def srv_generator(msg_context, spec, search_path):
for mspec in (spec.request, spec.response):
for l in msg_generator(msg_context, mspec, search_path):
yield l
name = spec.short_name
req, resp = ["%s%s"%(name, suff) for suff in ['Request', 'Response']]
fulltype = spec.full_name
genmsg.msg_loader.load_depends(msg_context, spec, search_path)
md5 = genmsg.compute_md5(msg_context, spec)
yield "module %s\n"%spec.package.capitalize()
yield "class %s\n"%name
yield """ def self.type
'%s'
end
"""%fulltype
yield """ def self.md5sum
'%s'
end
"""%md5
yield """ def self.request_class
%s
end
"""%req
yield """ def self.response_class
%s
end
end
end"""%resp
def __init__(self, msg_context, spec, search_path):
self.msg_context = msg_context
self.spec = spec
self.search_path = search_path
self.name = spec.short_name
self.pkg = spec.package
self.md5 = genmsg.compute_md5(msg_context, spec)
def srv_generator(msg_context, spec, search_path):
for mspec in (spec.request, spec.response):
for l in msg_generator(msg_context, mspec, search_path):
yield l
name = spec.short_name
req, resp = ["%s%s" % (name, suff) for suff in ['Request', 'Response']]
fulltype = spec.full_name
genmsg.msg_loader.load_depends(msg_context, spec, search_path)
md5 = genmsg.compute_md5(msg_context, spec)
yield "module %s\n" % spec.package.capitalize()
yield "class %s\n" % name
yield """ def self.type
'%s'
end
""" % fulltype
yield """ def self.md5sum
'%s'
end
""" % md5
yield """ def self.request_class
%s
end
""" % req
yield """ def self.response_class
%s
end
end
end""" % resp
def _compute_md5(msg_context, f):
from genmsg import load_depends, compute_md5
from genmsg.msg_loader import load_msg_from_string
text = open(f, 'r').read()
short_name = os.path.basename(f)[:-len('.msg')]
full_name = "%s/%s"%(TEST_CTX, short_name)
spec = load_msg_from_string(msg_context, text, full_name)
search_path = get_search_path()
load_depends(msg_context, spec, search_path)
return compute_md5(msg_context, spec)
def _compute_md5(msg_context, f):
from genmsg import load_depends, compute_md5
from genmsg.msg_loader import load_msg_from_string
text = open(f, 'r').read()
short_name = os.path.basename(f)[:-len('.msg')]
full_name = "%s/%s" % (TEST_CTX, short_name)
spec = load_msg_from_string(msg_context, text, full_name)
search_path = get_search_path()
load_depends(msg_context, spec, search_path)
return compute_md5(msg_context, spec)
def srv_generator(msg_context, spec, search_path):
for mspec in (spec.request, spec.response):
for l in msg_generator(msg_context, mspec, search_path):
yield l
name = spec.short_name
req, resp = ["%s%s"%(name, suff) for suff in ['Request', 'Response']]
fulltype = spec.full_name
genmsg.msg_loader.load_depends(msg_context, spec, search_path)
md5 = genmsg.compute_md5(msg_context, spec)
yield "class %s(object):"%name
yield " _type = '%s'"%fulltype
yield " _md5sum = '%s'"%md5
yield " _request_class = %s"%req
yield " _response_class = %s"%resp
def srv_generator(msg_context, spec, search_path):
for mspec in (spec.request, spec.response):
for l in msg_generator(msg_context, mspec, search_path):
yield l
name = spec.short_name
req, resp = ["%s%s" % (name, suff) for suff in ["Request", "Response"]]
fulltype = spec.full_name
genmsg.msg_loader.load_depends(msg_context, spec, search_path)
md5 = genmsg.compute_md5(msg_context, spec)
yield "class %s(object):" % name
yield " _type = '%s'" % fulltype
yield " _md5sum = '%s'" % md5
yield " _request_class = %s" % req
yield " _response_class = %s" % resp
def msg_generator(msg_context, spec, search_path):
"""
Python code generator for .msg files. Generates a Python from a
:class:`genmsg.MsgSpec`.
