/usr/lib/python2.7/dist-packages/genpy/generator.py is in python-genpy 0.5.7-6.
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#
# Copyright (c) 2008, 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 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.
"""
Library for Python message generation.
The structure of the serialization descends several levels of serializers:
- msg_generator: generator for an individual msg file
- serialize_fn_generator: generator for msg.serialize()
- serializer_generator
- field-type-specific serializers
raise MsgGenerationException("unknown file extension: %s"%f)
- deserialize_fn_generator: generator for msg.deserialize()
- serializer_generator
- field-type-specific serializers
"""
from __future__ import print_function
import os
import keyword
import itertools
import sys
import traceback
import struct
import genmsg
import genmsg.msgs
import genmsg.msg_loader
import genmsg.gentools
from genmsg import InvalidMsgSpec, MsgContext, MsgSpec, MsgGenerationException
from genmsg.base import log
from . base import is_simple, SIMPLE_TYPES, SIMPLE_TYPES_DICT
from . generate_numpy import unpack_numpy, pack_numpy, NUMPY_DTYPE
from . generate_struct import reduce_pattern, serialize, \
int32_pack, int32_unpack, pack, pack2, unpack, unpack2, compute_struct_pattern, \
clear_patterns, add_pattern, get_patterns
# indent width
INDENT = ' '
def get_registered_ex(msg_context, type_):
"""
wrapper for get_registered that wraps unknown types with a MsgGenerationException
:param type_: ROS message type, ``str``
"""
try:
return msg_context.get_registered(type_)
except:
raise MsgGenerationException("Unknown type [%s]. Please check that the manifest.xml correctly declares dependencies."%type_)
################################################################################
# Special type handling for ROS builtin types that are not primitives
class Special:
def __init__(self, constructor, post_deserialize, import_str):
"""
:param constructor: expression to instantiate new type instance for deserialization, ``str``
:param post_Deserialize: format string for expression to evaluate on type instance after deserialization is complete., ``str``
variable name will be passed in as the single argument to format string.
:param import_str: import to include if type is present, ``str``
"""
self.constructor = constructor
self.post_deserialize = post_deserialize
self.import_str = import_str
def get_post_deserialize(self, varname):
"""
:returns: Post-deserialization code to executed (unindented) or
``None`` if no post-deserialization is required, ``str``
"""
if self.post_deserialize:
return self.post_deserialize%varname
else:
return None
_SPECIAL_TYPES = {
genmsg.HEADER: Special('std_msgs.msg._Header.Header()', None, 'import std_msgs.msg'),
genmsg.TIME: Special('genpy.Time()', '%s.canon()', 'import genpy'),
genmsg.DURATION: Special('genpy.Duration()', '%s.canon()', 'import genpy'),
}
def is_special(type_):
"""
:returns: ``True` if *type_* is a special type (i.e. builtin represented as a class instead of a primitive), ``bool``
"""
return type_ in _SPECIAL_TYPES
def get_special(type_):
"""
:returns: special type handler for *type_* or ``None``, ``Special``
"""
return _SPECIAL_TYPES.get(type_, None)
################################################################################
# utilities
# #671
def default_value(msg_context, field_type, default_package):
"""
Compute default value for field_type
:param default_package: default package, ``str``
:param field_type: ROS .msg field type, ``str``
:returns: default value encoded in Python string representation, ``str``
"""
if field_type in ['byte', 'int8', 'int16', 'int32', 'int64',\
'char', 'uint8', 'uint16', 'uint32', 'uint64']:
return '0'
elif field_type in ['float32', 'float64']:
return '0.'
elif field_type == 'string':
# strings, char[], and uint8s are all optimized to be strings
return "''"
elif field_type == 'bool':
return 'False'
elif field_type.endswith(']'): # array type
base_type, is_array, array_len = genmsg.msgs.parse_type(field_type)
if base_type in ['char', 'uint8']:
# strings, char[], and uint8s are all optimized to be strings
if array_len is not None:
return "chr(0)*%s"%array_len
else:
return "''"
elif array_len is None: #var-length
return '[]'
else: # fixed-length, fill values
def_val = default_value(msg_context, base_type, default_package)
return '[' + ','.join(itertools.repeat(def_val, array_len)) + ']'
else:
return compute_constructor(msg_context, default_package, field_type)
def flatten(msg_context, msg):
"""
Flattens the msg spec so that embedded message fields become
direct references. The resulting MsgSpec isn't a true/legal
:class:`MsgSpec` and should only be used for serializer generation.
