Get .asd-dep and package file generation working
This commit is contained in:
Bhaskara Marthi
parent
8c493fc1ba
commit
23cfb855b8
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@ -90,12 +90,15 @@ def field_type(f):
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else:
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return elt_type
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def parse_msg_type(f):
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if f.base_type == 'Header':
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return ('roslib', 'Header')
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else:
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return f.base_type.split('/')
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# t2 no need for is_array
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def msg_type(f):
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if f.base_type == 'Header':
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(pkg, msg) = ('roslib', 'Header')
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else:
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(pkg, msg) = f.base_type.split('/')
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(pkg, msg) = parse_msg_type(f)
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return '%s-msg:<%s>'%(pkg, msg)
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def lisp_type(t):
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@ -201,28 +204,16 @@ class Indent():
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self.writer.dec_indent(self.inc)
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def write_begin(s, spec, path):
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"""
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Writes the beginning of the file: a comment saying it's auto-generated and the in-package form
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"Writes the beginning of the file: a comment saying it's auto-generated and the in-package form"
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@param s: The stream to write to
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@type s: stream
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@param spec: The spec
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@type spec: roslib.msgs.MsgSpec
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@param path: The file this message is being generated for
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@type path: str
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"""
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s.write('; Auto-generated. Do not edit!\n\n\n', newline=False)
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s.write('(in-package %s-msg)\n\n\n'%spec.package, newline=False)
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s.write(';//! \\htmlinclude %s.msg.html\n'%spec.short_name, newline=False) # t2
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def write_slot_definition(s, field):
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"""
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Write the definition of a slot corresponding to a single message field
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"""
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"Write the definition of a slot corresponding to a single message field"
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s.write('(%s'%field.name)
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with Indent(s, 1):
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@ -252,352 +243,10 @@ def write_defclass(s, spec, pkg):
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def message_class(spec):
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"""
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Return the CLOS class name for this message type
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@param spec: The message spec
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@type spec: roslib.msgs.MsgSpec
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"""
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return '<%s>'%spec.short_name
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def write_end(s, spec):
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"""
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Writes the end of the header file: the ending of the include guards
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@param s: The stream to write to
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@type s: stream
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@param spec: The spec
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@type spec: roslib.msgs.MsgSpec
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"""
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s.write('#endif // %s_MESSAGE_%s_H\n'%(spec.package.upper(), spec.short_name.upper()))
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def write_generic_includes(s):
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"""
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Writes the includes that all messages need
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@param s: The stream to write to
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@type s: stream
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"""
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s.write('#include <string>\n')
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s.write('#include <vector>\n')
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s.write('#include <ostream>\n')
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s.write('#include "ros/serialization.h"\n')
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s.write('#include "ros/builtin_message_traits.h"\n')
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s.write('#include "ros/message_operations.h"\n')
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s.write('#include "ros/message.h"\n')
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s.write('#include "ros/time.h"\n\n')
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def write_includes(s, spec):
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"""
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Writes the message-specific includes
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@param s: The stream to write to
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@type s: stream
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@param spec: The message spec to iterate over
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@type spec: roslib.msgs.MsgSpec
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"""
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for field in spec.parsed_fields():
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if (not field.is_builtin):
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if (field.is_header):
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s.write('#include "roslib/Header.h"\n')
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else:
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(pkg, name) = roslib.names.package_resource_name(field.base_type)
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pkg = pkg or spec.package # convert '' to package
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s.write('#include "%s/%s.h"\n'%(pkg, name))
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s.write('\n')
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def write_struct(s, spec, cpp_name_prefix):
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"""
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Writes the entire message struct: declaration, constructors, members, constants and (deprecated) member functions
