def output(code, parameters):
if len(code.xpath('/node')) < 1:
Utilities.logging.warning(
'No `node` element found. ROS C++ will not generate code!')
return
# get the node name
node_name = Utilities.optionalArgument(code.xpath('/node')[0], 'name').text
# save the name for the templates
parameters['node']['name'] = node_name
# @NOTE why is dpath not working?
# dpath.util.set(parameters,'/node/name',node_name)
# use the node name on the file patterns
node_name_underscore = Utilities.underscore(node_name)
filepatterns = {'nodename': node_name_underscore}
# run template engine to generate node code
if not Utilities.templateEngine(code, parameters, filepatterns,
os.path.dirname(__file__) + '/templates',
parameters['globals']['deploy']):
sys.exit(1)
# if the flag compile is set then run catkin
if parameters['globals']['compile']:
Utilities.logger.debug("Compiling with: `catkin build " +
node_name_underscore + "` in folder " +
parameters['globals']['deploy'])
process = subprocess.Popen(['catkin', 'build', node_name_underscore],
cwd=parameters['globals']['deploy'])
process.wait()
if process.returncode > 0:
Utilities.logger.error("Compilation failed!!!")
# if the flag launch is set then launch the node
if parameters['globals']['launch']:
Utilities.logger.debug("launching: `roslaunch " +
node_name_underscore + " " +
node_name_underscore + '.launch`')
process = subprocess.Popen([
'roslaunch', node_name_underscore, node_name_underscore + '.launch'
])
return 0
def output(xml, parameters):
# get node name
node_name_underscore = Utilities.underscore(parameters['node']['name'])
# make a copy of the xml tree
xml_copy = copy.deepcopy(xml)
# delete all atributes
for element in xml_copy.iter():
element.attrib.clear()
# save the tree into a file
with open(parameters['globals']['deploy'] + '/' + node_name_underscore + '.xml', 'w') as xml_file:
xml_file.write('<?xml version="1.0"?>\n' + etree.tostring(xml_copy, pretty_print = True))
Utilities.logging.debug('Wrote file '+parameters['globals']['deploy'] + '/' + node_name_underscore + '.xml...')
return 0
def test_underscore(self):
self.assertEqual(Utilities.underscore('/Here Is A.Phrase'),
'_here_is_a_phrase')