:param msg: MsgSpec to flatten
:returns: flattened MsgSpec message
"""
new_types = []
new_names = []
for t, n in zip(msg.types, msg.names):
# Parse type to make sure we don't flatten an array
msg_type, is_array, _ = genmsg.msgs.parse_type(t)
#flatten embedded types - note: bug #59
if not is_array and msg_context.is_registered(t):
msg_spec = flatten(msg_context, msg_context.get_registered(t))
new_types.extend(msg_spec.types)
for n2 in msg_spec.names:
new_names.append(n+'.'+n2)
else:
#I'm not sure if it's a performance win to flatten fixed-length arrays
#as you get n __getitems__ method calls vs. a single *array call
new_types.append(t)
new_names.append(n)
return MsgSpec(new_types, new_names, msg.constants, msg.text, msg.full_name)
def make_python_safe(spec):
"""
Remap field/constant names in spec to avoid collision with Python reserved words.
:param spec: msg spec to map to new, python-safe field names, ``MsgSpec``
:returns: python-safe message specification, ``MsgSpec``
"""
new_c = [genmsg.Constant(c.type, _remap_reserved(c.name), c.val, c.val_text) for c in spec.constants]
return MsgSpec(spec.types, [_remap_reserved(n) for n in spec.names], new_c, spec.text, spec.full_name)
def _remap_reserved(field_name):
"""
Map field_name to a python-safe representation, if necessary
:param field_name: msg field name, ``str``
:returns: remapped name, ``str``
"""
# include 'self' as well because we are within a class instance
idx = field_name.rfind('.')
if idx > 0:
prefix = field_name[:idx+1]
sub_field_name = field_name[idx+1:]
else:
prefix = ''
sub_field_name = field_name
if sub_field_name in keyword.kwlist + ['self']:
sub_field_name = sub_field_name + "_"
return prefix + sub_field_name
################################################################################
# (de)serialization routines
def compute_post_deserialize(type_, varname):
"""
Compute post-deserialization code for type_, if necessary
:returns: code to execute post-deserialization (unindented), or None if not necessary. ``str``
"""
s = get_special(type_)
if s is not None:
return s.get_post_deserialize(varname)
def compute_constructor(msg_context, package, type_):
"""
Compute python constructor expression for specified message type implementation
:param package str: package that type is being imported into. Used
to resolve type_ if package is not specified. ``str``
:param type_: message type, ``str``
"""
if is_special(type_):
return get_special(type_).constructor
elif genmsg.msgs.bare_msg_type(type_) != type_:
# array or other weird type
return None
else:
base_pkg, base_type_ = compute_pkg_type(package, type_)
if not msg_context.is_registered("%s/%s"%(base_pkg,base_type_)):
return None
else:
return '%s.msg.%s()'%(base_pkg, base_type_)
def compute_pkg_type(package, type_):
"""
:param package: package that type is being imported into, ``str``
:param type: message type (package resource name), ``str``
:returns: python package and type name, ``(str, str)``
"""
splits = type_.split(genmsg.SEP)
if len(splits) == 1:
return package, splits[0]
elif len(splits) == 2:
return tuple(splits)
else:
raise MsgGenerationException("illegal message type: %s"%type_)
def compute_import(msg_context, package, type_):
"""
Compute python import statement for specified message type implementation
:param package: package that type is being imported into, ``str``
:param type_: message type (package resource name), ``str``
:returns: list of import statements (no newline) required to use type_ from package, ``[str]``
"""
