def test_publisher(self):
node = CppParser("test", ["setup.py"])
code = 'ros::Publisher pub = nh.advertise<std_msgs::String>("topic_name", 5);'
sub, brackets = node.extract_info(code, Publisher, node.publisher_regex)
self.assertEqual(sub.name, "topic_name")
self.assertEqual(sub.namespace, None)
self.assertEqual(sub.datatype, "std_msgs/String")
self.assertEqual(brackets, code)
code = 'ros::Publisher pub = nh.advertise<std_msgs::String>("topic_name", 5, true);'
sub, brackets = node.extract_info(code, Publisher, node.publisher_regex)
self.assertEqual(sub.name, "topic_name")
self.assertEqual(sub.namespace, None)
self.assertEqual(sub.datatype, "std_msgs/String")
self.assertEqual(brackets, code)
code = 'nh.advertise<foo_msgs::Bar>(topic_name, 1,'\
' SubscriberConnectCallback,'\
' SubscriberDisconnectCallback,'\
' VoidConstPtr(),'\
' false)'
sub, brackets = node.extract_info(code, Publisher, node.publisher_regex)
self.assertEqual(sub.name, "topic_name")
self.assertEqual(sub.namespace, None)
self.assertEqual(sub.datatype, "foo_msgs/Bar")
self.assertEqual(brackets, code)
def test_extract_params_false(self):
node = CppParser("test", ["setup.py"])
self.assertFalse(
node.extract_info(
' ros_control_action_service = m_nh.resolveName(ros_control_action_service);',
Parameter,
node.param_regex)[0])
def test_subscriber(self):
node = CppParser("test", ["setup.py"])
code = 'm_start_stop_sub=m_glob_node_handle.subscribe("start_stop", 1,'\
'&PathLoader::startStopCallback, this) '
sub, brackets = node.extract_info(code, Subscriber,
node.subscriber_regex)
self.assertEqual(sub.name, "start_stop")
self.assertEqual(brackets, code)
code = 'ros::Subscriber sub = nh.subscribe<std_msgs::String>("my_topic", 1, callback);'
sub, brackets = node.extract_info(code, Subscriber,
node.subscriber_regex)
self.assertEqual(sub.name, "my_topic")
self.assertEqual(sub.namespace, None)
self.assertEqual(sub.datatype, "std_msgs/String")
self.assertEqual(brackets, code)
code = """ros::Subscriber subscruber = nh.subscribe<std_msgs::String>("namespace/"
"topic_name",
1,
callback
)"""
sub, brackets = node.extract_info(code, Subscriber,
node.subscriber_regex)
self.assertEqual(sub.name, "topic_name")
self.assertEqual(sub.namespace, "namespace/")
self.assertEqual(sub.datatype, "std_msgs/String")
self.assertEqual(brackets, code)
def test_action_server(self):
node = CppParser("test", ["setup.py"])
code = 'm_action_server = '\
'new actionlib::SimpleActionServer<fzi_manipulation_msgs::PlayTrajectoryAction>'\
'("execute_trajectory", boost::bind(&PathLoader::executeCB, this), false);'
action, brackets = node.extract_info(code, Action, node.action_regex)
self.assertEqual(action.name, "execute_trajectory")
self.assertEqual(action.namespace, None)
self.assertEqual(action.datatype, "fzi_manipulation_msgs/PlayTrajectoryAction")
self.assertEqual(brackets, code)
def test_action_client(self):
node = CppParser("test", ["setup.py"])
code = 'm_ros_control_action_client = '\
'new actionlib::SimpleActionClient<control_msgs::FollowJointTrajectoryAction>'\
'("controller_topic", true);'
action, brackets = node.extract_info(code, ActionClient, node.action_client_regex)
self.assertEqual(action.name, "controller_topic")
self.assertEqual(action.namespace, None)
self.assertEqual(action.datatype, "control_msgs/FollowJointTrajectoryAction")
self.assertEqual(brackets, code)
def test_service(self):
node = CppParser("test", ["setup.py"])
code = 'ros::ServiceServer srv = nh.advertiseService<std_srvs::Empty::Request, '\
'std_srvs::Empty::Response>("my_service", Foo);'
service, brackets = node.extract_info(code, Service, node.service_regex)
self.assertEqual(service.name, "my_service")
self.assertEqual(service.namespace, None)
