def generate_srv_from_spec(msg_context, spec, search_path, output_dir, package, path):
"Generate code from .srv file"
genmsg.msg_loader.load_depends(msg_context, spec, search_path)
ext = '.srv'
srvs = [f[:-len(ext)] for f in os.listdir(os.path.dirname(path)) if f.endswith(ext)]
for s in srvs:
load_srv_from_file(msg_context, path, '%s/%s'%(package, s))
########################################
# 1. Write the .l file
########################################
io = StringIO()
s = IndentedWriter(io)
write_begin(s, spec, True)
write_include(s, spec.request, is_srv=True)
write_include(s, spec.response, is_srv=True)
spec.request.actual_name='%sRequest'%spec.short_name
spec.response.actual_name='%sResponse'%spec.short_name
write_srv_component(s, spec.request, msg_context, spec)
write_srv_component(s, spec.response, msg_context, spec)
write_service_specific_methods(s, msg_context, spec)
with open('%s/%s.l'%(output_dir, spec.short_name), 'w') as f:
f.write(io.getvalue())
io.close()
def generate_srv_from_spec(msg_context, spec, search_path, output_dir, package,
path):
"Generate code from .srv file"
genmsg.msg_loader.load_depends(msg_context, spec, search_path)
ext = '.srv'
srvs = [
f[:-len(ext)] for f in os.listdir(os.path.dirname(path))
if f.endswith(ext)
]
for s in srvs:
load_srv_from_file(msg_context, path, '%s/%s' % (package, s))
########################################
# 1. Write the .l file
########################################
io = StringIO()
s = IndentedWriter(io)
write_begin(s, spec, True)
write_include(s, spec.request, is_srv=True)
write_include(s, spec.response, is_srv=True)
spec.request.actual_name = '%sRequest' % spec.short_name
spec.response.actual_name = '%sResponse' % spec.short_name
write_srv_component(s, spec.request, msg_context, spec)
write_srv_component(s, spec.response, msg_context, spec)
write_service_specific_methods(s, msg_context, spec)
with open('%s/%s.l' % (output_dir, spec.short_name), 'w') as f:
f.write(io.getvalue())
io.close()
def generate_srv_from_spec(msg_context, spec, search_path, output_dir, package, path):
"Generate code from .srv file"
genmsg.msg_loader.load_depends(msg_context, spec, search_path)
ext = '.srv'
srv_path = os.path.dirname(path)
srvs = msg_list(package, {package: [srv_path]}, ext)
for srv in srvs:
load_srv_from_file(msg_context, '%s/%s%s'%(srv_path, srv, ext), '%s/%s'%(package, srv))
########################################
# 1. Write the .lisp file
########################################
io = StringIO()
s = IndentedWriter(io)
write_begin(s, spec, True)
spec.request.actual_name='%s-request'%spec.short_name
spec.response.actual_name='%s-response'%spec.short_name
write_srv_component(s, spec.request, msg_context, spec)
s.newline()
write_srv_component(s, spec.response, msg_context, spec)
write_service_specific_methods(s, spec)
with open('%s/%s.lisp'%(output_dir, spec.short_name), 'w') as f:
f.write(io.getvalue())
io.close()
########################################
# 2. Write the _package file
# for this service
########################################
io = StringIO()
s = IndentedWriter(io)
write_accessor_exports(s, spec)
with open('%s/_package_%s.lisp'%(output_dir, spec.short_name), 'w') as f:
f.write(io.getvalue())
io.close()
########################################
# 3. Write the _package.lisp file
########################################
io = StringIO()
s = IndentedWriter(io)
write_srv_exports(s, srvs, package)
with open('%s/_package.lisp'%output_dir, 'w') as f:
f.write(io.getvalue())
io.close()
########################################
# 4. Write the .asd file
########################################
io = StringIO()
s = IndentedWriter(io)
write_srv_asd(s, package, srvs, msg_context)
with open('%s/%s-srv.asd'%(output_dir, package), 'w') as f:
f.write(io.getvalue())
io.close()
def generate_srv_from_spec(msg_context, spec, search_path, output_dir, package,
path):
"Generate code from .srv file"
output_file = '%s/lib/src/srvs/%s.dart' % (output_dir, spec.short_name)
if not needs_update(path, output_file):
return
genmsg.msg_loader.load_depends(msg_context, spec, search_path)
ext = '.srv'
