def main(self, *, args): # noqa: D102
# the following is the resource index which is created when installing a pluginlib xml file
if args.plugin_type == 'storage':
pluginlib_resource_index = 'rosbag2_storage__pluginlib__plugin'
else:
pluginlib_resource_index = 'rosbag2_cpp__pluginlib__plugin'
resources = get_resources(pluginlib_resource_index)
if args.verbose:
print('available %s plugins are:' % args.plugin_type)
for resource in resources:
plugin_xml_file_paths, base_folder = get_resource(
pluginlib_resource_index, resource)
for file_path in list(
filter(None, plugin_xml_file_paths.split('\n'))):
abs_path = os.path.join(base_folder, file_path)
if not os.path.exists(abs_path):
return 'path does not exist: %s' % abs_path
xmldoc = minidom.parse(abs_path)
class_item = xmldoc.getElementsByTagName('class')[0]
class_name = class_item.attributes['name']
type_name = class_item.attributes['type']
base_class_name = class_item.attributes['base_class_type']
description = xmldoc.getElementsByTagName('description')[0]
print('%s%s' %
(('name: ' if args.verbose else ''), class_name.value))
if args.verbose:
print('\t%s' % description.childNodes[0].data)
print('\ttype: %s' % type_name.value)
print('\tbase_class: %s' % base_class_name.value)
def get_ros2_services():
pkgs = []
srvs = []
rules = []
resource_type = 'rosidl_interfaces'
resources = ament_index_python.get_resources(resource_type)
for package_name, prefix_path in resources.items():
pkgs.append(package_name)
resource, _ = ament_index_python.get_resource(resource_type,
package_name)
interfaces = resource.splitlines()
service_names = [i[:-4] for i in interfaces if i.endswith('.srv')]
for service_name in service_names:
srvs.append(Message(package_name, service_name, prefix_path))
# check package manifest for mapping rules
package_path = os.path.join(prefix_path, 'share', package_name)
pkg = parse_package(package_path)
for export in pkg.exports:
if export.tagname != 'ros1_bridge':
continue
if 'mapping_rules' not in export.attributes:
continue
rule_file = os.path.join(package_path,
export.attributes['mapping_rules'])
with open(rule_file, 'r') as h:
for data in yaml.load(h):
if all(n not in data for n in ('ros1_message_name',
'ros2_message_name')):
try:
rules.append(ServiceMappingRule(
data, package_name))
except Exception as e:
print('%s' % str(e), file=sys.stderr)
return pkgs, srvs, rules
def __init__(self, name, *, typesupport_implementations=None):
super().__init__(name)
if typesupport_implementations is None:
typesupport_implementations = ['rosidl_typesupport_c']
typesupport_implementations.extend(
get_resources('rosidl_typesupport_c'))
self.__typesupport_implementations = typesupport_implementations
def get_all_service_types():
all_service_types = {}
for package_name in get_resources('rosidl_interfaces'):
service_types = get_service_types(package_name)
if service_types:
all_service_types[package_name] = service_types
return all_service_types
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_all_message_types():
all_message_types = {}
for package_name in get_resources('rosidl_interfaces'):
message_types = get_message_types(package_name)
if message_types:
all_message_types[package_name] = message_types
return all_message_types
def get_ros2_services():
pkgs = []
srvs = []
rules = []
resource_type = 'rosidl_interfaces'
resources = ament_index_python.get_resources(resource_type)
for package_name, prefix_path in resources.items():
pkgs.append(package_name)
resource, _ = ament_index_python.get_resource(resource_type, package_name)
interfaces = resource.splitlines()
service_names = [i[:-4] for i in interfaces if i.endswith('.srv')]
for service_name in service_names:
