def get_message_fixed_size(spec, search_path):
"""
Return the size of a message.
If the message does not have a fixed size, returns None
"""
if not is_message_fixed_size(spec, search_path):
return None
# else
length = 0
for f in spec.parsed_fields():
if f.is_builtin:
type_size = get_type_size(f.base_type)
if type_size is None:
raise Exception('Field {} has a non-constant size'.format(f.base_type))
if not f.is_array:
length += type_size
elif not f.array_len:
raise Exception('Array field {} has a variable length'.format(f.base_type))
else:
length += (f.array_len * type_size)
else:
field_msg_context = MsgContext.create_default()
field_spec = genmsg.msg_loader.load_msg_by_type(field_msg_context, f.base_type, search_path)
field_size = get_message_fixed_size(field_spec, search_path)
if field_size is None:
raise Exception('Field {} has a non-constant size'.format(f.base_type))
length += field_size
return length
def generate_messages(self, package, package_files, outdir, search_path):
"""
:returns: return code, ``int``
"""
if not genmsg.is_legal_resource_base_name(package):
raise MsgGenerationException(
"\nERROR: package name '%s' is illegal and cannot be used in message generation.\nPlease see http://ros.org/wiki/Names"
% (package))
# package/src/package/msg for messages, packages/src/package/srv for services
msg_context = MsgContext.create_default()
retcode = 0
for f in package_files:
try:
f = os.path.abspath(f)
infile_name = os.path.basename(f)
full_type = genmsg.gentools.compute_full_type_name(
package, infile_name)
outfile = self.generate(msg_context, full_type, f, outdir,
search_path) #actual generation
except Exception as e:
if not isinstance(e,
MsgGenerationException) and not isinstance(
e, genmsg.msgs.InvalidMsgSpec):
traceback.print_exc()
print(
"\nERROR: Unable to generate %s for package '%s': while processing '%s': %s\n"
% (self.what, package, f, e),
file=sys.stderr)
retcode = 1 #flag error
return retcode
def generate_firos_messages(self, package, data, outdir, OUTPUT, search_path):
"""
:returns: return code, ``int``
"""
if not genmsg.is_legal_resource_base_name(package):
raise MsgGenerationException("\nERROR: package name '%s' is illegal and cannot be used in message generation.\nPlease see http://ros.org/wiki/Names"%(package))
# package/src/package/msg for messages, packages/src/package/srv for services
msg_context = MsgContext.create_default()
retcode = 0
try:
# you can't just check first... race condition
outdir = outdir + OUTPUT
os.makedirs(outdir)
f = open(os.path.join(outdir, "__init__.py"), 'w')
f.close()
except OSError as e:
if e.errno != 17: # file exists
raise
for robotName in data:
try:
robot = data[robotName]
for topic_name in robot['topics']:
topic = robot['topics'][topic_name]
full_type = str(robotName) + '/' + str(topic_name)
if type(topic['msg']) is dict:
self.firos_generate(msg_context, full_type, topic, outdir, search_path) #actual generation
except Exception as e:
if not isinstance(e, MsgGenerationException) and not isinstance(e, genmsg.msgs.InvalidMsgSpec):
traceback.print_exc()
print("\nERROR: Unable to generate %s for package '%s': %s\n"%(self.what, package, e), file=sys.stderr)
retcode = 1 #flag error
return retcode
def generate(pkg, _file, out_dir, search_path):
msg_context = MsgContext.create_default()
name = os.path.splitext(os.path.basename(_file))[0]
if _file.endswith('.msg'):
spec = genmsg.msg_loader.load_msg_from_file(msg_context, _file, name)
with open(out_dir + os.path.sep + 'Types' + os.path.sep
+ _msg_serializable_xml_name(name), 'w') as f:
#f.write("<!--\n%s\n%s\n%s\n-->\n"%(pkg,_file,search_path))
tree = gen_serializable_xml(spec, pkg)
tree.write(f, pretty_print=True)
