def test_load_msg_from_string():
# make sure Header -> std_msgs/Header conversion works
from genmsg.msgs import Constant
from genmsg.msg_loader import load_msg_from_string, MsgContext
context = MsgContext.create_default()
msgspec = load_msg_from_string(context, "Header header", "test_pkg/HeaderTest")
print msgspec
assert msgspec.has_header()
assert msgspec.types == ["std_msgs/Header"]
assert msgspec.names == ["header"]
assert msgspec.constants == []
assert msgspec.short_name == "HeaderTest"
assert msgspec.package == "test_pkg"
assert msgspec.full_name == "test_pkg/HeaderTest"
msgspec = load_msg_from_string(context, "int8 c=1\nHeader header\nint64 data", "test_pkg/HeaderValsTest")
assert msgspec.has_header()
assert msgspec.types == ["std_msgs/Header", "int64"]
assert msgspec.names == ["header", "data"]
assert msgspec.constants == [Constant("int8", "c", 1, "1")]
assert msgspec.short_name == "HeaderValsTest"
assert msgspec.package == "test_pkg"
assert msgspec.full_name == "test_pkg/HeaderValsTest"
msgspec = load_msg_from_string(context, "string data\nint64 data2", "test_pkg/ValsTest")
assert not msgspec.has_header()
assert msgspec.types == ["string", "int64"]
assert msgspec.names == ["data", "data2"]
assert msgspec.constants == []
assert msgspec.short_name == "ValsTest"
assert msgspec.full_name == "test_pkg/ValsTest"
def test_load_msg_from_string():
# make sure Header -> std_msgs/Header conversion works
from genmsg.msgs import Constant
from genmsg.msg_loader import load_msg_from_string, MsgContext
context = MsgContext.create_default()
msgspec = load_msg_from_string(context, "Header header", 'test_pkg/HeaderTest')
print(msgspec)
assert msgspec.has_header()
assert msgspec.types == ['std_msgs/Header']
assert msgspec.names == ['header']
assert msgspec.constants == []
assert msgspec.short_name == 'HeaderTest'
assert msgspec.package == 'test_pkg'
assert msgspec.full_name == 'test_pkg/HeaderTest'
msgspec = load_msg_from_string(context, "int8 c=1\nHeader header\nint64 data", 'test_pkg/HeaderValsTest')
assert msgspec.has_header()
assert msgspec.types == ['std_msgs/Header', 'int64']
assert msgspec.names == ['header', 'data']
assert msgspec.constants == [Constant('int8', 'c', 1, '1')]
assert msgspec.short_name == 'HeaderValsTest'
assert msgspec.package == 'test_pkg'
assert msgspec.full_name == 'test_pkg/HeaderValsTest'
msgspec = load_msg_from_string(context, "string data\nint64 data2", 'test_pkg/ValsTest')
assert not msgspec.has_header()
assert msgspec.types == ['string', 'int64']
assert msgspec.names == ['data', 'data2']
assert msgspec.constants == []
assert msgspec.short_name == 'ValsTest'
assert msgspec.full_name == 'test_pkg/ValsTest'
def test_load_msg_from_string():
# make sure Header -> std_msgs/Header conversion works
from genmsg.msgs import Constant
from genmsg.msg_loader import load_msg_from_string, MsgContext
context = MsgContext.create_default()
msgspec = load_msg_from_string(context, "Header header", 'test_pkg/HeaderTest')
print(msgspec)
assert msgspec.has_header()
assert msgspec.types == ['std_msgs/Header']
assert msgspec.names == ['header']
assert msgspec.constants == []
assert msgspec.short_name == 'HeaderTest'
assert msgspec.package == 'test_pkg'
assert msgspec.full_name == 'test_pkg/HeaderTest'
msgspec = load_msg_from_string(context, "int8 c=1\nHeader header\nint64 data", 'test_pkg/HeaderValsTest')
assert msgspec.has_header()
assert msgspec.types == ['std_msgs/Header', 'int64']
assert msgspec.names == ['header', 'data']
assert msgspec.constants == [Constant('int8', 'c', 1, '1')]
assert msgspec.short_name == 'HeaderValsTest'
assert msgspec.package == 'test_pkg'
assert msgspec.full_name == 'test_pkg/HeaderValsTest'
msgspec = load_msg_from_string(context, "string data\nint64 data2", 'test_pkg/ValsTest')
assert not msgspec.has_header()
assert msgspec.types == ['string', 'int64']
assert msgspec.names == ['data', 'data2']
assert msgspec.constants == []
assert msgspec.short_name == 'ValsTest'
assert msgspec.full_name == 'test_pkg/ValsTest'
def test__group_fields():
from genfrkl import group_fields
from genmsg.msg_loader import load_msg_from_string, MsgContext
context = MsgContext.create_default()
msg_txt = """
Header header
float32 x
float64 y
int32[5] arr_a
uint16 z
Float32 xx
