wip genmsg_lisp

.gitignore

@@ -143,3 +143,9 @@ tutorials/rospy_tutorials/srv/lisp
 util/rosthread/build
 .build_version
 .rosgcov_files
+3rdparty/gtest/gtest
+/core/genmsg_cpp/genmsg_java
+/core/genmsg_cpp/genmsg_oct
+/core/genmsg_cpp/gensrv_java
+/core/genmsg_cpp/gensrv_oct
+/core/roslib/src/roslib

core/roslisp/scripts/genmsg_lisp.py

@@ -48,18 +48,57 @@ import roslib.gentools
 
 from cStringIO import StringIO
 
-MSG_TYPE_TO_CPP = {'byte': 'int8_t', 'char': 'uint8_t',
+############################################################
-                   'bool': 'uint8_t',
+# Built in types
-                   'uint8': 'uint8_t', 'int8': 'int8_t', 
+############################################################
-                   'uint16': 'uint16_t', 'int16': 'int16_t', 
-                   'uint32': 'uint32_t', 'int32': 'int32_t',
-                   'uint64': 'uint64_t', 'int64': 'int64_t',
-                   'float32': 'float',
-                   'float64': 'double',
-                   'string': 'std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > ',
-                   'time': 'ros::Time',
-                   'duration': 'ros::Duration'}
 
+def is_fixnum(t):
+    return t in ['char', 'byte', 'int8', 'uint8', 'int16', 'uint16']
+
+def is_integer(t):
+    return is_fixnum(t) or t in ['int32', 'uint32', 'int64', 'uint64']
+
+def is_bool(t):
+    return t == 'bool'
+
+def is_string(t):
+    return t == 'string'
+
+def is_float(t):
+    return t in ['float16', 'float32', 'float64']
+
+def is_time(t):
+    return t in ['time', 'duration']
+
+def lisp_type(t):
+    if is_fixnum(t):
+        return 'fixnum'
+    elif is_integer(t):
+        return 'integer'
+    elif is_bool(t):
+        return 'boolean'
+    elif is_float(t):
+        return 'float'
+    elif is_time(t):
+        return 'real'
+    elif is_string(t):
+        return 'string'
+    else:
+        raise ValueError('%s is not a recognized primitive type'%t)
+
+def lisp_initform(t):
+    if is_integer(t):
+        return '0'
+    elif is_bool(t):
+        return 'nil'
+    elif is_float(t):
+        return '0.0'
+    elif is_time(t):
+        return 0
+    elif is_string(t):
+        return '\"\"'
+
+# todo remove
 def msg_type_to_cpp(type):
     """
     Converts a message type (e.g. uint32, std_msgs/String, etc.) into the C++ declaration
@@ -92,24 +131,6 @@ def msg_type_to_cpp(type):
     else:
         return cpp_type
     
-def cpp_message_declarations(name_prefix, msg):
-    """
-    Returns the different possible C++ declarations for a message given the message itself.
-    
-    @param name_prefix: The C++ prefix to be prepended to the name, e.g. "std_msgs::"
-    @type name_prefix: str
-    @param msg: The message type
-    @type msg: str
-    @return: A tuple of 3 different names.  cpp_message_decelarations("std_msgs::", "String") returns the tuple
-        ("std_msgs::String_", "std_msgs::String_<ContainerAllocator>", "std_msgs::String")
-    @rtype: str 
-    """
-    pkg, basetype = roslib.names.package_resource_name(msg)
-    cpp_name = '%s%s'%(name_prefix, msg)
-    if (pkg):
-        cpp_name = '%s::%s'%(pkg, basetype)
-    return ('%s_'%(cpp_name), '%s_<ContainerAllocator> '%(cpp_name), '%s'%(cpp_name))
-
 def write_begin(s, spec, path):
     """
     Writes the beginning of the file: a comment saying it's auto-generated and the in-package form
@@ -121,8 +142,20 @@ def write_begin(s, spec, path):
     @param path: The file this message is being generated for
     @type path: str
     """
-    s.write(';; Auto-generated by genmsg_lisp for file %s\n'%path)
+    s.write('; Auto-generated. Do not edit!\n\n\n')
-    s.write('(in-package %s-msg)\n\n'%spec.package)
+    s.write('(in-package %s-msg)\n\n\n'%spec.package)
+    s.write(';//! \\htmlinclude %s.msg.html\n\n'%spec.short_name) # Can get rid of this
+
+def write_slot_definition(s, field):
+    """
+    Write the definition of a slot corresponding to a single message field
+    """
+    s.write('(%s\n    '%field.name)
+    s.write(':reader %s-val\n    '%field.name)
+    s.write(':initarg :%s\n    '%field.name)
+    s.write(':type %s\n    '%lisp_type(field.type))
+    s.write(':initform %s)'%lisp_initform(field.type))
+            
 
 def write_defclass(s, spec):
     """
@@ -134,6 +167,14 @@ def write_defclass(s, spec):
     @type spec: roslib.msgs.MsgSpec
     """
     s.write('(defclass %s (ros-message)\n  ('%message_class(spec))
+    first_field = True
+    for field in spec.parsed_fields():
+        # Can get rid of this first_field stuff
+        if not first_field:
+            s.write('\n   ')
+        first_field = False
+        write_slot_definition(s, field)
+    s.write(')\n)\n')
     
 
 def message_class(spec):
@@ -691,6 +732,87 @@ def write_ostream_operator(s, spec, cpp_name_prefix):
     s.write('template<typename ContainerAllocator>\nstd::ostream& operator<<(std::ostream& s, const %s& v)\n{\n'%(cpp_msg_with_alloc))
     s.write('  ros::message_operations::Printer<%s>::stream(s, "", v);\n  return s;}\n\n'%(cpp_msg_with_alloc))
 