self.assertEqual(service.datatype, "std_srvs/Empty")
self.assertEqual(brackets, code)
code = 'ros::ServiceServer service = nh.advertiseService("my_service", '\
'&Foo::callback, &foo_object);'
service, brackets = node.extract_info(code, Service, node.service_regex)
self.assertEqual(service.name, "my_service")
self.assertEqual(brackets, code)
def test_service_clients(self):
node = CppParser("test", ["setup.py"])
code = 'm_accept_path_client = '\
'm_nh.serviceClient<follow_me_msgs::SetAdjustedPath>("/move_base/adjusted_plan");'
service, brackets = node.extract_info(code, ServiceClient, node.service_client_regex)
self.assertEqual(service.name, "adjusted_plan")
self.assertEqual(service.namespace, "/move_base/")
self.assertEqual(service.datatype, "follow_me_msgs/SetAdjustedPath")
self.assertEqual(brackets, code)
code = 'ros::service::call("my_service_name", std_srvs::Empty)'
service, brackets = node.extract_info(code, ServiceClient, node.service_client_regex_alt)
self.assertEqual(service.name, "my_service_name")
self.assertEqual(service.namespace, None)
self.assertEqual(service.datatype, "std_srvs/Empty")
self.assertEqual(brackets, code)
def __init__(self, pkg_path, output_filename):
self.pkg_path = os.path.abspath(pkg_path)
print(self.pkg_path)
# Get package information from package.xml
package_name = self.parse_package_xml("name")
description = self.parse_package_xml("description")
# Create package's DocObject
self.doc = Package(package_name, description=description)
# Find and parse launch files
self.launch_files = list()
self.find_launchfiles(self.pkg_path)
for file in self.launch_files:
launchparser = LaunchParser(file, self.pkg_path)
self.doc.add_launchfile(launchparser.launchfile)
# Find and parse c++ nodes
self._cmake_handler = CMakeParser(self.pkg_path)
for node in self._cmake_handler.executables:
cppparser = CppParser(node, self._cmake_handler.executables[node])
self.doc.add_node(cppparser.node)
# Find and parse python nodes
self.python_nodes = list()
self.find_python_nodes(self.pkg_path)
for node in self.python_nodes:
pyparser = PythonParser(node)
self.doc.add_node(pyparser.node)
# find existing documentation and merge it
existing_doc = self.find_existing_docu(self.pkg_path, output_filename)
if existing_doc:
self.doc.merge_with(existing_doc)
def test_parsing(self):
"""Tests whole parsing of a file"""
source_code = r'''// This is some initial comment
void chatterCallback(std_msgs::StringConstPtr& msg) {}
bool PathLoader::newTrajectory(fzi_manipulation_msgs::NewTrajectory::Request& req,
fzi_manipulation_msgs::NewTrajectory::Response& res) {}
ros::init();
// The publisher
chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
// The example subscriber. I know, the name's illegal
n.subscribe("chat;ter", 1000, chatterCallback);
ros::Subscriber sub2=n.subscribe<std_msgs::String> ("chatter",1, boost::bind(&stringcallback, _1, &test));
m_private_nh.advertiseService( "new_trajectory",
f_NewTrajectory(boost::bind(&PathLoader::newTrajectory, this, _1, _2)) );
'''
source_file = tempfile.NamedTemporaryFile()
source_file.write(source_code.encode(encoding="utf-8", errors="strict"))
source_file.seek(0)
print("Used source code:")
data = source_file.readlines()
for number, line in enumerate(data):
print("{}: {}".format(number + 1, line))
parser = CppParser("example_node", [source_file.name])
node = parser.node
self.assertEqual(node.name, "example_node")
self.assertEqual(len(node.children), 3)
self.assertEqual(node.children[ds.KEYS["publisher"]][0].name, "chatter")
self.assertEqual(node.children[ds.KEYS["publisher"]][0].namespace, None)
self.assertEqual(node.children[ds.KEYS["publisher"]][0].line_number, 8)
self.assertEqual(node.children[ds.KEYS["publisher"]][0].datatype, "std_msgs/String")
