adding message generator (stub)
This commit is contained in:
Bhaskara Marthi
parent
48ff5af3b0
commit
dbb18a3980
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@ -5,6 +5,7 @@
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<review status="experimental" notes=""/>
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<depend package="roslib"/>
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<depend package="roslang"/>
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<depend package="std_srvs"/>
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<export>
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<roslang cmake="${prefix}/cmake/roslisp.cmake"/>
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</export>
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@ -0,0 +1,734 @@
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#!/usr/bin/env python
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# Software License Agreement (BSD License)
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#
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# Copyright (c) 2009, Willow Garage, Inc.
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# * Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# * Redistributions in binary form must reproduce the above
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# copyright notice, this list of conditions and the following
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# disclaimer in the documentation and/or other materials provided
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# with the distribution.
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# * Neither the name of Willow Garage, Inc. nor the names of its
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# contributors may be used to endorse or promote products derived
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# from this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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## ROS message source code generation for Lisp
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##
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## Converts ROS .msg files in a package into Lisp source code
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import roslib; roslib.load_manifest('roslisp')
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import sys
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import os
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import traceback
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import roslib.msgs
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import roslib.packages
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import roslib.gentools
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from cStringIO import StringIO
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MSG_TYPE_TO_CPP = {'byte': 'int8_t', 'char': 'uint8_t',
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'bool': 'uint8_t',
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'uint8': 'uint8_t', 'int8': 'int8_t',
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'uint16': 'uint16_t', 'int16': 'int16_t',
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'uint32': 'uint32_t', 'int32': 'int32_t',
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'uint64': 'uint64_t', 'int64': 'int64_t',
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'float32': 'float',
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'float64': 'double',
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'string': 'std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > ',
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'time': 'ros::Time',
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'duration': 'ros::Duration'}
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def msg_type_to_cpp(type):
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"""
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Converts a message type (e.g. uint32, std_msgs/String, etc.) into the C++ declaration
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for that type (e.g. uint32_t, std_msgs::String_<ContainerAllocator>)
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@param type: The message type
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@type type: str
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@return: The C++ declaration
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@rtype: str
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"""
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(base_type, is_array, array_len) = roslib.msgs.parse_type(type)
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cpp_type = None
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if (roslib.msgs.is_builtin(base_type)):
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cpp_type = MSG_TYPE_TO_CPP[base_type]
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elif (len(base_type.split('/')) == 1):
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if (roslib.msgs.is_header_type(base_type)):
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cpp_type = "roslib::Header_<ContainerAllocator> "
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else:
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cpp_type = '%s_<ContainerAllocator> '%(base_type)
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else:
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pkg = base_type.split('/')[0]
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msg = base_type.split('/')[1]
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cpp_type = '%s::%s_<ContainerAllocator> '%(pkg, msg)
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if (is_array):
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if (array_len is None):
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return 'std::vector<%s, typename ContainerAllocator::template rebind<%s>::other > '%(cpp_type, cpp_type)
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else:
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return 'boost::array<%s, %s> '%(cpp_type, array_len)
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else:
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return cpp_type
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def cpp_message_declarations(name_prefix, msg):
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"""
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Returns the different possible C++ declarations for a message given the message itself.
