def generate_msg_text_from_spec(package, interface_name, indent=0):
"""
Generate a dictionary with the compact message.
Compact message contains:
- Constants
- messge fields. If the message contains other composed interfaces
a link will be added to this interfaces.
:param package: name of the package
:type package: str:
:param interface_name: name of the message
:type interface_name: str
:param indent: number of indentations to add to the generated text (default = 0)
:type indent: int, optional
:returns: dictionary with the compact definition (constanst and message with links)
:rtype: dict
"""
interface_location = IdlLocator(
pathlib.Path(get_package_share_directory(package)),
pathlib.Path('action') / (interface_name + '.idl'))
message = parse_idl_file(interface_location).content.get_elements_of_type(
Action)
compact_srv = {}
for attribute in ['goal', 'result', 'feedback']:
definition = utils.generate_compact_definition(
getattr(message[0], attribute), indent)
utils.copy_dict_with_suffix(compact_srv, definition, attribute)
return compact_srv
def generate_msg_text_from_spec(package, interface_name, indent=0):
"""
Generate a dictionary with the compact message.
Compact message contains:
- Constants
- messge fields. If the message contains other composed interfaces
a link will be added to this interfaces.
:param package: name of the package
:type package: str:
:param interface_name: name of the message
:type interface_name: str
:param indent: number of indentations to add to the generated text (default = 0)
:type indent: int, optional
:returns: dictionary with the compact definition (constanst and message with links)
:rtype: dict
"""
interface_location = IdlLocator(
pathlib.Path(get_package_share_directory(package)),
pathlib.Path('srv') / (interface_name + '.idl'))
message = parse_idl_file(interface_location).content.get_elements_of_type(
Service)
compact_srv = {}
compact_request = utils.generate_compact_definition(
message[0].request_message, indent)
utils.copy_dict_with_suffix(compact_srv, compact_request, 'request')
compact_response = utils.generate_compact_definition(
message[0].response_message, indent)
utils.copy_dict_with_suffix(compact_srv, compact_response, 'response')
return compact_srv
def generate_files(generator_arguments_file,
mapping,
additional_context=None,
keep_case=False,
post_process_callback=None):
args = read_generator_arguments(generator_arguments_file)
template_basepath = pathlib.Path(args['template_dir'])
for template_filename in mapping.keys():
assert (template_basepath / template_filename).exists(), \
'Could not find template: ' + template_filename
latest_target_timestamp = get_newest_modification_time(
args['target_dependencies'])
generated_files = []
for idl_tuple in args.get('idl_tuples', []):
idl_parts = idl_tuple.rsplit(':', 1)
assert len(idl_parts) == 2
locator = IdlLocator(*idl_parts)
idl_rel_path = pathlib.Path(idl_parts[1])
idl_stem = idl_rel_path.stem
if not keep_case:
idl_stem = convert_camel_case_to_lower_case_underscore(idl_stem)
try:
idl_file = parse_idl_file(locator)
for template_file, generated_filename in mapping.items():
generated_file = os.path.join(args['output_dir'],
str(idl_rel_path.parent),
generated_filename % idl_stem)
generated_files.append(generated_file)
data = {
'package_name': args['package_name'],
'interface_path': idl_rel_path,
'content': idl_file.content,
}
if additional_context is not None:
data.update(additional_context)
expand_template(os.path.basename(template_file),
data,
generated_file,
minimum_timestamp=latest_target_timestamp,
template_basepath=template_basepath,
post_process_callback=post_process_callback)
except Exception as e:
print('Error processing idl file: ' +
str(locator.get_absolute_path()),
file=sys.stderr)
raise (e)
return generated_files