srvs.append(Message(package_name, service_name, prefix_path))
# check package manifest for mapping rules
package_path = os.path.join(prefix_path, 'share', package_name)
pkg = parse_package(package_path)
for export in pkg.exports:
if export.tagname != 'ros1_bridge':
continue
if 'mapping_rules' not in export.attributes:
continue
rule_file = os.path.join(package_path, export.attributes['mapping_rules'])
with open(rule_file, 'r') as h:
for data in yaml.load(h):
if all(n not in data for n in ('ros1_message_name', 'ros2_message_name')):
try:
rules.append(ServiceMappingRule(data, package_name))
except Exception as e:
print('%s' % str(e), file=sys.stderr)
return pkgs, srvs, rules
def test_cli_extension_for_smoke(tmp_path, capsys):
# NOTE(hidmic): pytest and empy do not play along,
# the latter expects some proxy will stay in sys.stdout
# and the former insists in overwriting it
interface_files = [TEST_DIR + ':msg/Test.msg']
with capsys.disabled(): # so do everything in one run
# Passing target typesupport implementations explictly
ts = 'cpp[typesupport_implementations:{}]'.format(
list(get_resources('rosidl_typesupport_cpp'))
)
generate(
package_name='rosidl_typesupport_cpp',
interface_files=interface_files,
typesupports=[ts],
output_path=tmp_path / 'explicit_args'
)
# Using default typesupport implementations
generate(
package_name='rosidl_typesupport_cpp',
interface_files=interface_files,
typesupports=['cpp'],
output_path=tmp_path / 'defaults'
)
def generate(self, package_name, interface_files, include_paths,
output_path):
generated_files = []
package_share_path = \
get_package_share_directory('rosidl_typesupport_c')
templates_path = os.path.join(package_share_path, 'resource')
# Normalize interface definition format to .idl
idl_interface_files = []
non_idl_interface_files = []
for path in interface_files:
if not path.endswith('.idl'):
non_idl_interface_files.append(path)
else:
idl_interface_files.append(path)
if non_idl_interface_files:
idl_interface_files.extend(
translate(
package_name=package_name,
interface_files=non_idl_interface_files,
include_paths=include_paths,
output_format='idl',
output_path=output_path / 'tmp',
))
# Generate visibility control file
visibility_control_file_template_path = \
'rosidl_typesupport_c__visibility_control.h.in'
visibility_control_file_template_path = \
templates_path / visibility_control_file_template_path
visibility_control_file_path = \
'rosidl_typesupport_c__visibility_control.h'
visibility_control_file_path = \
output_path / 'msg' / visibility_control_file_path
generate_visibility_control_file(
package_name=package_name,
template_path=visibility_control_file_template_path,
output_path=visibility_control_file_path)
generated_files.append(visibility_control_file_path)
# Generate typesupport code
typesupport_implementations = list(
get_resources('rosidl_typesupport_c'))
with legacy_generator_arguments_file(
package_name=package_name,
interface_files=idl_interface_files,
include_paths=include_paths,
templates_path=templates_path,
output_path=output_path) as path_to_arguments_file:
generated_files.extend(
generate_c(path_to_arguments_file,
typesupport_implementations))
return generated_files
def get_all_rosidl_types():
"""
Retrieve a dictionary mapping packages to their provided rosidl interfaces.
:returns: a dictionary mapping packages to their types
"""
all_rosidl_types = {}
for package_name in get_resources('rosidl_interfaces').keys():
all_rosidl_types[package_name] = get_rosidl_types(package_name)
return all_rosidl_types
def reload_rmw_implementations():
"""(Re)Load the available rmw implementations by inspecting the ament index."""
