def get_msg_text(type_, raw=False, rospack=None):
"""
Get .msg file for type_ as text
:param type_: message type, ``str``
:param raw: if True, include comments and whitespace (default False), ``bool``
:returns: text of .msg file, ``str``
:raises :exc:`ROSMsgException` If type_ is unknown
"""
if rospack is None:
rospack = rospkg.RosPack()
search_path = {}
for p in rospack.list():
search_path[p] = [os.path.join(rospack.get_path(p), 'msg')]
context = genmsg.MsgContext.create_default()
try:
spec = genmsg.load_msg_by_type(context, type_, search_path)
genmsg.load_depends(context, spec, search_path)
except Exception as e:
raise ROSMsgException("Unable to load msg [%s]: %s"%(type_, e))
if raw:
return spec.text
else:
return spec_to_str(context, spec)
def get_msg_text(type_, raw=False, rospack=None):
"""
Get .msg file for type_ as text
:param type_: message type, ``str``
:param raw: if True, include comments and whitespace (default False), ``bool``
:returns: text of .msg file, ``str``
:raises :exc:`ROSMsgException` If type_ is unknown
"""
if rospack is None:
rospack = rospkg.RosPack()
search_path = {}
for p in rospack.list():
search_path[p] = [os.path.join(rospack.get_path(p), 'msg')]
context = genmsg.MsgContext.create_default()
try:
spec = genmsg.load_msg_by_type(context, type_, search_path)
genmsg.load_depends(context, spec, search_path)
except Exception as e:
raise ROSMsgException("Unable to load msg [%s]: %s" % (type_, e))
if raw:
return spec.text
else:
return spec_to_str(context, spec)
def get_srv_text(type_, raw=False, rospack=None):
"""
Get .srv file for type_ as text
:param type_: service type, ``str``
:param raw: if True, include comments and whitespace (default False), ``bool``
:returns: text of .srv file, ``str``
@raise ROSMsgException: if type_ is unknown
"""
if rospack is None:
rospack = rospkg.RosPack()
srv_search_path = {}
msg_search_path = {}
for p in rospack.list():
path = rospack.get_path(p)
msg_search_path[p] = [os.path.join(path, 'msg')]
srv_search_path[p] = [os.path.join(path, 'srv')]
#TODO: cache context somewhere
context = genmsg.MsgContext.create_default()
try:
spec = genmsg.load_srv_by_type(context, type_, srv_search_path)
genmsg.load_depends(context, spec, msg_search_path)
except Exception as e:
raise ROSMsgException("Unknown srv type [%s]: %s"%(type_, e))
if raw:
return spec.text
else:
return spec_to_str(context, spec.request)+'---\n'+spec_to_str(context, spec.response)
def getString(topic):
try:
val = rosgraph.Master('/rostopic').getTopicTypes()
except socket.error:
raise ROSTopicIOException("Unable to communicate with master!")
# exact match first, followed by prefix match
matches = [(t, t_type) for t, t_type in val if t == topic]
if not matches:
matches = [(t, t_type) for t, t_type in val if topic.startswith(t+'/')]
# choose longest match
matches.sort(key=itemgetter(0), reverse=True)
if matches:
msg = matches[0][1]
rospack = rospkg.RosPack()
search_path = {}
for p in rospack.list():
search_path[p] = [os.path.join(rospack.get_path(p), 'msg')]
context = genmsg.MsgContext.create_default()
try:
spec = genmsg.load_msg_by_type(context, msg, search_path)
genmsg.load_depends(context, spec, search_path)
except Exception as e:
raise ROSMsgException("Unable to load msg [%s]: %s"%(msg, e))
str = spec_to_str(context,spec)
str = str.replace('\n',' ')
str = ' '.join(str.split())
return str
def get_srv_text(type_, raw=False, rospack=None):
"""
Get .srv file for type_ as text
:param type_: service type, ``str``
:param raw: if True, include comments and whitespace (default False), ``bool``
:returns: text of .srv file, ``str``
@raise ROSMsgException: if type_ is unknown
"""
if rospack is None:
rospack = rospkg.RosPack()
srv_search_path = {}
msg_search_path = {}
for p in rospack.list():
path = rospack.get_path(p)
msg_search_path[p] = [os.path.join(path, 'msg')]
srv_search_path[p] = [os.path.join(path, 'srv')]
#TODO: cache context somewhere
context = genmsg.MsgContext.create_default()
try:
spec = genmsg.load_srv_by_type(context, type_, srv_search_path)
genmsg.load_depends(context, spec, msg_search_path)
except Exception as e:
raise ROSMsgException("Unknown srv type [%s]: %s" % (type_, e))
if raw:
return spec.text
else:
return spec_to_str(context, spec.request) + '---\n' + spec_to_str(
context, spec.response)
def getString(topic):
import rostopic
try:
val = rosgraph.Master('/rostopic').getTopicTypes()
except socket.error:
print "Unable to communicate with ROS master. Run roscore before starting the bridge."
