def __init__(self, conf_path, template_path):
configuration = Configuration(conf_path)
self.preprocessor = Preprocessor(configuration)
self.poco_processor = PocoProcessor(configuration)
self.ros_mapper_processor = RosMapperProcessor(configuration)
self.ros_msg_processor = RosMsgProcessor(configuration)
self.dds_mapper_processor = DdsMapperProcessor(configuration)
self.dds_idl_processor = DdsIdlProcessor(configuration)
self.zmq_serializer_processor = ZmqSerializerProcessor(configuration)
self.node_handler_processor = NodeHandlerProcessor(configuration)
env = Environment(loader=FileSystemLoader(template_path))
self.poco_template = env.get_template('poco_template.h')
self.ros_mapper_template = env.get_template('ros_mapper_template.h')
self.ros_msg_template = env.get_template('ros_template.msg')
self.dds_mapper_template = env.get_template('dds_mapper_template.h')
self.dds_idl_template = env.get_template('dds_template.idl')
self.zmq_serializer_template = env.get_template(
'zmq_serializer_template.h')
self.node_handler_template = env.get_template(
'node_handler_template.js')
def test_parent_class(self):
configuration = Configuration(CONF_PATH)
preprocessor = Preprocessor(configuration)
ros_msg_processor = RosMsgProcessor(configuration)
class_definition_dict = {}
kidl_file = "class_with_ros_mdlw_and_parent_class.yaml"
with open("%s%s" % (INCLUDE_PATH, kidl_file), 'r') as stream:
try:
class_definition_data = yaml.load(stream,
Loader=yaml.FullLoader)
except yaml.YAMLError as exc:
print(exc)
class_definition = preprocessor.process(class_definition_data, False)
class_definition_dict[class_definition.class_name] = class_definition
kidl_file = "basic_class_with_ros_mdlw.yaml"
with open("%s%s" % (INCLUDE_PATH, kidl_file), 'r') as stream:
try:
class_definition_data = yaml.load(stream,
Loader=yaml.FullLoader)
except yaml.YAMLError as exc:
print(exc)
class_definition = preprocessor.process(class_definition_data, False)
class_definition_dict[class_definition.class_name] = class_definition
ros_msg_definition = ros_msg_processor.process(
'kpsr::codegen::ClassWithParentClass', class_definition_dict)
print(ros_msg_definition)
def test_basic(self):
configuration = Configuration(CONF_PATH)
preprocessor = Preprocessor(configuration)
ros_msg_processor = RosMsgProcessor(configuration)
class_definition_dict = {}
kidl_file = "basic_class_with_ros_mdlw.yaml"
with open("%s%s" % (INCLUDE_PATH, kidl_file), 'r') as stream:
try:
class_definition_data = yaml.load(stream, Loader=yaml.FullLoader)
except yaml.YAMLError as exc:
print(exc)
class_definition = preprocessor.process(class_definition_data, False)
class_definition_dict[class_definition.class_name] = class_definition
ros_msg_definition = ros_msg_processor.process('BasicClass', class_definition_dict)
env = Environment(
loader=FileSystemLoader(TEMPLATE_PATH)
)
template = env.get_template('ros_template.msg')
print(template.render(definition=ros_msg_definition))
class Generator:
## The constructor
# @param conf_path The configuration path
# @param template_path The template path
def __init__(self, conf_path, template_path):
configuration = Configuration(conf_path)
self.preprocessor = Preprocessor(configuration)
self.poco_processor = PocoProcessor(configuration)
self.ros_mapper_processor = RosMapperProcessor(configuration)
self.ros_msg_processor = RosMsgProcessor(configuration)
self.dds_mapper_processor = DdsMapperProcessor(configuration)
self.dds_idl_processor = DdsIdlProcessor(configuration)
self.zmq_serializer_processor = ZmqSerializerProcessor(configuration)
self.node_handler_processor = NodeHandlerProcessor(configuration)
env = Environment(loader=FileSystemLoader(template_path))
self.poco_template = env.get_template('poco_template.h')
self.ros_mapper_template = env.get_template('ros_mapper_template.h')
self.ros_msg_template = env.get_template('ros_template.msg')
self.dds_mapper_template = env.get_template('dds_mapper_template.h')
self.dds_idl_template = env.get_template('dds_template.idl')
self.zmq_serializer_template = env.get_template(
'zmq_serializer_template.h')
self.node_handler_template = env.get_template(
'node_handler_template.js')
## The render function
# @param input_dir The input directory
# @param output_dir The output directory
# @param include_path
# @param disable_ros
# @param disable_dds
# @param disable_zmq
def render(self, input_dir, output_dir, include_path, disable_ros,
disable_dds, disable_zmq):
kidl_files = []
for (dirpath, dirnames, filenames) in walk(input_dir):
kidl_files.extend(filenames)
break
class_definitions = [
self.read_kidl_file(input_dir, kidl_file, disable_zmq)
for kidl_file in kidl_files
]
class_definition_dict = {
class_definition.class_name: class_definition
for class_definition in class_definitions
}
[
self.generate_code(class_definition_dict, include_path, input_dir,
kidl_file, output_dir, disable_ros, disable_dds,
