def main(argv=sys.argv[1:]):
parser = argparse.ArgumentParser(
description='Parse all recursively found .msg files.',
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument('paths',
nargs='+',
help='The base paths to search for .msg files')
args = parser.parse_args(argv)
files = get_files(args.paths)
for filename in files:
pkg_name = os.path.basename(os.path.dirname(os.path.dirname(filename)))
try:
parse_message_file(pkg_name, filename)
print(pkg_name, filename)
except Exception as e:
print(' ', pkg_name, filename, str(e))
raise
return 0
def test_parse_message_file():
path = tempfile.mkdtemp(prefix='test_parse_message_file_')
try:
filename = os.path.join(path, 'Foo.msg')
with open(filename, 'w') as handle:
handle.write('bool foo')
msg_spec = parse_message_file('pkg', filename)
assert len(msg_spec.fields) == 1
assert msg_spec.fields[0].type.type == 'bool'
assert msg_spec.fields[0].name == 'foo'
assert msg_spec.fields[0].default_value is None
assert len(msg_spec.constants) == 0
with open(filename, 'a') as handle:
handle.write('\nbool foo')
with pytest.raises(ValueError) as e:
parse_message_file('pkg', filename)
assert 'foo' in str(e.value)
finally:
shutil.rmtree(path)
def test_parse_message_file():
path = tempfile.mkdtemp(prefix='test_parse_message_file_')
try:
filename = os.path.join(path, 'Foo.msg')
with open(filename, 'w') as handle:
handle.write('bool foo')
msg_spec = parse_message_file('pkg', filename)
assert len(msg_spec.fields) == 1
assert msg_spec.fields[0].type.type == 'bool'
assert msg_spec.fields[0].name == 'foo'
assert msg_spec.fields[0].default_value is None
assert len(msg_spec.constants) == 0
with open(filename, 'a') as handle:
handle.write('\nbool foo')
with pytest.raises(ValueError) as e:
parse_message_file('pkg', filename)
assert 'foo' in str(e)
finally:
shutil.rmtree(path)
def main(argv=sys.argv[1:]):
parser = argparse.ArgumentParser(
description='Parse all recursively found .msg files.',
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument(
'paths',
nargs='+',
help='The base paths to search for .msg files')
args = parser.parse_args(argv)
files = get_files(args.paths)
for filename in files:
pkg_name = os.path.basename(os.path.dirname(os.path.dirname(filename)))
try:
parse_message_file(pkg_name, filename)
print(pkg_name, filename)
except Exception as e:
print(' ', pkg_name, filename, str(e))
raise
return 0
def parse_package(pkg: str) -> Sequence[MessageMetadata]:
rosidl_interfaces = ament_index_python.get_resource(
"rosidl_interfaces", pkg)[0].split("\n")
message_meta = []
for interface in rosidl_interfaces:
if interface.endswith(".msg"):
file = f"{ament_index_python.get_package_share_directory(pkg)}/{interface}"
message_meta.append(
MessageMetadata(
get_import_prefix(pkg, interface),
parse_message_file(pkg, file),
))
return message_meta
def find_package_info(requested_pkg_name):
info = PackageInfo(requested_pkg_name)
share_dir = get_package_share_directory(requested_pkg_name)
message_dir = '{}/msg'.format(share_dir)
if os.path.exists(message_dir):
for relative_msg_file in os.listdir(message_dir):
if not relative_msg_file.endswith('.msg'):
continue
msg_file = '{}/{}'.format(message_dir, relative_msg_file)
info.msg_files.append(msg_file)
msg = parse_message_file(requested_pkg_name, msg_file)
for field in msg.fields:
if field.type.is_primitive_type():
continue
info.dependencies.append(field.type.pkg_name)
service_dir = '{}/srv'.format(share_dir)
if os.path.exists(service_dir):
for relative_srv_file in os.listdir(service_dir):
if not relative_srv_file.endswith('.srv'):
continue
srv_file = '{}/{}'.format(service_dir, relative_srv_file)
info.srv_files.append(srv_file)
srv = parse_service_file(requested_pkg_name, srv_file)
for component in [srv.request, srv.response]:
for field in component.fields:
if field.type.is_primitive_type():
continue
info.dependencies.append(field.type.pkg_name)
return info
def parse_interface(m):
assert isinstance(m, str)
pkg, tag, name = m.split('/')
path = get_interface_path(m)
if tag == 'msg':
obj = parse_message_file(pkg, path)
monkey_patch_fields(obj)
obj.__dict__['subinterfaces'] = {'Message': obj}
elif tag == 'srv':
obj = parse_service_file(pkg, path)
monkey_patch_fields(obj.request)
monkey_patch_fields(obj.response)
obj.__dict__['subinterfaces'] = {
'Request': obj.request,
'Response': obj.response
}
elif tag == 'action':
obj = parse_action_file(pkg, path)
monkey_patch_fields(obj.goal)
monkey_patch_fields(obj.feedback)
monkey_patch_fields(obj.result)
obj.__dict__['subinterfaces'] = {
'Goal': obj.goal,
'Feedback': obj.feedback,
'Result': obj.result
}
for subinterface_name, subinterface in obj.subinterfaces.items():