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@param s: The stream to write to
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@type s: stream
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@param spec: The message spec
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@type spec: roslib.msgs.MsgSpec
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@param cpp_name_prefix: The C++ prefix to use when referring to the message, e.g. "std_msgs::"
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@type cpp_name_prefix: str
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"""
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msg = spec.short_name
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s.write('template <class ContainerAllocator>\n')
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s.write('struct %s_ : public ros::Message\n{\n'%(msg))
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s.write(' typedef %s_<ContainerAllocator> Type;\n\n'%(msg))
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write_constructors(s, spec, cpp_name_prefix)
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write_members(s, spec)
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write_constant_declarations(s, spec)
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write_deprecated_member_functions(s, spec)
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(cpp_msg_unqualified, cpp_msg_with_alloc, cpp_msg_base) = cpp_message_declarations(cpp_name_prefix, msg)
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s.write(' typedef boost::shared_ptr<%s> Ptr;\n'%(cpp_msg_with_alloc))
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s.write(' typedef boost::shared_ptr<%s const> ConstPtr;\n'%(cpp_msg_with_alloc))
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s.write('}; // struct %s\n'%(msg))
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s.write('typedef %s_<std::allocator<void> > %s;\n\n'%(cpp_msg_base, msg))
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s.write('typedef boost::shared_ptr<%s> %sPtr;\n'%(cpp_msg_base, msg))
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s.write('typedef boost::shared_ptr<%s const> %sConstPtr;\n\n'%(cpp_msg_base, msg))
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def default_value(type):
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"""
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Returns the value to initialize a message member with. 0 for integer types, 0.0 for floating point, false for bool,
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empty string for everything else
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@param type: The type
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@type type: str
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"""
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if type in ['byte', 'int8', 'int16', 'int32', 'int64',
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'char', 'uint8', 'uint16', 'uint32', 'uint64']:
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return '0'
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elif type in ['float32', 'float64']:
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return '0.0'
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elif type == 'bool':
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return 'false'
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return ""
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def takes_allocator(type):
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"""
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Returns whether or not a type can take an allocator in its constructor. False for all builtin types except string.
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True for all others.
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@param type: The type
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@type: str
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"""
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return not type in ['byte', 'int8', 'int16', 'int32', 'int64',
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'char', 'uint8', 'uint16', 'uint32', 'uint64',
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'float32', 'float64', 'bool', 'time', 'duration']
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def write_initializer_list(s, spec, container_gets_allocator):
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"""
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Writes the initializer list for a constructor
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@param s: The stream to write to
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@type s: stream
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@param spec: The message spec
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@type spec: roslib.msgs.MsgSpec
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@param container_gets_allocator: Whether or not a container type (whether it's another message, a vector, array or string)
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should have the allocator passed to its constructor. Assumes the allocator is named _alloc.
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@type container_gets_allocator: bool
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"""
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i = 0
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for field in spec.parsed_fields():
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if (i == 0):
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s.write(' : ')
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else:
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s.write(' , ')
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val = default_value(field.base_type)
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use_alloc = takes_allocator(field.base_type)
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if (field.is_array):
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if (field.array_len is None and container_gets_allocator):
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s.write('%s(_alloc)\n'%(field.name))
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else:
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s.write('%s()\n'%(field.name))
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else:
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if (container_gets_allocator and use_alloc):
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s.write('%s(_alloc)\n'%(field.name))
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else:
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s.write('%s(%s)\n'%(field.name, val))
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i = i + 1
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def write_fixed_length_assigns(s, spec, container_gets_allocator, cpp_name_prefix):
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"""
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Initialize any fixed-length arrays
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@param s: The stream to write to
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@type s: stream
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@param spec: The message spec
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@type spec: roslib.msgs.MsgSpec
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@param container_gets_allocator: Whether or not a container type (whether it's another message, a vector, array or string)
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should have the allocator passed to its constructor. Assumes the allocator is named _alloc.
