def test_get_msg_text(self):
d = get_test_path()
msg_d = os.path.join(d, 'msg')
test_message_package = 'test_rosmaster'
rospack = rospkg.RosPack()
msg_raw_d = os.path.join(rospack.get_path(test_message_package), 'msg')
for t in ['RosmsgA', 'RosmsgB']:
with open(os.path.join(msg_d, '%s.msg'%t), 'r') as f:
text = f.read()
with open(os.path.join(msg_raw_d, '%s.msg'%t), 'r') as f:
text_raw = f.read()
type_ = test_message_package+'/'+t
self.assertEquals(text, rosmsg.get_msg_text(type_, raw=False))
self.assertEquals(text_raw, rosmsg.get_msg_text(type_, raw=True))
# test recursive types
t = 'RosmsgC'
with open(os.path.join(d, '%s_raw.txt'%t), 'r') as f:
text = f.read()
with open(os.path.join(msg_raw_d, '%s.msg'%t), 'r') as f:
text_raw = f.read()
type_ = test_message_package+'/'+t
self.assertEquals(text, rosmsg.get_msg_text(type_, raw=False))
self.assertEquals(text_raw, rosmsg.get_msg_text(type_, raw=True))
def test_get_msg_text(self):
d = get_test_path()
msg_d = os.path.join(d, 'msg')
test_message_package = 'diagnostic_msgs'
rospack = rospkg.RosPack()
msg_raw_d = os.path.join(rospack.get_path(test_message_package), 'msg')
t = 'KeyValue'
with open(os.path.join(msg_d, '%s.msg'%t), 'r') as f:
text = f.read()
with open(os.path.join(msg_raw_d, '%s.msg'%t), 'r') as f:
text_raw = f.read()
type_ = test_message_package+'/'+t
self.assertEquals(text, rosmsg.get_msg_text(type_, raw=False))
self.assertEquals(text_raw, rosmsg.get_msg_text(type_, raw=True))
# test recursive types
t = 'DiagnosticStatus'
with open(os.path.join(d, '%s_raw.txt'%t), 'r') as f:
text = f.read()
with open(os.path.join(msg_raw_d, '%s.msg'%t), 'r') as f:
text_raw = f.read()
type_ = test_message_package+'/'+t
self.assertEquals(text, rosmsg.get_msg_text(type_, raw=False))
self.assertEquals(text_raw, rosmsg.get_msg_text(type_, raw=True))
def show(*args):
# TODO: provide plugin?
if not args:
raise ValueError("show requires an argument")
arg = args[0]
if hasattr(arg, '_show'):
return arg._show()
# duck-type check for generated services
elif isinstance(arg, type) and hasattr(arg, '_request_class') and hasattr(arg, '_response_class'):
print rosmsg.get_srv_text(arg._type)
# duck-type check for generated messages
elif isinstance(arg, type) and hasattr(arg, '_slot_types'):
print rosmsg.get_msg_text(arg._type)
else:
raise ValueError("unknown show arg: %s: %s"%(type(arg), arg))
def _rightclick_menu(self, event):
menu = QMenu()
text_action = QAction(self.tr('View Text'), menu)
menu.addAction(text_action)
raw_action = QAction(self.tr('View Raw'), menu)
menu.addAction(raw_action)
action = menu.exec_(event.globalPos())
if action == raw_action or action == text_action:
selected = self.messages_tree.selectedIndexes()
selected_type = selected[1].data()
if selected_type[-2:] == '[]':
selected_type = selected_type[:-2]
browsetext = None
try:
if self._mode == rosmsg.MODE_MSG:
browsetext = rosmsg.get_msg_text(selected_type,
action == raw_action)
elif self._mode == rosmsg.MODE_SRV:
browsetext = rosmsg.get_srv_text(selected_type,
action == raw_action)
else:
raise
except rosmsg.ROSMsgException, e:
QMessageBox.warning(
self, self.tr('Warning'),
self.
tr('The selected item component does not have text to view.'