:param spec: parsed .msg :class:`genmsg.MsgSpec` instance
:param search_path: dictionary mapping message namespaces to a directory locations
"""
# #2990: have to compute md5sum before any calls to make_python_safe
# generate dependencies dictionary. omit files calculation as we
# rely on in-memory MsgSpecs instead so that we can generate code
# for older versions of msg files
try:
genmsg.msg_loader.load_depends(msg_context, spec, search_path)
except InvalidMsgSpec as e:
raise MsgGenerationException("Cannot generate .msg for %s/%s: %s"%(package, name, str(e)))
md5sum = genmsg.compute_md5(msg_context, spec)
# remap spec names to be Python-safe
spec = make_python_safe(spec)
spec_names = spec.names
# #1807 : this will be much cleaner when msggenerator library is
# rewritten to not use globals
clear_patterns()
yield '# This Python file uses the following encoding: utf-8'
yield '"""autogenerated by genpy from %s.msg. Do not edit."""'%spec.full_name
yield 'import sys'
yield 'python3 = True if sys.hexversion > 0x03000000 else False'
yield 'import genpy\nimport struct\n'
import_strs = []
for t in spec.types:
import_strs.extend(compute_import(msg_context, spec.package, t))
import_strs = set(import_strs)
for i in import_strs:
if i:
yield i
yield ''
fulltype = spec.full_name
name = spec.short_name
#Yield data class first, e.g. Point2D
yield 'class %s(genpy.Message):'%spec.short_name
yield ' _md5sum = "%s"'%(md5sum)
yield ' _type = "%s"'%(fulltype)
yield ' _has_header = %s #flag to mark the presence of a Header object'%spec.has_header()
full_text = compute_full_text_escaped(msg_context, spec)
# escape trailing double-quote, unless already escaped, before wrapping in """
if full_text.endswith('"') and not full_text.endswith(r'\"'):
full_text = full_text[:-1] + r'\"'
yield ' _full_text = """%s"""'%full_text
if spec.constants:
yield ' # Pseudo-constants'
for c in spec.constants:
if c.type == 'string':
val = c.val
if '"' in val and "'" in val:
# crude escaping of \ and "
escaped = c.val.replace('\\', '\\\\')
escaped = escaped.replace('\"', '\\"')
yield ' %s = "%s"'%(c.name, escaped)
elif '"' in val: #use raw encoding for prettiness
yield " %s = r'%s'"%(c.name, val)
elif "'" in val: #use raw encoding for prettiness
yield ' %s = r"%s"'%(c.name, val)
else:
yield " %s = '%s'"%(c.name, val)
else:
yield ' %s = %s'%(c.name, c.val)
yield ''
if len(spec_names):
yield " __slots__ = ['"+"','".join(spec_names)+"']"
yield " _slot_types = ['"+"','".join(spec.types)+"']"
else:
yield " __slots__ = []"
yield " _slot_types = []"
yield """
def __init__(self, *args, **kwds):
\"\"\"
Constructor. Any message fields that are implicitly/explicitly
set to None will be assigned a default value. The recommend
use is keyword arguments as this is more robust to future message
changes. You cannot mix in-order arguments and keyword arguments.
The available fields are:
%s
:param args: complete set of field values, in .msg order
:param kwds: use keyword arguments corresponding to message field names
to set specific fields.