# orig_base_type is the unresolved type
orig_base_type = genmsg.msgs.bare_msg_type(type_) # strip array-suffix
# resolve orig_base_type based on the current package context.
# base_type is the resolved type stripped of any package name.
# pkg is the actual package of type_.
pkg, base_type = compute_pkg_type(package, orig_base_type)
full_msg_type = "%s/%s"%(pkg, base_type) # compute fully-qualified type
# important: have to do is_builtin check first. We do this check
# against the unresolved type builtins/specials are never
# relative. This requires some special handling for Header, which has
# two names (Header and std_msgs/Header).
if genmsg.msgs.is_builtin(orig_base_type) or \
genmsg.msgs.is_header_type(orig_base_type):
# of the builtin types, only special types require import
# handling. we switch to base_type as special types do not
# include package names.
if is_special(base_type):
retval = [get_special(base_type).import_str]
else:
retval = []
elif not msg_context.is_registered(full_msg_type):
retval = []
else:
retval = ['import %s.msg'%pkg]
iter_types = get_registered_ex(msg_context, full_msg_type).types
for t in iter_types:
assert t != full_msg_type, "msg [%s] has circular self-dependencies"%(full_msg_type)
full_sub_type = "%s/%s"%(package, t)
log("compute_import", full_msg_type, package, t)
sub = compute_import(msg_context, package, t)
retval.extend([x for x in sub if not x in retval])
return retval
def compute_full_text_escaped(msg_context, spec):
"""
Same as genmsg.compute_full_text, except that the
resulting text is escaped to be safe for Python's triple-quote string
quoting
:param get_deps_dict: dictionary returned by load_dependencies call, ``dict``
:returns: concatenated text for msg/srv file and embedded msg/srv types. Text will be escaped for triple-quote, ``str``
"""
msg_definition = genmsg.compute_full_text(msg_context, spec)
msg_definition.replace('"""', r'\"\"\"')
return msg_definition
################################################################################
# (De)serialization generators
_serial_context = ''
_context_stack = []
_counter = 0
def next_var():
# we could optimize this by reusing vars once the context is popped
global _counter
_counter += 1
return '_v%s'%_counter
def reset_var():
global _counter
_counter = 0
def push_context(context):
"""
Push new variable context onto context stack. The context stack
manages field-reference context for serialization, e.g. 'self.foo'
vs. 'self.bar.foo' vs. 'var.foo'
"""
global _serial_context, _context_stack
_context_stack.append(_serial_context)
_serial_context = context
def pop_context():
"""
Pop variable context from context stack. The context stack manages
field-reference context for serialization, e.g. 'self.foo'
vs. 'self.bar.foo' vs. 'var.foo'
"""
global _serial_context
_serial_context = _context_stack.pop()
# These are the workhorses of the message generation. The generators
# are implemented as iterators, where each iteration value is a line
# of Python code. The generators will invoke underlying generators,
# using the context stack to manage any changes in variable-naming, so
# that code can be reused as much as possible.
def len_serializer_generator(var, is_string, serialize):
"""
Generator for array-length serialization (32-bit, little-endian unsigned integer)
:param var: variable name, ``str``
:param is_string: if True, variable is a string type, ``bool``
:param serialize bool: if True, generate code for
serialization. Other, generate code for deserialization, ``bool``
"""
if serialize:
yield "length = len(%s)"%var
# NOTE: it's more difficult to save a call to struct.pack with
# the array length as we are already using *array_val to pass
# into struct.pack as *args. Although it's possible that
# Python is not optimizing it, it is potentially worse for
# performance to attempt to combine
if not is_string:
yield int32_pack("length")
else:
yield "start = end"
yield "end += 4"
yield int32_unpack('length', 'str[start:end]') #4 = struct.calcsize('<i')
def string_serializer_generator(package, type_, name, serialize):
"""
Generator for string types. similar to arrays, but with more
efficient call to struct.pack.