srv_path = os.path.dirname(path)
srvs = msg_list(package, {package: [srv_path]}, ext)
for srv in srvs:
load_srv_from_file(msg_context, '%s/%s%s' % (srv_path, srv, ext),
'%s/%s' % (package, srv))
src_dir = output_dir + '/lib/src/srvs'
if (not os.path.exists(src_dir)):
# if we're being run concurrently, the above test can report false but os.makedirs can still fail if
# another copy just created the directory
try:
os.makedirs(src_dir)
except OSError as e:
pass
########################################
# 1. Write the .dart file
########################################
io = StringIO()
s = IndentedWriter(io)
write_begin(s, spec, True)
found_packages, local_deps = write_requires(s, spec.request, search_path,
output_dir, None, None, True)
write_requires(s, spec.response, search_path, output_dir, found_packages,
local_deps, True)
spec.request.actual_name = '%sRequest' % spec.short_name
spec.response.actual_name = '%sResponse' % spec.short_name
write_srv_component(s, spec.request, msg_context, spec, search_path)
write_srv_component(s, spec.response, msg_context, spec, search_path)
write_srv_end(s, msg_context, spec)
with open('%s/lib/src/srvs/%s.dart' % (output_dir, spec.short_name),
'w') as f:
f.write(io.getvalue())
io.close()
########################################
# 3. Write the srvs.dart file
# This is being rewritten once per msg
# file, which is inefficient
########################################
io = StringIO()
s = IndentedWriter(io)
# print(srvs)
write_srv_export(s, srvs, package)
with open('{}/lib/srvs.dart'.format(output_dir), 'w') as f:
f.write(io.getvalue())
io.close()
def generate_srv_from_spec(msg_context, spec, search_path, output_dir, package,
path):
"Generate code from .srv file"
genmsg.msg_loader.load_depends(msg_context, spec, search_path)
ext = '.srv'
srv_path = os.path.dirname(path)
srvs = msg_list(package, {package: [srv_path]}, ext)
for srv in srvs:
load_srv_from_file(msg_context, '%s/%s%s' % (srv_path, srv, ext),
'%s/%s' % (package, srv))
########################################
# 1. Write the .js file
########################################
io = StringIO()
s = IndentedWriter(io)
write_begin(s, spec, True)
found_packages, local_deps = write_requires(s, spec.request, None, None,
True)
write_requires(s, spec.response, found_packages, local_deps, True)
spec.request.actual_name = '%sRequest' % spec.short_name
spec.response.actual_name = '%sResponse' % spec.short_name
write_srv_component(s, spec.request, msg_context, spec, search_path)
write_srv_component(s, spec.response, msg_context, spec, search_path)
write_srv_end(s, msg_context, spec)
with open('%s/%s.js' % (output_dir, spec.short_name), 'w') as f:
f.write(io.getvalue())
io.close()
########################################
# 3. Write the msg/_index.js file
# This is being rewritten once per msg
# file, which is inefficient
########################################
io = StringIO()
s = IndentedWriter(io)
write_srv_index(s, srvs, package)
with open('{}/_index.js'.format(output_dir), 'w') as f:
f.write(io.getvalue())
io.close()
########################################
# 3. Write the package _index.js file
# This is being rewritten once per msg
# file, which is inefficient
########################################
io = StringIO()
s = IndentedWriter(io)
package_dir = os.path.dirname(output_dir)
write_package_index(s, package_dir)
with open('{}/_index.js'.format(package_dir), 'w') as f:
f.write(io.getvalue())
io.close()
def generate_srv_from_spec(msg_context, spec, search_path, output_dir, package, path):
"Generate code from .srv file"
genmsg.msg_loader.load_depends(msg_context, spec, search_path)
ext = '.srv'
srv_path = os.path.dirname(path)
srvs = msg_list(package, {package: [srv_path]}, ext)
for srv in srvs:
load_srv_from_file(msg_context, '%s/%s%s'%(srv_path, srv, ext), '%s/%s'%(package, srv))
########################################
# 1. Write the .js file
########################################
io = StringIO()
s = IndentedWriter(io)
write_begin(s, spec, True)
found_packages,local_deps = write_requires(s, spec.request, None, None, True)
