def generate(args):
"""
Generate a message
@param msg_path: The path to the .msg file
@type msg_path: str
"""
log("generate(%s)" % args)
from optparse import OptionParser
parser = OptionParser("generates c++ message serialization code")
parser.add_option('-p', dest='package', help="package name")
parser.add_option('-o',
dest='outdir',
help="absolute path to output directory")
parser.add_option('-I',
dest='includepath',
help="include path to search for messages",
action='append')
(options, args) = parser.parse_args(args)
if not isinstance(options.includepath, list):
options.includepath = []
# print "input==", options.input, "outdir==", options.outdir
# package = os.path.basename
# (package_dir, package) = rosidl.packages.get_dir_pkg(args[1])
rosidl.msgs._init()
(_, spec) = rosidl.msgs.load_from_file(args[1], options.package)
plog("spec", spec)
s = StringIO()
write_begin(s, spec, args[1])
write_generic_includes(s)
write_includes(s, spec)
cpp_prefix = '%s::' % (options.package)
s.write('namespace %s\n{\n' % (options.package))
write_struct(s, spec, cpp_prefix, options.includepath)
write_constant_definitions(s, spec)
write_ostream_operator(s, spec, cpp_prefix)
s.write('} // namespace %s\n\n' % (options.package))
write_traits(s, spec, cpp_prefix, options.includepath)
write_serialization(s, spec, cpp_prefix)
write_operations(s, spec, cpp_prefix)
if options.package == "std_msgs" and spec.short_name == "Header":
s.write("#define STD_MSGS_INCLUDING_HEADER_DEPRECATED_DEF 1\n")
s.write("#include <std_msgs/header_deprecated_def.h>\n")
s.write("#undef STD_MSGS_INCLUDING_HEADER_DEPRECATED_DEF\n\n")
write_end(s, spec)
if 'ROS_BUILD' in os.environ:
package_dir = os.environ['ROS_BUILD']
odir = os.path.join(options.outdir, options.package)
if (not os.path.exists(odir)):
# 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(odir)
except OSError, e:
pass
def generate(args):
"""
Generate a message
@param msg_path: The path to the .msg file
@type msg_path: str
"""
log("generate(%s)" % args)
from optparse import OptionParser
parser = OptionParser("generates c++ message serialization code")
parser.add_option('-p', dest='package',
help="package name")
parser.add_option('-o', dest='outdir',
help="absolute path to output directory")
parser.add_option('-I', dest='includepath',
help="include path to search for messages",
action='append')
(options, args) = parser.parse_args(args)
if not isinstance(options.includepath, list):
options.includepath = []
# print "input==", options.input, "outdir==", options.outdir
# package = os.path.basename
# (package_dir, package) = rosidl.packages.get_dir_pkg(args[1])
rosidl.msgs._init()
(_, spec) = rosidl.msgs.load_from_file(args[1], options.package)
plog("spec", spec)
s = StringIO()
write_begin(s, spec, args[1])
write_generic_includes(s)
write_includes(s, spec)
cpp_prefix = '%s::'%(options.package)
s.write('namespace %s\n{\n'%(options.package))
write_struct(s, spec, cpp_prefix, options.includepath)
write_constant_definitions(s, spec)
write_ostream_operator(s, spec, cpp_prefix)
s.write('} // namespace %s\n\n'%(options.package))
write_traits(s, spec, cpp_prefix, options.includepath)
write_serialization(s, spec, cpp_prefix)
write_operations(s, spec, cpp_prefix)
if options.package == "std_msgs" and spec.short_name == "Header":
s.write("#define STD_MSGS_INCLUDING_HEADER_DEPRECATED_DEF 1\n")
s.write("#include <std_msgs/header_deprecated_def.h>\n")
s.write("#undef STD_MSGS_INCLUDING_HEADER_DEPRECATED_DEF\n\n")
write_end(s, spec)
if 'ROS_BUILD' in os.environ:
package_dir = os.environ['ROS_BUILD']
odir = os.path.join(options.outdir, options.package)
if (not os.path.exists(odir)):
# 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(odir)
except OSError, e:
pass
def get_dependencies(spec, package, includepath,
compute_files=True, stdout=sys.stdout, stderr=sys.stderr):
"""
Compute dependencies of the specified Msgs/Srvs
@param spec: message or service instance
@type spec: L{rosidl.msgs.MsgSpec}/L{rosidl.srvs.SrvSpec}
@param package: package name
@type package: str
@param stdout: (optional) stdout pipe
@type stdout: file
@param stderr: (optional) stderr pipe
@type stderr: file
@param compute_files: (optional, default=True) compute file
dependencies of message ('files' key in return value)
@type compute_files: bool
@return: dict:
* 'files': list of files that \a file depends on
* 'deps': list of dependencies by type
* 'spec': Msgs/Srvs instance.
* 'uniquedeps': list of dependencies with duplicates removed,
* 'package': package that dependencies were generated relative to.
@rtype: dict
"""
# #518: as a performance optimization, we're going to manually control the loading
# of msgs instead of doing package-wide loads.
#we're going to manipulate internal apis of msgs, so have to
#manually init
rosidl.msgs._init()
deps = []
if isinstance(spec, rosidl.msgs.MsgSpec):
_add_msgs_depends(spec, deps, package, includepath)
elif isinstance(spec, rosidl.srvs.SrvSpec):
_add_msgs_depends(spec.request, deps, package, includepath)
_add_msgs_depends(spec.response, deps, package, includepath)
else:
raise Exception("[%s] does not appear to be a message or service"%spec)
# convert from type names to file names
if compute_files:
files = {}
for d in set(deps):
d_pkg, t = rosidl.names.package_resource_name(d)
d_pkg = d_pkg or package # convert '' -> local package
files[d] = rosidl.msgs.msg_file(d_pkg, t, includepath)
else:
files = None
# create unique dependency list
uniquedeps = []
for d in deps:
if not d in uniquedeps:
uniquedeps.append(d)
plog("uniquedeps", uniquedeps)
if compute_files:
return { 'files': files, 'deps': deps, 'spec': spec, 'package': package, 'uniquedeps': uniquedeps }
else:
return { 'deps': deps, 'spec': spec, 'package': package, 'uniquedeps': uniquedeps }