#!/usr/bin/env python # Software License Agreement (BSD License) # # 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 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. # ## ROS message source code generation for C++ ## ## Converts ROS .msg files in a package into C++ source code implementations. import sys import os import traceback import roslib.msgs import roslib.packages import roslib.gentools from rospkg import RosPack try: from cStringIO import StringIO #Python 2.x except ImportError: from io import StringIO #Python 3.x MSG_TYPE_TO_CPP = {'byte': 'int8_t', 'char': 'uint8_t', 'bool': 'uint8_t', 'uint8': 'uint8_t', 'int8': 'int8_t', 'uint16': 'uint16_t', 'int16': 'int16_t', 'uint32': 'uint32_t', 'int32': 'int32_t', 'uint64': 'uint64_t', 'int64': 'int64_t', 'float32': 'float', 'float64': 'double', 'string': 'std::basic_string, typename ContainerAllocator::template rebind::other > ', 'time': 'ros::Time', 'duration': 'ros::Duration'} def msg_type_to_cpp(type): """ Converts a message type (e.g. uint32, std_msgs/String, etc.) into the C++ declaration for that type (e.g. uint32_t, std_msgs::String_) @param type: The message type @type type: str @return: The C++ declaration @rtype: str """ (base_type, is_array, array_len) = roslib.msgs.parse_type(type) cpp_type = None if (roslib.msgs.is_builtin(base_type)): cpp_type = MSG_TYPE_TO_CPP[base_type] elif (len(base_type.split('/')) == 1): if (roslib.msgs.is_header_type(base_type)): cpp_type = ' ::std_msgs::Header_ ' else: cpp_type = '%s_ '%(base_type) else: pkg = base_type.split('/')[0] msg = base_type.split('/')[1] cpp_type = ' ::%s::%s_ '%(pkg, msg) if (is_array): if (array_len is None): return 'std::vector<%s, typename ContainerAllocator::template rebind<%s>::other > '%(cpp_type, cpp_type) else: return 'boost::array<%s, %s> '%(cpp_type, array_len) else: return cpp_type def cpp_message_declarations(name_prefix, msg): """ Returns the different possible C++ declarations for a message given the message itself. @param name_prefix: The C++ prefix to be prepended to the name, e.g. "std_msgs::" @type name_prefix: str @param msg: The message type @type msg: str @return: A tuple of 3 different names. cpp_message_decelarations("std_msgs::", "String") returns the tuple ("std_msgs::String_", "std_msgs::String_", "std_msgs::String") @rtype: str """ pkg, basetype = roslib.names.package_resource_name(msg) cpp_name = ' ::%s%s'%(name_prefix, msg) if (pkg): cpp_name = ' ::%s::%s'%(pkg, basetype) return ('%s_'%(cpp_name), '%s_ '%(cpp_name), '%s'%(cpp_name)) def write_begin(s, spec, file): """ Writes the beginning of the header file: a comment saying it's auto-generated and the include guards @param s: The stream to write to @type s: stream @param spec: The spec @type spec: roslib.msgs.MsgSpec @param file: The file this message is being generated for @type file: str """ s.write("/* Auto-generated by genmsg_cpp for file %s */\n"%(file)) s.write('#ifndef %s_MESSAGE_%s_H\n'%(spec.package.upper(), spec.short_name.upper())) s.write('#define %s_MESSAGE_%s_H\n'%(spec.package.upper(), spec.short_name.upper())) def write_end(s, spec): """ Writes the end of the header file: the ending of the include guards @param s: The stream to write to @type s: stream @param spec: The spec @type spec: roslib.msgs.MsgSpec """ s.write('#endif // %s_MESSAGE_%s_H\n'%(spec.package.upper(), spec.short_name.upper())) def write_generic_includes(s): """ Writes the includes that all messages need @param s: The stream to write to @type s: stream """ s.write('#include \n') s.write('#include \n') s.write('#include \n') s.write('#include \n') s.write('#include "ros/serialization.h"\n') s.write('#include "ros/builtin_message_traits.h"\n') s.write('#include "ros/message_operations.h"\n') s.write('#include "ros/time.h"\n\n') s.write('#include "ros/macros.h"\n\n') s.write('#include "ros/assert.h"\n\n') def write_includes(s, spec): """ Writes the message-specific includes @param s: The stream to write to @type s: stream @param spec: The message spec to iterate over @type spec: roslib.msgs.MsgSpec """ for field in spec.parsed_fields(): if (not field.is_builtin): if (field.is_header): s.write('#include "std_msgs/Header.h"\n') else: (pkg, name) = roslib.names.package_resource_name(field.base_type) pkg = pkg or spec.package # convert '' to package s.write('#include "%s/%s.h"\n'%(pkg, name)) s.write('\n') def write_struct(s, spec, cpp_name_prefix, extra_deprecated_traits = {}): """ Writes the entire message struct: declaration, constructors, members, constants and (deprecated) member functions @param s: The stream to write to @type s: stream @param spec: The message spec @type spec: roslib.msgs.MsgSpec @param cpp_name_prefix: The C++ prefix to use when referring to the message, e.g. "std_msgs::" @type cpp_name_prefix: str """ msg = spec.short_name s.write('template \n') s.write('struct %s_ {\n'%(msg)) s.write(' typedef %s_ Type;\n\n'%(msg)) write_constructors(s, spec, cpp_name_prefix) write_members(s, spec) write_constant_declarations(s, spec) #rospack = RosPack() #gendeps_dict = roslib.gentools.get_dependencies(spec, spec.package, compute_files=False, rospack=rospack) #md5sum = roslib.gentools.compute_md5(gendeps_dict, rospack=rospack) #full_text = compute_full_text_escaped(gendeps_dict) # write_deprecated_member_functions(s, spec, dict(list({'MD5Sum': md5sum, 'DataType': '%s/%s'%(spec.package, spec.short_name), 'MessageDefinition': full_text}.items()) + list(extra_deprecated_traits.items()))) (cpp_msg_unqualified, cpp_msg_with_alloc, cpp_msg_base) = cpp_message_declarations(cpp_name_prefix, msg) s.write(' typedef boost::shared_ptr<%s> Ptr;\n'%(cpp_msg_with_alloc)) s.write(' typedef boost::shared_ptr<%s const> ConstPtr;\n'%(cpp_msg_with_alloc)) s.write('}; // struct %s\n'%(msg)) s.write('typedef %s_ > %s;\n\n'%(cpp_msg_base, msg)) s.write('typedef boost::shared_ptr<%s> %sPtr;\n'%(cpp_msg_base, msg)) s.write('typedef boost::shared_ptr<%s const> %sConstPtr;\n\n'%(cpp_msg_base, msg)) def default_value(type): """ Returns the value to initialize a message member with. 0 for integer types, 0.0 for floating point, false for bool, empty string for everything else @param type: The type @type type: str """ if type in ['byte', 'int8', 'int16', 'int32', 'int64', 'char', 'uint8', 'uint16', 'uint32', 'uint64']: return '0' elif type in ['float32', 'float64']: return '0.0' elif type == 'bool': return 'false' return "" def takes_allocator(type): """ Returns whether or not a type can take an allocator in its constructor. False for all builtin types except string. True for all others. @param type: The type @type: str """ return not type in ['byte', 'int8', 'int16', 'int32', 'int64', 'char', 'uint8', 'uint16', 'uint32', 'uint64', 'float32', 'float64', 'bool', 'time', 'duration'] def write_initializer_list(s, spec, container_gets_allocator): """ Writes the initializer list for a constructor @param s: The stream to write to @type s: stream @param spec: The message spec @type spec: roslib.msgs.MsgSpec @param container_gets_allocator: Whether or not a container type (whether it's another message, a vector, array or string) should have the allocator passed to its constructor. Assumes the allocator is named _alloc. @type container_gets_allocator: bool """ i = 0 for field in spec.parsed_fields(): if (i == 0): s.write(' : ') else: s.write(' , ') val = default_value(field.base_type) use_alloc = takes_allocator(field.base_type) if (field.is_array): if (field.array_len is None and container_gets_allocator): s.write('%s(_alloc)\n'%(field.name)) else: s.write('%s()\n'%(field.name)) else: if (container_gets_allocator and use_alloc): s.write('%s(_alloc)\n'%(field.name)) else: s.write('%s(%s)\n'%(field.name, val)) i = i + 1 def write_fixed_length_assigns(s, spec, container_gets_allocator, cpp_name_prefix): """ Initialize any fixed-length arrays @param s: The stream to write to @type s: stream @param spec: The message spec @type spec: roslib.msgs.MsgSpec @param container_gets_allocator: Whether or not a container type (whether it's another message, a vector, array or string) should have the allocator passed to its constructor. Assumes the allocator is named _alloc. @type container_gets_allocator: bool @param cpp_name_prefix: The C++ prefix to use when referring to the message, e.g. "std_msgs::" @type cpp_name_prefix: str """ # Assign all fixed-length arrays their default values for field in spec.parsed_fields(): if (not field.is_array or field.array_len is None): continue val = default_value(field.base_type) if (container_gets_allocator and takes_allocator(field.base_type)): # String is a special case, as it is the only builtin type that takes an allocator if (field.base_type == "string"): string_cpp = msg_type_to_cpp("string") s.write(' %s.assign(%s(_alloc));\n'%(field.name, string_cpp)) else: (cpp_msg_unqualified, cpp_msg_with_alloc, _) = cpp_message_declarations(cpp_name_prefix, field.base_type) s.write(' %s.assign(%s(_alloc));\n'%(field.name, cpp_msg_with_alloc)) elif (len(val) > 0): s.write(' %s.assign(%s);\n'%(field.name, val)) def write_constructors(s, spec, cpp_name_prefix): """ Writes any necessary constructors for the message @param s: The stream to write to @type s: stream @param spec: The message spec @type spec: roslib.msgs.MsgSpec @param cpp_name_prefix: The C++ prefix to use when referring to the message, e.g. "std_msgs::" @type cpp_name_prefix: str """ msg = spec.short_name # Default constructor s.write(' %s_()\n'%(msg)) write_initializer_list(s, spec, False) s.write(' {\n') write_fixed_length_assigns(s, spec, False, cpp_name_prefix) s.write(' }\n\n') # Constructor that takes an allocator constructor s.write(' %s_(const ContainerAllocator& _alloc)\n'%(msg)) write_initializer_list(s, spec, True) s.write(' {\n') write_fixed_length_assigns(s, spec, True, cpp_name_prefix) s.write(' }\n\n') def write_member(s, field): """ Writes a single member's declaration and type typedef @param s: The stream to write to @type s: stream @param type: The member type @type type: str @param name: The name of the member @type name: str """ cpp_type = msg_type_to_cpp(field.type) s.write(' typedef %s _%s_type;\n'%(cpp_type, field.name)) s.write(' %s %s;\n\n'%(cpp_type, field.name)) def write_members(s, spec): """ Write all the member declarations @param s: The stream to write to @type s: stream @param spec: The message spec @type spec: roslib.msgs.MsgSpec """ [write_member(s, field) for field in spec.parsed_fields()] def escape_string(str): str = str.replace('\\', '\\\\') str = str.replace('"', '\\"') return str def write_constant_declaration(s, constant): """ Write a constant value as a static member @param s: The stream to write to @type s: stream @param constant: The constant @type constant: roslib.msgs.Constant """ # integral types get their declarations as enums to allow use at compile time if (constant.type in ['byte', 'int8', 'int16', 'int32', 'int64', 'char', 'uint8', 'uint16', 'uint32', 'uint64']): s.write(' enum { %s = %s };\n'%(constant.name, constant.val)) else: s.write(' static const %s %s;\n'%(msg_type_to_cpp(constant.type), constant.name)) def write_constant_declarations(s, spec): """ Write all the constants from a spec as static members @param s: The stream to write to @type s: stream @param spec: The message spec @type spec: roslib.msgs.MsgSpec """ [write_constant_declaration(s, constant) for constant in spec.constants] s.write('\n') def write_constant_definition(s, spec, constant): """ Write a constant value as a static member @param s: The stream to write to @type s: stream @param constant: The constant @type constant: roslib.msgs.Constant """ # integral types do not need a definition, since they've been defined where they are declared if (constant.type not in ['byte', 'int8', 'int16', 'int32', 'int64', 'char', 'uint8', 'uint16', 'uint32', 'uint64', 'string']): s.write('template const %s %s_::%s = %s;\n'%(msg_type_to_cpp(constant.type), spec.short_name, constant.name, constant.val)) elif (constant.type == 'string'): s.write('template const %s %s_::%s = "%s";\n'%(msg_type_to_cpp(constant.type), spec.short_name, constant.name, escape_string(constant.val))) def write_constant_definitions(s, spec): """ Write all the constants from a spec as static members @param s: The stream to write to @type s: stream @param spec: The message spec @type spec: roslib.msgs.MsgSpec """ [write_constant_definition(s, spec, constant) for constant in spec.constants] s.write('\n') def is_fixed_length(spec): """ Returns whether or not the message is fixed-length @param spec: The message spec @type spec: roslib.msgs.MsgSpec @param package: The package of the @type package: str """ types = [] for field in spec.parsed_fields(): if (field.is_array and field.array_len is None): return False if (field.base_type == 'string'): return False if (not field.is_builtin): types.append(field.base_type) types = set(types) for type in types: type = roslib.msgs.resolve_type(type, spec.package) (_, new_spec) = roslib.msgs.load_by_type(type, spec.package) if (not is_fixed_length(new_spec)): return False return True def write_deprecated_member_functions(s, spec, traits): """ Writes the deprecated member functions for backwards compatibility """ for field in spec.parsed_fields(): if (field.is_array): s.write(' ROS_DEPRECATED uint32_t get_%s_size() const { return (uint32_t)%s.size(); }\n'%(field.name, field.name)) if (field.array_len is None): s.write(' ROS_DEPRECATED void set_%s_size(uint32_t size) { %s.resize((size_t)size); }\n'%(field.name, field.name)) s.write(' ROS_DEPRECATED void get_%s_vec(%s& vec) const { vec = this->%s; }\n'%(field.name, msg_type_to_cpp(field.type), field.name)) s.write(' ROS_DEPRECATED void set_%s_vec(const %s& vec) { this->%s = vec; }\n'%(field.name, msg_type_to_cpp(field.type), field.name)) for k, v in traits.items(): s.write('private:\n') s.write(' static const char* __s_get%s_() { return "%s"; }\n'%(k, v)) s.write('public:\n') s.write(' ROS_DEPRECATED static const std::string __s_get%s() { return __s_get%s_(); }\n\n'%(k, k)) s.write(' ROS_DEPRECATED const std::string __get%s() const { return __s_get%s_(); }\n\n'%(k, k)) s.write(' ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const\n {\n') s.write(' ros::serialization::OStream stream(write_ptr, 1000000000);\n') for field in spec.parsed_fields(): s.write(' ros::serialization::serialize(stream, %s);\n'%(field.name)) s.write(' return stream.getData();\n }\n\n') s.write(' ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)\n {\n') s.write(' ros::serialization::IStream stream(read_ptr, 1000000000);\n'); for field in spec.parsed_fields(): s.write(' ros::serialization::deserialize(stream, %s);\n'%(field.name)) s.write(' return stream.getData();\n }\n\n') s.write(' ROS_DEPRECATED virtual uint32_t serializationLength() const\n {\n') s.write(' uint32_t size = 0;\n'); for field in spec.parsed_fields(): s.write(' size += ros::serialization::serializationLength(%s);\n'%(field.name)) s.write(' return size;\n }\n\n') def compute_full_text_escaped(gen_deps_dict): """ Same as roslib.gentools.compute_full_text, except that the resulting text is escaped to be safe for C++ double quotes @param get_deps_dict: dictionary returned by get_dependencies call @type get_deps_dict: dict @return: concatenated text for msg/srv file and embedded msg/srv types. Text will be escaped for double quotes @rtype: str """ definition = roslib.gentools.compute_full_text(gen_deps_dict) lines = definition.split('\n') s = StringIO() for line in lines: line = escape_string(line) s.write('%s\\n\\\n'%(line)) val = s.getvalue() s.close() return val def is_hex_string(str): for c in str: if c not in '0123456789abcdefABCDEF': return False return True def write_trait_char_class(s, class_name, cpp_msg_with_alloc, value, write_static_hex_value = False): """ Writes a class trait for traits which have static value() members that return