global __rmw_implementations
__rmw_implementations = sorted(ament_index_python.get_resources('rmw_implementation').keys())
# Remove implementations that are being filtered for in the rclpy CMakeLists so
# that they cannot be selected
__rmw_implementations = [
rmw_impl for rmw_impl in __rmw_implementations
if rmw_impl not in ['rmw_connext_dynamic_cpp', 'rmw_fastrtps_cpp']]
return __rmw_implementations
def _get_interfaces(package_names: Iterable[str] = []) -> Dict[str, List[str]]:
interfaces = {}
if len(package_names) == 0:
package_names = get_resources('rosidl_interfaces')
for package_name in package_names:
if not has_resource('packages', package_name):
raise LookupError(f"Unknown package '{package_name}'")
try:
content, _ = get_resource('rosidl_interfaces', package_name)
except LookupError:
continue
interfaces[package_name] = content.splitlines()
return interfaces
def main(self, *, args): # noqa: D102
# the following is the resource index which is created when installing a pluginlib xml file
if args.plugin_type == 'storage':
pluginlib_resource_index = 'rosbag2_storage__pluginlib__plugin'
elif args.plugin_type == 'compressor' or args.plugin_type == 'decompressor':
pluginlib_resource_index = 'rosbag2_compression__pluginlib__plugin'
else:
pluginlib_resource_index = 'rosbag2_cpp__pluginlib__plugin'
resources = get_resources(pluginlib_resource_index)
if args.verbose:
print('available %s plugins are:' % args.plugin_type)
for resource in resources:
plugin_xml_file_paths, base_folder = get_resource(
pluginlib_resource_index, resource)
for file_path in list(
filter(None, plugin_xml_file_paths.split('\n'))):
abs_path = os.path.join(base_folder, file_path)
if not os.path.exists(abs_path):
return 'path does not exist: %s' % abs_path
xmldoc = minidom.parse(abs_path)
for class_item in xmldoc.getElementsByTagName('class'):
class_name = class_item.attributes['name']
type_name = class_item.attributes['type']
base_class_name = class_item.attributes['base_class_type']
description = class_item.getElementsByTagName(
'description')[0]
# Compression and decompression plugins share the same resource index
# so they must be filtered using their base class
if args.plugin_type == 'compressor' and \
base_class_name.value != \
'rosbag2_compression::BaseCompressorInterface':
continue
elif args.plugin_type == 'decompressor' and \
base_class_name.value != \
'rosbag2_compression::BaseDecompressorInterface':
continue
print(
'%s%s' %
(('name: ' if args.verbose else ''), class_name.value))
if args.verbose:
print('\t%s' % description.childNodes[0].data)
print('\ttype: %s' % type_name.value)
print('\tbase_class: %s' % base_class_name.value)
def get_ros2_messages():
pkgs = []
msgs = []
rules = []
# get messages from packages
resource_type = 'rosidl_interfaces'
resources = ament_index_python.get_resources(resource_type)
for package_name, prefix_path in resources.items():
pkgs.append(package_name)
resource, _ = ament_index_python.get_resource(resource_type,
package_name)
interfaces = resource.splitlines()
message_names = {
i[4:-4]
for i in interfaces
if i.startswith('msg/') and i[-4:] in ('.idl', '.msg')
}
for message_name in sorted(message_names):
msgs.append(Message(package_name, message_name, prefix_path))
# check package manifest for mapping rules
package_path = os.path.join(prefix_path, 'share', package_name)
pkg = parse_package(package_path)
for export in pkg.exports:
if export.tagname != 'ros1_bridge':
continue
if 'mapping_rules' not in export.attributes:
continue
rule_file = os.path.join(package_path,
export.attributes['mapping_rules'])
with open(rule_file, 'r') as h:
content = yaml.safe_load(h)
if not isinstance(content, list):
print(
"The content of the mapping rules in '%s' is not a list" %
rule_file,
file=sys.stderr)
continue
for data in content:
if all(n not in data
for n in ('ros1_service_name', 'ros2_service_name')):
try:
rules.append(MessageMappingRule(data, package_name))
except Exception as e: # noqa: B902
print('%s' % str(e), file=sys.stderr)
return pkgs, msgs, rules
def generate(
self,
package_name,
interface_files,
include_paths,