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@type container_gets_allocator: bool
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@param cpp_name_prefix: The C++ prefix to use when referring to the message, e.g. "std_msgs::"
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@type cpp_name_prefix: str
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"""
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# Assign all fixed-length arrays their default values
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for field in spec.parsed_fields():
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if (not field.is_array or field.array_len is None):
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continue
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val = default_value(field.base_type)
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if (container_gets_allocator and takes_allocator(field.base_type)):
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(cpp_msg_unqualified, cpp_msg_with_alloc, _) = cpp_message_declarations(cpp_name_prefix, field.base_type)
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s.write(' %s.assign(%s(_alloc));\n'%(field.name, cpp_msg_with_alloc))
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elif (len(val) > 0):
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s.write(' %s.assign(%s);\n'%(field.name, val))
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def write_constructors(s, spec, cpp_name_prefix):
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"""
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Writes any necessary constructors for the message
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@param s: The stream to write to
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@type s: stream
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@param spec: The message spec
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@type spec: roslib.msgs.MsgSpec
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@param cpp_name_prefix: The C++ prefix to use when referring to the message, e.g. "std_msgs::"
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@type cpp_name_prefix: str
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"""
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msg = spec.short_name
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# Default constructor
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s.write(' %s_()\n'%(msg))
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write_initializer_list(s, spec, False)
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s.write(' {\n')
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write_fixed_length_assigns(s, spec, False, cpp_name_prefix)
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s.write(' }\n\n')
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# Constructor that takes an allocator constructor
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s.write(' %s_(const ContainerAllocator& _alloc)\n'%(msg))
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write_initializer_list(s, spec, True)
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s.write(' {\n')
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write_fixed_length_assigns(s, spec, True, cpp_name_prefix)
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s.write(' }\n\n')
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def write_members(s, spec):
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"""
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Write all the member declarations
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@param s: The stream to write to
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@type s: stream
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@param spec: The message spec
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@type spec: roslib.msgs.MsgSpec
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"""
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[write_member(s, field) for field in spec.parsed_fields()]
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def write_constant_declaration(s, constant):
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"""
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Write a constant value as a static member
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@param s: The stream to write to
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@type s: stream
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@param constant: The constant
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@type constant: roslib.msgs.Constant
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"""
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# integral types get their declarations as enums to allow use at compile time
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if (constant.type in ['byte', 'int8', 'int16', 'int32', 'int64', 'char', 'uint8', 'uint16', 'uint32', 'uint64']):
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s.write(' enum { %s = %s };\n'%(constant.name, constant.val))
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else:
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s.write(' static const %s %s;\n'%(msg_type_to_cpp(constant.type), constant.name))
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def write_constant_declarations(s, spec):
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"""
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Write all the constants from a spec as static members
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@param s: The stream to write to
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@type s: stream
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@param spec: The message spec
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@type spec: roslib.msgs.MsgSpec
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"""
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[write_constant_declaration(s, constant) for constant in spec.constants]
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s.write('\n')
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def write_constant_definition(s, spec, constant):
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"""
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Write a constant value as a static member
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@param s: The stream to write to
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@type s: stream