def generate_files(generator_arguments_file, mapping, additional_context=None, keep_case=False):
args = read_generator_arguments(generator_arguments_file)
template_basepath = pathlib.Path(args['template_dir'])
for template_filename in mapping.keys():
assert (template_basepath / template_filename).exists(), \
'Could not find template: ' + template_filename
latest_target_timestamp = get_newest_modification_time(args['target_dependencies'])
for idl_tuple in args.get('idl_tuples', []):
idl_parts = idl_tuple.rsplit(':', 1)
assert len(idl_parts) == 2
locator = IdlLocator(*idl_parts)
idl_rel_path = pathlib.Path(idl_parts[1])
idl_stem = idl_rel_path.stem
if not keep_case:
idl_stem = convert_camel_case_to_lower_case_underscore(idl_stem)
try:
idl_file = parse_idl_file(locator)
for template_file, generated_filename in mapping.items():
generated_file = os.path.join(
args['output_dir'], str(idl_rel_path.parent),
generated_filename % idl_stem)
data = {
'package_name': args['package_name'],
'interface_path': idl_rel_path,
'content': idl_file.content,
}
if additional_context is not None:
data.update(additional_context)
expand_template(
os.path.basename(template_file), data,
generated_file, minimum_timestamp=latest_target_timestamp,
template_basepath=template_basepath)
except Exception as e:
print(
'Error processing idl file: ' +
str(locator.get_absolute_path()), file=sys.stderr)
raise(e)
return 0
def generate(generator_arguments_file: str) -> List[str]:
mapping = {
"_idl.pyi.em": "_%s.pyi",
}
generated_files: List[str] = generate_files(generator_arguments_file,
mapping)
args = read_generator_arguments(generator_arguments_file)
package_name = args["package_name"]
# For __init__.pyi, it is required to output the exact same contents as
# rosidl_python does.
modules: Dict[str, Set[str]] = {}
idl_content = IdlContent()
for idl_tuple in args.get("idl_tuples", []):
idl_parts = idl_tuple.rsplit(":", 1)
assert len(idl_parts) == 2
idl_rel_path = pathlib.Path(idl_parts[1])
idl_stems = modules.setdefault(str(idl_rel_path.parent), set())
idl_stems.add(idl_rel_path.stem)
locator = IdlLocator(*idl_parts)
idl_file = parse_idl_file(locator)
idl_content.elements += idl_file.content.elements
for subfolder in modules.keys():
with open(os.path.join(args["output_dir"], subfolder, "__init__.pyi"),
"w") as f:
for idl_stem in sorted(modules[subfolder]):
module_name = "_{}".format(
convert_camel_case_to_lower_case_underscore(idl_stem))
f.write(
f"from {package_name}.{subfolder}.{module_name} import "
f"{idl_stem} as {idl_stem} # noqa: F401\n")
return generated_files
def generate_rs(generator_arguments_file, typesupport_impls):
args = read_generator_arguments(generator_arguments_file)
package_name = args['package_name']
# expand init modules for each directory
modules = {}
idl_content = IdlContent()
for idl_tuple in args.get('idl_tuples', []):
idl_parts = idl_tuple.rsplit(':', 1)
assert len(idl_parts) == 2
idl_rel_path = pathlib.Path(idl_parts[1])
idl_stems = modules.setdefault(str(idl_rel_path.parent), set())
idl_stems.add(idl_rel_path.stem)
locator = IdlLocator(*idl_parts)
idl_file = parse_idl_file(locator)
idl_content.elements += idl_file.content.elements
typesupport_impls = typesupport_impls.split(';')
template_dir = args['template_dir']
type_support_impl_by_filename = {
'%s_rs.ep.{0}.c'.format(impl): impl
for impl in typesupport_impls
}
mapping_msgs = {
os.path.join(template_dir, 'msg.rs.em'): ['rust/src/%s.rs'],
os.path.join(template_dir, 'msg.c.em'): type_support_impl_by_filename.keys(),
}
mapping_srvs = {
os.path.join(template_dir, 'srv.rs.em'): ['rust/src/%s.rs'],
os.path.join(template_dir, 'srv.c.em'): type_support_impl_by_filename.keys(),
}
# Ensure the required templates exist
for template_file in mapping_msgs.keys():
assert os.path.exists(template_file), \