output_path
):
package_share_path = \
pathlib.Path(get_package_share_directory('rosidl_generator_py'))
templates_path = package_share_path / 'resource'
# Normalize interface definition format to .idl
idl_interface_files = []
non_idl_interface_files = []
for path in interface_files:
if not path.endswith('.idl'):
non_idl_interface_files.append(path)
else:
idl_interface_files.append(path)
if non_idl_interface_files:
idl_interface_files.extend(translate(
package_name=package_name,
interface_files=non_idl_interface_files,
include_paths=include_paths,
output_format='idl',
output_path=output_path / 'tmp',
))
# Generate code
typesupport_implementations = ['rosidl_typesupport_c']
typesupport_implementations.extend(
get_resources('rosidl_typesupport_c')
)
with legacy_generator_arguments_file(
package_name=package_name,
interface_files=idl_interface_files,
include_paths=include_paths,
templates_path=templates_path,
output_path=output_path
) as path_to_arguments_file:
return generate_py(
path_to_arguments_file,
typesupport_implementations)
def main():
parser = argparse.ArgumentParser(
"ros_tortoise",
description=
"Generates tortoise-orm mixins boilerplate from ros messages",
)
parser.add_argument(
"-o",
"--output",
required=True,
metavar="DIRECTORY",
help="output directory",
)
parser.add_argument(
"packages",
nargs="+",
help="packages to generate",
)
args = parser.parse_args()
packages = [
k for k in ament_index_python.get_resources("rosidl_interfaces")
if k in args.packages
]
os.makedirs(args.output, exist_ok=True)
sha1 = hashlib.sha1()
for pkg in packages:
pkg_spec = PackageSpec(pkg, parse_package(pkg))
mixins = gen_mixin(pkg_spec)
sha1.update(mixins.encode())
outfile = f"{args.output}/{pkg}_mixins.py"
with open(outfile, "w") as f:
f.write(mixins)
print(outfile)
rev = base64.b32encode(sha1.digest())
with open(f"{args.output}/rev", "bw") as f:
f.write(rev)
init_file = f"{args.output}/__init__.py"
with open(f"{args.output}/__init__.py", "w") as f:
f.write("")
print(init_file)
def get_ros2_messages():
msgs = []
pkgs = []
# get messages from packages
resource_type = 'rosidl_interfaces'
resources = ament_index_python.get_resources(resource_type)
for package_name, prefix_path in resources.items():
pkgs.append(package_name)
resource, _ = ament_index_python.get_resource(resource_type,
package_name)
interfaces = resource.splitlines()
message_names = {
i[4:-4]
for i in interfaces
if i.startswith('msg/') and i[-4:] in ('.idl', '.msg')
}
for message_name in sorted(message_names):
msgs.append(Message(package_name, message_name, prefix_path))
return pkgs, msgs
def get_ros2_messages():
pkgs = []
msgs = []
rules = []
# get messages from packages
resource_type = 'rosidl_interfaces'
resources = ament_index_python.get_resources(resource_type)
for package_name, prefix_path in resources.items():
pkgs.append(package_name)
resource, _ = ament_index_python.get_resource(resource_type, package_name)
interfaces = resource.splitlines()
message_names = {
i[4:-4]
for i in interfaces
if i.startswith('msg/') and i[-4:] in ('.idl', '.msg')}
for message_name in sorted(message_names):
msgs.append(Message(package_name, message_name, prefix_path))
# check package manifest for mapping rules
package_path = os.path.join(prefix_path, 'share', package_name)
pkg = parse_package(package_path)
for export in pkg.exports:
if export.tagname != 'ros1_bridge':
continue
if 'mapping_rules' not in export.attributes:
continue
rule_file = os.path.join(package_path, export.attributes['mapping_rules'])
with open(rule_file, 'r') as h:
content = yaml.safe_load(h)
if not isinstance(content, list):
print(
"The content of the mapping rules in '%s' is not a list" % rule_file,
file=sys.stderr)
continue
for data in content:
if all(n not in data for n in ('ros1_service_name', 'ros2_service_name')):
try:
rules.append(MessageMappingRule(data, package_name))
except Exception as e:
print('%s' % str(e), file=sys.stderr)
return pkgs, msgs, rules
def iterate_packages(subdir):
"""
Iterator for packages that contain the given subdir.
This method is generalizing rosmsg.iterate_packages.
