def printModule(self, module, plat, full):
self.extend = full
cwd = os.getcwd()
self.dataTypes = ModuleParser().getDataTypes(plat)
# print parsing
print("\n\n{0} MODULE:\n\n".format(module.name.upper()))
# list topics
print("TOPICS")
for topic in module.topics:
self.printTopic(topic, 1)
# check for parameters
if len(module.params) > 0:
print(
"\n------------------------------------------------------------\n"
)
print("PARAMETERS\n")
for param in module.params:
print("\t" + param.name + ":")
print(getTabs(2) + "type: " + param.type)
self.printValue(2, "unit", param.unit)
self.printValue(2, "description", param.desc)
print(
getTabs(2) + "mandatory: " +
("yes" if param.mandatory else "no"))
self.printValue(2, "value", param.value)
print("\n")
def main(args):
try:
parser = ModuleParser()
if args.action == "show":
extend = args.extend
module = parser.parseFile(args.filePath)
ModulePrinter().printModule(module, args.platform, extend)
elif args.action == "generate":
path = os.getcwd()
# if generic package exists we delete it
if os.path.exists(os.path.join(os.getcwd(), "generated",
"generic")):
shutil.rmtree(os.path.join(os.getcwd(), "generated",
"generic"))
generic = parser.parseBase(
os.path.join(path, "models", "generic", "base.xml"))
compiler = ModuleCompiler()
compiler.compileGeneric(generic, args.platform)
print "Succesfully generated " + args.platform + " implementation of HRIM's generic package."
os.chdir(path)
geometry = parser.parseBase(
os.path.join(path, "models", "geometry", "geometry.xml"))
# if geometry package exists we delete it
if os.path.exists(
os.path.join(os.getcwd(), "generated", "geometry")):
shutil.rmtree(
os.path.join(os.getcwd(), "generated", "geometry"))
compiler.compileGeneric(geometry, args.platform, "geometry")
print "Succesfully generated " + args.platform + " implementation of HRIM's geometry package."
os.chdir(path)
# check for file generation shorthands
if args.filePath == "all":
fileList = findModels(os.path.join(path, "models"))
for item in fileList:
# if the model isn't a development file process it
if not bool(re.search('.*_clean.xml$', item)):
os.chdir(path)
module = parser.parseFile(item)
compiler.compileModule(module, args.platform)
print "Succesfully generated " + args.platform + " implementation of " + module.name + " module."
elif args.filePath == "allClean":
fileList = findModels(os.path.join(path, "models"))
for item in fileList:
# if the model is a development file process it
if bool(re.search('.*_clean.xml$', item)):
os.chdir(path)
module = parser.parseFile(item)
compiler.compileModule(module, args.platform)
print "Succesfully generated " + args.platform + " implementation of " + module.name + " module."
# else try to generate the implementation based on the passed file
else:
module = parser.parseFile(args.filePath)
compiler.compileModule(module, args.platform)
print "Succesfully generated " + args.platform + " implementation of " + module.name + " module."
elif args.action == "list":
if args.filePath == "models":
modelList = findModels(os.path.join(os.getcwd(), "models"))
for model in sorted(modelList):
if not bool(re.search('.*_clean.xml$', model)):
pathList = model.split(os.sep)
print pathList[-3] + "/" + pathList[
-2] + "/" + pathList[-1].replace('.xml', "")
elif args.filePath == "implementations":
impList = os.listdir("generated")
if len(impList) > 0:
for implementation in sorted(impList):
print implementation
else:
print "There's no generated implementations."
elif args.action == "clear":
if len(os.listdir("generated")) > 0:
if args.filePath == "all":
delDirs = os.listdir("generated")
for delPath in sorted(delDirs):
fullPath = os.path.join(os.getcwd(), "generated",
delPath)
shutil.rmtree(fullPath)
print "Deleted " + fullPath
else:
fullPath = os.path.join(os.getcwd(), "generated",
args.filePath)
if os.path.exists(fullPath):
shutil.rmtree(fullPath)
print "Deleted " + fullPath
else:
print "Couldn't find passed directory for deletion."
