def extract_primitives(self, node, gs, analysis, rosmodel):
for call in (CodeQuery(gs).all_calls.where_name(
"advertise").where_result("ros::Publisher").get()):
name = analysis._extract_topic(call)
msg_type = analysis._extract_message_type(call)
queue_size = analysis._extract_queue_size(call)
pub = publisher(name, msg_type)
rosmodel.pubs.append(pub)
for call in (CodeQuery(gs).all_calls.where_name(
"subscribe").where_result("ros::Subscriber").get()):
name = analysis._extract_topic(call)
msg_type = analysis._extract_message_type(call)
queue_size = analysis._extract_queue_size(call)
sub = subscriber(name, msg_type)
rosmodel.subs.append(sub)
for call in (CodeQuery(gs).all_calls.where_name(
"advertiseService").where_result("ros::ServiceServer").get()):
name = analysis._extract_topic(call)
srv_type = analysis._extract_message_type(call)
srv_server = service_server(name, srv_type)
rosmodel.srvsrvs.append(srv_server)
for call in (CodeQuery(gs).all_calls.where_name(
"serviceClient").where_result("ros::ServiceClient").get()):
name = analysis._extract_topic(call)
srv_type = analysis._extract_message_type(call)
srv_client = service_client(name, srv_type)
rosmodel.srvcls.append(srv_client)
def _query_param_primitives(self, node, gs):
ros_prefix = "c:@N@ros@N@param@"
reads = ("get", "getCached", "param", "has")
for call in CodeQuery(gs).all_calls.where_name(reads).get():
if (call.full_name.startswith("ros::param")
or (isinstance(call.reference, str)
and call.reference.startswith(ros_prefix))):
self._on_read_param(node, "", call)
for call in (CodeQuery(gs).all_calls.where_name("search")
.where_result("bool").get()):
if (call.full_name.startswith("ros::param")
or (isinstance(call.reference, str)
and call.reference.startswith(ros_prefix))):
if len(call.arguments) > 2:
ns = resolve_expression(call.arguments[0])
if not isinstance(ns, basestring):
ns = "?"
else:
ns = "~"
self._on_read_param(node, ns, call)
writes = ("set", "del")
for call in CodeQuery(gs).all_calls.where_name(writes).get():
if (call.full_name.startswith("ros::param")
or (isinstance(call.reference, str)
and call.reference.startswith(ros_prefix))):
self._on_write_param(node, "", call)
def _query_comm_primitives(self, node, gs):
for call in (CodeQuery(gs).all_calls.where_name("advertise")
.where_result("ros::Publisher").get()):
self._on_publication(node, self._resolve_node_handle(call), call)
for call in (CodeQuery(gs).all_calls.where_name("subscribe")
.where_result("ros::Subscriber").get()):
self._on_subscription(node, self._resolve_node_handle(call), call)
for call in (CodeQuery(gs).all_calls.where_name("advertiseService")
.where_result("ros::ServiceServer").get()):
self._on_service(node, self._resolve_node_handle(call), call)
for call in (CodeQuery(gs).all_calls.where_name("serviceClient")
.where_result("ros::ServiceClient").get()):
self._on_client(node, self._resolve_node_handle(call), call)
def _query_nh_param_primitives(self, node, gs):
nh_prefix = "c:@N@ros@S@NodeHandle@"
reads = ("getParam", "getParamCached", "param", "hasParam", "searchParam")
for call in CodeQuery(gs).all_calls.where_name(reads).get():
if (call.full_name.startswith("ros::NodeHandle")
or (isinstance(call.reference, str)
and call.reference.startswith(nh_prefix))):
self._on_read_param(node, self._resolve_node_handle(call), call)
writes = ("setParam", "deleteParam")
for call in CodeQuery(gs).all_calls.where_name(writes).get():
if (call.full_name.startswith("ros::NodeHandle")
or (isinstance(call.reference, str)
