def convert_action_to_idl(package_dir, package_name, input_file, output_dir):
assert package_dir.is_absolute()
assert not input_file.is_absolute()
assert input_file.suffix == '.action'
abs_input_file = package_dir / input_file
print('Reading input file: {abs_input_file}'.format_map(locals()))
abs_input_file = package_dir / input_file
content = abs_input_file.read_text(encoding='utf-8')
action = parse_action_string(package_name, input_file.stem, content)
# HACK as long as the return action specification contains implicitly added
# fields they have to be skipped when generating .idl files
assert len(action.goal_service.request.fields) >= 1
assert action.goal_service.request.fields[0].name == 'uuid'
action.goal_service.request.fields.pop(0)
assert len(action.goal_service.response.fields) >= 2
assert action.goal_service.response.fields[0].name == 'accepted'
assert action.goal_service.response.fields[1].name == 'stamp'
action.goal_service.response.fields.pop(1)
action.goal_service.response.fields.pop(0)
assert len(action.result_service.request.fields) >= 1
assert action.result_service.request.fields[0].name == 'uuid'
action.result_service.request.fields.pop(0)
assert len(action.result_service.response.fields) >= 1
assert action.result_service.response.fields[0].name == 'status'
action.result_service.response.fields.pop(0)
assert len(action.feedback.fields) >= 1
assert action.feedback.fields[0].name == 'uuid'
action.feedback.fields.pop(0)
output_file = output_dir / input_file.with_suffix('.idl').name
abs_output_file = output_file.absolute()
print('Writing output file: {abs_output_file}'.format_map(locals()))
data = {
'pkg_name': package_name,
'relative_input_file': input_file,
'action': action,
}
expand_template('action.idl.em', data, output_file)
return output_file
def convert_srv_to_idl(package_dir, package_name, input_file, output_dir):
assert package_dir.is_absolute()
assert not input_file.is_absolute()
assert input_file.suffix == '.srv'
abs_input_file = package_dir / input_file
print('Reading input file: {abs_input_file}'.format_map(locals()))
abs_input_file = package_dir / input_file
content = abs_input_file.read_text(encoding='utf-8')
srv = parse_service_string(package_name, input_file.stem, content)
output_file = output_dir / input_file.with_suffix('.idl').name
abs_output_file = output_file.absolute()
print('Writing output file: {abs_output_file}'.format_map(locals()))
data = {
'pkg_name': package_name,
'relative_input_file': input_file,
'srv': srv,
}
expand_template('srv.idl.em', data, output_file, encoding='iso-8859-1')
return output_file
def convert_msg_to_idl(package_dir, package_name, input_file, output_dir):
assert package_dir.is_absolute()
assert not input_file.is_absolute()
assert input_file.suffix == '.msg'
abs_input_file = package_dir / input_file
print(f'Reading input file: {abs_input_file}')
abs_input_file = package_dir / input_file
content = abs_input_file.read_text(encoding='utf-8')
msg = parse_message_string(package_name, input_file.stem, content)
output_file = output_dir / input_file.with_suffix('.idl').name
abs_output_file = output_file.absolute()
print(f'Writing output file: {abs_output_file}')
data = {
'pkg_name': package_name,
'relative_input_file': input_file.as_posix(),
'msg': msg,
}
expand_template('msg.idl.em', data, output_file, encoding='iso-8859-1')
return output_file
def convert_msg_to_idl(package_dir, package_name, input_file, output_dir):
assert package_dir.is_absolute()
assert not input_file.is_absolute()
assert input_file.suffix == '.msg'
abs_input_file = package_dir / input_file
print('Reading input file: {abs_input_file}'.format_map(locals()))
abs_input_file = package_dir / input_file
content = abs_input_file.read_text(encoding='utf-8')
msg = parse_message_string(package_name, input_file.stem, content)
output_file = output_dir / input_file.with_suffix('.idl').name
abs_output_file = output_file.absolute()
print('Writing output file: {abs_output_file}'.format_map(locals()))
data = {
'pkg_name': package_name,
'relative_input_file': input_file,
'msg': msg,
}
expand_template('msg.idl.em', data, output_file)
return output_file
def convert_action_to_idl(package_dir, package_name, input_file, output_dir):
assert package_dir.is_absolute()
assert not input_file.is_absolute()
assert input_file.suffix == '.action'
abs_input_file = package_dir / input_file
print('Reading input file: {abs_input_file}'.format_map(locals()))
abs_input_file = package_dir / input_file
content = abs_input_file.read_text(encoding='utf-8')
action = parse_action_string(package_name, input_file.stem, content)
output_file = output_dir / input_file.with_suffix('.idl').name
abs_output_file = output_file.absolute()
print('Writing output file: {abs_output_file}'.format_map(locals()))
data = {
'pkg_name': package_name,
'relative_input_file': input_file,
'action': action,
}
expand_template('action.idl.em', data, output_file)
return output_file