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@param name_prefix: The C++ prefix to be prepended to the name, e.g. "std_msgs::"
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@type name_prefix: str
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@param msg: The message type
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@type msg: str
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@return: A tuple of 3 different names. cpp_message_decelarations("std_msgs::", "String") returns the tuple
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("std_msgs::String_", "std_msgs::String_<ContainerAllocator>", "std_msgs::String")
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@rtype: str
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"""
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pkg, basetype = roslib.names.package_resource_name(msg)
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cpp_name = '%s%s'%(name_prefix, msg)
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if (pkg):
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cpp_name = '%s::%s'%(pkg, basetype)
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return ('%s_'%(cpp_name), '%s_<ContainerAllocator> '%(cpp_name), '%s'%(cpp_name))
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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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@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 by genmsg_lisp for file %s\n'%path)
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s.write('(in-package %s-msg)\n\n'%spec.package)
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def write_defclass(s, spec):
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"""
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Writes the defclass that defines the message type
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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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s.write('(defclass %s (ros-message)\n ('%message_class(spec))
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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_member(s, field):
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"""
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Writes a single member's declaration and type typedef
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@param s: The stream to write to
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@type s: stream
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@param type: The member type
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@type type: str
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@param name: The name of the member
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@type name: str
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"""
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cpp_type = msg_type_to_cpp(field.type)
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s.write(' typedef %s _%s_type;\n'%(cpp_type, field.name))
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s.write(' %s %s;\n\n'%(cpp_type, field.name))
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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 escape_string(str):
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str = str.replace('\\', '\\\\')
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str = str.replace('"', '\\"')
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return str
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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):
|
||||
"""
|
||||
Returns whether or not the message is fixed-length
|
||||
|
||||
@param spec: The message spec
|
||||
@type spec: roslib.msgs.MsgSpec
|
||||
@param package: The package of the
|
||||
@type package: str
|
||||
"""
|
||||
types = []
|
||||
for field in spec.parsed_fields():
|
||||
if (field.is_array and field.array_len is None):
|
||||
return False
|
||||
|
||||
if (field.base_type == 'string'):
|
||||
return False
|
||||
|
||||
if (not field.is_builtin):
|
||||
types.append(field.base_type)
|
||||
|
||||