and call.reference.startswith(nh_prefix))):
self._on_write_param(node, self._resolve_node_handle(call), call)
def find_star(self, node, module_name):
if isinstance(node, basestring):
node = self.parser._parse_file(node)[0]
top_level_definitions = (CodeQuery(node)
.definitions
.get())
try:
all_star = next(
definition
for definition in top_level_definitions
if definition.name == '__all__'
)
return (
'{}.{}'.format(module_name, getattr(item, 'value', item))
for item in all_star.value
)
except StopIteration:
pass
top_level_names = (
'{}.{}'.format(module_name, entity.name)
for entity in top_level_definitions
)
return top_level_names
def extract_primitives(self, node, gs, analysis, rosmodel, roscomponent,
pkg_name, node_name, art_name):
for call in (CodeQuery(gs).all_calls.where_name(
"advertise").where_result("ros::Publisher").get()):
if len(call.arguments) > 1:
name = analysis._extract_topic(call)
msg_type = analysis._extract_message_type(call)
queue_size = analysis._extract_queue_size(call)
pub = publisher(name, msg_type)
rosmodel.pubs.append(pub)
roscomponent.add_interface(
name, "pubs",
pkg_name + "." + art_name + "." + node_name + "." + name)
for call in (CodeQuery(gs).all_calls.where_name(
"subscribe").where_result("ros::Subscriber").get()):
if len(call.arguments) > 1:
name = analysis._extract_topic(call)
msg_type = analysis._extract_message_type(call)
queue_size = analysis._extract_queue_size(call)
sub = subscriber(name, msg_type)
rosmodel.subs.append(sub)
roscomponent.add_interface(
name, "subs",
pkg_name + "." + art_name + "." + node_name + "." + name)
for call in (CodeQuery(gs).all_calls.where_name(
"advertiseService").where_result("ros::ServiceServer").get()):
if len(call.arguments) > 1:
name = analysis._extract_topic(call)
srv_type = analysis._extract_message_type(call)
srv_server = service_server(name, srv_type)
rosmodel.srvsrvs.append(srv_server)
roscomponent.add_interface(
name, "srvsrvs",
pkg_name + "." + art_name + "." + node_name + "." + name)
for call in (CodeQuery(gs).all_calls.where_name(
"serviceClient").where_result("ros::ServiceClient").get()):
if len(call.arguments) > 1:
name = analysis._extract_topic(call)
srv_type = analysis._extract_message_type(call)
srv_client = service_client(name, srv_type)
rosmodel.srvcls.append(srv_client)
roscomponent.add_interface(
name, "srvcls",
pkg_name + "." + art_name + "." + node_name + "." + name)
def extract_primitives(self, node, parser, analysis, rosmodel,
roscomponent, pkg_name, node_name, art_name):
gs = parser.global_scope
node.source_tree = parser.global_scope
if node.language == "cpp":
for call in (CodeQuery(gs).all_calls.where_name(
"SimpleActionServer").get()):
if len(call.arguments) > 0:
name = analysis._extract_action(call)
action_type = analysis._extract_action_type(call).split(
"_<", 1)[0]
act_server = action_server(name, action_type)
rosmodel.actsrvs.append(act_server)
roscomponent.add_interface(
name, "actsrvs", pkg_name + "." + art_name + "." +
node_name + "." + name)
for call in (CodeQuery(gs).all_calls.where_name(
"SimpleActionClient").get()):
if len(call.arguments) > 0:
name = analysis._extract_action(call)
action_type = analysis._extract_action_type(call).split(
"_<", 1)[0]
act_client = action_client(name, action_type)
rosmodel.actcls.append(act_client)
roscomponent.add_interface(
name, "actcls",
str(pkg_name) + "." + str(art_name) + "." +
str(node_name) + "." + str(name))
for call in (CodeQuery(gs).all_calls.where_name(
"advertise").where_result("ros::Publisher").get()):