elif _file.endswith('.srv'):
spec = genmsg.msg_loader.load_srv_from_file(msg_context, _file, name)
with open(out_dir + os.path.sep + 'Types' + os.path.sep
+ _srv_serializable_xml_name(name, is_input=True), 'w') as f:
#f.write("<!--\n%s\n%s\n%s\n-->\n"%(pkg,_file,search_path))
tree = gen_serializable_xml(spec.request, pkg)
tree.write(f, pretty_print=True)
with open(out_dir + os.path.sep + 'Types' + os.path.sep
+ _srv_serializable_xml_name(name, is_input=False), 'w') as f:
#f.write("<!--\n%s\n%s\n%s\n-->\n"%(pkg,_file,search_path))
tree = gen_serializable_xml(spec.response, pkg)
tree.write(f, pretty_print=True)
with open(out_dir + os.path.sep + 'Ports' + os.path.sep
+ _port_xml_name(name), 'w') as f:
#f.write("<!--\n%s\n%s\n%s\n-->\n"%(pkg,_file,search_path))
tree = gen_port_xml(spec, pkg, is_srv=(True if _file.endswith('.srv') else False))
tree.write(f, pretty_print=True)
return 0
def test_compute_md5_text():
from genmsg import MsgContext
msg_context = MsgContext.create_default()
# this test is just verifying that the md5sum is what it was for cturtle->electric
Header_md5 = "2176decaecbce78abc3b96ef049fabed"
rg_msg_dir = os.path.join(get_test_msg_dir(), TEST_CTX, 'msg')
clock_msg = os.path.join(rg_msg_dir, 'Clock.msg')
# a bit gory, but go ahead and regression test these important messages
assert "time clock" == _compute_md5_text(msg_context, clock_msg)
log_msg = os.path.join(rg_msg_dir, 'Log.msg')
assert "byte DEBUG=1\nbyte INFO=2\nbyte WARN=4\nbyte ERROR=8\nbyte FATAL=16\n%s header\nbyte level\nstring name\nstring msg\nstring file\nstring function\nuint32 line\nstring[] topics"%Header_md5 == _compute_md5_text(msg_context, log_msg)
tests = _load_md5_tests('md5text')
# text file #1 is the reference
for k, files in tests.iteritems():
print("running tests", k)
ref_file = [f for f in files if f.endswith('%s1.txt'%k)]
if not ref_file:
assert False, "failed to load %s"%k
ref_file = ref_file[0]
ref_text = open(ref_file, 'r').read().strip()
print("KEY", k)
files = [f for f in files if not f.endswith('%s1.txt'%k)]
for f in files[1:]:
f_text = _compute_md5_text(msg_context, f)
assert ref_text == f_text, "failed on %s\n%s\n%s: \n[%s]\nvs.\n[%s]\n"%(k, ref_file, f, ref_text, f_text)
def generate_msg(pkg, files, out_dir, search_path):
"""
Generate dart code for all messages in a package
"""
# print('Generated packages {}'.format(generated_packages))
msg_context = MsgContext.create_default()
for f in files:
f = os.path.abspath(f)
infile = os.path.basename(f)
full_type = genmsg.gentools.compute_full_type_name(pkg, infile)
spec = genmsg.msg_loader.load_msg_from_file(msg_context, f, full_type)
if spec.short_name == 'String':
spec.short_name = 'StringMessage'
generate_msg_from_spec(msg_context, spec, search_path, out_dir, pkg, f)
indir = os.path.dirname(files[0])
########################################
# 3. Write the package pubspec.yaml.dart file
########################################
io = StringIO()
s = IndentedWriter(io)
write_pubspec(s, pkg, search_path, msg_context, indir)
package_update = True
pubspec = '{}/pubspec.yaml'.format(out_dir)
mode = 'w+'
if os.path.isfile(pubspec):
mode = 'r+'
with open(pubspec, mode) as f:
if f.read() == io.getvalue(
) and time.time() - os.path.getmtime(pubspec) < 5:
# print('Pubspec identical')
package_update = False
if package_update:
with open(pubspec, 'w+') as f:
f.write(io.getvalue())
import subprocess
try:
# print('running pub upgrade in {}'.format(out_dir))
subprocess.check_output('which pub', shell=True)
p = subprocess.Popen(['pub', 'upgrade'],
cwd=out_dir,
stdout=subprocess.PIPE)
p.wait()
except subprocess.CalledProcessError as e:
pass
io.close()
(directory, pack) = psplit(out_dir)
