def generate_msg_and_srv(generator_arguments_file):
"""Write 'msg' and 'srv' files from 'action' files."""
args = read_generator_arguments(generator_arguments_file)
for ros_interface_file in args['ros_interface_files']:
extension = os.path.splitext(ros_interface_file)[1]
subfolder = os.path.basename(os.path.dirname(ros_interface_file))
if extension == '.action':
action = parse_action_file(args['package_name'],
ros_interface_file)
# create folder if necessary
os.makedirs(os.path.join(args['output_dir'], subfolder),
exist_ok=True)
generated_folder = os.path.join(args['output_dir'], subfolder)
for service in [action.goal_service, action.result_service]:
srv_file = os.path.join(generated_folder,
service.srv_name + '.srv')
req_file = os.path.join(generated_folder,
service.srv_name + '_Request.msg')
rsp_file = os.path.join(generated_folder,
service.srv_name + '_Response.msg')
with open(srv_file, 'w+') as fout:
fout.write(str(service))
with open(req_file, 'w+') as fout:
fout.write(str(service.request))
with open(rsp_file, 'w+') as fout:
fout.write(str(service.response))
generated_file = os.path.join(args['output_dir'], subfolder,
action.feedback.msg_name + '.msg')
with open(generated_file, 'w+') as fout:
fout.write(str(action.feedback))
def generate_py(generator_arguments_file, typesupport_impls):
args = read_generator_arguments(generator_arguments_file)
template_dir = args['template_dir']
type_support_impl_by_filename = {
'_%s_s.ep.{0}.c'.format(impl): impl
for impl in typesupport_impls
}
mapping_msgs = {
os.path.join(template_dir, '_msg.py.em'): ['_%s.py'],
os.path.join(template_dir, '_msg_support.c.em'): ['_%s_s.c'],
}
mapping_msg_pkg_extension = {
os.path.join(template_dir, '_msg_pkg_typesupport_entry_point.c.em'):
type_support_impl_by_filename.keys(),
}
mapping_srvs = {
os.path.join(template_dir, '_srv.py.em'): ['_%s.py'],
}
mapping_actions = {
os.path.join(template_dir, '_action.py.em'): ['_%s.py'],
}
for template_file in mapping_msgs.keys():
assert os.path.exists(
template_file), 'Could not find template: ' + template_file
for template_file in mapping_msg_pkg_extension.keys():
assert os.path.exists(
template_file), 'Could not find template: ' + template_file
for template_file in mapping_srvs.keys():
assert os.path.exists(
template_file), 'Could not find template: ' + template_file
for template_file in mapping_actions.keys():
assert os.path.exists(
template_file), 'Could not find template: ' + template_file
functions = {
'constant_value_to_py':
constant_value_to_py,
'get_python_type':
get_python_type,
'primitive_msg_type_to_c':
primitive_msg_type_to_c,
'value_to_py':
value_to_py,
'convert_camel_case_to_lower_case_underscore':
convert_camel_case_to_lower_case_underscore,
}
latest_target_timestamp = get_newest_modification_time(
args['target_dependencies'])
modules = defaultdict(list)
message_specs = []
service_specs = []
action_specs = []
for ros_interface_file in args['ros_interface_files']:
extension = os.path.splitext(ros_interface_file)[1]
subfolder = os.path.basename(os.path.dirname(ros_interface_file))
if extension == '.msg':
spec = parse_message_file(args['package_name'], ros_interface_file)
message_specs.append((spec, subfolder))
mapping = mapping_msgs
type_name = spec.base_type.type
elif extension == '.srv':
spec = parse_service_file(args['package_name'], ros_interface_file)
service_specs.append((spec, subfolder))
mapping = mapping_srvs
type_name = spec.srv_name
elif extension == '.action':
spec = parse_action_file(args['package_name'], ros_interface_file)
action_specs.append((spec, subfolder))
mapping = mapping_actions
type_name = spec.action_name
else:
continue
module_name = convert_camel_case_to_lower_case_underscore(type_name)
modules[subfolder].append((module_name, type_name))
for template_file, generated_filenames in mapping.items():