\"\"\"
if args or kwds:
super(%s, self).__init__(*args, **kwds)"""%(','.join(spec_names), name)
if len(spec_names):
yield " #message fields cannot be None, assign default values for those that are"
for (t, s) in zip(spec.types, spec_names):
yield " if self.%s is None:"%s
yield " self.%s = %s"%(s, default_value(msg_context, t, spec.package))
if len(spec_names) > 0:
yield " else:"
for (t, s) in zip(spec.types, spec_names):
yield " self.%s = %s"%(s, default_value(msg_context, t, spec.package))
yield """
def _get_types(self):
\"\"\"
internal API method
\"\"\"
return self._slot_types
def serialize(self, buff):
\"\"\"
serialize message into buffer
:param buff: buffer, ``StringIO``
\"\"\""""
for y in serialize_fn_generator(msg_context, spec):
yield " "+ y
yield """
def deserialize(self, str):
\"\"\"
unpack serialized message in str into this message instance
:param str: byte array of serialized message, ``str``
\"\"\""""
for y in deserialize_fn_generator(msg_context, spec):
yield " " + y
yield ""
yield """
def serialize_numpy(self, buff, numpy):
\"\"\"
serialize message with numpy array types into buffer
:param buff: buffer, ``StringIO``
:param numpy: numpy python module
\"\"\""""
for y in serialize_fn_generator(msg_context, spec, is_numpy=True):
yield " "+ y
yield """
def deserialize_numpy(self, str, numpy):
\"\"\"
unpack serialized message in str into this message instance using numpy for array types
:param str: byte array of serialized message, ``str``
:param numpy: numpy python module
\"\"\""""
for y in deserialize_fn_generator(msg_context, spec, is_numpy=True):
yield " " + y
yield ""
# #1807 : this will be much cleaner when msggenerator library is
# rewritten to not use globals
yield '_struct_I = genpy.struct_I'
yield 'def _get_struct_I():'
yield ' global _struct_I'
yield ' return _struct_I'
patterns = get_patterns()
for p in set(patterns):
# I patterns are already optimized
if p == 'I':
continue
var_name = '_struct_%s'%(p.replace('<',''))
yield '%s = None' % var_name
yield 'def _get%s():' % var_name
yield ' global %s' % var_name
yield ' if %s is None:' % var_name
yield ' %s = struct.Struct("<%s")' % (var_name, p)
yield ' return %s' % var_name
clear_patterns()
def msg_generator(msg_context, spec, search_path):
"""
Python code generator for .msg files. Generates a Python from a
:class:`genmsg.MsgSpec`.
:param spec: parsed .msg :class:`genmsg.MsgSpec` instance
:param search_path: dictionary mapping message namespaces to a directory locations
"""
# #2990: have to compute md5sum before any calls to make_python_safe
# generate dependencies dictionary. omit files calculation as we
# rely on in-memory MsgSpecs instead so that we can generate code
# for older versions of msg files
try:
genmsg.msg_loader.load_depends(msg_context, spec, search_path)
except InvalidMsgSpec as e:
raise MsgGenerationException("Cannot generate .msg for %s/%s: %s" % (package, name, str(e)))
md5sum = genmsg.compute_md5(msg_context, spec)
# remap spec names to be Python-safe
spec = make_python_safe(spec)
spec_names = spec.names
# #1807 : this will be much cleaner when msggenerator library is
# rewritten to not use globals
clear_patterns()
yield '"""autogenerated by genpy from %s.msg. Do not edit."""' % spec.full_name
yield "import sys"
yield "python3 = True if sys.hexversion > 0x03000000 else False"
yield "import genpy\nimport struct\n"
import_strs = []
for t in spec.types:
import_strs.extend(compute_import(msg_context, spec.package, t))
import_strs = set(import_strs)
for i in import_strs:
if i:
yield i
yield ""
fulltype = spec.full_name
name = spec.short_name
# Yield data class first, e.g. Point2D
yield "class %s(genpy.Message):" % spec.short_name
yield ' _md5sum = "%s"' % (md5sum)
yield ' _type = "%s"' % (fulltype)
yield " _has_header = %s #flag to mark the presence of a Header object" % spec.has_header()
# note: we introduce an extra newline to protect the escaping from quotes in the message
yield ' _full_text = """%s\n"""' % compute_full_text_escaped(msg_context, spec)
if spec.constants:
yield " # Pseudo-constants"
for c in spec.constants:
if c.type == "string":
val = c.val
if '"' in val and "'" in val:
# crude escaping of \ and "
escaped = c.val.replace("\\", "\\\\")
escaped = escaped.replace('"', '\\"')
yield ' %s = "%s"' % (c.name, escaped)
elif '"' in val: # use raw encoding for prettiness
yield " %s = r'%s'" % (c.name, val)
elif "'" in val: # use raw encoding for prettiness
yield ' %s = r"%s"' % (c.name, val)
else:
yield " %s = '%s'" % (c.name, val)
else:
yield " %s = %s" % (c.name, c.val)
yield ""
if len(spec_names):
yield " __slots__ = ['" + "','".join(spec_names) + "']"
yield " _slot_types = ['" + "','".join(spec.types) + "']"
else:
yield " __slots__ = []"
yield " _slot_types = []"
yield """
def __init__(self, *args, **kwds):
\"\"\"
Constructor. Any message fields that are implicitly/explicitly
set to None will be assigned a default value. The recommend
use is keyword arguments as this is more robust to future message
changes. You cannot mix in-order arguments and keyword arguments.