types = set(types)
|
||||
for type in types:
|
||||
type = roslib.msgs.resolve_type(type, spec.package)
|
||||
(_, new_spec) = roslib.msgs.load_by_type(type, spec.package)
|
||||
if (not is_fixed_length(new_spec)):
|
||||
return False
|
||||
|
||||
return True
|
||||
|
||||
def write_deprecated_member_functions(s, spec):
|
||||
"""
|
||||
Writes the deprecated member functions for backwards compatibility
|
||||
"""
|
||||
for field in spec.parsed_fields():
|
||||
if (field.is_array):
|
||||
s.write(' ROSCPP_DEPRECATED uint32_t get_%s_size() const { return (uint32_t)%s.size(); }\n'%(field.name, field.name))
|
||||
|
||||
if (field.array_len is None):
|
||||
s.write(' ROSCPP_DEPRECATED void set_%s_size(uint32_t size) { %s.resize((size_t)size); }\n'%(field.name, field.name))
|
||||
s.write(' ROSCPP_DEPRECATED void get_%s_vec(%s& vec) const { vec = this->%s; }\n'%(field.name, msg_type_to_cpp(field.type), field.name))
|
||||
s.write(' ROSCPP_DEPRECATED void set_%s_vec(const %s& vec) { this->%s = vec; }\n'%(field.name, msg_type_to_cpp(field.type), field.name))
|
||||
# duplicate these here so we don't have to forward declare all the message traits
|
||||
gendeps_dict = roslib.gentools.get_dependencies(spec, spec.package, compute_files=False)
|
||||
md5sum = roslib.gentools.compute_md5(gendeps_dict)
|
||||
full_text = compute_full_text_escaped(gendeps_dict)
|
||||
|
||||
s.write('private:\n')
|
||||
s.write(' static const char* __s_getDataType_() { return "%s/%s"; }\n\n'%(spec.package, spec.short_name))
|
||||
s.write(' static const char* __s_getMD5Sum_() { return "%s"; }\n\n'%(md5sum))
|
||||
s.write(' static const char* __s_getMessageDefinition_() { return "%s"; }\n\n'%(full_text))
|
||||
s.write('public:\n')
|
||||
s.write(' ROSCPP_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }\n')
|
||||
s.write(' ROSCPP_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }\n')
|
||||
s.write(' ROSCPP_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }\n')
|
||||
s.write(' ROSCPP_DEPRECATED virtual const std::string __getDataType() const { return __s_getDataType_(); }\n')
|
||||
s.write(' ROSCPP_DEPRECATED virtual const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }\n')
|
||||
s.write(' ROSCPP_DEPRECATED virtual const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }\n')
|
||||
|
||||
s.write(' ROSCPP_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const\n {\n')
|
||||
s.write(' ros::serialization::OStream stream(write_ptr, 1000000000);\n')
|
||||
for field in spec.parsed_fields():
|
||||
s.write(' ros::serialization::serialize(stream, %s);\n'%(field.name))
|
||||
s.write(' return stream.getData();\n }\n\n')
|
||||
|
||||
s.write(' ROSCPP_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)\n {\n')
|
||||
s.write(' ros::serialization::IStream stream(read_ptr, 1000000000);\n');
|
||||
for field in spec.parsed_fields():
|
||||
s.write(' ros::serialization::deserialize(stream, %s);\n'%(field.name))
|
||||
s.write(' return stream.getData();\n }\n\n')
|
||||
|
||||
s.write(' ROSCPP_DEPRECATED virtual uint32_t serializationLength() const\n {\n')
|
||||
s.write(' uint32_t size = 0;\n');
|
||||
for field in spec.parsed_fields():
|
||||
s.write(' size += ros::serialization::serializationLength(%s);\n'%(field.name))
|
||||
s.write(' return size;\n }\n\n')
|
||||
|
||||
def compute_full_text_escaped(gen_deps_dict):
|
||||
"""
|
||||
Same as roslib.gentools.compute_full_text, except that the
|
||||
resulting text is escaped to be safe for C++ double quotes
|
||||
|
||||
@param get_deps_dict: dictionary returned by get_dependencies call
|
||||
@type get_deps_dict: dict
|
||||
@return: concatenated text for msg/srv file and embedded msg/srv types. Text will be escaped for double quotes
|
||||
@rtype: str
|
||||
"""
|
||||
definition = roslib.gentools.compute_full_text(gen_deps_dict)
|
||||
lines = definition.split('\n')
|
||||
s = StringIO()
|
||||
for line in lines:
|
||||
line = escape_string(line)
|
||||
s.write('%s\\n\\\n'%(line))
|
||||
|
||||
val = s.getvalue()
|
||||
s.close()
|
||||
return val
|
||||
|
||||
def is_hex_string(str):
|
||||
for c in str:
|
||||
if c not in '0123456789abcdefABCDEF':
|
||||