:param name: spec field name, ``str``
:param serialize: if ``True``, generate code for
serialization. Other, generate code for deserialization, ``bool``
"""
# don't optimize in deserialization case as assignment doesn't
# work
if _serial_context and serialize:
# optimize as string serialization accesses field twice
yield "_x = %s%s"%(_serial_context, name)
var = "_x"
else:
var = _serial_context+name
# the length generator is a noop if serialize is True as we
# optimize the serialization call.
base_type, is_array, array_len = genmsg.msgs.parse_type(type_)
# - don't serialize length for fixed-length arrays of bytes
if base_type not in ['uint8', 'char'] or array_len is None:
for y in len_serializer_generator(var, True, serialize):
yield y #serialize string length
if serialize:
#serialize length and string together
#check to see if its a uint8/byte type, in which case we need to convert to string before serializing
base_type, is_array, array_len = genmsg.msgs.parse_type(type_)
if base_type in ['uint8', 'char']:
yield "# - if encoded as a list instead, serialize as bytes instead of string"
if array_len is None:
yield "if type(%s) in [list, tuple]:"%var
yield INDENT+pack2("'<I%sB'%length", "length, *%s"%var)
yield "else:"
yield INDENT+pack2("'<I%ss'%length", "length, %s"%var)
else:
yield "if type(%s) in [list, tuple]:"%var
yield INDENT+pack('%sB'%array_len, "*%s"%var)
yield "else:"
yield INDENT+pack('%ss'%array_len, var)
else:
# FIXME: for py3k, this needs to be w/ encode(), but this interferes with actual byte data
yield "if python3 or type(%s) == unicode:"%(var)
yield INDENT+"%s = %s.encode('utf-8')"%(var,var) #For unicode-strings in Python2, encode using utf-8
yield INDENT+"length = len(%s)"%(var) # Update the length after utf-8 conversion
yield "if python3:"
yield INDENT+pack2("'<I%sB'%length", "length, *%s"%var)
yield "else:"
yield INDENT+pack2("'<I%ss'%length", "length, %s"%var)
else:
yield "start = end"
if array_len is not None:
yield "end += %s" % array_len
yield "%s = str[start:end]" % var
else:
yield "end += length"
if base_type in ['uint8', 'char']:
yield "%s = str[start:end]" % (var)
else:
yield "if python3:"
yield INDENT+"%s = str[start:end].decode('utf-8')" % (var) #If messages are python3-decode back to unicode
yield "else:"
yield INDENT+"%s = str[start:end]" % (var)
def array_serializer_generator(msg_context, package, type_, name, serialize, is_numpy):
"""
Generator for array types
:raises: :exc:`MsgGenerationException` If array spec is invalid
"""
base_type, is_array, array_len = genmsg.msgs.parse_type(type_)
if not is_array:
raise MsgGenerationException("Invalid array spec: %s"%type_)
var_length = array_len is None
# handle fixed-size byte arrays could be slightly more efficient
# as we recalculated the length in the generated code.
if base_type in ['char', 'uint8']: #treat unsigned int8 arrays as string type
for y in string_serializer_generator(package, type_, name, serialize):
yield y
return
var = _serial_context+name
# yield length serialization, if necessary
if var_length:
for y in len_serializer_generator(var, False, serialize):
yield y #serialize array length
length = None
else:
length = array_len
#optimization for simple arrays
if is_simple(base_type):
if var_length:
pattern = compute_struct_pattern([base_type])
yield "pattern = '<%%s%s'%%length"%pattern
if serialize:
if is_numpy:
yield pack_numpy(var)
else:
yield pack2('pattern', "*"+var)
else:
yield "start = end"
yield "end += struct.calcsize(pattern)"
if is_numpy:
dtype = NUMPY_DTYPE[base_type]
yield unpack_numpy(var, 'length', dtype, 'str[start:end]')
else:
yield unpack2(var, 'pattern', 'str[start:end]')
else:
pattern = "%s%s"%(length, compute_struct_pattern([base_type]))
if serialize:
if is_numpy:
yield pack_numpy(var)
else:
yield pack(pattern, "*"+var)
else:
yield "start = end"
yield "end += %s"%struct.calcsize('<%s'%pattern)
if is_numpy:
dtype = NUMPY_DTYPE[base_type]
yield unpack_numpy(var, length, dtype, 'str[start:end]')
else:
yield unpack(var, pattern, 'str[start:end]')
if not serialize and base_type == 'bool':
# convert uint8 to bool
if base_type == 'bool':
