add code generation of asd file; verify on sensor_msgs, std_msgs, geometry_msgs, nav_msgs
This commit is contained in:
Bhaskara Marthi
parent
23cfb855b8
commit
6c0a563ea2
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@ -434,7 +434,55 @@ def write_asd_deps(s, spec):
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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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def write_class_exports(s, pkg):
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"Write the _package.lisp file"
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s.write('(defpackage %s-msg'%pkg, False)
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with Indent(s):
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s.write('(:use ')
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with Indent(s, inc=6, indent_first=False):
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s.write('cl')
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s.write('roslisp-msg-protocol)')
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s.write('(:export')
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with Indent(s, inc=1):
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for spec in roslib.msgs.get_pkg_msg_specs(pkg)[0]:
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(p, msg_type) = spec[0].split('/')
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msg_class = '<%s>'%msg_type
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s.write('"%s"'%msg_class.upper())
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s.write('))\n\n')
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def write_asd(s, pkg):
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s.write('(in-package :asdf)')
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s.newline()
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s.write('(defsystem "%s-msg"'%pkg)
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msgs = roslib.msgs.get_pkg_msg_specs(pkg)[0]
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# Figure out set of depended-upon ros packages
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deps = set()
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for (_, spec) in msgs:
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for f in spec.parsed_fields():
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if not f.is_builtin:
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(p, _) = parse_msg_type(f)
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deps.add(p)
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deps.remove(pkg)
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with Indent(s):
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s.write(':depends-on (:roslisp-msg-protocol :roslisp-utils ')
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with Indent(s, inc=13, indent_first=False):
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for d in sorted(deps):
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s.write(':%s-msg'%d)
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s.write(')') #t2 indentation
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with Indent(s):
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s.write(':components ((:file "_package")')
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with Indent(s):
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for (full_name, _) in msgs:
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(_, name) = full_name.split('/')
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s.write('(:file "%s" :depends-on ("_package"))'%name)
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s.write('(:file "_package_%s" :depends-on ("_package"))'%name)
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s.write('))')
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def write_accessor_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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@ -530,6 +578,20 @@ def write_list_converter(s, spec):
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s.write('(cons \':%s (%s-val msg))'%(f.name, f.name))
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s.write('))')
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def write_constants(s, spec):
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if spec.constants:
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cls = message_class(spec)
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s.write('(defmethod symbol-codes ((msg-type (eql \'%s)))'%cls)
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with Indent(s):
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s.write(' "Constants for message type \'%s"'%cls)
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s.write('\'(')
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with Indent(s, indent_first=False):
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for c in spec.constants:
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s.write('(:%s . %s)'%(c.name.upper(), c.val))
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s.write(')', False)
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s.write(')')
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def generate(msg_path):
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"""
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Generate a message
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@ -548,6 +610,7 @@ def generate(msg_path):
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s = IndentedWriter(io)
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write_begin(s, spec, msg_path)
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write_defclass(s, spec, package)
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write_constants(s, spec)
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write_serialize(s, spec)
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write_deserialize(s, spec)
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write_ros_datatype(s, spec)
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@ -571,6 +634,7 @@ def generate(msg_path):
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########################################
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# 2. Write the asd-deps file
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# Todo not necessary
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########################################
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s = StringIO()
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@ -581,14 +645,42 @@ def generate(msg_path):
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########################################
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# 3. Write the _package file
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# for this message
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########################################
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io = StringIO()
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s = IndentedWriter(io)
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write_package_exports(s, spec)
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write_accessor_exports(s, spec)
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with open('%s/_package_%s.lisp'%(output_dir, spec.short_name), 'w') as f:
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f.write(io.getvalue())
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io.close()
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########################################
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# 4. Write the _package.lisp file
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# This is being rewritten once per msg
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# file, which is inefficient
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########################################
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io = StringIO()
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s = IndentedWriter(io)
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write_class_exports(s, package)
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with open('%s/_package.lisp'%output_dir, 'w') as f:
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f.write(io.getvalue())
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io.close()
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########################################
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# 5. Write the .asd file
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# This is being written once per msg
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# file, which is inefficient
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########################################
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io = StringIO()
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s = IndentedWriter(io)
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write_asd(s, package)
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with open('%s/%s-msg.asd'%(output_dir, package), 'w') as f:
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f.write(io.getvalue())
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io.close()
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if __name__ == "__main__":
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@ -17,24 +17,20 @@ then
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echo " $NAME"
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diff -w $PKG/msg/lisp/$1/$NAME $PKG/msg_gen/lisp/$NAME | head -n 50
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NAME=".$2.asd-dep"
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echo " $NAME"
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F1=`mktemp`
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F2=`mktemp`
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sort $PKG/msg/lisp/$1/.$2.asd-dep > $F1
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sort $PKG/msg_gen/lisp/.$2.asd-dep > $F2
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diff -w $F1 $F2 | head -n 50
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elif (( $# == 1 ))
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then
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for p in `rosmsg package $1`
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do args=`echo $p | tr "/" " "`
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echo $p
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echo "$p"
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$0 $args
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echo "--------------------------------------"
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done
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PKG=`rospack find $1`
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# diff -w $PKG/msg/lisp/$1/_package.lisp $PKG/msg_gen/lisp/_package.lisp | head -n 50
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# diff -w $PKG/msg/lisp/$1/$1-msg.asd $PKG/msg_gen/lisp/$1-msg.asd | head -n 50
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echo "_package.lisp"
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diff -w $PKG/msg/lisp/$1/_package.lisp $PKG/msg_gen/lisp/_package.lisp | head -n 50
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NAME="$1-msg.asd"
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echo "$NAME"
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diff -w $PKG/msg/lisp/$1/$NAME $PKG/msg_gen/lisp/$NAME | head -n 50
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else
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echo "Usage: test-genmsg-lisp PKG MSG or test-genmsg-lisp PKG"
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