/usr/lib/actionlib_msgs/genaction.py is in libactionlib-msgs-dev 1.12.5-3.
This file is owned by root:root, with mode 0o755.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 | #! /usr/bin/env python
# Copyright (c) 2009, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
# * Neither the name of the Willow Garage, Inc. nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
# Author: Stuart Glaser
import sys
try:
from cStringIO import StringIO
except ImportError:
from io import StringIO
import re
import os, os.path
import errno
from optparse import OptionParser
IODELIM = '---'
AUTOGEN="# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n"
class ActionSpecException(Exception): pass
def parse_action_spec(text, package_context = ''):
pieces = [StringIO()]
for l in text.split('\n'):
if l.startswith(IODELIM):
pieces.append(StringIO())
else:
pieces[-1].write(l + '\n')
return [p.getvalue() for p in pieces]
def write_file(filename, text):
f = open(filename, 'w')
f.write(text)
f.close()
def main():
parser = OptionParser("Actionlib generator")
parser.add_option('-o', dest='output_dir',
help='output directory')
(options, args) = parser.parse_args(sys.argv)
pkg = os.path.abspath(sys.argv[1])
filename = sys.argv[2]
output_dir = options.output_dir
# Try to make the directory, but silently continue if it already exists
try:
os.makedirs(output_dir)
except OSError as e:
if e.errno == errno.EEXIST:
pass
else:
raise
action_file = args[1]
if not action_file.endswith('.action'):
print("The file specified has the wrong extension. It must end in .action")
else:
filename = action_file
f = open(filename)
action_spec = f.read()
f.close()
name = os.path.basename(filename)[:-7]
print("Generating for action %s" % name)
pieces = parse_action_spec(action_spec)
if len(pieces) != 3:
raise ActionSpecException("%s: wrong number of pieces, %d"%(filename,len(pieces)))
goal, result, feedback = pieces
action_msg = AUTOGEN + """
%sActionGoal action_goal
%sActionResult action_result
%sActionFeedback action_feedback
""" % (name, name, name)
goal_msg = AUTOGEN + goal
action_goal_msg = AUTOGEN + """
Header header
actionlib_msgs/GoalID goal_id
%sGoal goal
""" % name
result_msg = AUTOGEN + result
action_result_msg = AUTOGEN + """
Header header
actionlib_msgs/GoalStatus status
%sResult result
""" % name
feedback_msg = AUTOGEN + feedback
action_feedback_msg = AUTOGEN + """
Header header
actionlib_msgs/GoalStatus status
%sFeedback feedback
""" % name
write_file(os.path.join(output_dir, "%sAction.msg"%name), action_msg)
write_file(os.path.join(output_dir, "%sGoal.msg"%name), goal_msg)
write_file(os.path.join(output_dir, "%sActionGoal.msg"%name), action_goal_msg)
write_file(os.path.join(output_dir, "%sResult.msg"%name), result_msg)
write_file(os.path.join(output_dir, "%sActionResult.msg"%name), action_result_msg)
write_file(os.path.join(output_dir, "%sFeedback.msg"%name), feedback_msg)
write_file(os.path.join(output_dir, "%sActionFeedback.msg"%name), action_feedback_msg)
if __name__ == '__main__': main()
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