yield "%s = map(bool, %s)"%(var, var)
else:
#generic recursive serializer
#NOTE: this is functionally equivalent to the is_registered branch of complex_serializer_generator
# choose a unique temporary variable for iterating
loop_var = 'val%s'%len(_context_stack)
# compute the variable context and factory to use
if base_type == 'string':
push_context('')
factory = string_serializer_generator(package, base_type, loop_var, serialize)
else:
push_context('%s.'%loop_var)
factory = serializer_generator(msg_context, get_registered_ex(msg_context, base_type), serialize, is_numpy)
if serialize:
yield 'for %s in %s:'%(loop_var, var)
else:
yield '%s = []'%var
if var_length:
yield 'for i in range(0, length):'
else:
yield 'for i in range(0, %s):'%length
if base_type != 'string':
yield INDENT + '%s = %s'%(loop_var, compute_constructor(msg_context, package, base_type))
for y in factory:
yield INDENT + y
if not serialize:
yield INDENT + '%s.append(%s)'%(var, loop_var)
pop_context()
def complex_serializer_generator(msg_context, package, type_, name, serialize, is_numpy):
"""
Generator for serializing complex type
:param serialize: if True, generate serialization
code. Otherwise, deserialization code. ``bool``
:param is_numpy: if True, generate serializer code for numpy
datatypes instead of Python lists, ``bool``
:raises: MsgGenerationException If type is not a valid
"""
# ordering of these statements is important as we mutate the type
# string we are checking throughout. parse_type strips array
# brackets, then we check for the 'complex' builtin types (string,
# time, duration, Header), then we canonicalize it to an embedded
# message type.
_, is_array, _ = genmsg.msgs.parse_type(type_)
#Array
if is_array:
for y in array_serializer_generator(msg_context, package, type_, name, serialize, is_numpy):
yield y
#Embedded Message
elif type_ == 'string':
for y in string_serializer_generator(package, type_, name, serialize):
yield y
else:
if not is_special(type_):
# canonicalize type
pkg, base_type = compute_pkg_type(package, type_)
type_ = "%s/%s"%(pkg, base_type)
if msg_context.is_registered(type_):
# descend data structure ####################
ctx_var = next_var()
yield "%s = %s"%(ctx_var, _serial_context+name)
push_context(ctx_var+'.')
# unoptimized code
#push_context(_serial_context+name+'.')
for y in serializer_generator(msg_context, get_registered_ex(msg_context, type_), serialize, is_numpy):
yield y #recurs on subtype
pop_context()
else:
#Invalid
raise MsgGenerationException("Unknown type: %s. Package context is %s"%(type_, package))
def simple_serializer_generator(msg_context, spec, start, end, serialize): #primitives that can be handled with struct
"""
Generator (de)serialization code for multiple fields from spec
:param spec: :class:`genmsg.MsgSpec`
:param start: first field to serialize, ``int``
:param end: last field to serialize, ``int``
"""
# optimize member var access
if end - start > 1 and _serial_context.endswith('.'):
yield '_x = '+_serial_context[:-1]
vars_ = '_x.' + (', _x.').join(spec.names[start:end])
else:
vars_ = _serial_context + (', '+_serial_context).join(spec.names[start:end])
pattern = compute_struct_pattern(spec.types[start:end])
if serialize:
yield pack(pattern, vars_)
else:
yield "start = end"
yield "end += %s"%struct.calcsize('<%s'%reduce_pattern(pattern))
yield unpack('(%s,)'%vars_, pattern, 'str[start:end]')
# convert uint8 to bool. this doesn't add much value as Python
# equality test on a field will return that True == 1, but I
# want to be consistent with bool
bool_vars = [(f, t) for f, t in zip(spec.names[start:end], spec.types[start:end]) if t == 'bool']
for f, t in bool_vars:
#TODO: could optimize this as well
var = _serial_context+f
yield "%s = bool(%s)"%(var, var)
def serializer_generator(msg_context, spec, serialize, is_numpy):
"""
Python generator that yields un-indented python code for
(de)serializing MsgSpec. The code this yields is meant to be
included in a class method and cannot be used
standalone. serialize_fn_generator and deserialize_fn_generator
wrap method to provide appropriate class field initializations.
