def get_plot_fields(topic_name):
topic_type, real_topic, _ = topic_helpers.get_topic_type(topic_name)
if topic_type is None:
message = "topic %s does not exist" % ( topic_name )
return [], message
field_name = topic_name[len(real_topic)+1:]
slot_type, is_array, array_size = roslib.msgs.parse_type(topic_type)
field_class = roslib.message.get_message_class(slot_type)
fields = [f for f in field_name.split('/') if f]
for field in fields:
# parse the field name for an array index
try:
field, _, field_index = roslib.msgs.parse_type(field)
except roslib.msgs.MsgSpecException:
message = "invalid field %s in topic %s" % ( field, real_topic )
return [], message
if field not in getattr(field_class, '__slots__', []):
message = "no field %s in topic %s" % ( field_name, real_topic )
return [], message
slot_type = field_class._slot_types[field_class.__slots__.index(field)]
slot_type, slot_is_array, array_size = roslib.msgs.parse_type(slot_type)
is_array = slot_is_array and field_index is None
field_class = topic_helpers.get_type_class(slot_type)
if field_class in (int, float, bool):
topic_kind = 'boolean' if field_class == bool else 'numeric'
if is_array:
if array_size is not None:
message = "topic %s is fixed-size %s array" % ( topic_name, topic_kind )
return [ "%s[%d]" % (topic_name, i) for i in range(array_size) ], message
else:
message = "topic %s is variable-size %s array" % ( topic_name, topic_kind )
return [], message
else:
message = "topic %s is %s" % ( topic_name, topic_kind )
return [ topic_name ], message
else:
if not roslib.msgs.is_valid_constant_type(slot_type):
numeric_fields = []
for i, slot in enumerate(field_class.__slots__):
slot_type = field_class._slot_types[i]
slot_type, is_array, array_size = roslib.msgs.parse_type(slot_type)
slot_class = topic_helpers.get_type_class(slot_type)
if slot_class in (int, float) and not is_array:
numeric_fields.append(slot)
message = ""
if len(numeric_fields) > 0:
message = "%d plottable fields in %s" % ( len(numeric_fields), topic_name )
else:
message = "No plottable fields in %s" % ( topic_name )
return [ "%s/%s" % (topic_name, f) for f in numeric_fields ], message
else:
message = "Topic %s is not numeric" % ( topic_name )
return [], message
def get_plot_fields(topic_name):
topic_type, real_topic, _ = topic_helpers.get_topic_type(topic_name)
if topic_type is None:
message = "topic %s does not exist" % ( topic_name )
return [], message
field_name = topic_name[len(real_topic)+1:]
slot_type, is_array, array_size = roslib.msgs.parse_type(topic_type)
field_class = roslib.message.get_message_class(slot_type)
fields = [f for f in field_name.split('/') if f]
for field in fields:
# parse the field name for an array index
try:
field, _, field_index = roslib.msgs.parse_type(field)
except roslib.msgs.MsgSpecException:
message = "invalid field %s in topic %s" % ( field, real_topic )
return [], message
if field not in getattr(field_class, '__slots__', []):
message = "no field %s in topic %s" % ( field_name, real_topic )
return [], message
slot_type = field_class._slot_types[field_class.__slots__.index(field)]
slot_type, slot_is_array, array_size = roslib.msgs.parse_type(slot_type)
is_array = slot_is_array and field_index is None
field_class = topic_helpers.get_type_class(slot_type)
if field_class in (int, float):
if is_array:
if array_size is not None:
message = "topic %s is fixed-size numeric array" % ( topic_name )
return [ "%s[%d]" % (topic_name, i) for i in range(array_size) ], message
else:
message = "topic %s is variable-size numeric array" % ( topic_name )
return [], message
else:
message = "topic %s is numeric" % ( topic_name )
return [ topic_name ], message
else:
if not roslib.msgs.is_valid_constant_type(slot_type):
numeric_fields = []
for i, slot in enumerate(field_class.__slots__):
slot_type = field_class._slot_types[i]
slot_type, is_array, array_size = roslib.msgs.parse_type(slot_type)
slot_class = topic_helpers.get_type_class(slot_type)
if slot_class in (int, float) and not is_array:
numeric_fields.append(slot)
message = ""
if len(numeric_fields) > 0:
message = "%d plottable fields in %s" % ( len(numeric_fields), topic_name )
else:
message = "No plottable fields in %s" % ( topic_name )
return [ "%s/%s" % (topic_name, f) for f in numeric_fields ], message
else:
message = "Topic %s is not numeric" % ( topic_name )
return [], message
def fill_message_slots(self, message, topic_name, expressions, counter):
# qDebug(
# 'fill_message_slots('
# '\n\tmessage={}, \n\ttopic_name={}, \n\texpressions={}, \n\tcounter={})'.format(
# message, topic_name, expressions, counter))
if type(message) in (list, set):
for i, msg in enumerate(message):
slot_key = topic_name + '[{}]'.format(i)
if slot_key not in expressions:
self.fill_message_slots(msg, slot_key, expressions,
counter)
continue
expression = expressions[slot_key]
