def generate_interface_documentation(interface, interface_template, file_output_path,
documentation_data, generate_text_from_spec):
"""
Generate documentation for a single ROSIDL interface.
This function write in a file the message static HTML site.
:param interface: name of the interface
:type interface: str
:param interface_template: name of the template
:type interface_template: str
:param file_output_path: name of the file where the template will be written
once filled
:type file_output_path: str
:param documentation_data: dictionary with the data to field the index template
:type documentation_data: dict
:param generate_text_from_spec: function with the logic to fill the compact
definition for a specific type of interface
:type generate_text_from_spec: function
"""
package, interface_type, base_type = resource_name(interface)
file_path = get_interface_path(interface)
with open(file_path, 'r', encoding='utf-8') as h:
spec = h.read().rstrip()
compact_definition = generate_text_from_spec(package, base_type, spec)
documentation_data['raw_text'] = spec
content = evaluate_template(
interface_template,
{**documentation_data, **compact_definition})
write_template(content, file_output_path)
def main(self, *, args):
try:
file_path = get_interface_path(args.type)
except LookupError as e:
return str(e)
with open(file_path, 'r', encoding='utf-8') as h:
print(h.read().rstrip())
def test_get_interface_path():
# get message with suffix
interface_path = get_interface_path('test_msgs/msg/BasicTypes.msg')
assert os.path.exists(interface_path)
assert interface_path[-4:] == '.msg'
# get message without suffix
interface_path = get_interface_path('test_msgs/msg/BasicTypes')
assert os.path.exists(interface_path)
assert interface_path[-4:] == '.msg'
# get service with suffix
interface_path = get_interface_path('test_msgs/srv/BasicTypes.srv')
assert os.path.exists(interface_path)
assert interface_path[-4:] == '.srv'
# get service without suffix
interface_path = get_interface_path('test_msgs/srv/BasicTypes')
assert os.path.exists(interface_path)
assert interface_path[-4:] == '.srv'
# get action with suffix
interface_path = get_interface_path('test_msgs/action/Fibonacci.action')
assert os.path.exists(interface_path)
assert interface_path[-7:] == '.action'
# get action without suffix
interface_path = get_interface_path('test_msgs/action/Fibonacci')
assert os.path.exists(interface_path)
assert interface_path[-7:] == '.action'
# get message with .idl suffix
interface_path = get_interface_path('test_msgs/msg/BasicTypes.idl')
assert os.path.exists(interface_path)
assert interface_path[-4:] == '.idl'
def _get_interface_lines(
interface_identifier: str) -> typing.Iterable[InterfaceTextLine]:
parts: typing.List[str] = interface_identifier.split('/')
if len(parts) != 3:
raise ValueError(
f"Invalid name '{interface_identifier}'. Expected three parts separated by '/'"
)
pkg_name, _, msg_name = parts
file_path = get_interface_path(interface_identifier)
with open(file_path) as file_handler:
for line in file_handler:
yield InterfaceTextLine(
pkg_name=pkg_name,
msg_name=msg_name,
line_text=line.rstrip(),
)
def parse_interface(m):
assert isinstance(m, str)
pkg, tag, name = m.split('/')
path = get_interface_path(m)
if tag == 'msg':
obj = parse_message_file(pkg, path)
monkey_patch_fields(obj)
obj.__dict__['subinterfaces'] = {'Message': obj}
elif tag == 'srv':
obj = parse_service_file(pkg, path)
monkey_patch_fields(obj.request)
monkey_patch_fields(obj.response)
obj.__dict__['subinterfaces'] = {
'Request': obj.request,
'Response': obj.response
}
elif tag == 'action':
obj = parse_action_file(pkg, path)
monkey_patch_fields(obj.goal)
monkey_patch_fields(obj.feedback)
monkey_patch_fields(obj.result)
obj.__dict__['subinterfaces'] = {
'Goal': obj.goal,
'Feedback': obj.feedback,
'Result': obj.result
}
for subinterface_name, subinterface in obj.subinterfaces.items():
subinterface.__dict__['cpp_type_normalized'] = '{}/{}'.format(
m, subinterface_name).replace('/', '__')
subinterface.__dict__['cpp_type'] = '::'.join(
[pkg, tag, name, subinterface_name])
obj.__dict__['tag'] = tag
obj.__dict__['full_name'] = m
obj.__dict__['cpp_include'] = '{}/{}/{}.hpp'.format(
pkg, tag, camel_case_to_snake_case(name))
obj.__dict__['cpp_type_normalized'] = m.replace('/', '__')
obj.__dict__['cpp_type'] = '::'.join([pkg, tag, name])
return obj
def main(self, *, args):
file_path = get_interface_path(args.type)
with open(file_path, 'r', encoding='utf-8') as h:
print(h.read().rstrip())