'Messages template file %s not found' % template_file
for template_file in mapping_srvs.keys():
assert os.path.exists(template_file), \
'Services template file %s not found' % template_file
data = {
'get_c_type': get_c_type,
'get_rs_type': get_rs_type,
'constant_value_to_rs': constant_value_to_rs,
'value_to_rs': value_to_rs,
'convert_camel_case_to_lower_case_underscore':
convert_camel_case_to_lower_case_underscore,
'convert_lower_case_underscore_to_camel_case':
convert_lower_case_underscore_to_camel_case,
'get_builtin_rs_type': get_builtin_rs_type,
'msg_specs': [],
'srv_specs': [],
'package_name': args['package_name'],
'typesupport_impls': typesupport_impls,
}
latest_target_timestamp = get_newest_modification_time(
args['target_dependencies'])
for message in idl_content.get_elements_of_type(Message):
data['msg_specs'].append(('msg', message))
for service in idl_content.get_elements_of_type(Service):
data['srv_specs'].append(('srv', service))
if data['msg_specs']:
for template_file, generated_filenames in mapping_msgs.items():
for generated_filename in generated_filenames:
generated_file = os.path.join(args['output_dir'],
generated_filename % 'msg')
expand_template(
os.path.join(template_dir, template_file),
data.copy(),
generated_file,
minimum_timestamp=latest_target_timestamp)
if data['srv_specs']:
for template_file, generated_filenames in mapping_srvs.items():
for generated_filename in generated_filenames:
generated_file = os.path.join(args['output_dir'],
generated_filename % 'srv')
expand_template(
os.path.join(template_dir, template_file),
data.copy(),
generated_file,
minimum_timestamp=latest_target_timestamp)
expand_template(
os.path.join(template_dir, 'lib.rs.em'),
data.copy(),
os.path.join(args['output_dir'], 'rust/src/lib.rs'),
minimum_timestamp=latest_target_timestamp)
return 0
def generate_py(generator_arguments_file, typesupport_impls):
mapping = {
'_idl.py.em': '_%s.py',
'_idl_support.c.em': '_%s_s.c',
}
generate_files(generator_arguments_file, mapping)
args = read_generator_arguments(generator_arguments_file)
package_name = args['package_name']
# expand init modules for each directory
modules = {}
idl_content = IdlContent()
for idl_tuple in args.get('idl_tuples', []):
idl_parts = idl_tuple.rsplit(':', 1)
assert len(idl_parts) == 2
idl_rel_path = pathlib.Path(idl_parts[1])
idl_stems = modules.setdefault(str(idl_rel_path.parent), set())
idl_stems.add(idl_rel_path.stem)
locator = IdlLocator(*idl_parts)
idl_file = parse_idl_file(locator)
idl_content.elements += idl_file.content.elements
# NOTE(sam): remove when a language specific name mangling is implemented
def print_warning_if_reserved_keyword(member_name, interface_type,
interface_name):
if (keyword.iskeyword(member.name)):
print("Member name '{}' in the {} '{}' is a "
'reserved keyword in Python and is not supported '
'at the moment. Please use a different name.'.format(
member_name, interface_type, interface_name),
file=sys.stderr)
for message in idl_content.get_elements_of_type(Message):
for member in message.structure.members:
print_warning_if_reserved_keyword(
member.name, 'message', message.structure.namespaced_type.name)
for service in idl_content.get_elements_of_type(Service):
for member in service.request_message.structure.members:
print_warning_if_reserved_keyword(member.name, 'service request',
service.namespaced_type.name)
for member in service.response_message.structure.members:
print_warning_if_reserved_keyword(member.name, 'service response',
service.namespaced_type.name)
for action in idl_content.get_elements_of_type(Action):
for member in action.goal.structure.members:
print_warning_if_reserved_keyword(member.name, 'action goal',
action.namespaced_type.name)
for member in action.feedback.structure.members:
