/usr/lib/python2.7/dist-packages/genmsg/template_tools.py is in python-genmsg 0.5.6-4.
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## ROS Message generatation
##
##
import sys
import os
import em
import genmsg.command_line
import genmsg.msgs
import genmsg.msg_loader
import genmsg.gentools
# generate msg or srv files from a template file
# template_map of the form { 'template_file':'output_file'} output_file can contain @NAME@ which will be replaced by the message/service name
def _generate_from_spec(input_file, output_dir, template_dir, msg_context, spec, template_map, search_path):
md5sum = genmsg.gentools.compute_md5(msg_context, spec)
# precompute msg definition once
if isinstance(spec, genmsg.msgs.MsgSpec):
msg_definition = genmsg.gentools.compute_full_text(msg_context, spec)
# Loop over all files to generate
for template_file_name, output_file_name in template_map.items():
template_file = os.path.join(template_dir, template_file_name)
output_file = os.path.join(output_dir, output_file_name.replace("@NAME@", spec.short_name))
#print "generate_from_template %s %s %s" % (input_file, template_file, output_file)
ofile = open(output_file, 'w') #todo try
# Set dictionary for the generator interpreter
g = {
"file_name_in": input_file,
"spec": spec,
"md5sum": md5sum,
"search_path": search_path,
"msg_context": msg_context
}
if isinstance(spec, genmsg.msgs.MsgSpec):
g['msg_definition'] = msg_definition
# todo, reuse interpreter
interpreter = em.Interpreter(output=ofile, globals=g, options={em.RAW_OPT:True,em.BUFFERED_OPT:True})
if not os.path.isfile(template_file):
ofile.close()
os.remove(output_file)
raise RuntimeError("Template file %s not found in template dir %s" % (template_file_name, template_dir))
interpreter.file(open(template_file)) #todo try
interpreter.shutdown()
def _generate_msg_from_file(input_file, output_dir, template_dir, search_path, package_name, msg_template_dict):
# Read MsgSpec from .msg file
msg_context = genmsg.msg_loader.MsgContext.create_default()
full_type_name = genmsg.gentools.compute_full_type_name(package_name, os.path.basename(input_file))
spec = genmsg.msg_loader.load_msg_from_file(msg_context, input_file, full_type_name)
# Load the dependencies
genmsg.msg_loader.load_depends(msg_context, spec, search_path)
# Generate the language dependent msg file
_generate_from_spec(input_file,
output_dir,
template_dir,
msg_context,
spec,
msg_template_dict,
search_path)
def _generate_srv_from_file(input_file, output_dir, template_dir, search_path, package_name, srv_template_dict, msg_template_dict):
# Read MsgSpec from .srv.file
msg_context = genmsg.msg_loader.MsgContext.create_default()
full_type_name = genmsg.gentools.compute_full_type_name(package_name, os.path.basename(input_file))
spec = genmsg.msg_loader.load_srv_from_file(msg_context, input_file, full_type_name)
# Load the dependencies
genmsg.msg_loader.load_depends(msg_context, spec, search_path)
# Generate the language dependent srv file
_generate_from_spec(input_file,
output_dir,
template_dir,
msg_context,
spec,
srv_template_dict,
search_path)
# Generate the language dependent msg file for the srv request
_generate_from_spec(input_file,
output_dir,
template_dir,
msg_context,
spec.request,
msg_template_dict,
search_path)
# Generate the language dependent msg file for the srv response
_generate_from_spec(input_file,
output_dir,
template_dir,
msg_context,
spec.response,
msg_template_dict,
search_path)
# uniform interface for genering either srv or msg files
def generate_from_file(input_file, package_name, output_dir, template_dir, include_path, msg_template_dict, srv_template_dict):
# Normalize paths
input_file = os.path.abspath(input_file)
output_dir = os.path.abspath(output_dir)
# Create output dir
try:
os.makedirs(output_dir)
except OSError as e:
if e.errno != 17: # ignore file exists error
raise
# Parse include path dictionary
if( include_path ):
search_path = genmsg.command_line.includepath_to_dict(include_path)
else:
search_path = {}
# Generate the file(s)
if input_file.endswith(".msg"):
_generate_msg_from_file(input_file, output_dir, template_dir, search_path, package_name, msg_template_dict)
elif input_file.endswith(".srv"):
_generate_srv_from_file(input_file, output_dir, template_dir, search_path, package_name, srv_template_dict, msg_template_dict)
else:
assert False, "Uknown file extension for %s"%input_file
def generate_module(package_name, output_dir, template_dir, template_dict):
# Locate generate msg files
files = os.listdir(output_dir)
# Loop over all files to generate
for template_file_name, output_file_name in template_dict.items():
template_file = os.path.join(template_dir, template_file_name)
output_file = os.path.join(output_dir, output_file_name)
ofile = open(output_file, 'w') #todo try
# Set dictionary for the generator intepreter
g = dict(files=files,
package=package_name)
# todo, reuse interpreter
interpreter = em.Interpreter(output=ofile, options={em.RAW_OPT:True,em.BUFFERED_OPT:True})
interpreter.updateGlobals(g)
if not os.path.isfile(template_file):
ofile.close()
os.remove(output_file)
raise RuntimeError("Template file %s not found in template dir %s" % (template_file_name, template_dir))
interpreter.file(open(template_file)) #todo try
interpreter.shutdown()
# Uniform interface to support the standard command line options
def generate_from_command_line_options(argv, msg_template_dict, srv_template_dict, module_template_dict = {}):
from optparse import OptionParser
parser = OptionParser("[options] <srv file>")
parser.add_option("-p", dest='package',
help="ros package the generated msg/srv files belongs to")
parser.add_option("-o", dest='outdir',
help="directory in which to place output files")
parser.add_option("-I", dest='includepath',
help="include path to search for messages",
action="append")
parser.add_option("-m", dest='module',
help="write the module file",
action='store_true', default=False)
parser.add_option("-e", dest='emdir',
help="directory containing template files",
default=sys.path[0])
(options, argv) = parser.parse_args(argv)
if( not options.package or not options.outdir or not options.emdir):
parser.print_help()
exit(-1)
if( options.module ):
generate_module(options.package, options.outdir, options.emdir, module_template_dict)
else:
if len(argv) > 1:
generate_from_file(argv[1], options.package, options.outdir, options.emdir, options.includepath, msg_template_dict, srv_template_dict)
else:
parser.print_help()
exit(-1)
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