@param subdir: eg. 'launch', 'msg', 'srv', 'action'
@type subdir: str
@raise ValueError:
"""
if subdir is None or subdir == '':
raise ValueError('Invalid package subdir = {}'.format(subdir))
packages_map = get_resources('packages')
for package_name, package_path in packages_map.items():
package_path = os.path.join(package_path, 'share', package_name,
subdir)
RqtRoscommUtil._logger.debug('package:\t{} dir:\t{}'.format(
package_name, package_path))
if os.path.isdir(package_path):
yield package_name, package_path
def get_ros2_messages():
msgs = []
rules = []
# get messages from packages
resource_type = 'rosidl_interfaces'
resources = ament_index_python.get_resources(resource_type)
for package_name, prefix_path in resources.items():
resource = ament_index_python.get_resource(resource_type, package_name)
interfaces = resource.splitlines()
message_names = [i[:-4] for i in interfaces if i.endswith('.msg')]
for message_name in message_names:
msgs.append(Message(package_name, message_name, prefix_path))
# check package manifest for mapping rules
package_path = os.path.join(prefix_path, 'share', package_name)
pkg = parse_package(package_path)
for export in pkg.exports:
if export.tagname != 'ros1_bridge':
continue
if 'mapping_rules' not in export.attributes:
continue
rule_file = os.path.join(package_path, export.attributes['mapping_rules'])
rules += read_mapping_rules(rule_file, package_name)
return msgs, rules
def get_ros2_messages():
msgs = []
rules = []
# get messages from packages
resource_type = 'rosidl_interfaces'
resources = ament_index_python.get_resources(resource_type)
for package_name, prefix_path in resources.items():
resource = ament_index_python.get_resource(resource_type, package_name)
interfaces = resource.splitlines()
message_names = [i[:-4] for i in interfaces if i.endswith('.msg')]
for message_name in message_names:
msgs.append(Message(package_name, message_name, prefix_path))
# check package manifest for mapping rules
package_path = os.path.join(prefix_path, 'share', package_name)
pkg = parse_package(package_path)
for export in pkg.exports:
if export.tagname != 'ros1_bridge':
continue
if 'mapping_rules' not in export.attributes:
continue
rule_file = os.path.join(package_path,
export.attributes['mapping_rules'])
rules += read_mapping_rules(rule_file, package_name)
return msgs, rules
def get_available_rmw_implementations():
"""
Return the set of all available RMW implementations as registered in the ament index.
The result can be overridden by setting an environment variable named
``RMW_IMPLEMENTATIONS``.
The variable can contain RMW implementation names separated by the platform
specific path separator.
Including an unavailable RMW implementation results in a RuntimeError.
"""
available_rmw_implementations = ament_index_python.get_resources(
'rmw_typesupport')
available_rmw_implementations = {
name
for name in available_rmw_implementations
if name != 'rmw_implementation'
}
# filter by implementations in environment variable if provided
rmw_implementations = os.environ.get('RMW_IMPLEMENTATIONS')
if rmw_implementations:
rmw_implementations = rmw_implementations.split(os.pathsep)
missing_rmw_implementations = set(rmw_implementations) - \
available_rmw_implementations
if missing_rmw_implementations:
raise RuntimeError(
f'The RMW implementations {missing_rmw_implementations} '
"specified in 'RMW_IMPLEMENTATIONS' are not available (" +
', '.join(sorted(available_rmw_implementations)) + ')')
available_rmw_implementations = {
name
for name in available_rmw_implementations
if name in rmw_implementations
}
return available_rmw_implementations
def test_resources_overlay():
set_ament_prefix_path(['prefix1', 'prefix2'])
resources = get_resources('resource_type2')
assert len(resources) == 2, 'Expected two resource'
assert set(resources.keys()) == {'foo',
'bar'}, 'Expected different resources'
def get_package_names_with_component_types():
"""Get the names of all packages that register component types in the ament index."""
return list(get_resources(COMPONENTS_RESOURCE_TYPE).keys())
def test_resources_overlay():
set_ament_prefix_path(['prefix1', 'prefix2'])
resources = get_resources('resource_type2')
assert len(resources) == 2, 'Expected two resource'
assert set(resources.keys()) == set(['foo', 'bar']), 'Expected different resources'
def reload_rmw_implementations():
"""(Re)Load the available rmw implementations by inspecting the ament index."""
