def rosmsg_cmd_show(mode, full, alias='show'):
import rosbag
cmd = "ros%s" % (mode[1:])
parser = OptionParser(usage="usage: %s %s [options] <%s>" %
(cmd, alias, full))
parser.add_option("-r",
"--raw",
dest="raw",
default=False,
action="store_true",
help="show raw message text, including comments")
parser.add_option("-b",
"--bag",
dest="bag",
default=None,
help="show message from .bag file",
metavar="BAGFILE")
options, arg = _stdin_arg(parser, full)
if arg.endswith(mode):
arg = arg[:-(len(mode))]
# try to catch the user specifying code-style types and error
if '::' in arg:
parser.error(
cmd +
" does not understand C++-style namespaces (i.e. '::').\nPlease refer to msg/srv types as 'package_name/Type'."
)
elif '.' in arg:
parser.error(
"invalid message type '%s'.\nPlease refer to msg/srv types as 'package_name/Type'."
% arg)
if options.bag:
bag_file = options.bag
if not os.path.exists(bag_file):
raise ROSMsgException("ERROR: bag file [%s] does not exist" %
bag_file)
for topic, msg, t in rosbag.Bag(bag_file).read_messages(raw=True):
datatype, _, _, _, pytype = msg
if datatype == arg:
if options.raw:
print(pytype._full_text)
else:
context = genmsg.MsgContext.create_default()
msgs = generate_dynamic(datatype, pytype._full_text)
for t, msg in msgs.items():
context.register(t, msg._spec)
print(spec_to_str(context, msgs[datatype]._spec))
break
else:
rospack = rospkg.RosPack()
if '/' in arg: #package specified
rosmsg_debug(rospack, mode, arg, options.raw)
else:
found_msgs = list(rosmsg_search(rospack, mode, arg))
if not found_msgs:
print("Could not find msg '%s'" % arg, file=sys.stderr)
return 1
for found in found_msgs:
print("[%s]:" % found)
rosmsg_debug(rospack, mode, found, options.raw)
def test_serialize_exception():
import genpy
from genpy.dynamic import generate_dynamic
msgs = generate_dynamic("gd_msgs/EasyInt32", "int32 data\n")
assert ['gd_msgs/EasyInt32'] == list(msgs.keys())
m_cls = msgs['gd_msgs/EasyInt32']
m_instance = m_cls()
m_instance.data = '1' # the type is incorrect
buff = StringIO()
try:
m_instance.serialize(buff)
assert False, 'This should have raised a genpy.SerializationError'
except genpy.SerializationError:
pass
except Exception:
assert False, 'This should have raised a genpy.SerializationError instead'
def rosmsg_cmd_show(mode, full, alias='show'):
cmd = "ros%s"%(mode[1:])
parser = OptionParser(usage="usage: %s %s [options] <%s>"%(cmd, alias, full))
parser.add_option("-r", "--raw",
dest="raw", default=False,action="store_true",
help="show raw message text, including comments")
parser.add_option("-b", "--bag",
dest="bag", default=None,
help="show message from .bag file", metavar="BAGFILE")
options, arg = _stdin_arg(parser, full)
if arg.endswith(mode):
arg = arg[:-(len(mode))]
# try to catch the user specifying code-style types and error
if '::' in arg:
parser.error(cmd+" does not understand C++-style namespaces (i.e. '::').\nPlease refer to msg/srv types as 'package_name/Type'.")