for generated_filename in generated_filenames:
data = {
'module_name': module_name,
'package_name': args['package_name'],
'spec': spec,
'subfolder': subfolder,
}
data.update(functions)
generated_file = os.path.join(args['output_dir'], subfolder,
generated_filename % module_name)
expand_template(template_file,
data,
generated_file,
minimum_timestamp=latest_target_timestamp)
for subfolder in modules.keys():
import_list = {}
for module_name, type_ in modules[subfolder]:
if (subfolder == 'srv' or subfolder == 'action') and \
(type_.endswith('Request') or type_.endswith('Response')):
continue
import_list['%s # noqa\n' % type_] = 'from %s.%s._%s import %s\n' % \
(args['package_name'], subfolder, module_name, type_)
path_to_module = os.path.join(args['output_dir'], subfolder,
'__init__.py')
content = ''
if os.path.isfile(path_to_module):
with open(path_to_module, 'r') as f:
content = f.read()
with open(path_to_module, 'w') as f:
block_name = args['package_name']
if action_specs:
block_name += '_action'
content = re.sub(
r'# BEGIN %s$.*^# END %s' % (block_name, block_name), '',
content, 0, re.M | re.S)
content = re.sub(r'^\s*$', '', content, 0, re.M)
content = ''.join(['# BEGIN %s\n' % block_name] +
sorted(import_list.values()) + # import_line
sorted(import_list.keys()) + # noqa_line
['# END %s\n' % block_name]) + content
f.write(content)
for template_file, generated_filenames in mapping_msg_pkg_extension.items(
):
for generated_filename in generated_filenames:
package_name = args['package_name']
if action_specs:
package_name += '_action'
data = {
'package_name':
package_name,
'action_specs':
action_specs,
'message_specs':
message_specs,
'service_specs':
service_specs,
'typesupport_impl':
type_support_impl_by_filename.get(generated_filename, ''),
}
data.update(functions)
generated_file = os.path.join(args['output_dir'],
generated_filename % package_name)
expand_template(template_file,
data,
generated_file,
minimum_timestamp=latest_target_timestamp)
return 0
def generate_c(generator_arguments_file):
args = read_generator_arguments(generator_arguments_file)
template_dir = args['template_dir']
mapping_msgs = {
os.path.join(template_dir, 'msg.h.em'): '%s.h',
os.path.join(template_dir, 'msg__functions.c.em'): '%s__functions.c',
os.path.join(template_dir, 'msg__functions.h.em'): '%s__functions.h',
os.path.join(template_dir, 'msg__struct.h.em'): '%s__struct.h',
os.path.join(template_dir, 'msg__type_support.h.em'): '%s__type_support.h',
}
mapping_srvs = {
os.path.join(template_dir, 'srv.h.em'): '%s.h',
}
mapping_action = {
os.path.join(template_dir, 'action.h.em'): '%s.h',
os.path.join(template_dir, 'action__type_support.h.em'): '%s__type_support.h',
}
for template_file in list(mapping_msgs.keys()) + list(mapping_srvs.keys()):
assert os.path.exists(template_file), 'Could not find template: ' + template_file
functions = {
'get_header_filename_from_msg_name': convert_camel_case_to_lower_case_underscore,
}
latest_target_timestamp = get_newest_modification_time(args['target_dependencies'])
for ros_interface_file in args['ros_interface_files']:
extension = os.path.splitext(ros_interface_file)[1]
subfolder = os.path.basename(os.path.dirname(ros_interface_file))
if extension == '.msg':
spec = parse_message_file(args['package_name'], ros_interface_file)
for template_file, generated_filename in mapping_msgs.items():
generated_file = os.path.join(
args['output_dir'], subfolder, generated_filename %
convert_camel_case_to_lower_case_underscore(spec.base_type.type))
data = {
'spec': spec,
'pkg': spec.base_type.pkg_name,
'msg': spec.msg_name,
'type': spec.base_type.type,
'subfolder': subfolder,
}
data.update(functions)
expand_template(
template_file, data, generated_file,
minimum_timestamp=latest_target_timestamp)
elif extension == '.srv':
spec = parse_service_file(args['package_name'], ros_interface_file)
