def parse(cls, entity: Entity, parser: Parser):
"""Parse node."""
# See parse method of `ExecuteProcess`
_, kwargs = super().parse(entity, parser, 'args')
kwargs['arguments'] = kwargs['args']
del kwargs['args']
kwargs['node_name'] = kwargs['name']
del kwargs['name']
kwargs['package'] = parser.parse_substitution(entity.get_attr('pkg'))
kwargs['node_executable'] = parser.parse_substitution(
entity.get_attr('exec'))
ns = entity.get_attr('namespace', optional=True)
if ns is not None:
kwargs['node_namespace'] = parser.parse_substitution(ns)
remappings = entity.get_attr('remap', optional=True)
if remappings is not None:
kwargs['remappings'] = [
(parser.parse_substitution(remap.get_attr('from')),
parser.parse_substitution(remap.get_attr('to')))
for remap in remappings
]
parameters = entity.get_attr('param',
data_type=List[Entity],
optional=True)
if parameters is not None:
kwargs['parameters'] = cls.parse_nested_parameters(
parameters, parser)
return cls, kwargs
def parse(cls, entity: Entity, parser: Parser):
"""Parse."""
_, kwargs = super().parse(entity, parser)
kwargs['session_name'] = entity.get_attr('session-name')
append_timestamp = entity.get_attr('append-timestamp',
data_type=bool,
optional=True,
can_be_str=False)
if append_timestamp is not None:
kwargs['append_timestamp'] = append_timestamp
base_path = entity.get_attr('base-path', optional=True)
if base_path:
kwargs['base_path'] = parser.parse_substitution(base_path)
# Make sure to handle empty strings and replace with empty lists,
# otherwise an empty string enables all events
events_ust = entity.get_attr('events-ust', optional=True)
if events_ust is not None:
kwargs['events_ust'] = cls._parse_cmdline(events_ust, parser) \
if events_ust else []
events_kernel = entity.get_attr('events-kernel', optional=True)
if events_kernel is not None:
kwargs['events_kernel'] = cls._parse_cmdline(events_kernel, parser) \
if events_kernel else []
context_fields = entity.get_attr('context-fields', optional=True)
if context_fields is not None:
kwargs['context_fields'] = cls._parse_cmdline(context_fields, parser) \
if context_fields else []
context_names = entity.get_attr('context-names', optional=True)
if context_names is not None:
kwargs['context_names'] = cls._parse_cmdline(context_names, parser) \
if context_names else []
return cls, kwargs
def _parse_cmdline(cls, cmd: Text,
parser: Parser) -> List[SomeSubstitutionsType]:
"""
Parse text apt for command line execution.
:param: cmd a space (' ') delimited command line arguments list.
All found `TextSubstitution` items are split and added to the
list again as a `TextSubstitution`.
:return: a list of command line arguments.
"""
result_args = []
arg: List[SomeSubstitutionsType] = []
def _append_arg():
nonlocal arg
result_args.append(arg)
arg = []
for sub in parser.parse_substitution(cmd):
if isinstance(sub, TextSubstitution):
tokens = shlex.split(sub.text)
if not tokens:
# Sting with just spaces.
# Appending args allow splitting two substitutions
# separated by a space.
# e.g.: `$(subst1 asd) $(subst2 bsd)` will be two separate arguments.
_append_arg()
continue
if sub.text[0].isspace():
# Needed for splitting from the previous argument
# e.g.: `$(find-exec bsd) asd`
# It splits `asd` from the path of `bsd` executable.
if len(arg) != 0:
_append_arg()
arg.append(TextSubstitution(text=tokens[0]))
if len(tokens) > 1:
# Needed to split the first argument when more than one token.
# e.g. `$(find-pkg-prefix csd)/asd bsd`
# will split `$(find-pkg-prefix csd)/asd` from `bsd`.
_append_arg()
arg.append(TextSubstitution(text=tokens[-1]))
if len(tokens) > 2:
# If there are more than two tokens, just add all the middle tokens to
# `result_args`.
# e.g. `$(find-pkg-prefix csd)/asd bsd dsd xsd`
# 'bsd' 'dsd' will be added.
result_args.extend([TextSubstitution(text=x)]
for x in tokens[1:-1])
if sub.text[-1].isspace():
# Allows splitting from next argument.
# e.g. `exec $(find-some-file)`
# Will split `exec` argument from the result of `find-some-file` substitution.
_append_arg()
else:
arg.append(sub)
if arg:
result_args.append(arg)
return result_args
def parse(cls, entity: Entity, parser: Parser):
"""Parse load_composable_node."""