+def write_serialize_length(s, v):
+    s.write('  (let ((__ros_str_len (length %s)))'%v)
+    for x in range(0, 32, 8):
+        s.write('\n    (write-byte (ldb (byte 8 %s) __ros_str_len) ostream)'%x)
+    s.write(')\n')
+
+    
+
+def write_serialize_builtin(s, f):
+    if f.type == 'string':
+        v = '(slot-value msg \'%s)'%f.name
+        write_serialize_length(s, v)
+        s.write('  (map nil #\'(lambda (c) (write-byte (char-code c) ostream)) %s)\n'%v)
+
+
+def write_serialize(s, spec):
+    """
+    Write the serialize method
+    """
+    s.write('(defmethod serialize ((msg %s) ostream)\n'%message_class(spec))
+    s.write('  "Serializes a message object of type \'%s"\n'%message_class(spec))
+    for field in spec.parsed_fields():
+        if field.is_array:
+            pass # todo
+        else:
+            if field.is_builtin:
+                write_serialize_builtin(s, field)
+            else:
+                pass # todo
+
+def write_deserialize_length(s):
+    s.write('  (let ((__ros_str_len 0))')
+    for x in range(0, 32, 8):
+        s.write('\n    (setf (ldb (byte 8 %s) __ros_str_len) (read-byte istream))'%x)
+    
+def write_deserialize_builtin(s, f):
+    if f.type == 'string':
+        v = '(slot-value msg \'%s)'%f.name
+        write_deserialize_length(s)
+        s.write('\n    (setf %s (make-string __ros_str_len))'%v)
+        s.write('\n    (dotimes (__ros_str_idx __ros_str_len msg)')
+        s.write('\n      (setf (char %s __ros_str_idx) (code-char (read-byte istream)))))\n'%v)
+
+
+def write_deserialize(s, spec):
+    """
+    Write the deserialize method
+    """
+    s.write('(defmethod deserialize ((msg %s) istream)\n'%message_class(spec))
+    s.write('  "Deserializes a message object of type \'%s"\n'%message_class(spec))
+    for field in spec.parsed_fields():
+        if field.is_array:
+            pass # todo
+        else:
+            if field.is_builtin:
+                write_deserialize_builtin(s, field)
+            else:
+                pass # todo
+    s.write('  msg\n)\n')
+
+def write_ros_datatype(s, spec):
+    c = message_class(spec)
+    s.write('(defmethod ros-datatype ((msg (eql \'%s)))\n'%c)
+    s.write('  "Returns string type for a message object of type \'%s"\n'%c)
+    s.write('  "%s")\n'%spec.full_name)
+
+def write_md5sum(s, spec):
+    gendeps_dict = roslib.gentools.get_dependencies(spec, spec.package,
+                                                    compute_files=False)
+    md5sum = roslib.gentools.compute_md5(gendeps_dict)
+    c = message_class(spec)
+    s.write('(defmethod md5sum ((type (eql \'%s)))\n'%c)
+    s.write('  "Returns md5sum for a message object of type \'%s"\n'%c)
+    s.write('  "%s")\n'%md5sum)
+
+def write_message_definition(s, spec):
+    c = message_class(spec)
+    s.write('(defmethod message-definition ((type (eql \'%s)))\n'%c)
+    s.write('  "Returns full string definition for a message object of type \'%s"\n'%c)
+    
+
 def generate(msg_path):
     """
     Generate a message
@@ -703,12 +825,12 @@ def generate(msg_path):
     
     s = StringIO()
     write_begin(s, spec, msg_path)
-
     write_defclass(s, spec)
-
+    write_serialize(s, spec)
-    write_constant_definitions(s, spec)
+    write_deserialize(s, spec)
-    s.write('} // namespace %s\n\n'%(package))
+    write_ros_datatype(s, spec)
-    
+    write_md5sum(s, spec)
+    write_message_definition(s, spec)
     
     output_dir = '%s/msg_gen/lisp'%package_dir
     if (not os.path.exists(output_dir)):
@@ -724,11 +846,7 @@ def generate(msg_path):
     
     s.close()
 
-def generate_messages(argv):
-    for arg in argv[1:]:
-        generate(arg)
-
 if __name__ == "__main__":
     roslib.msgs.set_verbose(True)
-    generate_messages(sys.argv)
+    generate(sys.argv[1])
 

core/roslisp/scripts/test-genmsg-lisp

@@ -0,0 +1,10 @@
+#!/usr/bin/env bash
+
+PKG=`rospack find $1`
+FILENAME=$PKG/msg/$2.msg
+echo "Running original genmsg_lisp on $FILENAME" 
+rosrun genmsg_cpp genmsg_lisp $FILENAME
+echo "Running new genmsg_lisp.py"
+rosrun roslisp genmsg_lisp.py $FILENAME
+echo "Checking diffs"
+diff $PKG/msg/lisp/$1/$2.lisp $PKG/msg_gen/lisp/$2.lisp | head -n 10