Add ROS style api

tiny_tf/genmsg/__init__.py

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+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2011, 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.
+
+from . base import MSG_DIR, SRV_DIR, EXT_MSG, EXT_SRV, SEP, log, plog, InvalidMsgSpec, log_verbose, MsgGenerationException
+from . gentools import compute_md5, compute_full_text, compute_md5_text
+from . names import resource_name_base, package_resource_name, is_legal_resource_base_name, \
+     resource_name_package, resource_name, is_legal_resource_name
+from . msgs import HEADER, TIME, DURATION, MsgSpec, Constant, Field
+from . msg_loader import MsgNotFound, MsgContext, load_depends, load_msg_by_type, load_srv_by_type
+from . srvs import SrvSpec
+

tiny_tf/genmsg/base.py

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+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2011, 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.
+
+from __future__ import print_function
+import os, sys
+
+SEP = '/'
+
+MSG_DIR = 'msg'
+SRV_DIR = 'srv'
+
+EXT_MSG = '.msg'
+EXT_SRV = '.srv'
+
+## character that designates a constant assignment rather than a field
+CONSTCHAR   = '='
+COMMENTCHAR = '#'
+IODELIM   = '---'
+
+
+verbose = False
+
+import inspect, pprint
+
+def log_verbose(value):
+    global verbose
+    verbose = value
+
+def log(*args):
+    global verbose
+    if verbose:
+        print("%s:%d" % inspect.stack()[1][1:3], file=sys.stderr)
+        print(' '.join([str(x) for x in args]), file=sys.stderr)
+
+def plog(msg, obj):
+    if verbose:
+        print("%s:%d" % inspect.stack()[1][1:3], file=sys.stderr)
+        print(msg, " ", file=sys.stderr)
+        pprint.pprint(obj, file=sys.stderr)
+
+class InvalidMsgSpec(Exception):
+    pass
+
+class MsgGenerationException(Exception):
+    pass
+

tiny_tf/genmsg/command_line.py

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+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2011, 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.
+
+def includepath_to_dict(includepath):
+    search_path = {}
+    if includepath:
+        for path in includepath:
+            key = path[:path.find(':')]
+            value = path[path.find(':')+1:]
+            if value:
+                search_path.setdefault(key, []).append(value)
+    return search_path

tiny_tf/genmsg/deps.py

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+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2011, 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.
+
+import os
+import genmsg.msg_loader
+import genmsg
+
+# pkg_name - string
+# msg_file - string full path
+# search_paths -  dict of {'pkg':'msg_dir'}
+def find_msg_dependencies_with_type(pkg_name, msg_file, search_paths):
+
+    # Read and parse the source msg file
+    msg_context = genmsg.msg_loader.MsgContext.create_default()
+    full_type_name = genmsg.gentools.compute_full_type_name(pkg_name, os.path.basename(msg_file))
+    spec = genmsg.msg_loader.load_msg_from_file(msg_context, msg_file, full_type_name)
+
+    try:
+        genmsg.msg_loader.load_depends(msg_context, spec, search_paths)
+    except genmsg.InvalidMsgSpec as e:
+        raise genmsg.MsgGenerationException("Cannot read .msg for %s: %s"%(full_type_name, str(e)))
+
+    deps = set()
+    for dep_type_name in msg_context.get_all_depends(full_type_name):
+        deps.add((dep_type_name, msg_context.get_file(dep_type_name)))
+
+    return list(deps)
+
+
+def find_msg_dependencies(pkg_name, msg_file, search_paths):
+    deps = find_msg_dependencies_with_type(pkg_name, msg_file, search_paths)
+    return [d[1] for d in deps]
+
+
+def find_srv_dependencies_with_type(pkg_name, msg_file, search_paths):
+
+    # Read and parse the source msg file
+    msg_context = genmsg.msg_loader.MsgContext.create_default()
+    full_type_name = genmsg.gentools.compute_full_type_name(pkg_name, os.path.basename(msg_file))
+
+    spec = genmsg.msg_loader.load_srv_from_file(msg_context, msg_file, full_type_name)
+
+    try:
+        genmsg.msg_loader.load_depends(msg_context, spec, search_paths)
+    except genmsg.InvalidMsgSpec as e:
+        raise genmsg.MsgGenerationException("Cannot read .msg for %s: %s"%(full_type_name, str(e)))
+
+    deps = set()
+
+    for dep_type_name in msg_context.get_all_depends(spec.request.full_name):
+        deps.add((dep_type_name, msg_context.get_file(dep_type_name)))
+
+    for dep_type_name in msg_context.get_all_depends(spec.response.full_name):
+        deps.add((dep_type_name, msg_context.get_file(dep_type_name)))
+
+    return list(deps)
+
+
+def find_srv_dependencies(pkg_name, msg_file, search_paths):
+    deps = find_srv_dependencies_with_type(pkg_name, msg_file, search_paths)
+    return [d[1] for d in deps]
+
+#paths = {'std_msgs':'/u/mkjargaard/repositories/mkjargaard/dist-sandbox/std_msgs/msg'}
+#file = '/u/mkjargaard/repositories/mkjargaard/dist-sandbox/quux_msgs/msg/QuuxString.msg'
+#find_msg_dependencies('quux_msgs', file, paths)