_, kwargs = super().parse(entity, parser)
kwargs['target_container'] = parser.parse_substitution(
entity.get_attr('target', data_type=str))
composable_nodes = entity.get_attr('composable_node', data_type=List[Entity])
kwargs['composable_node_descriptions'] = []
for entity in composable_nodes:
composable_node_cls, composable_node_kwargs = ComposableNode.parse(parser, entity)
kwargs['composable_node_descriptions'].append(
composable_node_cls(**composable_node_kwargs))
return cls, kwargs
def parse(cls, parser: Parser, entity: Entity):
"""Parse composable_node."""
from launch_ros.actions import Node
kwargs = {}
kwargs['package'] = parser.parse_substitution(entity.get_attr('pkg'))
kwargs['plugin'] = parser.parse_substitution(entity.get_attr('plugin'))
kwargs['name'] = parser.parse_substitution(entity.get_attr('name'))
namespace = entity.get_attr('namespace', optional=True)
if namespace is not None:
kwargs['namespace'] = parser.parse_substitution(namespace)
parameters = entity.get_attr('param', data_type=List[Entity], optional=True)
if parameters is not None:
kwargs['parameters'] = Node.parse_nested_parameters(parameters, parser)
remappings = entity.get_attr('remap', data_type=List[Entity], optional=True)
if remappings is not None:
kwargs['remappings'] = [
(
parser.parse_substitution(remap.get_attr('from')),
parser.parse_substitution(remap.get_attr('to'))
) for remap in remappings
]
for remap in remappings:
remap.assert_entity_completely_parsed()
extra_arguments = entity.get_attr('extra_arg', data_type=List[Entity], optional=True)
if extra_arguments is not None:
kwargs['extra_arguments'] = [
{
tuple(parser.parse_substitution(extra_arg.get_attr('name'))):
parser.parse_substitution(extra_arg.get_attr('value'))
} for extra_arg in extra_arguments
]
for extra_arg in extra_arguments:
extra_arg.assert_entity_completely_parsed()
entity.assert_entity_completely_parsed()
return cls, kwargs
def parse(cls, entity: Entity, parser: Parser):
"""Parse node."""
# See parse method of `ExecuteProcess`
_, kwargs = super().parse(entity, parser, ignore=['cmd'])
args = entity.get_attr('args', optional=True)
if args is not None:
kwargs['arguments'] = super()._parse_cmdline(args, parser)
node_name = entity.get_attr('node-name', optional=True)
if node_name is not None:
kwargs['node_name'] = parser.parse_substitution(node_name)
node_name = entity.get_attr('name', optional=True)
if node_name is not None:
kwargs['name'] = parser.parse_substitution(node_name)
exec_name = entity.get_attr('exec_name', optional=True)
if exec_name is not None:
kwargs['exec_name'] = parser.parse_substitution(exec_name)
package = entity.get_attr('pkg', optional=True)
if package is not None:
kwargs['package'] = parser.parse_substitution(package)
kwargs['executable'] = parser.parse_substitution(
entity.get_attr('exec'))
ns = entity.get_attr('namespace', optional=True)
if ns is not None:
kwargs['namespace'] = parser.parse_substitution(ns)
remappings = entity.get_attr('remap',
data_type=List[Entity],
optional=True)
if remappings is not None:
kwargs['remappings'] = [
(parser.parse_substitution(remap.get_attr('from')),
parser.parse_substitution(remap.get_attr('to')))
for remap in remappings
]
for remap in remappings:
remap.assert_entity_completely_parsed()
parameters = entity.get_attr('param',
data_type=List[Entity],
optional=True)
if parameters is not None:
kwargs['parameters'] = cls.parse_nested_parameters(
parameters, parser)
return cls, kwargs
def parse(cls, entity: Entity, parser: Parser):
"""Return `SetLaunchConfiguration` action and kwargs for constructing it."""
_, kwargs = super().parse(entity, parser)
kwargs['namespace'] = parser.parse_substitution(entity.get_attr('namespace'))
return cls, kwargs
def parse(cls, entity: Entity, parser: Parser):
"""Return `SetParameterFromFile` action and kwargs for constructing it."""
_, kwargs = super().parse(entity, parser)
kwargs['filename'] = parser.parse_substitution(
entity.get_attr('filename'))
return cls, kwargs
def parse(cls, entity: Entity, parser: Parser):
"""Return `SetUseSimTime` action and kwargs for constructing it."""
_, kwargs = super().parse(entity, parser)
kwargs['value'] = parser.parse_substitution(entity.get_attr('value'))
return cls, kwargs
def parse(cls, entity: Entity, parser: Parser):
"""Return `SetVehicleInfo` action and kwargs for constructing it."""
_, kwargs = super().parse(entity, parser)
kwargs['param_file'] = parser.parse_substitution(
entity.get_attr('param_file'))
return cls, kwargs
def parse(cls, entity: Entity, parser: Parser):
"""Return `SetRemap` action and kwargs for constructing it."""
_, kwargs = super().parse(entity, parser)
kwargs['src'] = parser.parse_substitution(entity.get_attr('from'))
kwargs['dst'] = parser.parse_substitution(entity.get_attr('to'))
return cls, kwargs