))
if browsetext is not None:
self._browsers.append(TextBrowseDialog(browsetext))
self._browsers[-1].show()
def _get_topic_data_map(self, topic_data_map, topic_nm):
result = False
if (topic_nm in topic_data_map):
result = True
self.topic_items = topic_data_map[topic_nm]
else:
try:
topic_type_info = rostopic.get_topic_type(topic_nm)
if (topic_type_info[0] is not None):
topic_msg = rosmsg.get_msg_text(topic_type_info[0])
self.topic_items = self._parse_topic_items(
self.topic, topic_msg)
topic_data_map[topic_nm] = {
"topic_msg": topic_type_info[0],
"items": self.topic_items
}
result = True
except NameError as ne:
rospy.logerr("topic info get failed. %s", self.topic)
print(ne)
return result
def __str__(self):
if self._type_name is None:
self._init_type()
if self._type_name is None:
return self._ns
else:
return rosmsg.get_msg_text(self._type_name)
def __str__(self):
# re-initialize
if self._type is None and self._type_name is not None:
self._init_action()
if self._type is not None:
return rosmsg.get_msg_text(self._goal._type)
else:
return self._ns
def getColumnValidationClasses(self):
msg = self.MsgClass()
spec = rosmsg.get_msg_text(msg._type)
spec = spec.split('\n')
spec.remove("")
spec, _ = self._parseMsg(spec)
spec = self._translateSpecToCassandra(spec)
return spec
def test_get_msg_text(self):
d = get_test_path()
msg_d = os.path.join(d, 'msg')
for t in ['RosmsgA', 'RosmsgB']:
with open(os.path.join(msg_d, '%s.msg'%t), 'r') as f:
text = f.read()
type_ = 'test_ros/'+t
self.assertEquals(text, rosmsg.get_msg_text(type_, raw=False))
self.assertEquals(text, rosmsg.get_msg_text(type_, raw=True))
# test recursive types
t = 'RosmsgC'
with open(os.path.join(msg_d, '%s.msg'%t), 'r') as f:
text = f.read()
type_ = 'test_ros/'+t
self.assertEquals(text, rosmsg.get_msg_text(type_, raw=True))
self.assertEquals("""std_msgs/String s1
string data
std_msgs/String s2
string data""", rosmsg.get_msg_text(type_, raw=False).strip())
def test_get_msg_text(self):
d = get_test_path()
msg_d = os.path.join(d, 'msg')
for t in ['RosmsgA', 'RosmsgB']:
with open(os.path.join(msg_d, '%s.msg'%t), 'r') as f:
text = f.read()
type_ = 'test_ros/'+t
self.assertEquals(text, rosmsg.get_msg_text(type_, raw=False))
self.assertEquals(text, rosmsg.get_msg_text(type_, raw=True))
# test recursive types
t = 'RosmsgC'
with open(os.path.join(msg_d, '%s.msg'%t), 'r') as f:
text = f.read()
type_ = 'test_ros/'+t
self.assertEquals(text, rosmsg.get_msg_text(type_, raw=True))
self.assertEquals("""std_msgs/String s1
string data
std_msgs/String s2
string data""", rosmsg.get_msg_text(type_, raw=False).strip())
def _rightclick_menu(self, event):
"""
:type event: QEvent
"""
# QTreeview.selectedIndexes() returns 0 when no node is selected.
# This can happen when after booting no left-click has been made yet
# (ie. looks like right-click doesn't count). These lines are the
# workaround for that problem.
selected = self._messages_tree.selectedIndexes()
if len(selected) == 0:
return
menu = QMenu()
text_action = QAction(self.tr('View Text'), menu)
menu.addAction(text_action)
raw_action = QAction(self.tr('View Raw'), menu)
menu.addAction(raw_action)
remove_action = QAction(self.tr('Remove message'), menu)
menu.addAction(remove_action)
action = menu.exec_(event.globalPos())
if action == raw_action or action == text_action:
rospy.logdebug('_rightclick_menu selected={}'.format(selected))
selected_type = selected[1].data()
if selected_type[-2:] == '[]':
selected_type = selected_type[:-2]
browsetext = None
try:
if (self._mode == rosmsg.MODE_MSG
or self._mode == rosaction.MODE_ACTION):
browsetext = rosmsg.get_msg_text(selected_type,
action == raw_action)
elif self._mode == rosmsg.MODE_SRV:
browsetext = rosmsg.get_srv_text(selected_type,
action == raw_action)
else:
raise
except rosmsg.ROSMsgException as e:
QMessageBox.warning(
self, self.tr('Warning'),
self.tr('The selected item component ' +
'does not have text to view.'))