print_warning_if_reserved_keyword(member.name, 'action feedback',
action.namespaced_type.name)
for member in action.result.structure.members:
print_warning_if_reserved_keyword(member.name, 'action result',
action.namespaced_type.name)
for subfolder in modules.keys():
with open(os.path.join(args['output_dir'], subfolder, '__init__.py'),
'w') as f:
for idl_stem in sorted(modules[subfolder]):
module_name = '_' + \
convert_camel_case_to_lower_case_underscore(idl_stem)
f.write(
f'from {package_name}.{subfolder}.{module_name} import '
f'{idl_stem} # noqa: F401\n')
# expand templates per available typesupport implementation
template_dir = args['template_dir']
type_support_impl_by_filename = {
'_%s_s.ep.{0}.c'.format(impl): impl
for impl in typesupport_impls
}
mapping_msg_pkg_extension = {
os.path.join(template_dir, '_idl_pkg_typesupport_entry_point.c.em'):
type_support_impl_by_filename.keys(),
}
for template_file in mapping_msg_pkg_extension.keys():
assert os.path.exists(
template_file), 'Could not find template: ' + template_file
latest_target_timestamp = get_newest_modification_time(
args['target_dependencies'])
for template_file, generated_filenames in mapping_msg_pkg_extension.items(
):
for generated_filename in generated_filenames:
package_name = args['package_name']
data = {
'package_name':
args['package_name'],
'content':
idl_content,
'typesupport_impl':
type_support_impl_by_filename.get(generated_filename, ''),
}
generated_file = os.path.join(args['output_dir'],
generated_filename % package_name)
expand_template(template_file,
data,
generated_file,
minimum_timestamp=latest_target_timestamp)
return 0
def message_idl_file():
return parse_idl_file(MESSAGE_IDL_LOCATOR)
def action_idl_file():
return parse_idl_file(ACTION_IDL_LOCATOR)
def service_idl_file():
return parse_idl_file(SERVICE_IDL_LOCATOR)
def generate_rs(generator_arguments_file, typesupport_impls):
args = read_generator_arguments(generator_arguments_file)
package_name = args['package_name']
# expand init modules for each directory
modules = {}
idl_content = IdlContent()
dependency_packages = set()
(Path(args['output_dir']) / 'rust/src').mkdir(parents=True, exist_ok=True)
for dep_tuple in args.get('ros_interface_dependencies', []):
dep_parts = dep_tuple.rsplit(':', 1)
assert len(dep_parts) == 2
if dep_parts[0] != package_name:
dependency_packages.add(dep_parts[0])
for idl_tuple in args.get('idl_tuples', []):
idl_parts = idl_tuple.rsplit(':', 1)
assert len(idl_parts) == 2
idl_rel_path = pathlib.Path(idl_parts[1])
idl_stems = modules.setdefault(str(idl_rel_path.parent), set())
idl_stems.add(idl_rel_path.stem)
locator = IdlLocator(*idl_parts)
idl_file = parse_idl_file(locator)
idl_content.elements += idl_file.content.elements
typesupport_impls = typesupport_impls.split(';')
template_dir = args['template_dir']
mapping_msgs = {
os.path.join(template_dir, 'msg.rs.em'): ['rust/src/%s.rs'],
}
mapping_srvs = {
os.path.join(template_dir, 'srv.rs.em'): ['rust/src/%s.rs'],
}
# Ensure the required templates exist
for template_file in mapping_msgs.keys():
assert os.path.exists(template_file), \
'Messages template file %s not found' % template_file
for template_file in mapping_srvs.keys():
assert os.path.exists(template_file), \
'Services template file %s not found' % template_file
data = {
'get_rmw_rs_type': make_get_rmw_rs_type(args['package_name']),
'get_rs_name': get_rs_name,
'get_idiomatic_rs_type':
make_get_idiomatic_rs_type(args['package_name']),
'constant_value_to_rs': constant_value_to_rs,
'value_to_rs': value_to_rs,
'convert_camel_case_to_lower_case_underscore':
convert_camel_case_to_lower_case_underscore,
'convert_lower_case_underscore_to_camel_case':
convert_lower_case_underscore_to_camel_case,
'msg_specs': [],
'srv_specs': [],
'package_name': args['package_name'],