write_requires(s, spec.response, found_packages, local_deps, True)
spec.request.actual_name='%sRequest'%spec.short_name
spec.response.actual_name='%sResponse'%spec.short_name
write_srv_component(s, spec.request, msg_context, spec, search_path)
write_srv_component(s, spec.response, msg_context, spec, search_path)
write_srv_end(s, msg_context, spec)
with open('%s/%s.js'%(output_dir, spec.short_name), 'w') as f:
f.write(io.getvalue())
io.close()
########################################
# 3. Write the msg/_index.js file
# This is being rewritten once per msg
# file, which is inefficient
########################################
io = StringIO()
s = IndentedWriter(io)
write_srv_index(s, srvs, package)
with open('{}/_index.js'.format(output_dir), 'w') as f:
f.write(io.getvalue())
io.close()
########################################
# 3. Write the package _index.js file
# This is being rewritten once per msg
# file, which is inefficient
########################################
io = StringIO()
s = IndentedWriter(io)
package_dir = os.path.dirname(output_dir)
write_package_index(s, package_dir)
with open('{}/_index.js'.format(package_dir), 'w') as f:
f.write(io.getvalue())
io.close()
def test_load_srv_from_file():
from genmsg.msg_loader import MsgContext, load_srv_from_file
msg_context = MsgContext.create_default()
d = get_test_dir()
filename = os.path.join(d, 'test_ros', 'srv', 'AddTwoInts.srv')
with open(filename, 'r') as f:
text = f.read()
full_name = 'test_ros/AddTwoInts'
spec = load_srv_from_file(msg_context, filename, full_name)
assert spec == load_srv_from_file(msg_context, filename, full_name)
assert ['int64', 'int64'] == spec.request.types, spec.request.types
assert ['a', 'b'] == spec.request.names
assert text == spec.text
assert full_name == spec.full_name
def test_load_srv_from_file():
from genmsg.msg_loader import MsgContext, load_srv_from_file
msg_context = MsgContext.create_default()
d = get_test_dir()
filename = os.path.join(d, 'test_ros', 'srv', 'AddTwoInts.srv')
with open(filename, 'r') as f:
text = f.read()
full_name = 'test_ros/AddTwoInts'
spec = load_srv_from_file(msg_context, filename, full_name)
assert spec == load_srv_from_file(msg_context, filename, full_name)
assert ['int64', 'int64'] == spec.request.types, spec.request.types
assert ['a', 'b'] == spec.request.names
assert text == spec.text
assert full_name == spec.full_name
def test_load_srv_from_file():
from genmsg.msg_loader import MsgContext, load_srv_from_file
msg_context = MsgContext.create_default()
d = get_test_dir()
filename = os.path.join(d, "test_ros", "srv", "AddTwoInts.srv")
with open(filename, "r") as f:
text = f.read()
full_name = "test_ros/AddTwoInts"
spec = load_srv_from_file(msg_context, filename, full_name)
assert spec == load_srv_from_file(msg_context, filename, full_name)
assert ["int64", "int64"] == spec.request.types, spec.request.types
assert ["a", "b"] == spec.request.names
assert text == spec.text
assert full_name == spec.full_name
def test_load_srv_with_string_constant_from_file():
from genmsg.msg_loader import MsgContext, load_srv_from_file
msg_context = MsgContext.create_default()
d = get_test_dir()
filename = os.path.join(d, 'test_ros', 'srv',
'ServiceWithStringConstant.srv')
with open(filename, 'r') as f:
text = f.read()
full_name = 'test_ros/ServiceWithStringConstant'
spec = load_srv_from_file(msg_context, filename, full_name)
assert spec == load_srv_from_file(msg_context, filename, full_name)
assert ['string'] == spec.request.types, spec.request.types
assert ['value'] == spec.request.names
assert ['return_value'] == spec.response.names
assert len(spec.request.constants) == 2
index_string = 0 if spec.request.constants[0].name == 'EXAMPLE' else 1
index_int = 1 - index_string
constant = spec.request.constants[index_string]
assert constant.type == 'string'
assert constant.name == 'EXAMPLE'
assert constant.val == 'here "#comments" are ignored, and leading and trailing whitespace removed', '<{}>'.format(
constant.val)
constant = spec.request.constants[index_int]
assert constant.type == 'int32'
assert constant.name == 'INTCONST'