if len(call.arguments) > 1:
name = analysis._extract_topic(call, topic_pos=0)
msg_type = analysis._extract_message_type(call)
queue_size = analysis._extract_queue_size(call,
queue_pos=1)
pub = publisher(name, msg_type)
rosmodel.pubs.append(pub)
roscomponent.add_interface(
name, "pubs", pkg_name + "." + art_name + "." +
node_name + "." + name)
for call in (CodeQuery(gs).all_calls.where_name(
"subscribe").where_result("ros::Subscriber").get()):
if len(call.arguments) > 1:
name = analysis._extract_topic(call, topic_pos=0)
msg_type = analysis._extract_message_type(call)
queue_size = analysis._extract_queue_size(call,
queue_pos=1)
sub = subscriber(name, msg_type)
rosmodel.subs.append(sub)
roscomponent.add_interface(
name, "subs", pkg_name + "." + art_name + "." +
node_name + "." + name)
for call in (CodeQuery(gs).all_calls.where_name("advertiseService")
.where_result("ros::ServiceServer").get()):
if len(call.arguments) > 1:
name = analysis._extract_topic(call)
srv_type = analysis._extract_message_type(call)
srv_server = service_server(name, srv_type)
rosmodel.srvsrvs.append(srv_server)
roscomponent.add_interface(
name, "srvsrvs", pkg_name + "." + art_name + "." +
node_name + "." + name)
for call in (CodeQuery(gs).all_calls.where_name(
"serviceClient").where_result("ros::ServiceClient").get()):
if len(call.arguments) > 1:
name = analysis._extract_topic(call)
srv_type = analysis._extract_message_type(call)
srv_client = service_client(name, srv_type)
rosmodel.srvcls.append(srv_client)
roscomponent.add_interface(
name, "srvcls", pkg_name + "." + art_name + "." +
node_name + "." + name)
if node.language == "py":
msgs_list = []
for i in parser.imported_names_list:
if "msg" in str(i) or "srv" in str(i):
msgs_list.append((i.split(".")[0], i.split(".")[2]))
for call in (CodeQuery(gs).all_calls.where_name(
('Publisher', 'rospy.Publisher'))).get():
if len(call.arguments) > 1:
ns, name = analysis._extract_topic(call)
msg_type = analysis._extract_message_type(
call, 'data_class', msgs_list)
queue_size = analysis._extract_queue_size(call)
pub = publisher(name, msg_type)
rosmodel.pubs.append(pub)
roscomponent.add_interface(
name, "pubs", pkg_name + "." + art_name + "." +
node_name + "." + name)
for call in (CodeQuery(gs).all_calls.where_name(
('Subscriber', 'rospy.Subscriber'))).get():
if len(call.arguments) > 1:
ns, name = analysis._extract_topic(call)
msg_type = analysis._extract_message_type(
call, 'data_class', msgs_list)
queue_size = analysis._extract_queue_size(call)
sub = subscriber(name, msg_type)
rosmodel.subs.append(sub)
roscomponent.add_interface(
name, "subs", pkg_name + "." + art_name + "." +
node_name + "." + name)
for call in (CodeQuery(gs).all_calls.where_name(
analysis.all_rospy_names('service-def'))).get():
if len(call.arguments) > 1:
ns, name = analysis._extract_topic(call)
srv_type = analysis._extract_message_type(
call, 'service_class', msgs_list)
srv_server = service_server(name, srv_type)
rosmodel.srvsrvs.append(srv_server)
roscomponent.add_interface(
name, "srvsrvs", pkg_name + "." + art_name + "." +
node_name + "." + name)
for call in (CodeQuery(gs).all_calls.where_name(
analysis.all_rospy_names('service-call'))).get():
if len(call.arguments) > 1:
ns, name = analysis._extract_topic(call)
srv_type = analysis._extract_message_type(
call, 'service_class', msgs_list)
srv_client = service_client(name, srv_type)
rosmodel.srvcls.append(srv_client)
roscomponent.add_interface(
name, "srvcls", pkg_name + "." + art_name + "." +
node_name + "." + name)