global __rmw_implementations
__rmw_implementations = sorted(ament_index_python.get_resources(AMENT_INDEX_NAME).keys())
return __rmw_implementations
def test_resources_underlay():
set_ament_prefix_path(['prefix1', 'prefix2'])
resources = get_resources('resource_type3')
assert len(resources) == 1, 'Expected one resource'
assert set(resources.keys()) == set(['bar']), 'Expected different resources'
def get_package_names_with_component_types(self):
"""Get the names of all packages that register component types in the ament index."""
return list(get_resources(self.component_resource_type).keys())
def get_all_interface_packages():
return get_resources('rosidl_interfaces')
def generate_cpp(generator_arguments_file):
args = read_generator_arguments(generator_arguments_file)
template_dir = args['template_dir']
mapping_msgs = {
os.path.join(template_dir, 'msg__type_support.cpp.em'):
'%s__type_support.cpp',
}
mapping_srvs = {
os.path.join(template_dir, 'srv__type_support.cpp.em'):
'%s__type_support.cpp',
}
for template_file in mapping_msgs.keys():
assert os.path.exists(
template_file), 'Could not find template: ' + template_file
for template_file in mapping_srvs.keys():
assert os.path.exists(
template_file), 'Could not find template: ' + template_file
pkg_name = args['package_name']
known_msg_types = extract_message_types(
pkg_name, args['ros_interface_files'],
args.get('ros_interface_dependencies', []))
functions = {
'get_header_filename_from_msg_name':
convert_camel_case_to_lower_case_underscore,
}
latest_target_timestamp = get_newest_modification_time(
args['target_dependencies'])
type_supports = list(get_resources('rosidl_typesupport_cpp').keys())
for ros_interface_file in args['ros_interface_files']:
extension = os.path.splitext(ros_interface_file)[1]
subfolder = os.path.basename(os.path.dirname(ros_interface_file))
if extension == '.msg':
spec = parse_message_file(pkg_name, ros_interface_file)
validate_field_types(spec, known_msg_types)
for template_file, generated_filename in mapping_msgs.items():
generated_file = os.path.join(
args['output_dir'], subfolder, generated_filename %
convert_camel_case_to_lower_case_underscore(
spec.base_type.type))
data = {
'spec': spec,
'subfolder': subfolder,
'type_supports': type_supports
}
data.update(functions)
expand_template(template_file,
data,
generated_file,
minimum_timestamp=latest_target_timestamp)
elif extension == '.srv':
spec = parse_service_file(pkg_name, ros_interface_file)
validate_field_types(spec, known_msg_types)
for template_file, generated_filename in mapping_srvs.items():
generated_file = os.path.join(
args['output_dir'], subfolder, generated_filename %
convert_camel_case_to_lower_case_underscore(spec.srv_name))
data = {'spec': spec, 'type_supports': type_supports}
data.update(functions)
expand_template(template_file,
data,
generated_file,
minimum_timestamp=latest_target_timestamp)
return 0
def test_resources():
set_ament_prefix_path(['prefix1'])
resources = get_resources('resource_type1')
assert len(resources) == 2, 'Expected two resources'
assert set(resources.keys()) == set(['foo', 'bar']), 'Expected different resources'
def get_available_rmw_implementations():
"""Return the set of all available RMW implementations as registered in the ament index."""
rmw_implementations = ament_index_python.get_resources('rmw_typesupport')
return {name for name in rmw_implementations if name != 'rmw_implementation'}
def test_unknown_resources():
set_ament_prefix_path(['prefix1'])
resources = get_resources('unknown_resource_type')
assert len(resources) == 0, 'Expected no resources'
def get_interface_packages() -> List[str]:
"""Get all packages that generate interfaces."""
return get_resources('rosidl_interfaces')
def test_resources_underlay():
set_ament_prefix_path(['prefix1', 'prefix2'])
resources = get_resources('resource_type3')
assert len(resources) == 1, 'Expected one resource'
assert set(resources.keys()) == {'bar'}, 'Expected different resources'
def test_unknown_resources():
set_ament_prefix_path(['prefix1'])
resources = get_resources('unknown_resource_type')
assert len(resources) == 0, 'Expected no resources'