The available fields are:
%s
:param args: complete set of field values, in .msg order
:param kwds: use keyword arguments corresponding to message field names
to set specific fields.
\"\"\"
if args or kwds:
super(%s, self).__init__(*args, **kwds)""" % (
",".join(spec_names),
name,
)
if len(spec_names):
yield " #message fields cannot be None, assign default values for those that are"
for (t, s) in zip(spec.types, spec_names):
yield " if self.%s is None:" % s
yield " self.%s = %s" % (s, default_value(msg_context, t, spec.package))
if len(spec_names) > 0:
yield " else:"
for (t, s) in zip(spec.types, spec_names):
yield " self.%s = %s" % (s, default_value(msg_context, t, spec.package))
yield """
def _get_types(self):
\"\"\"
internal API method
\"\"\"
return self._slot_types
def serialize(self, buff):
\"\"\"
serialize message into buffer
:param buff: buffer, ``StringIO``
\"\"\""""
for y in serialize_fn_generator(msg_context, spec):
yield " " + y
yield """
def deserialize(self, str):
\"\"\"
unpack serialized message in str into this message instance
:param str: byte array of serialized message, ``str``
\"\"\""""
for y in deserialize_fn_generator(msg_context, spec):
yield " " + y
yield ""
yield """
def serialize_numpy(self, buff, numpy):
\"\"\"
serialize message with numpy array types into buffer
:param buff: buffer, ``StringIO``
:param numpy: numpy python module
\"\"\""""
for y in serialize_fn_generator(msg_context, spec, is_numpy=True):
yield " " + y
yield """
def deserialize_numpy(self, str, numpy):
\"\"\"
unpack serialized message in str into this message instance using numpy for array types
:param str: byte array of serialized message, ``str``
:param numpy: numpy python module
\"\"\""""
for y in deserialize_fn_generator(msg_context, spec, is_numpy=True):
yield " " + y
yield ""
# #1807 : this will be much cleaner when msggenerator library is
# rewritten to not use globals
yield "_struct_I = genpy.struct_I"
patterns = get_patterns()
for p in set(patterns):
# I patterns are already optimized
if p == "I":
continue
var_name = "_struct_%s" % (p.replace("<", ""))
yield '%s = struct.Struct("<%s")' % (var_name, p)
clear_patterns()
def msg_generator_internal(msg_context, spec, search_path):
"""
Python code generator for .msg files. Takes in a package name,
message name, and message specification and generates a Python
message class.