if len(search_path.keys()) == 0:
return
for package in search_path.keys():
if package != pkg and package is not None:
# new_search = deepcopy(search_path)
# new_search.pop(package)
generate_all_msgs_for_package(package, directory, search_path)
def generate_messages(self, package, package_files, outdir, search_path):
"""
:returns: return code, ``int``
"""
if not genmsg.is_legal_resource_base_name(package):
raise MsgGenerationException(
"\nERROR: package name '%s' is illegal and cannot be used in message generation.\nPlease see http://ros.org/wiki/Names"
% (package)
)
# package/src/package/msg for messages, packages/src/package/srv for services
msg_context = MsgContext.create_default()
retcode = 0
for f in package_files:
try:
f = os.path.abspath(f)
infile_name = os.path.basename(f)
full_type = genmsg.gentools.compute_full_type_name(package, infile_name)
outfile = self.generate(msg_context, full_type, f, outdir, search_path) # actual generation
except Exception as e:
if not isinstance(e, MsgGenerationException) and not isinstance(e, genmsg.msgs.InvalidMsgSpec):
traceback.print_exc()
print(
"\nERROR: Unable to generate %s for package '%s': while processing '%s': %s\n"
% (self.what, package, f, e),
file=sys.stderr,
)
retcode = 1 # flag error
return retcode
def get_message_fixed_size(spec, search_path):
"""
Return the size of a message.
If the message does not have a fixed size, returns None
"""
if not is_message_fixed_size(spec, search_path):
return None
# else
length = 0
for f in spec.parsed_fields():
if f.is_builtin:
type_size = get_type_size(f.base_type)
if type_size is None:
raise Exception('Field {} has a non-constant size'.format(f.base_type))
if not f.is_array:
length += type_size
elif not f.array_len:
raise Exception('Array field {} has a variable length'.format(f.base_type))
else:
length += (f.array_len * type_size)
else:
field_msg_context = MsgContext.create_default()
field_spec = genmsg.msg_loader.load_msg_by_type(field_msg_context, f.base_type, search_path)
field_size = get_message_fixed_size(field_spec, search_path)
if field_size is None:
raise Exception('Field {} has a non-constant size'.format(f.base_type))
length += field_size
return length
def test_compute_md5_text():
from genmsg import MsgContext
msg_context = MsgContext.create_default()
# this test is just verifying that the md5sum is what it was for cturtle->electric
Header_md5 = "2176decaecbce78abc3b96ef049fabed"
rg_msg_dir = os.path.join(get_test_msg_dir(), TEST_CTX, 'msg')
clock_msg = os.path.join(rg_msg_dir, 'Clock.msg')
# a bit gory, but go ahead and regression test these important messages
assert "time clock" == _compute_md5_text(msg_context, clock_msg)
log_msg = os.path.join(rg_msg_dir, 'Log.msg')
assert "byte DEBUG=1\nbyte INFO=2\nbyte WARN=4\nbyte ERROR=8\nbyte FATAL=16\n%s header\nbyte level\nstring name\nstring msg\nstring file\nstring function\nuint32 line\nstring[] topics" % Header_md5 == _compute_md5_text(
msg_context, log_msg)
tests = _load_md5_tests('md5text')
# text file #1 is the reference
for k, files in tests.items():
print("running tests", k)
ref_file = [f for f in files if f.endswith('%s1.txt' % k)]
if not ref_file:
assert False, "failed to load %s" % k
ref_file = ref_file[0]
ref_text = open(ref_file, 'r').read().strip()
print("KEY", k)
files = [f for f in files if not f.endswith('%s1.txt' % k)]
for f in files[1:]:
f_text = _compute_md5_text(msg_context, f)
assert ref_text == f_text, "failed on %s\n%s\n%s: \n[%s]\nvs.\n[%s]\n" % (
k, ref_file, f, ref_text, f_text)
def test_md5_equals():
from genmsg import MsgContext
msg_context = MsgContext.create_default()
search_path = get_search_path()
tests = _load_md5_tests('same')