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@param constant: The constant
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@type constant: roslib.msgs.Constant
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"""
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# integral types do not need a definition, since they've been defined where they are declared
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if (constant.type not in ['byte', 'int8', 'int16', 'int32', 'int64', 'char', 'uint8', 'uint16', 'uint32', 'uint64', 'string']):
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s.write('template<typename ContainerAllocator> const %s %s_<ContainerAllocator>::%s = %s;\n'%(msg_type_to_cpp(constant.type), spec.short_name, constant.name, constant.val))
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elif (constant.type == 'string'):
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s.write('template<typename ContainerAllocator> const %s %s_<ContainerAllocator>::%s = "%s";\n'%(msg_type_to_cpp(constant.type), spec.short_name, constant.name, escape_string(constant.val)))
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def write_constant_definitions(s, spec):
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"""
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Write all the constants from a spec as static members
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@param s: The stream to write to
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@type s: stream
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@param spec: The message spec
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@type spec: roslib.msgs.MsgSpec
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"""
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[write_constant_definition(s, spec, constant) for constant in spec.constants]
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s.write('\n')
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def is_fixed_length(spec):
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"""
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Returns whether or not the message is fixed-length
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@param spec: The message spec
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@type spec: roslib.msgs.MsgSpec
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@param package: The package of the
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@type package: str
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"""
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types = []
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for field in spec.parsed_fields():
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if (field.is_array and field.array_len is None):
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return False
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if (field.base_type == 'string'):
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return False
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if (not field.is_builtin):
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types.append(field.base_type)
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types = set(types)
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for type in types:
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type = roslib.msgs.resolve_type(type, spec.package)
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(_, new_spec) = roslib.msgs.load_by_type(type, spec.package)
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if (not is_fixed_length(new_spec)):
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return False
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return True
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def is_hex_string(str):
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for c in str:
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if c not in '0123456789abcdefABCDEF':
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return False
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return True
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def write_operations(s, spec, cpp_name_prefix):
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(cpp_msg_unqualified, cpp_msg_with_alloc, _) = cpp_message_declarations(cpp_name_prefix, spec.short_name)
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s.write('namespace ros\n{\n')
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s.write('namespace message_operations\n{\n')
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# Write the Printer operation
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s.write('\ntemplate<class ContainerAllocator>\nstruct Printer<%s>\n{\n'%(cpp_msg_with_alloc))
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s.write(' template<typename Stream> static void stream(Stream& s, const std::string& indent, const %s& v) \n {\n'%cpp_msg_with_alloc)
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for field in spec.parsed_fields():
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cpp_type = msg_type_to_cpp(field.base_type)
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if (field.is_array):
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s.write(' s << indent << "%s[]" << std::endl;\n'%(field.name))
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s.write(' for (size_t i = 0; i < v.%s.size(); ++i)\n {\n'%(field.name))
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s.write(' s << indent << " %s[" << i << "]: ";\n'%field.name)
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indent_increment = ' '
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if (not field.is_builtin):
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s.write(' s << std::endl;\n')
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s.write(' s << indent;\n')
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indent_increment = ' ';
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s.write(' Printer<%s>::stream(s, indent + "%s", v.%s[i]);\n'%(cpp_type, indent_increment, field.name))
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s.write(' }\n')
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else:
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s.write(' s << indent << "%s: ";\n'%field.name)
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indent_increment = ' '
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if (not field.is_builtin or field.is_array):
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s.write('s << std::endl;\n')