@param package: name of package for message
@type package: str
@param name: base type name of message, e.g. 'Empty', 'String'
@type name: str
@param spec: parsed .msg specification
@type spec: L{MsgSpec}
"""
# #2990: have to compute md5sum before any calls to make_python_safe
# generate dependencies dictionary. omit files calculation as we
# rely on in-memory MsgSpecs instead so that we can generate code
# for older versions of msg files
try:
genmsg.msg_loader.load_depends(msg_context, spec, search_path)
except InvalidMsgSpec as e:
raise MsgGenerationException("Cannot generate .msg for %s/%s: %s"%(package, name, str(e)))
md5sum = genmsg.compute_md5(msg_context, spec)
# remap spec names to be Python-safe
spec = make_ruby_safe(spec)
spec_names = spec.names
# for not capital class like tfMessages
name = spec.short_name
capitalized_name = name[0].upper() + name[1:]
# #1807 : this will be much cleaner when msggenerator library is
# rewritten to not use globals
clear_patterns()
yield '# autogenerated by genrb from %s.msg. Do not edit.'%name
yield "require 'ros/message'\n"
import_strs = []
for t in spec.types:
import_strs.extend(compute_import(msg_context, spec.package, t))
import_strs = set(import_strs)
for i in import_strs:
if i:
yield i
yield ''
yield "module %s\n"%spec.package.capitalize()
fulltype = '%s%s%s'%(spec.package, genmsg.SEP, name)
#Yield data class first, e.g. Point2D
yield 'class %s <::ROS::Message'%capitalized_name
yield """ def self.md5sum
\"%s\"
end
"""%(md5sum)
yield """ def self.type
\"%s\"
end
"""%(fulltype)
if spec.has_header():
bool_val = 'true'
else:
bool_val = 'false'
yield """ def has_header?
%s
end
"""%bool_val
# note: we introduce an extra newline to protect the escaping from quotes in the message
yield """ def message_definition
\"%s\n\"
end"""%compute_full_text_escaped(msg_context, spec)
if spec.constants:
yield ' # Pseudo-constants'
for c in spec.constants:
if c.type == 'string':
val = c.val
if '"' in val and "'" in val:
# crude escaping of \ and "
escaped = c.val.replace('\\', '\\\\')
escaped = escaped.replace('\"', '\\"')
yield ' %s = "%s"'%(c.name, escaped)
elif '"' in val: #use raw encoding for prettiness
yield " %s = r'%s'"%(c.name, val)
elif "'" in val: #use raw encoding for prettiness
yield ' %s = r"%s"'%(c.name, val)
else:
yield " %s = '%s'"%(c.name, val)
else:
yield ' %s = %s'%(c.name, c.val)
yield ''
yield " attr_accessor "+", ".join([":"+x for x in spec_names])+"\n"
yield '_REPLACE_FOR_STRUCT_'
if len(spec_names):
yield " @@struct_L = ::ROS::Struct.new(\"L\")"
yield " @@slot_types = ['"+"','".join(spec.types)+"']"
else:
yield " @@struct_L = ::ROS::Struct.new(\"L\")"
yield " @@slot_types = []"
yield """
# Constructor. You can set the default values using keyword operators.
#
# @param [Hash] args keyword for initializing values"""
for (t, s) in zip(spec.types, spec_names):
yield " # @option args [%s] :%s initialize value"%(t, s)
yield " def initialize(args={})"
if len(spec_names):
yield " # message fields cannot be None, assign default values for those that are"
if len(spec_names) > 0:
for (t, s) in zip(spec.types, spec_names):
yield """ if args[:%s]
@%s = args[:%s]
else"""%(s, s, s)
yield " @%s = %s"%(s, default_value(msg_context, t, spec.package))
yield " end"
yield " end" # end of initialize
yield """
# internal API method
# @return [String] Message type string.
def _get_types
@slot_types
end
# serialize message into buffer
# @param [IO] buff buffer
def serialize(buff)"""
for y in serialize_fn_generator(msg_context, spec):
yield " "+ y
yield " end"
yield """
# unpack serialized message in str into this message instance
# @param [String] str: byte array of serialized message
def deserialize(str)
"""
for y in deserialize_fn_generator(msg_context, spec):
yield " " + y
yield " end"
yield "end # end of class"
yield "end # end of module"
def msg_generator_internal(msg_context, spec, search_path):
"""
Python code generator for .msg files. Takes in a package name,
message name, and message specification and generates a Python
message class.