if len(expression) == 0:
continue
self._eval_locals['i'] = counter
slot_type_class = type(msg)
is_array = False
if slot_type_class in (list, tuple):
is_array = True
value = self._evaluate_expression(expression, None, is_array)
if value is not None:
message[i] = value
elif hasattr(message, 'get_fields_and_field_types'):
for slot_name, slot_type in message.get_fields_and_field_types(
).items():
slot_key = topic_name + '/' + slot_name
# if no expression exists for this slot_key, continue with it's child slots
if slot_key not in expressions:
self.fill_message_slots(getattr(message, slot_name),
slot_key, expressions, counter)
continue
expression = expressions[slot_key]
if len(expression) == 0:
continue
self._eval_locals['i'] = counter
slot_type_class = None
slot_type_no_array = slot_type.split('[', 1)[0]
is_array = slot_type.find('[') >= 0
if is_primitive_type(slot_type_no_array):
slot_type_class = get_type_class(slot_type_no_array)
else:
slot_type_class = get_message_class(slot_type_no_array)
value = self._evaluate_expression(expression, slot_type_class,
is_array)
if value is not None:
try:
setattr(message, slot_name, value)
except AssertionError as e:
qWarning('Failed to set {} to {}\n\t{}'.format(
slot_name, value, e.__str__()))
def get_plot_fields(topic_name):
field_class, slot_type, is_array, array_size = get_topic_properties(
topic_name)
if not roslib.msgs.is_valid_constant_type(slot_type):
numeric_fields = []
for i, slot in enumerate(field_class.__slots__):
slot_type = field_class._slot_types[i]
slot_type, is_array, array_size = roslib.msgs.parse_type(slot_type)
slot_class = topic_helpers.get_type_class(slot_type)
if slot_class in (int, float) and not is_array:
numeric_fields.append(slot)
message = ""
if len(numeric_fields) > 0:
message = "%d plottable fields in %s" % (len(numeric_fields),
topic_name)
else:
message = "No plottable fields in %s" % (topic_name)
return ["%s/%s" % (topic_name, f) for f in numeric_fields], message
else:
message = "Topic %s is not numeric" % (topic_name)
return [], message
def get_plot_fields(node, topic_name):
topics = node.get_topic_names_and_types()
real_topic = None
for name, topic_types in topics:
if name == topic_name[:len(name)]:
real_topic = name
topic_type_str = topic_types[0] if topic_types else None
break
if real_topic is None:
message = "topic %s does not exist" % (topic_name)
return [], message
if topic_type_str is None:
message = "no topic types found for topic %s " % (topic_name)
return [], message
if len(topic_name) < len(real_topic) + 1:
message = 'no field specified in topic name "{}"'.format(topic_name)
return [], message
field_name = topic_name[len(real_topic) + 1:]
message_class = message_helpers.get_message_class(topic_type_str)
if message_class is None:
message = 'message class "{}" is invalid'.format(topic_type_str)
return [], message
slot_type, is_array, array_size = _parse_type(topic_type_str)
field_class = message_helpers.get_message_class(slot_type)
fields = [f for f in field_name.split('/') if f]
for field in fields:
# parse the field name for an array index
field, _, field_index = _parse_type(field)
if field is None:
message = "invalid field %s in topic %s" % (field, real_topic)
return [], message
field_names_and_types = field_class.get_fields_and_field_types()
if field not in field_names_and_types:
message = "no field %s in topic %s" % (field_name, real_topic)
return [], message
slot_type = field_names_and_types[field]
slot_type, slot_is_array, array_size = _parse_type(slot_type)
is_array = slot_is_array and field_index is None
if topic_helpers.is_primitive_type(slot_type):
field_class = topic_helpers.get_type_class(slot_type)
else:
field_class = message_helpers.get_message_class(slot_type)
if field_class in (int, float, bool):
topic_kind = 'boolean' if field_class == bool else 'numeric'
if is_array:
if array_size is not None:
message = "topic %s is fixed-size %s array" % (topic_name,
topic_kind)
return ["%s[%d]" % (topic_name, i)
for i in range(array_size)], message
else:
message = "topic %s is variable-size %s array" % (topic_name,
topic_kind)
return [], message
else:
message = "topic %s is %s" % (topic_name, topic_kind)
return [topic_name], message
else:
if not topic_helpers.is_primitive_type(slot_type):
numeric_fields = []
for slot, slot_type in field_class.get_fields_and_field_types(
).items():
slot_type, is_array, array_size = _parse_type(slot_type)
slot_class = topic_helpers.get_type_class(slot_type)
if slot_class in (int, float) and not is_array:
numeric_fields.append(slot)
message = ""
if len(numeric_fields) > 0:
message = "%d plottable fields in %s" % (len(numeric_fields),
topic_name)
else:
message = "No plottable fields in %s" % (topic_name)
return ["%s/%s" % (topic_name, f) for f in numeric_fields], message
else:
message = "Topic %s is not numeric" % (topic_name)
return [], message