const char* e.g. write_trait_char_class(s, "MD5Sum", "std_msgs::String_", "hello") yields: template struct MD5Sum > { static const char* value() { return "hello"; } static const char* value(const std_msgs::String_&) { return value(); } }; @param s: The stream to write to @type s: stream @param class_name: The name of the trait class to write @type class_name: str @param cpp_msg_with_alloc: The C++ declaration of the message, including the allocator template @type cpp_msg_with_alloc: str @param value: The value to return in the string @type value: str @param write_static_hex_value: Whether or not to write a set of compile-time-checkable static values. Useful for, for example, MD5Sum. Writes static const uint64_t static_value1... static_valueN @type write_static_hex_value: bool @raise ValueError if write_static_hex_value is True but value contains characters invalid in a hex value """ s.write('template\nstruct %s<%s> {\n'%(class_name, cpp_msg_with_alloc)) s.write(' static const char* value() \n {\n return "%s";\n }\n\n'%(value)) s.write(' static const char* value(const %s&) { return value(); } \n'%(cpp_msg_with_alloc)) if (write_static_hex_value): if (not is_hex_string(value)): raise ValueError('%s is not a hex value'%(value)) iter_count = len(value) / 16 for i in range(0, int(iter_count)): start = i*16 s.write(' static const uint64_t static_value%s = 0x%sULL;\n'%((i+1), value[start:start+16])) s.write('};\n\n') def write_trait_true_class(s, class_name, cpp_msg_with_alloc): """ Writes a true/false trait class @param s: stream to write to @type s: stream @param class_name: Name of the trait class @type class_name: str @param cpp_msg_with_alloc: The C++ declaration of the message, including the allocator template @type cpp_msg_with_alloc: str """ s.write('template struct %s<%s> : public TrueType {};\n'%(class_name, cpp_msg_with_alloc)) def write_traits(s, spec, cpp_name_prefix, datatype = None, rospack=None): """ Writes all the traits classes for a message @param s: The stream to write to @type s: stream @param spec: The message spec @type spec: roslib.msgs.MsgSpec @param cpp_name_prefix: The C++ prefix to prepend to a message to refer to it (e.g. "std_msgs::") @type cpp_name_prefix: str @param datatype: The string to write as the datatype of the message. If None (default), pkg/msg is used. @type datatype: str """ # generate dependencies dictionary gendeps_dict = roslib.gentools.get_dependencies(spec, spec.package, compute_files=False, rospack=rospack) md5sum = roslib.gentools.compute_md5(gendeps_dict, rospack=rospack) full_text = compute_full_text_escaped(gendeps_dict) if (datatype is None): datatype = '%s'%(spec.full_name) (cpp_msg_unqualified, cpp_msg_with_alloc, _) = cpp_message_declarations(cpp_name_prefix, spec.short_name) s.write('namespace ros\n{\n') s.write('namespace message_traits\n{\n') write_trait_true_class(s, 'IsMessage', cpp_msg_with_alloc) write_trait_true_class(s, 'IsMessage', cpp_msg_with_alloc + " const") write_trait_char_class(s, 'MD5Sum', cpp_msg_with_alloc, md5sum, True) write_trait_char_class(s, 'DataType', cpp_msg_with_alloc, datatype) write_trait_char_class(s, 'Definition', cpp_msg_with_alloc, full_text) if (spec.has_header()): write_trait_true_class(s, 'HasHeader', cpp_msg_with_alloc) write_trait_true_class(s, 'HasHeader', ' const' + cpp_msg_with_alloc) if (is_fixed_length(spec)): write_trait_true_class(s, 'IsFixedSize', cpp_msg_with_alloc) s.write('} // namespace message_traits\n') s.write('} // namespace ros\n\n') def write_operations(s, spec, cpp_name_prefix): (cpp_msg_unqualified, cpp_msg_with_alloc, _) = cpp_message_declarations(cpp_name_prefix, spec.short_name) s.write('namespace ros\n{\n') s.write('namespace message_operations\n{\n') # Write the Printer operation s.write('\ntemplate\nstruct Printer<%s>\n{\n'%(cpp_msg_with_alloc)) s.write(' template static void stream(Stream& s, const std::string& indent, const %s& v) \n {\n'%cpp_msg_with_alloc) for field in spec.parsed_fields(): cpp_type = msg_type_to_cpp(field.base_type) if (field.is_array): s.write(' s << indent << "%s[]" << std::endl;\n'%(field.name)) s.write(' for (size_t i = 0; i < v.