def test_load_msg_from_file():
from genmsg.msgs import InvalidMsgSpec
from genmsg.msg_loader import load_msg_from_file, MsgContext
test_d = get_test_dir()
test_ros_dir = os.path.join(test_d, 'test_ros', 'msg')
test_string_path = os.path.join(test_ros_dir, 'TestString.msg')
msg_context = MsgContext.create_default()
spec = load_msg_from_file(msg_context, test_string_path,
'test_ros/TestString')
assert spec.full_name == 'test_ros/TestString'
assert spec.package == 'test_ros'
assert spec.short_name == 'TestString'
_validate_TestString(spec)
# test repeat
spec_2 = load_msg_from_file(msg_context, test_string_path,
'test_ros/TestString')
assert spec == spec_2
assert spec.package == spec_2.package
assert spec.short_name == spec_2.short_name
# test w/ bad file
test_bad_path = os.path.join(test_ros_dir, 'Bad.msg')
try:
load_msg_from_file(msg_context, test_bad_path, 'test_ros/Bad')
assert False, "should have raised"
except InvalidMsgSpec:
pass
# supposed to register
assert msg_context.is_registered('test_ros/TestString'), msg_context
def test_load_msg_from_file():
from genmsg.msgs import InvalidMsgSpec
from genmsg.msg_loader import load_msg_from_file, MsgContext
test_d = get_test_dir()
test_ros_dir = os.path.join(test_d, 'test_ros', 'msg')
test_string_path = os.path.join(test_ros_dir, 'TestString.msg')
msg_context = MsgContext.create_default()
spec = load_msg_from_file(msg_context, test_string_path, 'test_ros/TestString')
assert spec.full_name == 'test_ros/TestString'
assert spec.package == 'test_ros'
assert spec.short_name == 'TestString'
_validate_TestString(spec)
# test repeat
spec_2 = load_msg_from_file(msg_context, test_string_path, 'test_ros/TestString')
assert spec == spec_2
assert spec.package == spec_2.package
assert spec.short_name == spec_2.short_name
# test w/ bad file
test_bad_path = os.path.join(test_ros_dir, 'Bad.msg')
try:
load_msg_from_file(msg_context, test_bad_path, 'test_ros/Bad')
assert False, "should have raised"
except InvalidMsgSpec:
pass
# supposed to register
assert msg_context.is_registered('test_ros/TestString'), msg_context
def parse_message_file(msg_file, msg_name):
spec = load_msg_from_file(g_msg_context, msg_file, msg_name)
if is_header_type(spec.full_name):
# The std_msgs/Header of ROS2 does not contain the `seq` member field
# that the ROS1 version has. The ROS2 definition should be treated as
# the canonical one, so we'll remove the `seq` field from this message
# specification. We make a special case for this because std_msgs/Header
# usage is so prevalent in downstream message packages.
seq_index = spec.names.index('seq')
del spec.names[seq_index]
del spec.types[seq_index]
del spec._parsed_fields[seq_index]
return spec
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
def test_MsgContext():
from genmsg.msg_loader import MsgContext, load_msg_from_file
msg_context = MsgContext()
assert not msg_context.is_registered('time')
assert not msg_context.is_registered('duration')
msg_context = MsgContext.create_default()
# tripwires
repr(msg_context)
str(msg_context)
assert msg_context.is_registered('time'), msg_context._registered_packages
assert msg_context.is_registered('duration')
assert not msg_context.is_registered('test_ros/TestString')
assert not msg_context.is_registered('Header')
# start loading stuff into context
test_d = get_test_dir()
test_ros_dir = os.path.join(test_d, 'test_ros', 'msg')
test_string_path = os.path.join(test_ros_dir, 'TestString.msg')
spec = load_msg_from_file(msg_context, test_string_path,
'test_ros/TestString')
msg_context.register('test_ros/TestString', spec)
assert msg_context.get_registered('test_ros/TestString') == spec
try:
msg_context.get_registered('bad/TestString')
assert False, 'should have raised'
except KeyError:
pass
assert msg_context.is_registered('test_ros/TestString')
# test Header
assert not msg_context.is_registered('Header')
assert not msg_context.is_registered('std_msgs/Header')
msg_context.register('std_msgs/Header', spec)
assert msg_context.is_registered('std_msgs/Header')
def test_MsgContext():
from genmsg.msg_loader import MsgContext, load_msg_from_file
msg_context = MsgContext()
assert not msg_context.is_registered("time")
assert not msg_context.is_registered("duration")
msg_context = MsgContext.create_default()
# tripwires
repr(msg_context)
str(msg_context)
assert msg_context.is_registered("time"), msg_context._registered_packages
assert msg_context.is_registered("duration")
assert not msg_context.is_registered("test_ros/TestString")
assert not msg_context.is_registered("Header")
# start loading stuff into context
test_d = get_test_dir()
test_ros_dir = os.path.join(test_d, "test_ros", "msg")
test_string_path = os.path.join(test_ros_dir, "TestString.msg")
spec = load_msg_from_file(msg_context, test_string_path, "test_ros/TestString")
msg_context.register("test_ros/TestString", spec)
assert msg_context.get_registered("test_ros/TestString") == spec
try:
msg_context.get_registered("bad/TestString")
assert False, "should have raised"
except KeyError:
pass
assert msg_context.is_registered("test_ros/TestString")
# test Header
assert not msg_context.is_registered("Header")
assert not msg_context.is_registered("std_msgs/Header")
msg_context.register("std_msgs/Header", spec)
assert msg_context.is_registered("std_msgs/Header")
def test_MsgContext():
from genmsg.msg_loader import MsgContext, load_msg_from_file
msg_context = MsgContext()
assert not msg_context.is_registered('time')
assert not msg_context.is_registered('duration')
msg_context = MsgContext.create_default()
# tripwires
repr(msg_context)
str(msg_context)
assert msg_context.is_registered('time'), msg_context._registered_packages
assert msg_context.is_registered('duration')
assert not msg_context.is_registered('test_ros/TestString')
assert not msg_context.is_registered('Header')
# start loading stuff into context
test_d = get_test_dir()
test_ros_dir = os.path.join(test_d, 'test_ros', 'msg')
test_string_path = os.path.join(test_ros_dir, 'TestString.msg')
spec = load_msg_from_file(msg_context, test_string_path, 'test_ros/TestString')
msg_context.register('test_ros/TestString', spec)
assert msg_context.get_registered('test_ros/TestString') == spec
try:
msg_context.get_registered('bad/TestString')
assert False, 'should have raised'
except KeyError:
pass
assert msg_context.is_registered('test_ros/TestString')
# test Header
assert not msg_context.is_registered('Header')
assert not msg_context.is_registered('std_msgs/Header')
msg_context.register('std_msgs/Header', spec)
assert msg_context.is_registered('std_msgs/Header')
import sys
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)
import sys
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(