# exact match first, followed by prefix match
matches = [(t, t_type) for t, t_type in val if t == topic]
if not matches:
matches = [(t, t_type) for t, t_type in val if topic.startswith(t+'/')]
# choose longest match
if matches:
matches.sort(key=itemgetter(0), reverse=True)
else:
print "A match could not be found for the specified ROS topic. Run rostopic list to check if it does."
if matches:
msg = matches[0][1]
if not msg:
print "The ROS message corresponding to the specified ROS topic could not be identified."
rospack = rospkg.RosPack()
search_path = {}
for p in rospack.list():
search_path[p] = [os.path.join(rospack.get_path(p), 'msg')]
context = genmsg.MsgContext.create_default()
try:
spec = genmsg.load_msg_by_type(context, msg, search_path)
genmsg.load_depends(context, spec, search_path)
except Exception as e:
raise ROSMsgException("Unable to load msg [%s]: %s"%(msg, e))
str = spec_to_str(context,spec)
str = str.replace('\n',' ')
str = ' '.join(str.split())
return str
def get_spec(msg_type, search_path):
context = genmsg.MsgContext.create_default()
try:
spec = genmsg.load_msg_by_type(context, msg_type, search_path)
genmsg.load_depends(context, spec, search_path)
except Exception as e:
raise ROSMsgException("Unable to load msg [%s]: %s" % (msg_type, e))
return spec
def get_spec(msg_type, search_path):
context = genmsg.MsgContext.create_default()
try:
spec = genmsg.load_msg_by_type(context, msg_type, search_path)
genmsg.load_depends(context, spec, search_path)
except Exception as e:
raise ROSMsgException("Unable to load msg [%s]: %s"%(msg_type, e))
return 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 _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_compute_full_text():
from genmsg import MsgContext, compute_full_text, load_msg_by_type, load_depends
msg_context = MsgContext.create_default()
search_path = get_search_path()
# regression test against values used for cturtle-electric
spec = load_msg_by_type(msg_context, 'rosgraph_msgs/Log', search_path)
load_depends(msg_context, spec, search_path)
val = compute_full_text(msg_context, spec)
assert val == log_full_text, "[%s][%s]"%(val, log_full_text)
spec = load_msg_by_type(msg_context, 'geometry_msgs/TwistWithCovarianceStamped', search_path)
load_depends(msg_context, spec, search_path)
val = compute_full_text(msg_context, spec)
assert val == twist_with_covariance_stamped_full_text, "[%s][%s]"%(val, twist_with_covariance_stamped_full_text)
def test_compute_full_text():
from genmsg import MsgContext, compute_full_text, load_msg_by_type, load_depends
msg_context = MsgContext.create_default()
search_path = get_search_path()
# regression test against values used for cturtle-electric
spec = load_msg_by_type(msg_context, 'rosgraph_msgs/Log', search_path)
load_depends(msg_context, spec, search_path)
val = compute_full_text(msg_context, spec)
assert val == log_full_text, "[%s][%s]"%(val, log_full_text)
spec = load_msg_by_type(msg_context, 'geometry_msgs/TwistWithCovarianceStamped', search_path)
load_depends(msg_context, spec, search_path)
val = compute_full_text(msg_context, spec)
assert val == twist_with_covariance_stamped_full_text, "[%s][%s]"%(val, twist_with_covariance_stamped_full_text)