for k, files in tests.items():
print("running tests", k)
md5sum = _compute_md5(msg_context, files[0])
for f in files[1:]:
assert md5sum == _compute_md5(msg_context, f), "failed on %s: \n[%s]\nvs.\n[%s]\n"%(k, _compute_md5_text(msg_context, files[0]), _compute_md5_text(msg_context, f))
def generate_srv(pkg, files, out_dir, search_path):
"""
Generate lisp code for all services in a package
"""
msg_context = MsgContext.create_default()
for f in files:
f = os.path.abspath(f)
infile = os.path.basename(f)
full_type = genmsg.gentools.compute_full_type_name(pkg, infile)
spec = genmsg.msg_loader.load_srv_from_file(msg_context, f, full_type)
generate_srv_from_spec(msg_context, spec, search_path, out_dir, pkg, f)
def generate_srv(pkg, files, out_dir, search_path):
"""
Generate euslisp code for all services in a package
"""
msg_context = MsgContext.create_default()
for f in files:
f = os.path.abspath(f)
infile = os.path.basename(f)
full_type = genmsg.gentools.compute_full_type_name(pkg, infile)
spec = genmsg.msg_loader.load_srv_from_file(msg_context, f, full_type)
generate_srv_from_spec(msg_context, spec, search_path, out_dir, pkg, f)
def test_md5_equals():
from genmsg import MsgContext
msg_context = MsgContext.create_default()
search_path = get_search_path()
tests = _load_md5_tests('same')
for k, files in tests.iteritems():
print("running tests", k)
md5sum = _compute_md5(msg_context, files[0])
for f in files[1:]:
assert md5sum == _compute_md5(msg_context, f), "failed on %s: \n[%s]\nvs.\n[%s]\n"%(k, _compute_md5_text(msg_context, files[0]), _compute_md5_text(msg_context, f))
def test_md5_not_equals():
from genmsg import MsgContext
msg_context = MsgContext.create_default()
tests = _load_md5_tests('different')
for k, files in tests.iteritems():
print("running tests", k)
md5s = set()
md6md5sum = _compute_md5(msg_context, files[0])
for f in files:
md5s.add(_compute_md5(msg_context, f))
# each md5 should be unique
assert len(md5s) == len(files)
def test_md5_not_equals():
from genmsg import MsgContext
msg_context = MsgContext.create_default()
tests = _load_md5_tests('different')
for k, files in tests.items():
print("running tests", k)
md5s = set()
md6md5sum = _compute_md5(msg_context, files[0])
for f in files:
md5s.add(_compute_md5(msg_context, f))
# each md5 should be unique
assert len(md5s) == len(files)
def generate_srv(pkg, files, out_dir, search_path):
"""
Generate dart code for all services in a package
"""
msg_context = MsgContext.create_default()
for f in files:
f = os.path.abspath(f)
infile = os.path.basename(f)
full_type = genmsg.gentools.compute_full_type_name(pkg, infile)
spec = genmsg.msg_loader.load_srv_from_file(msg_context, f, full_type)
if '.action' in f:
print('Action class')
return
generate_srv_from_spec(msg_context, spec, search_path, out_dir, pkg, f)
indir = os.path.dirname(files[0])
########################################
# 3. Write the package pubspec.yaml file
########################################
io = StringIO()
s = IndentedWriter(io)
write_pubspec(s, pkg, search_path, msg_context, indir)
package_update = True
pubspec = '{}/pubspec.yaml'.format(out_dir)
mode = 'w+'
if os.path.isfile(pubspec):
mode = 'r+'
with open(pubspec, mode) as f:
if f.read() == io.getvalue(
) and time.time() - os.path.getmtime(pubspec) < 5:
# print('Pubspec identical')
package_update = False
if package_update:
with open(pubspec, 'w+') as f:
f.write(io.getvalue())
import subprocess
try:
# print('running pub upgrade in {}'.format(out_dir))
subprocess.check_output('which pub', shell=True)
p = subprocess.Popen(['pub', 'upgrade'],
cwd=out_dir,
stdout=subprocess.PIPE)
p.wait()
except subprocess.CalledProcessError as e:
pass
io.close()
def test_compute_full_text():
from genmsg import MsgContext, compute_full_text, load_msg_by_type, load_depends
msg_context = MsgContext.create_default()
search_path = get_search_path()
# regression test against values used for cturtle-electric
spec = load_msg_by_type(msg_context, 'rosgraph_msgs/Log', search_path)
load_depends(msg_context, spec, search_path)
val = compute_full_text(msg_context, spec)
assert val == log_full_text, "[%s][%s]"%(val, log_full_text)
spec = load_msg_by_type(msg_context, 'geometry_msgs/TwistWithCovarianceStamped', search_path)
load_depends(msg_context, spec, search_path)
val = compute_full_text(msg_context, spec)
assert val == twist_with_covariance_stamped_full_text, "[%s][%s]"%(val, twist_with_covariance_stamped_full_text)
def test_compute_full_text():
from genmsg import MsgContext, compute_full_text, load_msg_by_type, load_depends
msg_context = MsgContext.create_default()
search_path = get_search_path()
# regression test against values used for cturtle-electric
spec = load_msg_by_type(msg_context, 'rosgraph_msgs/Log', search_path)
load_depends(msg_context, spec, search_path)
val = compute_full_text(msg_context, spec)
assert val == log_full_text, "[%s][%s]"%(val, log_full_text)
spec = load_msg_by_type(msg_context, 'geometry_msgs/TwistWithCovarianceStamped', search_path)
load_depends(msg_context, spec, search_path)
val = compute_full_text(msg_context, spec)
assert val == twist_with_covariance_stamped_full_text, "[%s][%s]"%(val, twist_with_covariance_stamped_full_text)
def is_message_fixed_size(spec, search_path):
"""Check if a particular message specification has a constant size in bytes"""
parsed_fields = spec.parsed_fields()
types = [f.base_type for f in parsed_fields]
variableLengthArrays = [f.is_array and not f.array_len for f in parsed_fields]
isBuiltin = [f.is_builtin for f in parsed_fields]
if 'string' in types:
return False
elif True in variableLengthArrays:
return False
elif False not in isBuiltin:
return True
else:
nonBuiltins = [f for f in parsed_fields if not f.is_builtin]
# print(nonBuiltins)
for idx, f in enumerate(nonBuiltins):
field_msg_context = MsgContext.create_default()
field_spec = genmsg.msg_loader.load_msg_by_type(field_msg_context, f.base_type, search_path)
if not is_message_fixed_size(field_spec, search_path):
return False
return True
def is_message_fixed_size(spec, search_path):
"""Check if a particular message specification has a constant size in bytes"""
parsed_fields = spec.parsed_fields()
types = [f.base_type for f in parsed_fields]
variableLengthArrays = [f.is_array and not f.array_len for f in parsed_fields]
isBuiltin = [f.is_builtin for f in parsed_fields]
if 'string' in types:
return False
elif True in variableLengthArrays:
return False
elif False not in isBuiltin:
return True
else:
nonBuiltins = [f for f in parsed_fields if not f.is_builtin]
# print(nonBuiltins)
for idx, f in enumerate(nonBuiltins):
field_msg_context = MsgContext.create_default()
field_spec = genmsg.msg_loader.load_msg_by_type(field_msg_context, f.base_type, search_path)
if not is_message_fixed_size(field_spec, search_path):
return False
return True
def generate_dynamic(core_type, msg_cat):
"""
Dymamically generate message classes from msg_cat .msg text gendeps dump.
This method modifies sys.path to include a temp file directory.
:param core_type str: top-level ROS message type of concatenated .msg text
:param msg_cat str: concatenation of full message text (output of gendeps --cat)
:raises: MsgGenerationException If dep_msg is improperly formatted
"""
msg_context = MsgContext.create_default()
core_pkg, core_base_type = genmsg.package_resource_name(core_type)