%s.size(); ++i)\n {\n'%(field.name)) s.write(' s << indent << " %s[" << i << "]: ";\n'%field.name) indent_increment = ' ' if (not field.is_builtin): s.write(' s << std::endl;\n') s.write(' s << indent;\n') indent_increment = ' '; s.write(' Printer<%s>::stream(s, indent + "%s", v.%s[i]);\n'%(cpp_type, indent_increment, field.name)) s.write(' }\n') else: s.write(' s << indent << "%s: ";\n'%field.name) indent_increment = ' ' if (not field.is_builtin or field.is_array): s.write('s << std::endl;\n') s.write(' Printer<%s>::stream(s, indent + "%s", v.%s);\n'%(cpp_type, indent_increment, field.name)) s.write(' }\n') s.write('};\n\n') s.write('\n') s.write('} // namespace message_operations\n') s.write('} // namespace ros\n\n') def write_serialization(s, spec, cpp_name_prefix): """ Writes the Serializer class for a message @param s: Stream to write to @type s: stream @param spec: The message spec @type spec: roslib.msgs.MsgSpec @param cpp_name_prefix: The C++ prefix to prepend to a message to refer to it (e.g. "std_msgs::") @type cpp_name_prefix: str """ (cpp_msg_unqualified, cpp_msg_with_alloc, _) = cpp_message_declarations(cpp_name_prefix, spec.short_name) s.write('namespace ros\n{\n') s.write('namespace serialization\n{\n\n') s.write('template struct Serializer<%s>\n{\n'%(cpp_msg_with_alloc)) s.write(' template inline static void allInOne(Stream& stream, T m)\n {\n') for field in spec.parsed_fields(): s.write(' stream.next(m.%s);\n'%(field.name)) s.write(' }\n\n') s.write(' ROS_DECLARE_ALLINONE_SERIALIZER;\n') s.write('}; // struct %s_\n'%(spec.short_name)) s.write('} // namespace serialization\n') s.write('} // namespace ros\n\n') def write_ostream_operator(s, spec, cpp_name_prefix): (cpp_msg_unqualified, cpp_msg_with_alloc, _) = cpp_message_declarations(cpp_name_prefix, spec.short_name) s.write('template\nstd::ostream& operator<<(std::ostream& s, const %s& v)\n{\n'%(cpp_msg_with_alloc)) s.write(' ros::message_operations::Printer<%s>::stream(s, "", v);\n return s;}\n\n'%(cpp_msg_with_alloc)) def generate(msg_path): """ Generate a message @param msg_path: The path to the .msg file @type msg_path: str """ (package_dir, package) = roslib.packages.get_dir_pkg(msg_path) (_, spec) = roslib.msgs.load_from_file(msg_path, package) s = StringIO() write_begin(s, spec, msg_path) write_generic_includes(s) write_includes(s, spec) cpp_prefix = '%s::'%(package) s.write('namespace %s\n{\n'%(package)) write_struct(s, spec, cpp_prefix) write_constant_definitions(s, spec) write_ostream_operator(s, spec, cpp_prefix) s.write('} // namespace %s\n\n'%(package)) rospack = RosPack() write_traits(s, spec, cpp_prefix, rospack=rospack) write_serialization(s, spec, cpp_prefix) write_operations(s, spec, cpp_prefix) # HACK HACK HACK. The moving of roslib/Header causes many problems. We end up having to make roslib/Header act exactly # like std_msgs/Header (as in, constructor that takes it, as well as operator std_msgs::Header()), and it needs to be # available wherever std_msgs/Header.h has been included if (package == "std_msgs" and spec.short_name == "Header"): s.write("#define STD_MSGS_INCLUDING_HEADER_DEPRECATED_DEF 1\n") s.write("#include \n") s.write("#undef STD_MSGS_INCLUDING_HEADER_DEPRECATED_DEF\n\n") write_end(s, spec) output_dir = '%s/msg_gen/cpp/include/%s'%(package_dir, package) if (not os.path.exists(output_dir)): # if we're being run concurrently, the above test can report false but os.makedirs can still fail if # another copy just created the directory try: os.makedirs(output_dir) except OSError as e: pass f = open('%s/%s.h'%(output_dir, spec.short_name), 'w') f.write(s.getvalue() + "\n") s.close() def generate_messages(argv): for arg in argv[1:]: generate(arg) if __name__ == "__main__": roslib.msgs.set_verbose(False) generate_messages(sys.argv)