:param serialize: if True, yield serialization
code. Otherwise, yield deserialization code. ``bool``
:param is_numpy: if True, generate serializer code for numpy datatypes instead of Python lists. ``bool``
"""
# Break spec into chunks of simple (primitives) vs. complex (arrays, etc...)
# Simple types are batch serialized using the python struct module.
# Complex types are individually serialized
if spec is None:
raise MsgGenerationException("spec is none")
names, types = spec.names, spec.types
if serialize and not len(names): #Empty
yield "pass"
return
_max_chunk = 255
# iterate through types. whenever we encounter a non-simple type,
# yield serializer for any simple types we've encountered until
# then, then yield the complex type serializer
curr = 0
for (i, full_type) in enumerate(types):
if not is_simple(full_type):
if i != curr: #yield chunk of simples
for _start in range(curr, i, _max_chunk):
_end = min(_start + _max_chunk, i)
for y in simple_serializer_generator(msg_context, spec, _start, _end, serialize):
yield y
curr = i+1
for y in complex_serializer_generator(msg_context, spec.package, full_type, names[i], serialize, is_numpy):
yield y
if curr < len(types): #yield rest of simples
for _start in range(curr, len(types), _max_chunk):
_end = min(_start + _max_chunk, len(types))
for y in simple_serializer_generator(msg_context, spec, _start, _end, serialize):
yield y
def serialize_fn_generator(msg_context, spec, is_numpy=False):
"""
generator for body of serialize() function
:param is_numpy: if True, generate serializer code for numpy
datatypes instead of Python lists, ``bool``
"""
# method-var context #########
yield "try:"
push_context('self.')
#NOTE: we flatten the spec for optimal serialization
# #3741: make sure to have sub-messages python safe
flattened = make_python_safe(flatten(msg_context, spec))
for y in serializer_generator(msg_context, flattened, True, is_numpy):
yield " "+y
pop_context()
yield "except struct.error as se: self._check_types(struct.error(\"%s: '%s' when writing '%s'\" % (type(se), str(se), str(_x))))"
yield "except TypeError as te: self._check_types(ValueError(\"%s: '%s' when writing '%s'\" % (type(te), str(te), str(_x))))"
# done w/ method-var context #
def deserialize_fn_generator(msg_context, spec, is_numpy=False):
"""
generator for body of deserialize() function
:param is_numpy: if True, generate serializer code for numpy
datatypes instead of Python lists, ``bool``
"""
yield "try:"
package = spec.package
#Instantiate embedded type classes
for type_, name in spec.fields():
if msg_context.is_registered(type_):
yield " if self.%s is None:"%name
yield " self.%s = %s"%(name, compute_constructor(msg_context, package, type_))
yield " end = 0" #initialize var
# method-var context #########
push_context('self.')
#NOTE: we flatten the spec for optimal serialization
# #3741: make sure to have sub-messages python safe
flattened = make_python_safe(flatten(msg_context, spec))
for y in serializer_generator(msg_context, flattened, False, is_numpy):
yield " "+y
pop_context()
# done w/ method-var context #
# generate post-deserialization code
for type_, name in spec.fields():
code = compute_post_deserialize(type_, "self.%s"%name)
if code:
yield " %s"%code
yield " return self"
yield "except struct.error as e:"
yield " raise genpy.DeserializationError(e) #most likely buffer underfill"
def msg_generator(msg_context, spec, search_path):
"""
Python code generator for .msg files. Generates a Python from a
:class:`genmsg.MsgSpec`.