# REP 100: pretty gross hack to deal with the fact that we moved
# Header. Header is 'special' because it can be used w/o a package
# name, so the lookup rules end up failing. We are committed to
# never changing std_msgs/Header, so this is generally fine.
msg_cat = msg_cat.replace('roslib/Header', 'std_msgs/Header')
# separate msg_cat into the core message and dependencies
splits = msg_cat.split('\n' + '=' * 80 + '\n')
core_msg = splits[0]
deps_msgs = splits[1:]
# create MsgSpec representations of .msg text
specs = {
core_type:
msg_loader.load_msg_from_string(msg_context, core_msg, core_type)
}
# - dependencies
for dep_msg in deps_msgs:
# dependencies require more handling to determine type name
dep_type, dep_spec = _generate_dynamic_specs(msg_context, specs,
dep_msg)
specs[dep_type] = dep_spec
# clear the message registration table and register loaded
# types. The types have to be registered globally in order for
# message generation of dependents to work correctly.
msg_context = msg_loader.MsgContext.create_default()
search_path = {} # no ability to dynamically load
for t, spec in specs.items():
msg_context.register(t, spec)
# process actual MsgSpecs: we accumulate them into a single file,
# rewriting the generated text as needed
buff = StringIO()
for t, spec in specs.items():
pkg, s_type = genmsg.package_resource_name(t)
# dynamically generate python message code
for line in msg_generator(msg_context, spec, search_path):
line = _gen_dyn_modify_references(line, t, list(specs.keys()))
buff.write(line + '\n')
full_text = buff.getvalue()
# Create a temporary directory
tmp_dir = tempfile.mkdtemp(prefix='genpy_')
# Afterwards, we are going to remove the directory so that the .pyc file gets cleaned up if it's still around
atexit.register(shutil.rmtree, tmp_dir)
# write the entire text to a file and import it (it will get deleted when tmp_dir goes - above)
tmp_file = tempfile.NamedTemporaryFile(mode='w',
suffix='.py',
dir=tmp_dir,
delete=False)
tmp_file.file.write(full_text)
tmp_file.file.close()
# import our temporary file as a python module, which requires modifying sys.path
sys.path.append(os.path.dirname(tmp_file.name))
# - strip the prefix to turn it into the python module name
try:
mod = __import__(os.path.basename(tmp_file.name)[:-3])
except Exception:
# TODOXXX:REMOVE
with open(tmp_file.name) as f:
text = f.read()
with open('/tmp/foo', 'w') as f2:
f2.write(text)
raise
# finally, retrieve the message classes from the dynamic module
messages = {}
for t in specs.keys():
pkg, s_type = genmsg.package_resource_name(t)
try:
messages[t] = getattr(mod, _gen_dyn_name(pkg, s_type))
except AttributeError:
raise MsgGenerationException(
'cannot retrieve message class for %s/%s: %s' %
(pkg, s_type, _gen_dyn_name(pkg, s_type)))
messages[t]._spec = specs[t]
return messages
def write_get_message_size(s, spec, search_path):
"""
Write a static method to determine the buffer size of a complete message
"""
with Indent(s):
s.write('static getMessageSize(object) {')
msg_size = get_message_fixed_size(spec, search_path)
if msg_size is not None:
with Indent(s):
s.write('return {};'.format(msg_size))
else:
def get_dynamic_field_length_line(field, query):
if field.is_builtin:
if not is_string(field.base_type):
raise Exception('Unexpected field {} with type {} has unknown length'.format(field.name, field.base_type))
# it's a string array!
return 'length += 4 + {}.length;'.format(query)
# else
(package, msg_type) = field.base_type.split('/')
samePackage = spec.package == package
if samePackage:
return 'length += {}.getMessageSize({});'.format(msg_type, query)
else:
return 'length += {}.msg.{}.getMessageSize({});'.format(package, msg_type, query)
with Indent(s):
s.write('let length = 0;')
# certain fields will always have the same size
# calculate that here instead of dynamically every time
len_constant_length_fields = 0;
for f in spec.parsed_fields():
field_size = None
if f.is_builtin:
field_size = get_type_size(f.base_type)
else:
field_msg_context = MsgContext.create_default()
field_spec = genmsg.msg_loader.load_msg_by_type(field_msg_context, f.base_type, search_path)
field_size = get_message_fixed_size(field_spec, search_path)
if f.is_array:
if f.array_len and field_size is not None:
len_constant_length_fields += (field_size * f.array_len)
continue
elif not f.array_len:
len_constant_length_fields += 4
if field_size == 1:
s.write('length += object.{}.length;'.format(f.name))
elif field_size is not None:
s.write('length += {} * object.{}.length;'.format(field_size, f.name))
else:
if f.is_builtin:
if not is_string(f.base_type):
raise Exception('Unexpected field {} with type {} has unknown length'.format(f.name, f.base_type))