self.assertEqual(node.children[ds.KEYS["publisher"]][0].code,
data[7].decode("utf-8").lstrip(' ').strip("\n"))
self.assertEqual(node.children[ds.KEYS["subscriber"]][0].name, "chat;ter")
self.assertEqual(node.children[ds.KEYS["subscriber"]][0].namespace, None)
self.assertEqual(node.children[ds.KEYS["subscriber"]][0].line_number, 11)
self.assertEqual(node.children[ds.KEYS["subscriber"]][0].datatype, "std_msgs/String")
self.assertEqual(node.children[ds.KEYS["subscriber"]]
[0].code, data[10].decode("utf-8").strip("\n"))
self.assertEqual(node.children[ds.KEYS["subscriber"]]
[0].description, data[9].decode("utf-8").lstrip("// ").strip("\n"))
self.assertEqual(node.children[ds.KEYS["subscriber"]][1].name, "chatter")
self.assertEqual(node.children[ds.KEYS["subscriber"]][1].namespace, None)
self.assertEqual(node.children[ds.KEYS["subscriber"]][1].line_number, 13)
self.assertEqual(node.children[ds.KEYS["service"]][0].name, "new_trajectory")
self.assertEqual(node.children[ds.KEYS["service"]][0].line_number, 15)
self.assertEqual(node.children[ds.KEYS["service"]][0].namespace, None)
self.assertEqual(node.children[ds.KEYS["service"]][0].datatype,
"fzi_manipulation_msgs/NewTrajectory")
def test_comment(self):
"""Test extracting comments"""
self.assertEqual(cppparser.extract_comment(
"//This should be recognized as comment"), "This should be recognized as comment")
self.assertEqual(cppparser.extract_comment(
"// This should be recognized as comment"), "This should be recognized as comment")
source_code = r'''//This should
// be recognized
// as
//comment
node_object_here
'''
source_file = tempfile.NamedTemporaryFile()
source_file.write(source_code.encode(encoding="utf-8", errors="strict"))
source_file.seek(0)
parser = CppParser("comment", [source_file.name])
self.assertEqual(parser.search_for_comment(5),
"This should be recognized as comment")
def test_extract_params(self):
# Just add setup.py as file to parse as a file is needed to instance
# the parser but it is not really used here
node = CppParser("test", ["setup.py"])
code = 'ros::param::param<std::string>("param1", param1, "default_value1");'
param, brackets = node.extract_info(code, Parameter, node.param_regex)
self.assertEqual(param.name, "param1")
self.assertEqual(param.namespace, None)
self.assertEqual(param.default_value, "default_value1")
self.assertEqual(param.datatype, "std::string")
self.assertEqual(brackets, code)
code = 'ros::param::get("/param2", param2)'
param, brackets = node.extract_info(code, Parameter, node.param_regex)
self.assertEqual(param.name, "param2")
self.assertEqual(param.namespace, "/")
self.assertEqual(brackets, code)
code = 'nh.getParam("param3", param3)'
param, brackets = node.extract_info(code, Parameter, node.param_regex)
self.assertEqual(param.name, "param3")
self.assertEqual(param.namespace, None)
self.assertEqual(brackets, code)
self.assertEqual(param.default_value, None)
code = 'nh.param<std::string>("param4", param4, defaultGenerator());'
param, brackets = node.extract_info(code, Parameter, node.param_regex)
self.assertEqual(param.name, "param4")
self.assertEqual(param.namespace, None)
self.assertEqual(param.default_value, "defaultGenerator()")
self.assertEqual(param.datatype, "std::string")
self.assertEqual(brackets, code)
def test_action_client_false(self):
node = CppParser("test", ["setup.py"])
self.assertFalse(
node.extract_info(
' ros_control_action_service = m_nh.resolveName(ros_control_action_service);', ActionClient, node.action_client_regex)[0])
def test_subscriber_false(self):
node = CppParser("test", ["setup.py"])
self.assertFalse(
node.extract_info(
' ros_control_action_service = m_nh.resolveName(ros_control_action_service);', Subscriber, node.subscriber_regex)[0])
