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#3166 #3576 roslib.msgs py3k support

This commit is contained in:
Ken Conley 2011-07-13 08:00:40 +00:00
parent 96cd8406ce
commit ae1906fd09
1 changed files with 26 additions and 19 deletions
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45
core/roslib/src/roslib/msgs.py
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@ -32,13 +32,20 @@
# #
# Revision $Id$ # Revision $Id$
# $Author$ # $Author$
from __future__ import print_function
""" """
ROS msg library for Python ROS msg library for Python
Implements: U{http://ros.org/wiki/msg} Implements: U{http://ros.org/wiki/msg}
""" """
import cStringIO try:
from cStringIO import StringIO # Python 2.x
except ImportError:
from io import StringIO # Python 3.x
import os import os
import itertools import itertools
import sys import sys
@ -234,7 +241,7 @@ def _strify_spec(spec, buff=None, indent=''):
@rtype: str @rtype: str
""" """
if buff is None: if buff is None:
buff = cStringIO.StringIO() buff = StringIO()
for c in spec.constants: for c in spec.constants:
buff.write("%s%s %s=%s\n"%(indent, c.type, c.name, c.val_text)) buff.write("%s%s %s=%s\n"%(indent, c.type, c.name, c.val_text))
for type_, name in zip(spec.types, spec.names): for type_, name in zip(spec.types, spec.names):
@ -310,7 +317,7 @@ class MsgSpec(object):
@return: zip list of types and names (e.g. [('int32', 'x'), ('int32', 'y')] @return: zip list of types and names (e.g. [('int32', 'x'), ('int32', 'y')]
@rtype: [(str,str),] @rtype: [(str,str),]
""" """
return zip(self.types, self.names) return list(zip(self.types, self.names)) #py3k
def parsed_fields(self): def parsed_fields(self):
""" """
@ -373,7 +380,7 @@ def _init():
header = os.path.join(std_msgs_dir, roslib.packages.MSG_DIR, fname) header = os.path.join(std_msgs_dir, roslib.packages.MSG_DIR, fname)
if not os.path.isfile(header): if not os.path.isfile(header):
print >> sys.stderr, "ERROR: cannot locate %s. Expected to find it at '%s'"%(fname, header) sys.stderr.write("ERROR: cannot locate %s. Expected to find it at '%s'\n"%(fname, header))
return False return False
# register Header under both contexted and de-contexted name # register Header under both contexted and de-contexted name
@ -382,7 +389,7 @@ def _init():
register('std_msgs/'+HEADER, spec) register('std_msgs/'+HEADER, spec)
# backwards compat, REP 100 # backwards compat, REP 100
register('roslib/'+HEADER, spec) register('roslib/'+HEADER, spec)
for k, spec in EXTENDED_BUILTINS.iteritems(): for k, spec in EXTENDED_BUILTINS.items():
register(k, spec) register(k, spec)
_initialized = True _initialized = True
@ -440,9 +447,9 @@ def get_pkg_msg_specs(package):
try: try:
typespec = load_from_file(msg_file(package, t), package) typespec = load_from_file(msg_file(package, t), package)
specs.append(typespec) specs.append(typespec)
except Exception, e: except Exception as e:
failures.append(t) failures.append(t)
print "ERROR: unable to load %s"%t print("ERROR: unable to load %s"%t)
return specs, failures return specs, failures
def load_package_dependencies(package, load_recursive=False): def load_package_dependencies(package, load_recursive=False):
@ -457,7 +464,7 @@ def load_package_dependencies(package, load_recursive=False):
global _loaded_packages global _loaded_packages
_init() _init()
if VERBOSE: if VERBOSE:
print "Load dependencies for package", package print("Load dependencies for package", package)
if not load_recursive: if not load_recursive:
manifest_file = roslib.manifest.manifest_file(package, True) manifest_file = roslib.manifest.manifest_file(package, True)
@ -470,7 +477,7 @@ def load_package_dependencies(package, load_recursive=False):
failures = [] failures = []
for d in depends: for d in depends:
if VERBOSE: if VERBOSE:
print "Load dependency", d print("Load dependency", d)
#check if already loaded #check if already loaded
# - we are dependent on manifest.getAll returning first-order dependencies first # - we are dependent on manifest.getAll returning first-order dependencies first
if d in _loaded_packages or d == package: if d in _loaded_packages or d == package:
@ -495,19 +502,19 @@ def load_package(package):
global _loaded_packages global _loaded_packages
_init() _init()
if VERBOSE: if VERBOSE:
print "Load package", package print("Load package", package)
#check if already loaded #check if already loaded
# - we are dependent on manifest.getAll returning first-order dependencies first # - we are dependent on manifest.getAll returning first-order dependencies first
if package in _loaded_packages: if package in _loaded_packages:
if VERBOSE: if VERBOSE:
print "Package %s is already loaded"%package print("Package %s is already loaded"%package)
return return
_loaded_packages.append(package) _loaded_packages.append(package)
specs, failed = get_pkg_msg_specs(package) specs, failed = get_pkg_msg_specs(package)
if VERBOSE: if VERBOSE:
print "Package contains the following messages: %s"%specs print("Package contains the following messages: %s"%specs)
for key, spec in specs: for key, spec in specs:
#register spec under both local and fully-qualified key #register spec under both local and fully-qualified key
register(key, spec) register(key, spec)
@ -588,7 +595,7 @@ def load_from_string(text, package_context='', full_name='', short_name=''):
l = orig_line.split(COMMENTCHAR)[0].strip() #strip comments l = orig_line.split(COMMENTCHAR)[0].strip() #strip comments
if not l: if not l:
continue #ignore empty lines continue #ignore empty lines
splits = filter(lambda s: s, [x.strip() for x in l.split(" ")]) #split type/name, filter out empties splits = [s for s in [x.strip() for x in l.split(" ")] if s] #split type/name, filter out empties
type_ = splits[0] type_ = splits[0]
if not is_valid_msg_type(type_): if not is_valid_msg_type(type_):
raise MsgSpecException("%s is not a legal message type"%type_) raise MsgSpecException("%s is not a legal message type"%type_)
@ -608,7 +615,7 @@ def load_from_string(text, package_context='', full_name='', short_name=''):
val = splits[1] val = splits[1]
try: try:
val_converted = _convert_val(type_, val) val_converted = _convert_val(type_, val)
except Exception, e: except Exception as e:
raise MsgSpecException("Invalid declaration: %s"%e) raise MsgSpecException("Invalid declaration: %s"%e)
constants.append(Constant(type_, name, val_converted, val.strip())) constants.append(Constant(type_, name, val_converted, val.strip()))
else: else:
@ -640,9 +647,9 @@ def load_from_file(file_path, package_context=''):
""" """
if VERBOSE: if VERBOSE:
if package_context: if package_context:
print "Load spec from", file_path, "into package [%s]"%package_context print("Load spec from", file_path, "into package [%s]"%package_context)
else: else:
print "Load spec from", file_path print("Load spec from", file_path)
file_name = os.path.basename(file_path) file_name = os.path.basename(file_path)
type_ = file_name[:-len(EXT)] type_ = file_name[:-len(EXT)]
@ -660,7 +667,7 @@ def load_from_file(file_path, package_context=''):
try: try:
text = f.read() text = f.read()
return (type_, load_from_string(text, package_context, type_, base_type_)) return (type_, load_from_string(text, package_context, type_, base_type_))
except MsgSpecException, e: except MsgSpecException as e:
raise MsgSpecException('%s: %s'%(file_name, e)) raise MsgSpecException('%s: %s'%(file_name, e))
finally: finally:
f.close() f.close()
@ -725,7 +732,7 @@ def is_registered(msg_type_name):
registered. NOTE: builtin types are not registered. registered. NOTE: builtin types are not registered.
@rtype: bool @rtype: bool
""" """
return REGISTERED_TYPES.has_key(msg_type_name) return msg_type_name in REGISTERED_TYPES
def get_registered(msg_type_name, default_package=None): def get_registered(msg_type_name, default_package=None):
""" """
@ -753,6 +760,6 @@ def register(msg_type_name, msg_spec):
@type msg_spec: L{MsgSpec} @type msg_spec: L{MsgSpec}
""" """
if VERBOSE: if VERBOSE:
print "Register msg %s"%msg_type_name print("Register msg %s"%msg_type_name)
REGISTERED_TYPES[msg_type_name] = msg_spec REGISTERED_TYPES[msg_type_name] = msg_spec