return False
|
||||
|
||||
return True
|
||||
|
||||
def write_trait_char_class(s, class_name, cpp_msg_with_alloc, value, write_static_hex_value = False):
|
||||
"""
|
||||
Writes a class trait for traits which have static value() members that return const char*
|
||||
|
||||
e.g. write_trait_char_class(s, "MD5Sum", "std_msgs::String_<ContainerAllocator>", "hello") yields:
|
||||
template<class ContainerAllocator>
|
||||
struct MD5Sum<std_msgs::String_<ContainerAllocator> >
|
||||
{
|
||||
static const char* value() { return "hello"; }
|
||||
static const char* value(const std_msgs::String_<ContainerAllocator>&) { return value(); }
|
||||
};
|
||||
|
||||
@param s: The stream to write to
|
||||
@type s: stream
|
||||
@param class_name: The name of the trait class to write
|
||||
@type class_name: str
|
||||
@param cpp_msg_with_alloc: The C++ declaration of the message, including the allocator template
|
||||
@type cpp_msg_with_alloc: str
|
||||
@param value: The value to return in the string
|
||||
@type value: str
|
||||
@param write_static_hex_value: Whether or not to write a set of compile-time-checkable static values. Useful for,
|
||||
for example, MD5Sum. Writes static const uint64_t static_value1... static_valueN
|
||||
@type write_static_hex_value: bool
|
||||
@raise ValueError if write_static_hex_value is True but value contains characters invalid in a hex value
|
||||
"""
|
||||
s.write('template<class ContainerAllocator>\nstruct %s<%s> {\n'%(class_name, cpp_msg_with_alloc))
|
||||
s.write(' static const char* value() \n {\n return "%s";\n }\n\n'%(value))
|
||||
s.write(' static const char* value(const %s&) { return value(); } \n'%(cpp_msg_with_alloc))
|
||||
if (write_static_hex_value):
|
||||
if (not is_hex_string(value)):
|
||||
raise ValueError('%s is not a hex value'%(value))
|
||||
|
||||
iter_count = len(value) / 16
|
||||
for i in xrange(0, iter_count):
|
||||
start = i*16
|
||||
s.write(' static const uint64_t static_value%s = 0x%sULL;\n'%((i+1), value[start:start+16]))
|
||||
s.write('};\n\n')
|
||||
|
||||
def write_trait_true_class(s, class_name, cpp_msg_with_alloc):
|
||||
"""
|
||||
Writes a true/false trait class
|
||||
|
||||
@param s: stream to write to
|
||||
@type s: stream
|
||||
@param class_name: Name of the trait class
|
||||
@type class_name: str
|
||||
@param cpp_msg_with_alloc: The C++ declaration of the message, including the allocator template
|
||||
@type cpp_msg_with_alloc: str
|
||||
"""
|
||||
s.write('template<class ContainerAllocator> struct %s<%s> : public TrueType {};\n'%(class_name, cpp_msg_with_alloc))
|
||||
|
||||
def write_traits(s, spec, cpp_name_prefix, datatype = None):
|
||||
"""
|
||||
Writes all the traits classes for a message
|
||||
|
||||
@param s: The stream to write to
|
||||
@type s: stream
|
||||
@param spec: The message spec
|
||||
@type spec: roslib.msgs.MsgSpec
|
||||
@param cpp_name_prefix: The C++ prefix to prepend to a message to refer to it (e.g. "std_msgs::")
|
||||
@type cpp_name_prefix: str
|
||||
@param datatype: The string to write as the datatype of the message. If None (default), pkg/msg is used.
|
||||
@type datatype: str
|
||||
"""
|
||||
# generate dependencies dictionary
|
||||
gendeps_dict = roslib.gentools.get_dependencies(spec, spec.package, compute_files=False)
|
||||
md5sum = roslib.gentools.compute_md5(gendeps_dict)
|
||||
full_text = compute_full_text_escaped(gendeps_dict)
|
||||
|
||||
if (datatype is None):
|
||||
datatype = '%s'%(spec.full_name)
|
||||
|
||||
(cpp_msg_unqualified, cpp_msg_with_alloc, _) = cpp_message_declarations(cpp_name_prefix, spec.short_name)
|
||||
s.write('namespace ros\n{\n')
|
||||
s.write('namespace message_traits\n{\n')
|
||||
write_trait_char_class(s, 'MD5Sum', cpp_msg_with_alloc, md5sum, True)
|
||||
write_trait_char_class(s, 'DataType', cpp_msg_with_alloc, datatype)
|
||||
write_trait_char_class(s, 'Definition', cpp_msg_with_alloc, full_text)
|
||||
|
||||
if (spec.has_header()):
|
||||
write_trait_true_class(s, 'HasHeader', cpp_msg_with_alloc)
|
||||
|
||||
if (is_fixed_length(spec)):
|
||||
write_trait_true_class(s, 'IsFixedSize', cpp_msg_with_alloc)
|
||||
|
||||
s.write('} // namespace message_traits\n')
