def genCommandConfigLua(inSchemaPath, outCommandConfigPath):
schema = xpjsonAstrobee.loadDocument(inSchemaPath)
specs = sorted(schema.commandSpecs, key=lambda c: c.id)
categoryMap = {}
for spec in specs:
assert '.' in spec.id, 'CommandSpec without category: %s' % spec
category, baseId = spec.id.split('.', 1)
specsInCategory = categoryMap.setdefault(category, [])
specsInCategory.append(getCommandConfig(spec))
categories = sorted(categoryMap.keys())
config = {
'availableSubsystems': [{
'name': c,
'subsystemTypeName': c + 'Type'
} for c in categories],
'availableSubsystemTypes': [{
'name': k + 'Type',
'commands': categoryMap[k]
} for k in categories]
}
# import json; print json.dumps(config, indent=4, sort_keys=True)
table = luaTable.dumps(config)
with open(outCommandConfigPath, 'w') as outStream:
outStream.write(TEMPLATE_MAIN % {'table': table})
logging.info('wrote command config Lua to %s', outCommandConfigPath)
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 genCommandTypes(inSchemaPath, commandTypesPath):
schema = xpjsonAstrobee.loadDocument(inSchemaPath)
paramSpecs = sorted(schema.paramSpecs, key=lambda spec: spec.id)
for spec in paramSpecs:
genParamDecls(spec, commandTypesPath)
logging.info('wrote command types to %s', commandTypesPath)
def genCommandConstants(inSchemaPath, outCommandConstantsPath):
schema = xpjsonAstrobee.loadDocument(inSchemaPath)
commandSpecs = sorted(schema.commandSpecs, key=lambda spec: spec.id)
paramSpecs = sorted(schema.paramSpecs, key=lambda spec: spec.id)
commandDecls = [genCommandSpecDecls(spec) for spec in commandSpecs]
paramDecls = [genParamDecls(spec) for spec in paramSpecs]
body = ''.join(commandDecls + paramDecls)
with open(outCommandConstantsPath, 'w') as outStream:
outStream.write(TEMPLATE_MAIN % {'body': body})
logging.info('wrote command constants to %s', outCommandConstantsPath)
def genCommandConstants(inSchemaPath, baseRobotImplPath):
schema = xpjsonAstrobee.loadDocument(inSchemaPath)
commandSpecs = sorted(schema.commandSpecs, key=lambda spec: spec.id)
commandDecls = [genCommandSpecDecls(spec) for spec in commandSpecs]
body = ''.join(commandDecls)
filename = baseRobotImplPath + '/internal/BaseRobotImpl.java'
with open(filename, 'w') as outStream:
outStream.write(TEMPLATE_MAIN % {'body': body})
logging.info('wrote base robot implementation to %s', filename)