@param package: name of package for message
@type package: str
@param name: base type name of message, e.g. 'Empty', 'String'
@type name: str
@param spec: parsed .msg specification
@type spec: L{MsgSpec}
"""
# #2990: have to compute md5sum before any calls to make_python_safe
# generate dependencies dictionary. omit files calculation as we
# rely on in-memory MsgSpecs instead so that we can generate code
# for older versions of msg files
try:
genmsg.msg_loader.load_depends(msg_context, spec, search_path)
except InvalidMsgSpec as e:
raise MsgGenerationException("Cannot generate .msg for %s/%s: %s" %
(package, name, str(e)))
md5sum = genmsg.compute_md5(msg_context, spec)
# remap spec names to be Python-safe
spec = make_ruby_safe(spec)
spec_names = spec.names
# for not capital class like tfMessages
name = spec.short_name
capitalized_name = name[0].upper() + name[1:]
# #1807 : this will be much cleaner when msggenerator library is
# rewritten to not use globals
clear_patterns()
yield '# autogenerated by genrb from %s.msg. Do not edit.' % name
yield "require 'ros/message'\n"
import_strs = []
for t in spec.types:
import_strs.extend(compute_import(msg_context, spec.package, t))
import_strs = set(import_strs)
for i in import_strs:
if i:
yield i
yield ''
yield "module %s\n" % spec.package.capitalize()
fulltype = '%s%s%s' % (spec.package, genmsg.SEP, name)
#Yield data class first, e.g. Point2D
yield 'class %s <::ROS::Message' % capitalized_name
yield """ def self.md5sum
\"%s\"
end
""" % (md5sum)
yield """ def self.type
\"%s\"
end
""" % (fulltype)
if spec.has_header():
bool_val = 'true'
else:
bool_val = 'false'
yield """ def has_header?
%s
end
""" % bool_val
# note: we introduce an extra newline to protect the escaping from quotes in the message
yield """ def message_definition
\"%s\n\"
end""" % compute_full_text_escaped(msg_context, spec)
if spec.constants:
yield ' # Pseudo-constants'
for c in spec.constants:
if c.type == 'string':
val = c.val
if '"' in val and "'" in val:
# crude escaping of \ and "
escaped = c.val.replace('\\', '\\\\')
escaped = escaped.replace('\"', '\\"')
yield ' %s = "%s"' % (c.name, escaped)
elif '"' in val: #use raw encoding for prettiness
yield " %s = r'%s'" % (c.name, val)
elif "'" in val: #use raw encoding for prettiness
yield ' %s = r"%s"' % (c.name, val)
else:
yield " %s = '%s'" % (c.name, val)
else:
yield ' %s = %s' % (c.name, c.val)
yield ''
yield " attr_accessor " + ", ".join([":" + x for x in spec_names]) + "\n"
yield '_REPLACE_FOR_STRUCT_'
if len(spec_names):
yield " @@struct_L = ::ROS::Struct.new(\"L\")"
yield " @@slot_types = ['" + "','".join(spec.types) + "']"
else:
yield " @@struct_L = ::ROS::Struct.new(\"L\")"
yield " @@slot_types = []"
yield """
# Constructor. You can set the default values using keyword operators.
#
# @param [Hash] args keyword for initializing values"""
for (t, s) in zip(spec.types, spec_names):
yield " # @option args [%s] :%s initialize value" % (t, s)
yield " def initialize(args={})"
if len(spec_names):
yield " # message fields cannot be None, assign default values for those that are"
if len(spec_names) > 0:
for (t, s) in zip(spec.types, spec_names):
yield """ if args[:%s]
@%s = args[:%s]
else""" % (s, s, s)
yield " @%s = %s" % (
s, default_value(msg_context, t, spec.package))
yield " end"
yield " end" # end of initialize
yield """
# internal API method
# @return [String] Message type string.
def _get_types
@slot_types
end
# serialize message into buffer
# @param [IO] buff buffer
def serialize(buff)"""
for y in serialize_fn_generator(msg_context, spec):
yield " " + y
yield " end"
yield """
# unpack serialized message in str into this message instance
# @param [String] str: byte array of serialized message
def deserialize(str)
"""
for y in deserialize_fn_generator(msg_context, spec):
yield " " + y
yield " end"
yield "end # end of class"
yield "end # end of module"