byte a
Byte[3] arr_b
"""
msgspec = load_msg_from_string(context, msg_txt, 'my_pkg/FieldGroupTest')
groups = group_fields(msgspec)
assert len(groups) == 7, "Expected 7 groups"
assert len(groups[0]) == 1, "First group should have only one element"
assert True == groups[6][
0].is_array, "Last group should have single element, which is an array"
assert len(groups[0]) == 1
assert len(groups[1]) == 2
assert len(groups[2]) == 1
assert len(groups[3]) == 1
assert len(groups[4]) == 1
assert len(groups[5]) == 1
assert len(groups[6]) == 1
def _compute_md5_text(msg_context, f):
from genmsg import compute_md5_text, load_depends
from genmsg.msg_loader import load_msg_from_string
text = open(f, 'r').read()
short_name = os.path.basename(f)[:-len('.msg')]
full_name = "%s/%s"%(TEST_CTX, short_name)
spec = load_msg_from_string(msg_context, text, full_name)
search_path = get_search_path()
load_depends(msg_context, spec, search_path)
return compute_md5_text(msg_context, spec)
def _compute_md5_text(msg_context, f):
from genmsg import compute_md5_text, load_depends
from genmsg.msg_loader import load_msg_from_string
text = open(f, 'r').read()
short_name = os.path.basename(f)[:-len('.msg')]
full_name = "%s/%s" % (TEST_CTX, short_name)
spec = load_msg_from_string(msg_context, text, full_name)
search_path = get_search_path()
load_depends(msg_context, spec, search_path)
return compute_md5_text(msg_context, spec)
def test__group_fields4():
from genfrkl import group_fields
from genmsg.msg_loader import load_msg_from_string, MsgContext
context = MsgContext.create_default()
msg_txt = """
"""
msgspec = load_msg_from_string(context, msg_txt, 'my_pkg/FieldGroupTest')
groups = group_fields(msgspec)
assert len(groups) == 0, "Expected 0 groups"
def test_load_msg_from_string_TestString():
from genmsg.msg_loader import load_msg_from_string, MsgContext
test_d = get_test_dir()
test_ros_dir = os.path.join(test_d, 'test_ros', 'msg')
test_string_path = os.path.join(test_ros_dir, 'TestString.msg')
with open(test_string_path) as f:
text = f.read()
msg_context = MsgContext.create_default()
_validate_TestString(load_msg_from_string(msg_context, text, 'test_ros/TestString'))
# supposed to register
assert msg_context.is_registered('test_ros/TestString'), msg_context
def test_load_msg_from_string_TestString():
from genmsg.msg_loader import load_msg_from_string, MsgContext
test_d = get_test_dir()
test_ros_dir = os.path.join(test_d, 'test_ros', 'msg')
test_string_path = os.path.join(test_ros_dir, 'TestString.msg')
with open(test_string_path) as f:
text = f.read()
msg_context = MsgContext.create_default()
_validate_TestString(load_msg_from_string(msg_context, text, 'test_ros/TestString'))
# supposed to register
assert msg_context.is_registered('test_ros/TestString'), msg_context
def test__group_fields2():
from genfrkl import group_fields
from genmsg.msg_loader import load_msg_from_string, MsgContext
context = MsgContext.create_default()
msg_txt = """
float32 x
"""
msgspec = load_msg_from_string(context, msg_txt, 'my_pkg/FieldGroupTest')
groups = group_fields(msgspec)
assert len(groups) == 1, "Expected 1 groups"
assert len(groups[0]) == 1, "First group should have only one element"
def test__group_fields5():
from genfrkl import group_fields
from genmsg.msg_loader import load_msg_from_string, MsgContext
context = MsgContext.create_default()
msg_txt = """
uint8 a
uint16 b
uint32 c
uint32[3] d
Int64 e
"""
msgspec = load_msg_from_string(context, msg_txt, 'my_pkg/FieldGroupTest')
groups = group_fields(msgspec)
assert len(groups) == 3, "Expected 3 groups"
def test__group_fields3():
from genfrkl import group_fields
from genmsg.msg_loader import load_msg_from_string, MsgContext
context = MsgContext.create_default()
msg_txt = """
Float32 x
Float32[4] xx
float32 z
float32 zz
"""
msgspec = load_msg_from_string(context, msg_txt, 'my_pkg/FieldGroupTest')
groups = group_fields(msgspec)
assert len(groups) == 3, "Expected 2 groups"
assert len(groups[0]) == 1, "First group should have only one element"
assert len(groups[1]) == 1, "Second group should have only one element"
assert len(groups[2]) == 2, "Third group should have two elements"
def _generate_dynamic_specs(msg_context, specs, dep_msg):
"""
Dynamically generate message specificition.