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s.write(' Printer<%s>::stream(s, indent + "%s", v.%s);\n'%(cpp_type, indent_increment, field.name))
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s.write(' }\n')
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s.write('};\n\n')
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s.write('\n')
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s.write('} // namespace message_operations\n')
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s.write('} // namespace ros\n\n')
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def write_ostream_operator(s, spec, cpp_name_prefix):
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(cpp_msg_unqualified, cpp_msg_with_alloc, _) = cpp_message_declarations(cpp_name_prefix, spec.short_name)
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s.write('template<typename ContainerAllocator>\nstd::ostream& operator<<(std::ostream& s, const %s& v)\n{\n'%(cpp_msg_with_alloc))
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s.write(' ros::message_operations::Printer<%s>::stream(s, "", v);\n return s;}\n\n'%(cpp_msg_with_alloc))
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def write_serialize_length(s, v, is_array=False):
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#t2
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var = '__ros_arr_len' if is_array else '__ros_str_len'
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@ -697,7 +346,6 @@ def write_deserialize_bits(s, v, num_bytes):
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def write_deserialize_builtin(s, f, v):
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# t0 possibly write setf once
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if f.base_type == 'string':
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write_deserialize_length(s)
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with Indent(s):
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@ -774,6 +422,28 @@ def write_deserialize(s, spec):
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s.write('msg')
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s.write(')')
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def write_asd_deps(s, spec):
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"""
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Write the depended-upon packages
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"""
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pkgs = set()
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for f in spec.parsed_fields():
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if not f.is_builtin:
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(pkg, _) = parse_msg_type(f)
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pkgs.add('%s-msg'%pkg)
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for p in pkgs:
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s.write('%s\n'%p)
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def write_package_exports(s, spec):
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"Write the package exports for this message"
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s.write('(in-package %s-msg)'%spec.package, indent=False)
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s.write('(export \'(')
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with Indent(s, inc=10, indent_first=False):
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for f in spec.parsed_fields():
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accessor = '%s-val'%f.name
|
||||
s.write('%s'%accessor.upper())
|
||||
s.write('))')
|
||||
|
||||
def write_ros_datatype(s, spec):
|
||||
c = message_class(spec)
|
||||
s.write('(defmethod ros-datatype ((msg (eql \'%s)))'%c)
|
||||
|
|
@ -869,6 +539,10 @@ def generate(msg_path):
|
|||
"""
|
||||
(package_dir, package) = roslib.packages.get_dir_pkg(msg_path)
|
||||
(_, spec) = roslib.msgs.load_from_file(msg_path, package)
|
||||
|
||||
########################################
|
||||
# 1. Write the .lisp file
|
||||
########################################
|
||||
|
||||
io = StringIO()
|
||||
s = IndentedWriter(io)
|
||||
|
|
@ -890,12 +564,33 @@ def generate(msg_path):
|
|||
os.makedirs(output_dir)
|
||||
except OSError, e:
|
||||
pass
|
||||
|
||||
f = open('%s/%s.lisp'%(output_dir, spec.short_name), 'w')
|
||||
print >> f, io.getvalue()
|
||||
|
||||
|
||||
with open('%s/%s.lisp'%(output_dir, spec.short_name), 'w') as f:
|
||||
print >> f, io.getvalue()
|
||||
io.close()
|
||||
|
||||
########################################
|
||||
# 2. Write the asd-deps file
|
||||
########################################
|
||||
|
||||
s = StringIO()
|
||||
write_asd_deps(s, spec)
|
||||
with open('%s/.%s.asd-dep'%(output_dir, spec.short_name), 'w') as f:
|
||||
f.write(s.getvalue())
|
||||
s.close()
|
||||
|
||||
########################################
|
||||
# 3. Write the _package file
|
||||
########################################
|
||||
|
||||
io = StringIO()
|
||||
s = IndentedWriter(io)
|
||||
write_package_exports(s, spec)
|
||||
with open('%s/_package_%s.lisp'%(output_dir, spec.short_name), 'w') as f:
|
||||
f.write(io.getvalue())
|
||||
io.close()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
roslib.msgs.set_verbose(False)
|
||||
generate(sys.argv[1])
|
||||
|
|
|
|||
|
|
@ -8,7 +8,22 @@ then
|
|||
FILENAME=$PKG/msg/$2.msg
|
||||
rosrun genmsg_cpp genmsg_lisp $FILENAME
|
||||
rosrun roslisp genmsg_lisp.py $FILENAME
|
||||
diff -w $PKG/msg/lisp/$1/$2.lisp $PKG/msg_gen/lisp/$2.lisp | head -n 50
|
||||
|
||||
NAME="$2.lisp"
|
||||
echo " $NAME"
|
||||
diff -w $PKG/msg/lisp/$1/$NAME $PKG/msg_gen/lisp/$NAME | head -n 50
|
||||
|
||||
NAME="_package_$2.lisp"
|
||||
echo " $NAME"
|
||||
diff -w $PKG/msg/lisp/$1/$NAME $PKG/msg_gen/lisp/$NAME | head -n 50
|
||||
|
||||
NAME=".$2.asd-dep"
|
||||
echo " $NAME"
|
||||
F1=`mktemp`
|
||||
F2=`mktemp`
|
||||
sort $PKG/msg/lisp/$1/.$2.asd-dep > $F1
|
||||
sort $PKG/msg_gen/lisp/.$2.asd-dep > $F2
|
||||
diff -w $F1 $F2 | head -n 50
|
||||
|
||||
elif (( $# == 1 ))
|
||||
then
|
||||
|
|
@ -17,6 +32,10 @@ then
|
|||
echo $p
|
||||
$0 $args
|
||||
done
|
||||
PKG=`rospack find $1`
|
||||
# diff -w $PKG/msg/lisp/$1/_package.lisp $PKG/msg_gen/lisp/_package.lisp | head -n 50
|
||||
# diff -w $PKG/msg/lisp/$1/$1-msg.asd $PKG/msg_gen/lisp/$1-msg.asd | head -n 50
|
||||
|
||||
else
|
||||
echo "Usage: test-genmsg-lisp PKG MSG or test-genmsg-lisp PKG"
|
||||
exit 1
|
||||
|
|
|
|||
Loading…
Reference in New Issue