else:
print "There is no implementation to delete (generated directory is empty)."
else:
print "Unknown command"
except:
print "An error occurred during command execution"
sys.exit(1)
def compileModule(self, module, plat):
try:
messages = False
services = False
dependency = False
self.pkgDeps = []
cwd = os.getcwd()
self.dataTypes = ModuleParser().getDataTypes(plat)
self.msgPkgName = "hrim_" + module.type + "_" + module.name + "_msgs"
# parse the templates necessary for the package
os.chdir("templates")
with open('package.txt', 'r') as myfile:
pkg = myfile.read()
# insert the package's name and description in package.xml's content
srvPkg = pkg.replace(
"%PKGNAME%",
"hrim_" + module.type + "_" + module.name + "_srvs")
srvPkg = srvPkg.replace("%PKGDESC%", module.desc)
with open('cmake.txt', 'r') as myfile:
makeFile = myfile.read()
# insert the package's name and description in CMakeLists.txt's content
srvMakeFile = makeFile.replace(
"%PKGNAME%",
"hrim_" + module.type + "_" + module.name + "_srvs")
os.chdir(cwd)
# if the container directory for the generated module doesn't exist, create it
if not os.path.exists(cwd + "/generated"):
os.mkdir("generated")
os.chdir("generated")
cwd = os.getcwd()
# if the module directory for the generated files doesn't exist, create it
if not os.path.exists(cwd + "/" + module.name):
os.mkdir(module.name)
os.chdir(module.name)
cwd = os.getcwd()
# list of files for CMakeLists.txt
self.msgFolderPath = ""
self.ownFiles = []
srvFiles = []
# for each topic of the module
for topic in module.topics:
# reposition ourselves for each topic
os.chdir(cwd)
if topic.type == "publish" or topic.type == "subscribe":
messages = True
self.processMessage(module, topic)
elif topic.type == "service":
services = True
# check if file has already been generated
if topic.fileName not in srvFiles:
# package folder naming
srvFolderPath = os.getcwd(
) + "/hrim_" + module.type + "_" + module.name + "_srvs/srv"
# if the package directories don't exist, create them
if not os.path.exists(srvFolderPath):
os.makedirs(srvFolderPath)
# position ourselves on the package's srv folder
os.chdir(srvFolderPath)
srv = ""
# check for an overall service description
if topic.desc is not None and len(topic.desc) > 0:
srv += "# " + topic.desc + "\n\n"
for prop in topic.properties:
if prop.fileName is not None:
dependency = True
os.chdir(cwd)
self.processMessage(module, prop)
os.chdir(srvFolderPath)
# check for enumeration types
if prop.unit is not None and prop.unit == "enum":
# sort enumeration values for readability
for value in sorted(
((v, k)
for k, v in prop.enumeration.iteritems()
)):
srv += prop.type + " " + value[
1] + "=" + str(value[0]) + "\n"
# process each property, checking if it's value is an array and if it has any description
srv += self.formatProperty(prop)
srv += "---\n"
for prop in topic.response:
# check for enumeration types
if prop.unit is not None and prop.unit == "enum":
# sort enumeration values for readability
for value in sorted(
((v, k)
for k, v in prop.enumeration.iteritems()
)):
srv += prop.type + " " + value[
1] + "=" + str(value[0]) + "\n"
# process each property, checking if it's value is an array and if it has any description
srv += self.formatProperty(prop)
# generate each .srv file and add it to the list
if topic.fileName is None:
fileName = topic.name.title() + ".srv"