'typesupport_impls': typesupport_impls,
}
latest_target_timestamp = get_newest_modification_time(
args['target_dependencies'])
for message in idl_content.get_elements_of_type(Message):
data['msg_specs'].append(('msg', message))
for service in idl_content.get_elements_of_type(Service):
data['srv_specs'].append(('srv', service))
if data['msg_specs']:
for template_file, generated_filenames in mapping_msgs.items():
for generated_filename in generated_filenames:
generated_file = os.path.join(args['output_dir'],
generated_filename % 'msg')
expand_template(os.path.join(template_dir, template_file),
data.copy(),
generated_file,
minimum_timestamp=latest_target_timestamp)
if data['srv_specs']:
for template_file, generated_filenames in mapping_srvs.items():
for generated_filename in generated_filenames:
generated_file = os.path.join(args['output_dir'],
generated_filename % 'srv')
expand_template(os.path.join(template_dir, template_file),
data.copy(),
generated_file,
minimum_timestamp=latest_target_timestamp)
expand_template(os.path.join(template_dir, 'lib.rs.em'),
data.copy(),
os.path.join(args['output_dir'], 'rust/src/lib.rs'),
minimum_timestamp=latest_target_timestamp)
cargo_toml_data = {
'dependency_packages': dependency_packages,
'package_name': args['package_name'],
'package_version': args['package_version'],
}
expand_template(os.path.join(template_dir, 'Cargo.toml.em'),
cargo_toml_data,
os.path.join(args['output_dir'], 'rust/Cargo.toml'),
minimum_timestamp=latest_target_timestamp)
expand_template(os.path.join(template_dir, 'build.rs.em'), {},
os.path.join(args['output_dir'], 'rust/build.rs'),
minimum_timestamp=latest_target_timestamp)
return 0
def generate_py(generator_arguments_file, typesupport_impls):
mapping = {
'_idl.py.em': '_%s.py',
'_idl_support.c.em': '_%s_s.c',
}
generate_files(generator_arguments_file, mapping)
args = read_generator_arguments(generator_arguments_file)
package_name = args['package_name']
# expand init modules for each directory
modules = {}
idl_content = IdlContent()
for idl_tuple in args.get('idl_tuples', []):
idl_parts = idl_tuple.rsplit(':', 1)
assert len(idl_parts) == 2
idl_rel_path = pathlib.Path(idl_parts[1])
idl_stems = modules.setdefault(str(idl_rel_path.parent), set())
idl_stems.add(idl_rel_path.stem)
locator = IdlLocator(*idl_parts)
idl_file = parse_idl_file(locator)
idl_content.elements += idl_file.content.elements
for subfolder in modules.keys():
with open(os.path.join(args['output_dir'], subfolder, '__init__.py'),
'w') as f:
for idl_stem in sorted(modules[subfolder]):
module_name = '_' + \
convert_camel_case_to_lower_case_underscore(idl_stem)
f.write('from {package_name}.{subfolder}.{module_name} import '
'{idl_stem} # noqa: F401\n'.format_map(locals()))
# expand templates per available typesupport implementation
template_dir = args['template_dir']
type_support_impl_by_filename = {
'_%s_s.ep.{0}.c'.format(impl): impl
for impl in typesupport_impls
}
mapping_msg_pkg_extension = {
os.path.join(template_dir, '_idl_pkg_typesupport_entry_point.c.em'):
type_support_impl_by_filename.keys(),
}
for template_file in mapping_msg_pkg_extension.keys():
assert os.path.exists(
template_file), 'Could not find template: ' + template_file
latest_target_timestamp = get_newest_modification_time(
args['target_dependencies'])
for template_file, generated_filenames in mapping_msg_pkg_extension.items(
):
for generated_filename in generated_filenames:
package_name = args['package_name']
data = {
'package_name':
args['package_name'],
'content':
idl_content,
'typesupport_impl':
type_support_impl_by_filename.get(generated_filename, ''),
}
generated_file = os.path.join(args['output_dir'],
generated_filename % package_name)
expand_template(template_file,
data,
generated_file,
minimum_timestamp=latest_target_timestamp)
return 0
