def generate_package_file(pkg, s=None):
"Generate the top level file for the given package with forward declarations for individual messages"
if s is None:
s = IndentedWriter()
# Header
s.write("#include <boost/python.hpp>\n")
s.write("namespace {0}".format(pkg))
s.write("{\n")
# Forward declarations
messages = msgs.list_msg_types(pkg, False)
for m in messages:
s.write("void export{0}();".format(m));
# Boost python wrappers
s.write("\n")
s.write("BOOST_PYTHON_MODULE({0}_cpp)".format(pkg))
s.write("{")
with Indent(s, 2):
for m in messages:
s.write("export{0}();".format(m))
s.write("}\n")
s.write("} // namespace")
return s.getvalue()
def write_bindings(pkg, target_dir):
"Generate and write all bindings"
top_level_file = os.path.join(target_dir, pkg+'.cpp')
with open(top_level_file, 'w') as f:
f.write(generate_package_file(pkg))
for m in msgs.list_msg_types(pkg, False):
outfile = os.path.join(target_dir, "{0}_{1}.cpp".format(pkg, m))
with open(outfile, 'w') as f:
f.write(generate_file(pkg, m))
def generate_python_imports(pkg):
pkgs = set()
for m in msgs.list_msg_types(pkg, False):
spec = get_msg_spec(pkg, m)
for f in spec.parsed_fields():
if f.is_header:
pkgs.add('std_msgs')
else:
match = re.match('(\w+)/', f.base_type)
if match and match.group(1)!=pkg:
pkgs.add(match.group(1))
return '\n'.join("import {0}_boost".format(p) for p in pkgs)
def write_rospy_conversions(pkg, target_dir, current_pkg):
"""
Generate all rospy conversions.
@param pkg: We'll generate conversion functions for all messages defined in this ros package.
@param current_pkg: The generated functions are being put into this ros package.
"""
outfile = os.path.join(target_dir, pkg+'_boost.py')
with open(outfile, 'w') as f:
f.write("import roslib; roslib.load_manifest('{0}')\n".format(current_pkg))
f.write("import rostime_boost_python\n")
f.write(generate_python_imports(pkg))
f.write("\nimport {0}.msg\n".format(pkg))
f.write("import {0}_cpp as cpp\n".format(pkg))
for m in msgs.list_msg_types(pkg, False):
f.write(generate_rospy_conversion(pkg, m))
def write_rospy_conversions(pkg, target_dir):
"Generate all rospy conversions"
outfile = os.path.join(target_dir, pkg+'_boost_conversions.py')
with open(outfile, 'w') as f:
for m in msgs.list_msg_types(pkg, False):
f.write(generate_rospy_conversion(pkg, m))