for template_file, generated_filename in mapping_srvs.items():
data = {'spec': spec, 'subfolder': subfolder}
data.update(functions)
generated_file = os.path.join(
args['output_dir'], subfolder, generated_filename %
convert_camel_case_to_lower_case_underscore(spec.srv_name))
expand_template(
template_file, data, generated_file,
minimum_timestamp=latest_target_timestamp)
elif extension == '.action':
spec = parse_action_file(args['package_name'], ros_interface_file)
for template_file, generated_filename in mapping_action.items():
data = {'spec': spec, 'subfolder': subfolder}
data.update(functions)
generated_file = os.path.join(
args['output_dir'], subfolder, generated_filename %
convert_camel_case_to_lower_case_underscore(spec.action_name))
expand_template(
template_file, data, generated_file,
minimum_timestamp=latest_target_timestamp)
return 0
def generate_cpp(generator_arguments_file, type_supports):
args = read_generator_arguments(generator_arguments_file)
template_dir = args['template_dir']
mapping_msgs = {
os.path.join(template_dir, 'msg__type_support.cpp.em'):
'%s__type_support.cpp',
}
mapping_srvs = {
os.path.join(template_dir, 'srv__type_support.cpp.em'):
'%s__type_support.cpp',
}
mapping_actions = {
os.path.join(template_dir, 'action__type_support.cpp.em'):
'%s__type_support.cpp',
}
for template_file in mapping_msgs.keys():
assert os.path.exists(
template_file), 'Could not find template: ' + template_file
for template_file in mapping_srvs.keys():
assert os.path.exists(
template_file), 'Could not find template: ' + template_file
for template_file in mapping_actions.keys():
assert os.path.exists(
template_file), 'Could not find template: ' + template_file
pkg_name = args['package_name']
known_msg_types = extract_message_types(
pkg_name, args['ros_interface_files'],
args.get('ros_interface_dependencies', []))
functions = {
'get_header_filename_from_msg_name':
convert_camel_case_to_lower_case_underscore,
}
latest_target_timestamp = get_newest_modification_time(
args['target_dependencies'])
for ros_interface_file in args['ros_interface_files']:
extension = os.path.splitext(ros_interface_file)[1]
subfolder = os.path.basename(os.path.dirname(ros_interface_file))
if extension == '.msg':
spec = parse_message_file(pkg_name, ros_interface_file)
validate_field_types(spec, known_msg_types)
for template_file, generated_filename in mapping_msgs.items():
generated_file = os.path.join(
args['output_dir'], subfolder, generated_filename %
convert_camel_case_to_lower_case_underscore(
spec.base_type.type))
data = {
'spec': spec,
'subfolder': subfolder,
'type_supports': type_supports
}
data.update(functions)
expand_template(template_file,
data,
generated_file,
minimum_timestamp=latest_target_timestamp)
elif extension == '.srv':
spec = parse_service_file(pkg_name, ros_interface_file)
validate_field_types(spec, known_msg_types)
for template_file, generated_filename in mapping_srvs.items():
generated_file = os.path.join(
args['output_dir'], subfolder, generated_filename %
convert_camel_case_to_lower_case_underscore(spec.srv_name))
data = {
'spec': spec,
'subfolder': subfolder,
'type_supports': type_supports
}
data.update(functions)
expand_template(template_file,
data,
generated_file,
minimum_timestamp=latest_target_timestamp)
elif extension == '.action':
spec = parse_action_file(pkg_name, ros_interface_file)
validate_field_types(spec, known_msg_types)
for template_file, generated_filename in mapping_actions.items():
generated_file = os.path.join(
args['output_dir'], subfolder, generated_filename %
convert_camel_case_to_lower_case_underscore(
spec.action_name))
data = {'spec': spec, 'subfolder': subfolder}
data.update(functions)
expand_template(template_file,
data,
generated_file,
minimum_timestamp=latest_target_timestamp)
return 0