# it's a string array!
line_to_write = 'length += 4 + val.length;'
else:
(package, msg_type) = f.base_type.split('/')
samePackage = spec.package == package
if samePackage:
line_to_write = 'length += {}.getMessageSize(val);'.format(msg_type,)
else:
line_to_write = 'length += {}.msg.{}.getMessageSize(val);'.format(package, msg_type)
s.write('object.{}.forEach((val) => {{'.format(f.name))
with Indent(s):
s.write(line_to_write)
s.write('});')
elif field_size is not None:
len_constant_length_fields += field_size
else:
# field size is dynamic!
if f.is_builtin:
if not is_string(f.base_type):
raise Exception('Unexpected field {} with type {} has unknown length'.format(f.name, f.base_type))
# it's a string array!
len_constant_length_fields += 4
line_to_write = 'length += object.{}.length;'.format(f.name)
else:
(package, msg_type) = f.base_type.split('/')
samePackage = spec.package == package
if samePackage:
line_to_write = 'length += {}.getMessageSize(object.{});'.format(msg_type, f.name)
else:
line_to_write = 'length += {}.msg.{}.getMessageSize(object.{});'.format(package, msg_type, f.name)
s.write(line_to_write)
if len_constant_length_fields > 0:
s.write('return length + {};'.format(len_constant_length_fields))
else:
s.write('return length;')
s.write('}')
s.newline()
def write_get_message_size(s, spec, search_path):
"""
Write a static method to determine the buffer size of a complete message
"""
with Indent(s):
s.write('static getMessageSize(object) {')
msg_size = get_message_fixed_size(spec, search_path)
if msg_size is not None:
with Indent(s):
s.write('return {};'.format(msg_size))
else:
def get_dynamic_field_length_line(field, query):
if field.is_builtin:
if not is_string(field.base_type):
raise Exception('Unexpected field {} with type {} has unknown length'.format(field.name, field.base_type))
# it's a string array!
return 'length += 4 + {}.length;'.format(query)
# else
(package, msg_type) = field.base_type.split('/')
samePackage = spec.package == package
if samePackage:
return 'length += {}.getMessageSize({});'.format(msg_type, query)
else:
return 'length += {}.msg.{}.getMessageSize({});'.format(package, msg_type, query)
with Indent(s):
s.write('let length = 0;')
# certain fields will always have the same size
# calculate that here instead of dynamically every time
len_constant_length_fields = 0;
for f in spec.parsed_fields():
field_size = None
if f.is_builtin:
field_size = get_type_size(f.base_type)
else:
field_msg_context = MsgContext.create_default()
field_spec = genmsg.msg_loader.load_msg_by_type(field_msg_context, f.base_type, search_path)
field_size = get_message_fixed_size(field_spec, search_path)
if f.is_array:
if f.array_len and field_size is not None:
len_constant_length_fields += (field_size * f.array_len)
continue
elif not f.array_len:
len_constant_length_fields += 4
if field_size == 1:
s.write('length += object.{}.length;'.format(f.name))
elif field_size is not None:
s.write('length += {} * object.{}.length;'.format(field_size, f.name))
else:
if f.is_builtin:
if not is_string(f.base_type):
raise Exception('Unexpected field {} with type {} has unknown length'.format(f.name, f.base_type))
# it's a string array!
line_to_write = 'length += 4 + val.length;'
else:
(package, msg_type) = f.base_type.split('/')
samePackage = spec.package == package
if samePackage:
line_to_write = 'length += {}.getMessageSize(val);'.format(msg_type,)
else:
line_to_write = 'length += {}.msg.{}.getMessageSize(val);'.format(package, msg_type)
s.write('object.{}.forEach((val) => {{'.format(f.name))
with Indent(s):
s.write(line_to_write)
s.write('});')
elif field_size is not None:
len_constant_length_fields += field_size
else:
# field size is dynamic!
if f.is_builtin:
if not is_string(f.base_type):
raise Exception('Unexpected field {} with type {} has unknown length'.format(f.name, f.base_type))