|
||||
s.write('} // namespace ros\n\n')
|
||||
|
||||
def write_operations(s, spec, cpp_name_prefix):
|
||||
(cpp_msg_unqualified, cpp_msg_with_alloc, _) = cpp_message_declarations(cpp_name_prefix, spec.short_name)
|
||||
s.write('namespace ros\n{\n')
|
||||
s.write('namespace message_operations\n{\n')
|
||||
|
||||
# Write the Printer operation
|
||||
s.write('\ntemplate<class ContainerAllocator>\nstruct Printer<%s>\n{\n'%(cpp_msg_with_alloc))
|
||||
s.write(' template<typename Stream> static void stream(Stream& s, const std::string& indent, const %s& v) \n {\n'%cpp_msg_with_alloc)
|
||||
for field in spec.parsed_fields():
|
||||
cpp_type = msg_type_to_cpp(field.base_type)
|
||||
if (field.is_array):
|
||||
s.write(' s << indent << "%s[]" << std::endl;\n'%(field.name))
|
||||
s.write(' for (size_t i = 0; i < v.%s.size(); ++i)\n {\n'%(field.name))
|
||||
s.write(' s << indent << " %s[" << i << "]: ";\n'%field.name)
|
||||
indent_increment = ' '
|
||||
if (not field.is_builtin):
|
||||
s.write(' s << std::endl;\n')
|
||||
s.write(' s << indent;\n')
|
||||
indent_increment = ' ';
|
||||
s.write(' Printer<%s>::stream(s, indent + "%s", v.%s[i]);\n'%(cpp_type, indent_increment, field.name))
|
||||
s.write(' }\n')
|
||||
else:
|
||||
s.write(' s << indent << "%s: ";\n'%field.name)
|
||||
indent_increment = ' '
|
||||
if (not field.is_builtin or field.is_array):
|
||||
s.write('s << std::endl;\n')
|
||||
s.write(' Printer<%s>::stream(s, indent + "%s", v.%s);\n'%(cpp_type, indent_increment, field.name))
|
||||
s.write(' }\n')
|
||||
s.write('};\n\n')
|
||||
|
||||
s.write('\n')
|
||||
|
||||
s.write('} // namespace message_operations\n')
|
||||
s.write('} // namespace ros\n\n')
|
||||
|
||||
def write_serialization(s, spec, cpp_name_prefix):
|
||||
"""
|
||||
Writes the Serializer class for a message
|
||||
|
||||
@param s: Stream to write to
|
||||
@type s: stream
|
||||
@param spec: The message spec
|
||||
@type spec: roslib.msgs.MsgSpec
|
||||
@param cpp_name_prefix: The C++ prefix to prepend to a message to refer to it (e.g. "std_msgs::")
|
||||
@type cpp_name_prefix: str
|
||||
"""
|
||||
(cpp_msg_unqualified, cpp_msg_with_alloc, _) = cpp_message_declarations(cpp_name_prefix, spec.short_name)
|
||||
|
||||
s.write('namespace ros\n{\n')
|
||||
s.write('namespace serialization\n{\n\n')
|
||||
|
||||
s.write('template<class ContainerAllocator> struct Serializer<%s>\n{\n'%(cpp_msg_with_alloc))
|
||||
|
||||
s.write(' template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)\n {\n')
|
||||
for field in spec.parsed_fields():
|
||||
s.write(' stream.next(m.%s);\n'%(field.name))
|
||||
s.write(' }\n\n')
|
||||
|
||||
s.write(' ROS_DECLARE_ALLINONE_SERIALIZER;\n')
|
||||
|
||||
s.write('}; // struct %s_\n'%(spec.short_name))
|
||||
|
||||
s.write('} // namespace serialization\n')
|
||||
s.write('} // namespace ros\n\n')
|
||||
|
||||
def write_ostream_operator(s, spec, cpp_name_prefix):
|
||||
(cpp_msg_unqualified, cpp_msg_with_alloc, _) = cpp_message_declarations(cpp_name_prefix, spec.short_name)
|
||||
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 generate(msg_path):
|
||||
"""
|
||||
Generate a message
|
||||
|
||||
@param msg_path: The path to the .msg file
|
||||
@type msg_path: str
|
||||
"""
|
||||
(package_dir, package) = roslib.packages.get_dir_pkg(msg_path)
|
||||
(_, spec) = roslib.msgs.load_from_file(msg_path, package)
|
||||
|
||||
s = StringIO()
|
||||
write_begin(s, spec, msg_path)
|
||||
|
||||
write_defclass(s, spec)
|
||||
|
||||
write_constant_definitions(s, spec)
|
||||
s.write('} // namespace %s\n\n'%(package))
|
||||
|
||||
|
||||
output_dir = '%s/msg_gen/lisp'%package_dir
|
||||
if (not os.path.exists(output_dir)):
|
||||
# if we're being run concurrently, the above test can report false but os.makedirs can still fail if
|
||||
# another copy just created the directory
|
||||
try:
|
||||
os.makedirs(output_dir)
|
||||
except OSError, e:
|
||||
pass
|
||||
|
||||
f = open('%s/%s.lisp'%(output_dir, spec.short_name), 'w')
|
||||
print >> f, s.getvalue()
|
||||
|
||||
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)
|
||||
|
||||
Loading…
Reference in New Issue