srvFiles.append(topic.name.title())
else:
fileName = topic.fileName + ".srv"
srvFiles.append(topic.fileName)
text_file = open(fileName, "w")
text_file.write(srv)
text_file.close()
buildDeps = ""
execDeps = ""
pkgFind = ""
pkgDep = ""
for pkgName in self.pkgDeps:
buildDeps = buildDeps + (
"\n\t<build_depend>{}</build_depend>").format(pkgName)
execDeps = execDeps + (
"\n\t<exec_depend>{}</exec_depend>").format(pkgName)
pkgFind = pkgFind + (
"\nfind_package({} REQUIRED)").format(pkgName)
pkgDep = pkgDep + ("\n\t{}").format(pkgName)
# insert the package's name and description in package.xml's content
msgPkg = pkg.replace("%PKGNAME%", self.msgPkgName)
msgPkg = msgPkg.replace("%PKGDESC%", module.desc)
msgPkg = msgPkg.replace("%PKGBUILD%", buildDeps)
msgPkg = msgPkg.replace("%PKGEXEC%", execDeps)
# insert the package's name and description in CMakeLists.txt's content
msgMakeFile = makeFile.replace("%PKGNAME%", self.msgPkgName)
msgMakeFile = msgMakeFile.replace("%PKGFIND%", pkgFind)
msgMakeFile = msgMakeFile.replace("%PKGDEP%", pkgDep)
# if the package has messages
if messages:
# reposition ourselves on the package's root
os.chdir(self.msgFolderPath[:-4])
# generate the package.xml file
package = open("package.xml", "w")
package.write(msgPkg)
package.close()
# insert the .msg list in the CMakeLists.txt
msgList = ""
for tmp in self.ownFiles:
msgList += "\t\"msg/" + tmp + ".msg\"\n"
msgMakeFile = msgMakeFile.replace("%PKGFILES%", msgList[:-1])
# generate the CMakeLists.txt file
cmake = open("CMakeLists.txt", "w")
cmake.write(msgMakeFile)
cmake.close()
# if the package has services
if services:
# reposition ourselves on the package's root
os.chdir(srvFolderPath[:-4])
if dependency:
srvMakeFile = srvMakeFile.replace(
"%PKGFIND%",
"\nfind_package({} REQUIRED)".format(self.msgPkgName))
srvMakeFile = srvMakeFile.replace("%PKGDEP%",
"\n\t" + self.msgPkgName)
srvPkg = srvPkg.replace(
"%PKGBUILD%",
"\n\t<build_depend>{}</build_depend>".format(
self.msgPkgName))
srvPkg = srvPkg.replace(
"%PKGEXEC%",
"\n\t<exec_depend>{}</exec_depend>".format(
self.msgPkgName))
else:
srvMakeFile = srvMakeFile.replace("%PKGFIND%", "")
srvMakeFile = srvMakeFile.replace("%PKGDEP%", "")
srvPkg = srvPkg.replace("%PKGBUILD%", "")
srvPkg = srvPkg.replace("%PKGEXEC%", "")
# generate the package.xml file
package = open("package.xml", "w")
package.write(srvPkg)
package.close()
# insert the .srv list in the CMakeLists.txt
srvList = ""
for tmp in srvFiles:
srvList += "\t\"srv/" + tmp + ".srv\"\n"
srvMakeFile = srvMakeFile.replace("%PKGFILES%", srvList[:-1])
# generate the CMakeLists.txt file
cmake = open("CMakeLists.txt", "w")
cmake.write(srvMakeFile)
cmake.close()
# reposition ourselves on the generated module's root folder
os.chdir(cwd)
manParams = ""
optParams = ""
for param in module.params:
# mandatory parameters parsing
if param.mandatory:
if param.desc is not None:
manParams += getTabs(1) + "# " + param.desc + "\n"
manParams += getTabs(1) + param.name + ": " + (str(
param.value) if param.value is not None else
"") + "\n\n"
# optional parameters parsing
else:
if param.desc is not None:
optParams += getTabs(1) + "# " + param.desc + "\n"
optParams += getTabs(1) + param.name + ": " + (str(
param.value) if param.value is not None else
"") + "\n\n"
if len(manParams) > 0:
params = open("mandatory_parameters.yaml", "w")
params.write(module.name + ":\n" + manParams)
params.close()
if len(optParams) > 0:
params = open("optional_parameters.yaml", "w")
params.write(module.name + ":\n" + optParams)
params.close()
except:
print "Error while processing module: " + module.name
raise
def compileGeneric(self, topics, plat, package="generic"):
try:
cwd = os.getcwd()
self.msgPkgName = "hrim_" + package + "_msgs"
self.dataTypes = ModuleParser().getDataTypes(plat)
os.chdir("templates")
with open('package.txt', 'r') as myfile:
pkg = myfile.read()
with open('cmake.txt', 'r') as myfile:
makeFile = myfile.read()
os.chdir(cwd)
genPath = os.path.join(cwd, "generated", package, self.msgPkgName,
"msg")
# if the generic package directory doesn't exist, create it
if not os.path.exists(genPath):
os.makedirs(genPath)
os.chdir(genPath)
self.ownFiles = []
for topic in topics:
# reposition ourselves for each topic
os.chdir(genPath)
msg = ""
# check for an overall message description
if topic.desc is not None and len(topic.desc) > 0:
msg += "# " + topic.desc + "\n\n"
for prop in topic.properties:
if prop.fileName is not None:
self.processSubProperty(prop, True)
else:
# check for enumeration types
if prop.unit is not None and prop.unit == "enum":
# sort enumeration values for readability
for value in sorted(
((v, k)
for k, v in prop.enumeration.iteritems())):
msg += prop.type + " " + value[1] + "=" + str(
value[0]) + "\n"
# process each property, checking if it's value is an array and if it has any description
msg += self.formatProperty(prop)
genName = topic.fileName if topic.fileName is not None else topic.name.title(
)
checkFile = self.checkGenerated(genName)
if checkFile == False:
fileName = genName + ".msg"
self.msgFiles.append(genName)
text_file = open(fileName, "w")
text_file.write(msg)
text_file.close()
else:
print checkFile
self.pkgDeps.remove(self.msgPkgName)
# update the list of generated files at self.generatedFiles
self.listGenerated()
# insert the .msg list in the CMakeLists.txt
msgList = ""
for tmp in sorted(self.generatedFiles[self.msgPkgName]):
msgList += "\t\"msg/" + tmp + ".msg\"\n"
buildDeps = ""
execDeps = ""
pkgFind = ""
pkgDep = ""
for pkgName in self.pkgDeps:
buildDeps = buildDeps + (
"\n\t<build_depend>{}</build_depend>").format(pkgName)
execDeps = execDeps + (
"\n\t<exec_depend>{}</exec_depend>").format(pkgName)
pkgFind = pkgFind + (
"\nfind_package({} REQUIRED)").format(pkgName)
pkgDep = pkgDep + ("\n\t{}").format(pkgName)
# insert the package's name and description in CMakeLists.txt's content
msgMakeFile = makeFile.replace("%PKGNAME%", self.msgPkgName)
msgMakeFile = msgMakeFile.replace("%PKGFIND%", pkgFind)
msgMakeFile = msgMakeFile.replace("%PKGDEP%", pkgDep)
msgMakeFile = msgMakeFile.replace("%PKGFILES%", msgList[:-1])
genPkg = pkg.replace("%PKGNAME%", self.msgPkgName)
genPkg = genPkg.replace(
"%PKGDESC%",
"defines the " + package + " HRIM messages used by modules")
genPkg = genPkg.replace("%PKGBUILD%", buildDeps)
genPkg = genPkg.replace("%PKGEXEC%", execDeps)
os.chdir("..")
# generate the CMakeLists.txt file
cmake = open("CMakeLists.txt", "w")
cmake.write(msgMakeFile)
cmake.close()
# generate the package.xml file
package = open("package.xml", "w")
package.write(genPkg)
package.close()
except Exception as e:
print "Error while compiling generic package"
raise