:param spec: parsed .msg :class:`genmsg.MsgSpec` instance
:param search_path: dictionary mapping message namespaces to a directory locations
"""
# #2990: have to compute md5sum before any calls to make_python_safe
# generate dependencies dictionary. omit files calculation as we
# rely on in-memory MsgSpecs instead so that we can generate code
# for older versions of msg files
try:
genmsg.msg_loader.load_depends(msg_context, spec, search_path)
except InvalidMsgSpec as e:
raise MsgGenerationException("Cannot generate .msg for %s/%s: %s"%(package, name, str(e)))
md5sum = genmsg.compute_md5(msg_context, spec)
# remap spec names to be Python-safe
spec = make_python_safe(spec)
spec_names = spec.names
# #1807 : this will be much cleaner when msggenerator library is
# rewritten to not use globals
clear_patterns()
yield '# This Python file uses the following encoding: utf-8'
yield '"""autogenerated by genpy from %s.msg. Do not edit."""'%spec.full_name
yield 'import sys'
yield 'python3 = True if sys.hexversion > 0x03000000 else False'
yield 'import genpy\nimport struct\n'
import_strs = []
for t in spec.types:
import_strs.extend(compute_import(msg_context, spec.package, t))
import_strs = set(import_strs)
for i in import_strs:
if i:
yield i
yield ''
fulltype = spec.full_name
name = spec.short_name
#Yield data class first, e.g. Point2D
yield 'class %s(genpy.Message):'%spec.short_name
yield ' _md5sum = "%s"'%(md5sum)
yield ' _type = "%s"'%(fulltype)
yield ' _has_header = %s #flag to mark the presence of a Header object'%spec.has_header()
# note: we introduce an extra newline to protect the escaping from quotes in the message
yield ' _full_text = """%s\n"""'%compute_full_text_escaped(msg_context, spec)
if spec.constants:
yield ' # Pseudo-constants'
for c in spec.constants:
if c.type == 'string':
val = c.val
if '"' in val and "'" in val:
# crude escaping of \ and "
escaped = c.val.replace('\\', '\\\\')
escaped = escaped.replace('\"', '\\"')
yield ' %s = "%s"'%(c.name, escaped)
elif '"' in val: #use raw encoding for prettiness
yield " %s = r'%s'"%(c.name, val)
elif "'" in val: #use raw encoding for prettiness
yield ' %s = r"%s"'%(c.name, val)
else:
yield " %s = '%s'"%(c.name, val)
else:
yield ' %s = %s'%(c.name, c.val)
yield ''
if len(spec_names):
yield " __slots__ = ['"+"','".join(spec_names)+"']"
yield " _slot_types = ['"+"','".join(spec.types)+"']"
else:
yield " __slots__ = []"
yield " _slot_types = []"
yield """
def __init__(self, *args, **kwds):
\"\"\"
Constructor. Any message fields that are implicitly/explicitly
set to None will be assigned a default value. The recommend
use is keyword arguments as this is more robust to future message
changes. You cannot mix in-order arguments and keyword arguments.
The available fields are:
%s
:param args: complete set of field values, in .msg order
:param kwds: use keyword arguments corresponding to message field names
to set specific fields.
\"\"\"
if args or kwds:
super(%s, self).__init__(*args, **kwds)"""%(','.join(spec_names), name)
if len(spec_names):
yield " #message fields cannot be None, assign default values for those that are"
for (t, s) in zip(spec.types, spec_names):
yield " if self.%s is None:"%s
yield " self.%s = %s"%(s, default_value(msg_context, t, spec.package))
if len(spec_names) > 0:
yield " else:"
for (t, s) in zip(spec.types, spec_names):
yield " self.%s = %s"%(s, default_value(msg_context, t, spec.package))
yield """
def _get_types(self):
\"\"\"
internal API method
\"\"\"
return self._slot_types
def serialize(self, buff):
\"\"\"
serialize message into buffer
:param buff: buffer, ``StringIO``
\"\"\""""
for y in serialize_fn_generator(msg_context, spec):
yield " "+ y
yield """
def deserialize(self, str):
\"\"\"
unpack serialized message in str into this message instance
:param str: byte array of serialized message, ``str``
\"\"\""""
for y in deserialize_fn_generator(msg_context, spec):
yield " " + y
yield ""
yield """
def serialize_numpy(self, buff, numpy):
\"\"\"
serialize message with numpy array types into buffer
:param buff: buffer, ``StringIO``
:param numpy: numpy python module
\"\"\""""
for y in serialize_fn_generator(msg_context, spec, is_numpy=True):
yield " "+ y
yield """
def deserialize_numpy(self, str, numpy):
\"\"\"
