Making makerule.py mirror user interaction of checkbag.py
This commit is contained in:
Jeremy Leibs
parent
6b406d5f47
commit
f710e17df5
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@ -38,12 +38,49 @@ import roslib; roslib.load_manifest(PKG)
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import sys
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import rosbagmigration
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from optparse import OptionParser
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import os
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import re
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import roslib.message
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def print_trans(old,new,indent):
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from_txt = "%s [%s]"%(old._type, old._md5sum)
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if new is not None:
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to_txt= "%s [%s]"%(new._type, new._md5sum)
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else:
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to_txt = "Unknown"
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print " "*indent + " * From: %s"%(from_txt,)
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print " "*indent + " To: %s"%(to_txt,)
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if __name__ == '__main__':
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if len(sys.argv) >= 3:
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parser = OptionParser(usage="usage: makerule.py msg.saved [-a] output_rulefile [rulefile1, rulefile2, ...] [-n]")
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parser.add_option("-a","--append",action="store_true",dest="append",default=False)
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parser.add_option("-n","--noplugins",action="store_true",dest="noplugins",default=False)
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(options, args) = parser.parse_args()
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all_rules = []
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if len(args) >= 2:
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rulefile = args[1]
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if os.path.isfile(rulefile) and not options.append:
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print >> sys.stderr, "The file %s already exists. Include -a if you intend to append."%rulefile
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exit(1)
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if not os.path.isfile(rulefile) and options.append:
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print >> sys.stderr, "The file %s does not exist, and so -a is invalid."%rulefile
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exit(1)
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if options.append:
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append_rule = [rulefile]
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else:
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append_rule = []
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f = open(sys.argv[1])
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if f is None:
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@ -59,6 +96,7 @@ if __name__ == '__main__':
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old_type = type_match.groups()[0]
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old_full_text = f.read()
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f.close()
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old_class = roslib.genpy.generate_dynamic(old_type,old_full_text)[old_type]
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@ -66,28 +104,63 @@ if __name__ == '__main__':
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print >> sys.stderr, "Could not generate class from full definition file."
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sys.exit()
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new_class = roslib.message.get_message_class(sys.argv[2])
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mm = rosbagmigration.MessageMigrator(args[2:]+append_rule,not options.noplugins)
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if new_class is None:
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print >> sys.stderr, "Could not find class corresponding to %s"%sys.argv[2]
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sys.exit()
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migrations = rosbagmigration.checkmessages(mm, [old_class])
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# If the type and md5sum match, there is nothing necessary to do
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if ((old_class._type, old_class._md5sum) == (new_class._type, new_class._md5sum)):
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print >> sys.stderr, "Types already match, nothing to do."
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sys.exit()
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mm = rosbagmigration.MessageMigrator(sys.argv[3:])
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if migrations == []:
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print "Saved definition is up to date"
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exit(0)
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else:
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print "The following migrations need to occur:"
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for m in migrations:
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all_rules.extend(m[1])
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new_rule = mm.make_update_rule(old_class, new_class)
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R = new_rule(mm, "GENERATED")
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R.find_sub_paths()
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print_trans(m[0][0].old_class, m[0][-1].new_class, 0)
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if len(m[1]) > 0:
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print " %d rules missing:"%(len(m[1]))
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for r in m[1]:
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print_trans(r.old_class, r.new_class,1)
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# Print rule definition and all additionally necessery definitions
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R.print_def()
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[r.print_def() for r in mm.get_invalid_rules()]
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if rulefile is not None:
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output = ""
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rules_left = mm.filter_rules_unique(all_rules)
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if rules_left == []:
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print "\nNo additional rule files needed to be generated. %s not created."%(rulefile)
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exit(0)
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while rules_left != []:
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extra_rules = []
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for r in rules_left:
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if r.new_class is None:
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print "The message type %s appears to have moved. Please enter the type to migrate it to."%(r.old_class._type,)
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new_type = raw_input('>')
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new_class = roslib.scriptutil.get_message_class(new_type)
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while new_class is None:
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print "\'%s\' could not be found in your system. Please make sure it is built."%new_type
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new_type = raw_input('>')
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new_class = roslib.scriptutil.get_message_class(new_type)
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new_rule = mm.make_update_rule(r.old_class, new_class)
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R = new_rule(mm, 'GENERATED.' + new_rule.__name__)
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R.find_sub_paths()
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new_rules = [r for r in mm.expand_rules(R.sub_rules) if r.valid == False]
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extra_rules.extend(new_rules)
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print 'Creating the migration rule for %s requires additional missing rules:'%new_type
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for nr in new_rules:
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print_trans(nr.old_class, nr.new_class,1)
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output += R.get_class_def()
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else:
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output += r.get_class_def()
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rules_left = mm.filter_rules_unique(extra_rules)
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f = open(rulefile, 'a')
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f.write(output)
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f.close()
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print "\nThe necessary rule files have been written to: %s"%(rulefile,)
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else:
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print "rulefile not specified"
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else:
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print "usage: makerule.py <msg_full_text> <new_msg_name> [rulefile1, rulefile2, ...]"
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parser.error("Incorrect number of arguments")
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@ -84,6 +84,33 @@ def checkbag(migrator, inbag):
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return migrations
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## Check whether a bag file can be played in the current system
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#
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# @param migrator The message migrator to use
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# @param message_list A list of message classes.
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# @returns A list of tuples for each type in the bag file. The first
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# element of each tuple is the full migration path for the type. The
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# second element of the tuple is the expanded list of invalid rules
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# for that particular path.
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def checkmessages(migrator, messages):
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checked = Set()
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migrations = []
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for msg in messages:
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key = get_message_key(msg)
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if key not in checked:
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target = migrator.find_target(msg)
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# Even in the case of a zero-length path (matching md5sums), we still want
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# to migrate in the event of a type change (message move).
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path = migrator.find_path(msg, target)
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if (path != []):
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migrations.append((path, [r for r in migrator.expand_rules([sn.rule for sn in path]) if r.valid == False]))
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checked.add(key)
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return migrations
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## Fix a bag so that it can be played in the current system
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#
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# @param migrator The message migrator to use
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