elif '.' in arg:
parser.error("invalid message type '%s'.\nPlease refer to msg/srv types as 'package_name/Type'." % arg)
if options.bag:
bag_file = options.bag
if not os.path.exists(bag_file):
raise ROSMsgException("ERROR: bag file [%s] does not exist"%bag_file)
for topic, msg, t in rosbag.Bag(bag_file).read_messages(raw=True):
datatype, _, _, _, pytype = msg
if datatype == arg:
if options.raw:
print(pytype._full_text)
else:
context = genmsg.MsgContext.create_default()
msgs = generate_dynamic(datatype, pytype._full_text)
for t, msg in msgs.items():
context.register(t, msg._spec)
print(spec_to_str(context, msgs[datatype]._spec))
break
else:
rospack = rospkg.RosPack()
if '/' in arg: #package specified
rosmsg_debug(rospack, mode, arg, options.raw)
else:
found_msgs = list(rosmsg_search(rospack, mode, arg))
if not found_msgs:
print("Could not find msg '%s'" % arg, file=sys.stderr)
return 1
for found in found_msgs:
print("[%s]:"%found)
rosmsg_debug(rospack, mode, found, options.raw)
def test_generate_dynamic():
import genpy
from genpy.dynamic import generate_dynamic
msgs = generate_dynamic("gd_msgs/EasyString", "string data\n")
assert ['gd_msgs/EasyString'] == list(msgs.keys())
m_cls = msgs['gd_msgs/EasyString']
m_instance = m_cls()
m_instance.data = 'foo'
buff = StringIO()
m_instance.serialize(buff)
m_instance2 = m_cls().deserialize(buff.getvalue())
assert m_instance == m_instance2
try:
char = unichr
except NameError:
char = chr
m_instance.data = 'foo' + char(1234)
buff = StringIO()
m_instance.serialize(buff)
m_instance2 = m_cls().deserialize(buff.getvalue())
if sys.hexversion < 0x03000000:
# python 2 requires manual decode into unicode
m_instance2.data = m_instance2.data.decode('utf-8')
assert m_instance == m_instance2
# 'probot_msgs' is a test for #1183, failure if the package no longer exists
msgs = generate_dynamic("gd_msgs/MoveArmState", """Header header
probot_msgs/ControllerStatus status
#Current arm configuration
probot_msgs/JointState[] configuration
#Goal arm configuration
probot_msgs/JointState[] goal
================================================================================
MSG: std_msgs/Header
#Standard metadata for higher-level flow data types
#sequence ID: consecutively increasing ID
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.secs: seconds (stamp_secs) since epoch
# * stamp.nsecs: nanoseconds since stamp_secs
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
# 0: no frame
# 1: global frame
string frame_id
================================================================================
MSG: probot_msgs/ControllerStatus
# This message defines the expected format for Controller Statuss messages
# Embed this in the feedback state message of highlevel controllers
byte UNDEFINED=0
byte SUCCESS=1
byte ABORTED=2
byte PREEMPTED=3
byte ACTIVE=4
# Status of the controller = {UNDEFINED, SUCCESS, ABORTED, PREEMPTED, ACTIVE}
byte value
#Comment for debug
string comment
================================================================================
MSG: probot_msgs/JointState
string name
float64 position
float64 velocity
float64 applied_effort
float64 commanded_effort
byte is_calibrated
""")
assert set(['gd_msgs/MoveArmState', 'probot_msgs/JointState', 'probot_msgs/ControllerStatus', 'std_msgs/Header']) == set(msgs.keys())
m_instance1 = msgs['std_msgs/Header']() # make sure default constructor works
m_instance2 = msgs['std_msgs/Header'](stamp=genpy.Time.from_sec(time.time()), frame_id='foo-%s'%time.time(), seq=12390)
_test_ser_deser(m_instance2, m_instance1)
m_instance1 = msgs['probot_msgs/ControllerStatus']()
m_instance2 = msgs['probot_msgs/ControllerStatus'](value=4, comment=str(time.time()))
d = {'UNDEFINED':0,'SUCCESS':1,'ABORTED':2,'PREEMPTED':3,'ACTIVE':4}
for k, v in d.items():
assert v == getattr(m_instance1, k)
_test_ser_deser(m_instance2, m_instance1)
m_instance1 = msgs['probot_msgs/JointState']()
m_instance2 = msgs['probot_msgs/JointState'](position=time.time(), velocity=time.time(), applied_effort=time.time(), commanded_effort=time.time(), is_calibrated=2)
_test_ser_deser(m_instance2, m_instance1)
m_instance1 = msgs['gd_msgs/MoveArmState']()
js = msgs['probot_msgs/JointState']
config = []
goal = []
# generate some data for config/goal
for i in range(0, 10):
config.append(js(position=time.time(), velocity=time.time(), applied_effort=time.time(), commanded_effort=time.time(), is_calibrated=2))
goal.append(js(position=time.time(), velocity=time.time(), applied_effort=time.time(), commanded_effort=time.time(), is_calibrated=2))
m_instance2 = msgs['gd_msgs/MoveArmState'](header=msgs['std_msgs/Header'](),
status=msgs['probot_msgs/ControllerStatus'](),
configuration=config, goal=goal)
_test_ser_deser(m_instance2, m_instance1)