assert constant.val == 42, '<{}>'.format(constant.val)
assert len(spec.response.constants) == 1
constant = spec.response.constants[0]
assert constant.type == 'string'
assert constant.name == 'RESULTEXAMPLE'
assert constant.val == 'here "#comments" are ignored too, and leading and trailing whitespace removed', '<{}>'.format(
constant.val)
assert text == spec.text
assert full_name == spec.full_name
def find_package_info(requested_pkg_name):
info = PackageInfo(requested_pkg_name)
share_dir = g_manifest.get_path(requested_pkg_name)
message_dir = '{}/msg'.format(share_dir)
if os.path.exists(message_dir):
for relative_msg_file in os.listdir(message_dir):
if not relative_msg_file.endswith('.msg'):
continue
msg_file = '{}/{}'.format(message_dir, relative_msg_file)
# Strip off the extension to get the local name of the message type
msg_subname = relative_msg_file[:-4]
info.msg_files.append(msg_file)
msg = load_msg_from_file(
g_msg_context, msg_file,
'{}/{}'.format(requested_pkg_name, msg_subname))
append_msg_dependencies(msg, info.dependencies)
service_dir = '{}/srv'.format(share_dir)
if os.path.exists(service_dir):
for relative_srv_file in os.listdir(service_dir):
if not relative_srv_file.endswith('.srv'):
continue
srv_file = '{}/{}'.format(service_dir, relative_srv_file)
# Strip off the extension to get the local name of the service type
srv_subname = relative_srv_file[:-4]
info.srv_files.append(srv_file)
srv = load_srv_from_file(
g_msg_context, srv_file,
'{}/{}'.format(requested_pkg_name, srv_subname))
for component in [srv.request, srv.response]:
append_msg_dependencies(component, info.dependencies)
return info
from genmsg import EXT_MSG, EXT_SRV, MsgContext
from genmsg.gentools import compute_full_type_name
from genmsg.msg_loader import load_msg_from_file, load_srv_from_file
from genmsg.msgs import bare_msg_type, is_builtin, resolve_type
pkg_name = sys.argv[1]
msg_file = sys.argv[2]
deps = sys.argv[3].split(':') if len(sys.argv) > 3 else []
msg_context = MsgContext.create_default()
full_type_name = compute_full_type_name(pkg_name, os.path.basename(msg_file))
if msg_file.endswith(EXT_MSG):
spec = load_msg_from_file(msg_context, msg_file, full_type_name)
unresolved_types = spec.types
elif msg_file.endswith(EXT_SRV):
spec = load_srv_from_file(msg_context, msg_file, full_type_name)
unresolved_types = spec.request.types + spec.response.types
else:
print("Processing file: '%s' - unknown file extension" % msg_file, file=sys.stderr)
sys.exit(1)
package_context = spec.package
for unresolved_type in unresolved_types:
bare_type = bare_msg_type(unresolved_type)
resolved_type = resolve_type(bare_type, package_context)
if not is_builtin(resolved_type) and resolved_type not in deps:
print("The dependencies of the message/service '%s' have changed. Please rerun cmake." % spec.full_name, file=sys.stderr)
sys.exit(1)
def parse_service_file(srv_file, srv_name):
return load_srv_from_file(g_msg_context, srv_file, srv_name)
from genmsg.gentools import compute_full_type_name
from genmsg.msg_loader import load_msg_from_file, load_srv_from_file
from genmsg.msgs import bare_msg_type, is_builtin, resolve_type
pkg_name = sys.argv[1]
msg_file = sys.argv[2]
deps = sys.argv[3].split(':') if len(sys.argv) > 3 else []
msg_context = MsgContext.create_default()
full_type_name = compute_full_type_name(pkg_name, os.path.basename(msg_file))
if msg_file.endswith(EXT_MSG):
spec = load_msg_from_file(msg_context, msg_file, full_type_name)
unresolved_types = spec.types
elif msg_file.endswith(EXT_SRV):
spec = load_srv_from_file(msg_context, msg_file, full_type_name)
unresolved_types = spec.request.types + spec.response.types
else:
print("Processing file: '%s' - unknown file extension" % msg_file,
file=sys.stderr)
sys.exit(1)
package_context = spec.package
for unresolved_type in unresolved_types:
bare_type = bare_msg_type(unresolved_type)
resolved_type = resolve_type(bare_type, package_context)
if not is_builtin(resolved_type) and resolved_type not in deps:
print(
"The dependencies of the message/service '%s' have changed. Please rerun cmake."
% spec.full_name,
file=sys.stderr)