disable_zmq) for kidl_file in kidl_files
]
## Generate the code from parsed kidl data
def generate_code(self, class_definition_dict, include_path, input_dir,
main_kidl_file, output_dir, disable_ros, disable_dds,
disable_zmq):
main_class_definition = self.read_kidl_file(input_dir, main_kidl_file,
disable_zmq)
poco_definition = self.poco_processor.process(
main_class_definition.class_name, class_definition_dict,
include_path)
if not main_class_definition.already_exists:
class_name = split_namespace_class(
main_class_definition.class_name)[-1]
poco_file_name = output_dir + "/poco/include/" + include_path + "/" + \
convert_to_lower_case_underscores(class_name) + ".h"
poco_template_content = self.poco_template.render(
definition=poco_definition)
write_contents_to_file(poco_file_name, poco_template_content)
ros_middleware_definition = main_class_definition.middlewares.get(
MiddlewareType.ROS)
if (not disable_ros) and ros_middleware_definition is not None:
if not ros_middleware_definition.mapper_include_file:
ros_mapper_definition = self.ros_mapper_processor.process(
main_class_definition.class_name, class_definition_dict,
include_path)
ros_mapper_file_name = output_dir + "/rosstg/include/" + ros_middleware_definition.project_name + "/" \
+ convert_to_lower_case_underscores(class_name) + "_ros_mapper.h"
ros_mapper_template_content = self.ros_mapper_template.render(
definition=ros_mapper_definition)
write_contents_to_file(ros_mapper_file_name,
ros_mapper_template_content)
if not ros_middleware_definition.already_exists:
ros_msg_definition = self.ros_msg_processor.process(
main_class_definition.class_name, class_definition_dict)
ros_msg_file_name = output_dir + "/rosstg/msg/" + ros_middleware_definition.class_name + ".msg"
ros_msg_template_content = self.ros_msg_template.render(
definition=ros_msg_definition)
write_contents_to_file(ros_msg_file_name,
ros_msg_template_content)
node_handler_definition = self.node_handler_processor.process(
main_class_definition.class_name, class_definition_dict)
node_handler_file_name = convert_to_lower_case_underscores(
node_handler_definition.handler_name) + ".js"
node_handler_file_path = output_dir + "/rosstg/node/" + node_handler_file_name
node_handler_template_content = self.node_handler_template.render(
definition=node_handler_definition)
write_contents_to_file(node_handler_file_path,
node_handler_template_content)
if (not disable_dds) and (main_class_definition.middlewares.get(
MiddlewareType.DDS) is not None):
if not main_class_definition.middlewares.get(
MiddlewareType.DDS).mapper_include_file:
dds_mapper_definition = self.dds_mapper_processor.process(
main_class_definition.class_name, class_definition_dict,
include_path)
dds_mapper_file_name = output_dir + "/dds/include/" + include_path + "/dds/" \
+ convert_to_lower_case_underscores(class_name) + "_dds_mapper.h"
dds_mapper_template_content = self.dds_mapper_template.render(
definition=dds_mapper_definition)
write_contents_to_file(dds_mapper_file_name,
dds_mapper_template_content)
if not main_class_definition.middlewares.get(
MiddlewareType.DDS).already_exists:
dds_idl_definition = self.dds_idl_processor.process(
main_class_definition.class_name, class_definition_dict)
dds_idl_file_name = output_dir + "/dds/idl/" + \
convert_to_lower_case_underscores(dds_idl_definition.class_name) + ".idl"
dds_idl_template_content = self.dds_idl_template.render(
definition=dds_idl_definition)
write_contents_to_file(dds_idl_file_name,
dds_idl_template_content)
if (not disable_zmq) and main_class_definition.middlewares.get(
MiddlewareType.ZMQ) is not None:
if not main_class_definition.middlewares.get(
MiddlewareType.ZMQ).serializer_include_file:
class_name = split_namespace_class(
main_class_definition.class_name)[-1]
zmq_serializer_definition = self.zmq_serializer_processor.process(
main_class_definition.class_name, class_definition_dict,
include_path)
zmq_serializer_file_name = output_dir + "/serialization/include/" + include_path + "/cereal/" \
+ convert_to_lower_case_underscores(class_name) + "_serializer.h"
zmq_serializer_template_content = self.zmq_serializer_template.render(
definition=zmq_serializer_definition)
write_contents_to_file(zmq_serializer_file_name,
zmq_serializer_template_content)
## Read the kidl file
#
# Parses the kidl file (written in YAML format).
#
# @param input_dir The input folder containing the kidl files
# @param kidl_file The kidl file to be processed
# @param disable_zmq Boolean whether to disable zmq export or not.
#
# @return data from file as a ClassDefinition object
def read_kidl_file(self, input_dir, kidl_file, disable_zmq):
with open("%s%s" % (input_dir, kidl_file), 'r') as stream:
try:
class_definition_data = yaml.load(stream,
Loader=yaml.FullLoader)
class_definition = self.preprocessor.process(
class_definition_data, disable_zmq)
return class_definition
except yaml.YAMLError as exc:
print(exc)
return None