unpack serialized message in str into this message instance using numpy for array types
:param str: byte array of serialized message, ``str``
:param numpy: numpy python module
\"\"\""""
for y in deserialize_fn_generator(msg_context, spec, is_numpy=True):
yield " " + y
yield ""
# #1807 : this will be much cleaner when msggenerator library is
# rewritten to not use globals
yield '_struct_I = genpy.struct_I'
patterns = get_patterns()
for p in set(patterns):
# I patterns are already optimized
if p == 'I':
continue
var_name = '_struct_%s'%(p.replace('<',''))
yield '%s = struct.Struct("<%s")'%(var_name, p)
clear_patterns()
def srv_generator(msg_context, spec, search_path):
for mspec in (spec.request, spec.response):
for l in msg_generator(msg_context, mspec, search_path):
yield l
name = spec.short_name
req, resp = ["%s%s"%(name, suff) for suff in ['Request', 'Response']]
fulltype = spec.full_name
genmsg.msg_loader.load_depends(msg_context, spec, search_path)
md5 = genmsg.compute_md5(msg_context, spec)
yield "class %s(object):"%name
yield " _type = '%s'"%fulltype
yield " _md5sum = '%s'"%md5
yield " _request_class = %s"%req
yield " _response_class = %s"%resp
def _module_name(type_name):
"""
:param type_name str: Name of message type sans package,
e.g. 'String'
:returns str: name of python module for auto-generated code
"""
return "_"+type_name
def compute_resource_name(filename, ext):
"""
Convert resource filename to ROS resource name
:param filename str: path to .msg/.srv file
:returns str: name of ROS resource
"""
return os.path.basename(filename)[:-len(ext)]
def compute_outfile_name(outdir, infile_name, ext):
"""
:param outdir str: path to directory that files are generated to
:returns str: output file path based on input file name and output directory
"""
# Use leading _ so that module name does not collide with message name. It also
# makes it more clear that the .py file should not be imported directly
return os.path.join(outdir, _module_name(compute_resource_name(infile_name, ext))+".py")
class Generator(object):
def __init__(self, what, ext, spec_loader_fn, generator_fn):
self.what = what
self.ext = ext
self.spec_loader_fn = spec_loader_fn
self.generator_fn = generator_fn
def generate(self, msg_context, full_type, f, outdir, search_path):
try:
# you can't just check first... race condition
os.makedirs(outdir)
except OSError as e:
if e.errno != 17: # file exists
raise
# generate message files for request/response
spec = self.spec_loader_fn(msg_context, f, full_type)
outfile = compute_outfile_name(outdir, os.path.basename(f), self.ext)
with open(outfile, 'w') as f:
for l in self.generator_fn(msg_context, spec, search_path):
f.write(l+'\n')
return outfile
def generate_messages(self, package, package_files, outdir, search_path):
"""
:returns: return code, ``int``
"""
if not genmsg.is_legal_resource_base_name(package):
raise MsgGenerationException("\nERROR: package name '%s' is illegal and cannot be used in message generation.\nPlease see http://ros.org/wiki/Names"%(package))
# package/src/package/msg for messages, packages/src/package/srv for services
msg_context = MsgContext.create_default()
retcode = 0
for f in package_files:
try:
f = os.path.abspath(f)
infile_name = os.path.basename(f)
full_type = genmsg.gentools.compute_full_type_name(package, infile_name);
outfile = self.generate(msg_context, full_type, f, outdir, search_path) #actual generation
except Exception as e:
if not isinstance(e, MsgGenerationException) and not isinstance(e, genmsg.msgs.InvalidMsgSpec):
traceback.print_exc()
print("\nERROR: Unable to generate %s for package '%s': while processing '%s': %s\n"%(self.what, package, f, e), file=sys.stderr)
retcode = 1 #flag error
return retcode
class SrvGenerator(Generator):
def __init__(self):
super(SrvGenerator, self).__init__('services', genmsg.EXT_SRV,
genmsg.msg_loader.load_srv_from_file,
srv_generator)
class MsgGenerator(Generator):
"""
Generates Python message code for all messages in a
package. See genutil.Generator. In order to generator code for a
single .msg file, see msg_generator.
"""
def __init__(self):
super(MsgGenerator, self).__init__('messages', genmsg.EXT_MSG,
genmsg.msg_loader.load_msg_from_file,
msg_generator)
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