cs /def?> <?cs def:tf_list( <?cs /if?> <?cs each:_group=<?cs var:_group.name ?>
<?cs var:__name?>
<?cs var:_group.name ?>
<?cs var:_group.desc ?>
<?cs /if?> <?cs each:_elem=_group?> <?cs if:(name(_elem) != 'name' && name(_elem) != 'desc')?> <?cs var:_elem.from ?> → <?cs var:_elem.to ?>
<?cs var:_elem.desc ?>
<?cs /if?> <?cs /each ?> <?cs /each ?> <?cs /if?> <?cs /def?>
<?cs each:_l=?>
<?cs /each?> <?cs each:_l=node?> <?cs set:tmp = name(_l)?> <?cs if:(tmp != '0' && #tmp == 0 && tmp != 'name' && tmp != 'desc' && tmp != 'pub' && tmp != 'sub' && tmp != 'srv' && tmp != 'srv_called' && tmp != 'param' && tmp != 'param_set' && tmp != 'req_tf' && tmp != 'prov_tf')?> Unexpected component <?cs var:tmp?> found in node: <?cs var:node.name?> <?cs /if?> <?cs /each?> <?cs each:_node=node ?> <?cs set:tmp = name(_node)?> <?cs if:(tmp == '0' || #tmp)?> <?cs if:_node.name?>
<?cs var:_node.desc ?> <?cs /if?> <?cs each:_l=_node?> <?cs if:(name(_l) != 'name' && name(_l) != 'desc' && name(_l) != 'pub' && name(_l) != 'sub' && name(_l) != 'srv' && name(_l) != 'srv_called' && name(_l) != 'param' && name(_l) != 'param_set' && name(_l) != 'req_tf' && name(_l) != 'prov_tf')?> Unexpected component <?cs var:name(_l)?> found in node: <?cs var:_node.name?> <?cs /if?> <?cs /each?> <?cs call:topic_list("Subscribed Topics", _node.sub)?> <?cs call:topic_list("Published Topics", _node.pub)?> <?cs call:service_list("Services", _node.srv)?> <?cs call:service_list("Services Called", _node.srv_called)?> <?cs call:param_list("Parameters", _node.param)?> <?cs call:param_list("Parameters Set", _node.param_set)?> <?cs call:tf_list("Required tf Transforms", _node.req_tf)?> <?cs call:tf_list("Provided tf Transforms", _node.prov_tf)?> <?cs /if?> <?cs /each ?> Iterated
<?cs var:_node.name ?>