subinterface.__dict__['cpp_type_normalized'] = '{}/{}'.format(
m, subinterface_name).replace('/', '__')
subinterface.__dict__['cpp_type'] = '::'.join(
[pkg, tag, name, subinterface_name])
obj.__dict__['tag'] = tag
obj.__dict__['full_name'] = m
obj.__dict__['cpp_include'] = '{}/{}/{}.hpp'.format(
pkg, tag, camel_case_to_snake_case(name))
obj.__dict__['cpp_type_normalized'] = m.replace('/', '__')
obj.__dict__['cpp_type'] = '::'.join([pkg, tag, name])
return obj
def parse_packages(ros2_pkgs):
import os
from os.path import join as joinp
from os.path import relpath
from ament_index_python.packages import get_package_share_directory
dependent_pkgs = set(ros2_pkgs)
for ros2_pkg in ros2_pkgs:
print(ros2_pkg)
pkg_dir = get_package_share_directory(ros2_pkg)
for dirpath, _, filenames in os.walk(pkg_dir):
for filename in filenames:
filepath = joinp(dirpath, filename)
if filename.endswith(".msg"):
msgspec = parse_message_file(ros2_pkg, filepath)
with open(filepath) as f:
msgspec.raw = f.read()
msgspec.reldir = relpath(dirpath, pkg_dir)
full_type_str = get_full_type_str(msgspec.base_type)
__parsed_msgs[full_type_str] = msgspec
for field in msgspec.fields:
field.js_type = JsType(field.type)
full_type_str = get_full_type_str(field.type)
if full_type_str not in __parsed_msgs and field.type.pkg_name:
dependent_pkgs.add(field.type.pkg_name)
elif filename.endswith(".srv"):
srvspec = parse_service_file(ros2_pkg, filepath)
srvspec.reldir = relpath(dirpath, pkg_dir)
full_type_str = f"{srvspec.pkg_name}/{srvspec.srv_name}"
__parsed_srvs[full_type_str] = srvspec
else:
continue
dependent_pkgs = dependent_pkgs.difference(ros2_pkgs)
if dependent_pkgs:
parse_packages(dependent_pkgs)
def generate_XML(args):
pkg_name = args['package_name']
#known_msg_types = extract_message_types(
# pkg_name, args['ros_interface_files'], args.get('ros_interface_dependencies', []))
functions = {
'get_header_filename_from_msg_name':
convert_camel_case_to_lower_case_underscore,
}
# Set file format
ros2_prefix = "rt/"
# Check destination dir
dest_dir = args['output_dir']
if not os.path.exists(dest_dir):
os.makedirs(dest_dir)
# Check source dir
srcs_dir = os.path.join(dest_dir, "srcs")
if not os.path.exists(srcs_dir):
os.makedirs(srcs_dir)
# Iterate throw all msgs/srvs
for idl_file in args['ros_interface_files']:
extension = os.path.splitext(idl_file)[1]
if extension == '.msg':
spec = parse_message_file(pkg_name, idl_file)
#validate_field_types(spec, known_msg_types)
subfolder = os.path.basename(os.path.dirname(idl_file))
data = {
'spec': spec,
'pkg': spec.base_type.pkg_name,
'msg': spec.msg_name,
'type': spec.base_type.type,
'subfolder': subfolder,
}
data.update(functions)
# Generate source file path
src_file = os.path.join(
srcs_dir, "%s_%s_%s.xml" %
(spec.base_type.pkg_name, subfolder, spec.msg_name))
# Data writer
#file_content = " <dds>\n"
file_content = " <data_writer profile_name=\"%s_%s_%s_p\">\n" % (
spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " <topic profile_name=\"%s_%s_%s_t\">\n" % (
spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " <kind>NO_KEY</kind>\n"
file_content += " <name>%s%s_%s_%s</name>\n" % (
ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " <dataType>%s::%s::dds_::%s_</dataType>\n" % (
spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " </topic>\n"
file_content += " </data_writer>\n"
#file_content += " </dds>\n"
# Data reader
#file_content += " <dds>\n"
file_content += " <data_reader profile_name=\"%s_%s_%s_s\">\n" % (
spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " <topic profile_name=\"%s_%s_%s_t\">\n" % (
spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " <kind>NO_KEY</kind>\n"
file_content += " <name>%s%s_%s_%s</name>\n" % (
ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " <dataType>%s::%s::dds_::%s_</dataType>\n" % (
spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " </topic>\n"
file_content += " </data_reader>\n"
#file_content += " </dds>\n"
# Topic
#file_content += " <dds>\n"
file_content += " <topic profile_name=\"%s_%s_%s_t\">\n" % (
spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " <name>%s%s_%s_%s</name>\n" % (
ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " <dataType>%s::%s::dds_::%s_</dataType>\n" % (
spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " </topic>\n"
#file_content += " </dds>\n"
# Write file content
print("%s" % file_content)
#elif extension == '.srv':
#data = {'spec': spec}
#data.update(functions)
#if not os.path.exists(args['output_dir']):
# os.makedirs(args['output_dir'])
#f = open(os.path.join(args['output_dir'], 'demofile.txt'), 'w+')
#f.write("%s\n" % spec)
#f.close()
return 0