def getParamContext(param, code, label):
assert '.' in param.id, 'ParamSpec without category: %s' % param
category, baseId = param.id.split('.', 1)
return {
'baseIdAllCaps': xpjsonAstrobee.allCaps(baseId),
'choiceLabelAllCaps': xpjsonAstrobee.allCaps(label),
'choiceCode': code,
}
def getCommandContext(cmd):
category, baseId = splitCommandCategory(cmd)
return {
'categoryAllCaps': xpjsonAstrobee.allCaps(category),
'baseId': baseId,
'baseIdAllCaps': xpjsonAstrobee.allCaps(baseId),
'fullId': cmd.id,
}
def genCommandNamesMsg(inSchemaPath, outCommandNamesPath):
schema = xpjsonAstrobee.loadDocument(inSchemaPath)
paramSpecs = sorted(schema.paramSpecs, key=lambda c: c.id)
cmdSpecs = sorted(schema.commandSpecs, key=lambda c: c.id)
seenCategories = {}
declList = []
for paramSpec in paramSpecs:
if not paramSpec.choices:
continue
for choiceCode, choiceLabel in paramSpec.choices:
declList.append(TEMPLATE_PARAM_DECL % getParamContext(paramSpec, choiceCode, choiceLabel))
declList.append('');
for cmdSpec in cmdSpecs:
category, _ = splitCommandCategory(cmdSpec)
seenCategories[category] = True
declList.append(TEMPLATE_DECL % getCommandContext(cmdSpec))
declList.append('');
for key in sorted(seenCategories.keys()):
declList.append(TEMPLATE_SUBSYS_DECL % {
'categoryAllCaps': xpjsonAstrobee.allCaps(key),
'category': key,
})
decls = '\n'.join(declList)
with open(outCommandNamesPath, 'w') as outStream:
outStream.write(TEMPLATE_MAIN % {'decls': decls})
logging.info('wrote ROS msg file declaring command name constants to %s', outCommandNamesPath)
def getParamContext(param):
if '.' in param.id:
category, baseId = param.id.split('.', 1)
else:
category, baseId = None, param.id
result = {
'paramId':
xpjsonAstrobee.fixName(baseId),
'paramIdAllCaps':
xpjsonAstrobee.allCaps(xpjsonAstrobee.fixName(baseId)),
'paramValueTypeRapid':
xpjsonAstrobee.XPJSON_PARAM_VALUE_TYPE_MAPPINGS[param.valueType],
}
if category is not None:
result['paramCategoryAllCaps'] = xpjsonAstrobee.allCaps(category)
return result
def getCommandContext(cmd):
assert '.' in cmd.id, 'CommandSpec without category: %s' % cmd
category, baseId = cmd.id.split('.', 1)
return {
'commandId': baseId,
'commandIdAllCaps': xpjsonAstrobee.allCaps(baseId),
'commandCategoryUpper': category.upper(),
}
def getChoiceContext(choiceCode):
capChoiceCode = choiceCode
if choiceCode[0] >= '0' and choiceCode[0] <= '9':
capChoiceCode = 'r' + choiceCode
return {
'choiceCode': choiceCode,
'choiceCodeAllCaps': xpjsonAstrobee.allCaps(capChoiceCode),
}
def getChoiceContext(choiceCode, choiceLabel):
return {
'choiceCode': choiceCode,
'choiceLabelAllCaps': xpjsonAstrobee.allCaps(choiceLabel),
}