if browsetext is not None:
self._browsers.append(
TextBrowseDialog(browsetext, self._rospack))
self._browsers[-1].show()
if action == remove_action:
self._messages_tree.model().removeRow(selected[0].row())
def _rightclick_menu(self, event):
"""
:type event: QEvent
"""
# QTreeview.selectedIndexes() returns 0 when no node is selected.
# This can happen when after booting no left-click has been made yet
# (ie. looks like right-click doesn't count). These lines are the
# workaround for that problem.
selected = self._messages_tree.selectedIndexes()
if len(selected) == 0:
return
menu = QMenu()
text_action = QAction(self.tr('View Text'), menu)
menu.addAction(text_action)
raw_action = QAction(self.tr('View Raw'), menu)
menu.addAction(raw_action)
remove_action = QAction(self.tr('Remove message'), menu)
menu.addAction(remove_action)
action = menu.exec_(event.globalPos())
if action == raw_action or action == text_action:
rospy.logdebug('_rightclick_menu selected={}'.format(selected))
selected_type = selected[1].data()
if selected_type[-2:] == '[]':
selected_type = selected_type[:-2]
browsetext = None
try:
if (self._mode == rosmsg.MODE_MSG or
self._mode == rosaction.MODE_ACTION):
browsetext = rosmsg.get_msg_text(selected_type,
action == raw_action)
elif self._mode == rosmsg.MODE_SRV:
browsetext = rosmsg.get_srv_text(selected_type,
action == raw_action)
else:
raise
except rosmsg.ROSMsgException as e:
QMessageBox.warning(self, self.tr('Warning'),
self.tr('The selected item component ' +
'does not have text to view.'))
if browsetext is not None:
self._browsers.append(TextBrowseDialog(browsetext,
self._rospack))
self._browsers[-1].show()
if action == remove_action:
self._messages_tree.model().removeRow(selected[0].row())
print(ex)
exit(-1)
selected_topics_list = [topics[i] for i in topic_selections]
# used later to know how far you have been
message_count = sum(bag.get_message_count(topics[i]) for i in topic_selections)
if use_saved:
data_selections = saved_input["data_selections"]
else:
data_selections = []
for topic_selection in topic_selections:
print(
f"{COLORS.BOLD}{COLORS.OKGREEN}Available Fields from {COLORS.OKBLUE}{topics[topic_selection]}{COLORS.ENDC}"
)
print(rosmsg.get_msg_text(types[topic_selection]))
single_topic_data_selection = input(
"Specify which fields you want seperated with spaces. "
"You can also use a semantic like \"orientation.x\" to access internal fields."
"Header stamp and seq are included automatically.\n")
data_selections.append(single_topic_data_selection.split())
def recursive_getattr(obj, field_list):
if len(field_list) == 1:
return getattr(obj, field_list[0])
else:
return recursive_getattr(getattr(obj, field_list[0]), field_list[1:])
frames = []
def get_msg_fields(msg_name, rospack=None):
lines = rosmsg.get_msg_text(msg_name, False, rospack).splitlines()
return get_fields(lines)
def __init__(self, msg_name, rospack=None):
# parse msg definition
lines = rosmsg.get_msg_text(msg_name, False, rospack).splitlines()
self.typespec = TypeSpec(msg_name)
msg = Fields(lines)
self.fields = msg.fields
import os
import rosmsg
import rospkg
import genmsg
"""
This module retrieves ROS MsgSpecs by message type.
This is the only way I know of to get the types of message constants.
rosmsg.get_msg_text() *almost* does this, but converts the MsgSpec to text.
These library functions are based on its implementation.
"""
def get_msg_search_path():
""" Get ROS search path for messages """
# see rosmsg.get_msg_text for reference
rospack = rospkg.RosPack()
search_path = {}
for p in rospack.list():
package_paths = rosmsg._get_package_paths(p, rospack)
search_path[p] = [os.path.join(d, 'msg') for d in package_paths]
return search_path
def get_msg_spec(msg_type_name):
""" Get ROS MsgSpec for given message type """
# see rosmsg.get_msg_text for reference
context = genmsg.MsgContext.create_default()
search_path = get_msg_search_path()
return genmsg.msg_loader.load_msg_by_type(context, msg_type_name,
search_path)
def get_msg_info(self):
"""
@output: The structure defined in file .msg of the actual message.
"""
return rosmsg.get_msg_text(self._message)