:param dep_msg: text of dependent .msg definition, ``str``
:returns: type name, message spec, ``str, MsgSpec``
:raises: MsgGenerationException If dep_msg is improperly formatted
"""
line1 = dep_msg.find('\n')
msg_line = dep_msg[:line1]
if not msg_line.startswith('MSG: '):
raise MsgGenerationException(
"invalid input to generate_dynamic: dependent type is missing 'MSG:' type declaration header"
)
dep_type = msg_line[5:].strip()
dep_pkg, dep_base_type = genmsg.package_resource_name(dep_type)
dep_spec = msg_loader.load_msg_from_string(msg_context,
dep_msg[line1 + 1:], dep_type)
return dep_type, dep_spec
def generate_dynamic(core_type, msg_cat):
"""
Dymamically generate message classes from msg_cat .msg text gendeps dump.
This method modifies sys.path to include a temp file directory.
:param core_type str: top-level ROS message type of concatenated .msg text
:param msg_cat str: concatenation of full message text (output of gendeps --cat)
:raises: MsgGenerationException If dep_msg is improperly formatted
"""
msg_context = MsgContext.create_default()
core_pkg, core_base_type = genmsg.package_resource_name(core_type)
# REP 100: pretty gross hack to deal with the fact that we moved
# Header. Header is 'special' because it can be used w/o a package
# name, so the lookup rules end up failing. We are committed to
# never changing std_msgs/Header, so this is generally fine.
msg_cat = msg_cat.replace('roslib/Header', 'std_msgs/Header')
# separate msg_cat into the core message and dependencies
splits = msg_cat.split('\n' + '=' * 80 + '\n')
core_msg = splits[0]
deps_msgs = splits[1:]
# create MsgSpec representations of .msg text
specs = {
core_type:
msg_loader.load_msg_from_string(msg_context, core_msg, core_type)
}
# - dependencies
for dep_msg in deps_msgs:
# dependencies require more handling to determine type name
dep_type, dep_spec = _generate_dynamic_specs(msg_context, specs,
dep_msg)
specs[dep_type] = dep_spec
# clear the message registration table and register loaded
# types. The types have to be registered globally in order for
# message generation of dependents to work correctly.
msg_context = msg_loader.MsgContext.create_default()
search_path = {} # no ability to dynamically load
for t, spec in specs.items():
msg_context.register(t, spec)
# process actual MsgSpecs: we accumulate them into a single file,
# rewriting the generated text as needed
buff = StringIO()
for t, spec in specs.items():
pkg, s_type = genmsg.package_resource_name(t)
# dynamically generate python message code
for line in msg_generator(msg_context, spec, search_path):
line = _gen_dyn_modify_references(line, t, list(specs.keys()))
buff.write(line + '\n')
full_text = buff.getvalue()
# Create a temporary directory
tmp_dir = tempfile.mkdtemp(prefix='genpy_')
# Afterwards, we are going to remove the directory so that the .pyc file gets cleaned up if it's still around
atexit.register(shutil.rmtree, tmp_dir)
# write the entire text to a file and import it (it will get deleted when tmp_dir goes - above)
tmp_file = tempfile.NamedTemporaryFile(mode='w',
suffix='.py',
dir=tmp_dir,
delete=False)
tmp_file.file.write(full_text)
tmp_file.file.close()
# import our temporary file as a python module, which requires modifying sys.path
sys.path.append(os.path.dirname(tmp_file.name))
# - strip the prefix to turn it into the python module name
try:
mod = __import__(os.path.basename(tmp_file.name)[:-3])
except Exception:
# TODOXXX:REMOVE
with open(tmp_file.name) as f:
text = f.read()
with open('/tmp/foo', 'w') as f2:
f2.write(text)
raise
# finally, retrieve the message classes from the dynamic module
messages = {}
for t in specs.keys():
pkg, s_type = genmsg.package_resource_name(t)
try:
messages[t] = getattr(mod, _gen_dyn_name(pkg, s_type))
except AttributeError:
raise MsgGenerationException(
'cannot retrieve message class for %s/%s: %s' %
(pkg, s_type, _gen_dyn_name(pkg, s_type)))
messages[t]._spec = specs[t]
return messages