# it's a string array!
len_constant_length_fields += 4
line_to_write = 'length += Buffer.byteLength(object.{}, \'utf8\');'.format(f.name)
else:
(package, msg_type) = f.base_type.split('/')
samePackage = spec.package == package
if samePackage:
line_to_write = 'length += {}.getMessageSize(object.{});'.format(msg_type, f.name)
else:
line_to_write = 'length += {}.msg.{}.getMessageSize(object.{});'.format(package, msg_type, f.name)
s.write(line_to_write)
if len_constant_length_fields > 0:
s.write('return length + {};'.format(len_constant_length_fields))
else:
s.write('return length;')
s.write('}')
s.newline()
from __future__ import print_function
import os
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:
def generate_dynamic(core_type, msg_cat):
"""
Dymamically generate message classes from msg_cat .msg text
gendeps dump. This method modifies sys.path to include a temp file
directory.
:param core_type str: top-level ROS message type of concatenanted .msg text
:param msg_cat str: concatenation of full message text (output of gendeps --cat)
:raises: MsgGenerationException If dep_msg is improperly formatted
"""
msg_context = MsgContext.create_default()
core_pkg, core_base_type = genmsg.package_resource_name(core_type)
# REP 100: pretty gross hack to deal with the fact that we moved
# Header. Header is 'special' because it can be used w/o a package
# name, so the lookup rules end up failing. We are committed to
# never changing std_msgs/Header, so this is generally fine.
msg_cat = msg_cat.replace('roslib/Header', 'std_msgs/Header')
# separate msg_cat into the core message and dependencies
splits = msg_cat.split('\n'+'='*80+'\n')
core_msg = splits[0]
deps_msgs = splits[1:]
# create MsgSpec representations of .msg text
specs = { core_type: genmsg.msg_loader.load_msg_from_string(msg_context, core_msg, core_type) }
# - dependencies
for dep_msg in deps_msgs:
# dependencies require more handling to determine type name
dep_type, dep_spec = _generate_dynamic_specs(msg_context, specs, dep_msg)
specs[dep_type] = dep_spec
# clear the message registration table and register loaded
# types. The types have to be registered globally in order for
# message generation of dependents to work correctly.
msg_context = genmsg.msg_loader.MsgContext.create_default()
search_path = {} # no ability to dynamically load
for t, spec in specs.items():
msg_context.register(t, spec)
# process actual MsgSpecs: we accumulate them into a single file,
# rewriting the generated text as needed
buff = StringIO()
for t, spec in specs.items():
pkg, s_type = genmsg.package_resource_name(t)
# dynamically generate python message code
for l in msg_generator(msg_context, spec, search_path):
l = _gen_dyn_modify_references(l, list(specs.keys()))
buff.write(l + '\n')
full_text = buff.getvalue()
# Create a temporary directory
tmp_dir = tempfile.mkdtemp(prefix='genpy_')
# Afterwards, we are going to remove the directory so that the .pyc file gets cleaned up if it's still around
atexit.register(shutil.rmtree, tmp_dir)
# write the entire text to a file and import it (it will get deleted when tmp_dir goes - above)
tmp_file = tempfile.NamedTemporaryFile(suffix=".py",dir=tmp_dir,delete=False)
tmp_file.file.write(full_text)
tmp_file.file.close()
# import our temporary file as a python module, which requires modifying sys.path
sys.path.append(os.path.dirname(tmp_file.name))
# - strip the prefix to turn it into the python module name
try:
mod = __import__(os.path.basename(tmp_file.name)[:-3])
except:
#TODOXXX:REMOVE
with open(tmp_file.name) as f:
text = f.read()
with open('/tmp/foo', 'w') as f2:
f2.write(text)
raise
# finally, retrieve the message classes from the dynamic module
messages = {}
for t in specs.keys():
pkg, s_type = genmsg.package_resource_name(t)
try:
messages[t] = getattr(mod, _gen_dyn_name(pkg, s_type))
except AttributeError:
raise MsgGenerationException("cannot retrieve message class for %s/%s: %s"%(pkg, s_type, _gen_dyn_name(pkg, s_type)))
return messages
from __future__ import print_function
import os
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)
