def simple_serializer_generator(msg_context, spec, start, end, serialize): #primitives that can be handled with struct
"""
Generator (de)serialization code for multiple fields from spec
:param spec: :class:`genmsg.MsgSpec`
:param start: first field to serialize, ``int``
:param end: last field to serialize, ``int``
"""
# optimize member var access
if end - start > 1 and _serial_context.endswith('.'):
yield '_x = '+_serial_context[:-1]
vars_ = '_x.' + (', _x.').join(spec.names[start:end])
else:
vars_ = _serial_context + (', '+_serial_context).join(spec.names[start:end])
pattern = compute_struct_pattern(spec.types[start:end])
if serialize:
yield pack(pattern, vars_)
else:
yield "start = end"
yield "end += %s"%struct.calcsize('<%s'%reduce_pattern(pattern))
yield unpack('(%s,)'%vars_, pattern, 'str[start:end]')
# convert uint8 to bool. this doesn't add much value as Python
# equality test on a field will return that True == 1, but I
# want to be consistent with bool
bool_vars = [(f, t) for f, t in zip(spec.names[start:end], spec.types[start:end]) if t == 'bool']
for f, t in bool_vars:
#TODO: could optimize this as well
var = _serial_context+f
yield "%s = bool(%s)"%(var, var)
def array_serializer_generator(msg_context, package, type_, name, serialize, is_numpy):
"""
Generator for array types
:raises: :exc:`MsgGenerationException` If array spec is invalid
"""
base_type, is_array, array_len = genmsg.msgs.parse_type(type_)
if not is_array:
raise MsgGenerationException("Invalid array spec: %s"%type_)
var_length = array_len is None
# handle fixed-size byte arrays could be slightly more efficient
# as we recalculated the length in the generated code.
if base_type in ['char', 'uint8']: #treat unsigned int8 arrays as string type
for y in string_serializer_generator(package, type_, name, serialize):
yield y
return
var = _serial_context+name
# yield length serialization, if necessary
if var_length:
for y in len_serializer_generator(var, False, serialize):
yield y #serialize array length
length = None
else:
length = array_len
#optimization for simple arrays
if is_simple(base_type):
if var_length:
pattern = compute_struct_pattern([base_type])
yield "pattern = '<%%s%s'%%length"%pattern
if serialize:
if is_numpy:
yield pack_numpy(var)
else:
yield pack2('pattern', "*"+var)
else:
yield "start = end"
yield "end += struct.calcsize(pattern)"
if is_numpy:
dtype = NUMPY_DTYPE[base_type]
yield unpack_numpy(var, 'length', dtype, 'str[start:end]')
else:
yield unpack2(var, 'pattern', 'str[start:end]')
else:
pattern = "%s%s"%(length, compute_struct_pattern([base_type]))
if serialize:
if is_numpy:
yield pack_numpy(var)
else:
yield pack(pattern, "*"+var)
else:
yield "start = end"
yield "end += %s"%struct.calcsize('<%s'%pattern)
if is_numpy:
dtype = NUMPY_DTYPE[base_type]
yield unpack_numpy(var, length, dtype, 'str[start:end]')
else:
yield unpack(var, pattern, 'str[start:end]')
if not serialize and base_type == 'bool':
# convert uint8 to bool
if base_type == 'bool':
yield "%s = map(bool, %s)"%(var, var)
else:
#generic recursive serializer
#NOTE: this is functionally equivalent to the is_registered branch of complex_serializer_generator
# choose a unique temporary variable for iterating
loop_var = 'val%s'%len(_context_stack)
# compute the variable context and factory to use
if base_type == 'string':
push_context('')
factory = string_serializer_generator(package, base_type, loop_var, serialize)
else:
push_context('%s.'%loop_var)
factory = serializer_generator(msg_context, get_registered_ex(msg_context, base_type), serialize, is_numpy)
if serialize:
yield 'for %s in %s:'%(loop_var, var)
else:
yield '%s = []'%var
if var_length:
yield 'for i in range(0, length):'
else:
yield 'for i in range(0, %s):'%length
if base_type != 'string':
yield INDENT + '%s = %s'%(loop_var, compute_constructor(msg_context, package, base_type))
for y in factory:
yield INDENT + y
if not serialize:
yield INDENT + '%s.append(%s)'%(var, loop_var)
pop_context()
