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## Common generation tools for Python ROS message and service generators

from __future__ import print_function

import os
import errno  # for smart handling of exceptions for os.makedirs()
import sys
import traceback

import rospkg
import genmsg
import genpy
import genpy.generator
import genpy.generate_initpy
                
def usage(progname):
    print("%(progname)s file(s)"%vars())

def get_package_and_file(argv):
    if not argv[1:]:
        usage(argv[0])

    files = [a for a in argv[1:] if not a.startswith('--')]
    # rospy.cmake only passes in a single file arg, assert this case
    assert len(files) == 1, files

    msg_file = files[0]
    package = rospkg.get_package_name(msg_file)
    return package, msg_file

def get_outdir(package, path, subdir):
    "compute the directory that the .py files are output to"
    outdir = os.path.join(path, 'src', package, subdir)
    if not os.path.exists(outdir):
        try:
            os.makedirs(outdir)
        except Exception as e:
            # It's not a problem if the directory already exists,
            # because this can happen during a parallel build
            if e.errno != errno.EEXIST:
                raise e
    elif not os.path.isdir(outdir): 
        raise IOError("Cannot write to %s: file in the way"%(outdir))
    return outdir

def generate_messages(rospack, package, msg_file, subdir):
    if subdir == 'msg':
        gen = genpy.generator.MsgGenerator()
    else:
        gen = genpy.generator.SrvGenerator()

    path = rospack.get_path(package)
    search_path = {
        package: [os.path.join(path, 'msg')]
        }
    # std_msgs is implicit depend due to Header
    search_path['std_msgs'] = [os.path.join(rospack.get_path('std_msgs'), 'msg')]
    for d in rospack.get_depends(package):
        search_path[d] = [os.path.join(rospack.get_path(d), 'msg')]

    include_args = []
    for d, ipaths in search_path.items():
        for ipath in ipaths:
            include_args.append('-I%s:%s'%(d, ipath))
    outdir = get_outdir(package, path, subdir)
    retcode = gen.generate_messages(package, [msg_file], outdir, search_path)
    return retcode
    
def generate_initpy(rospack, p, subdir):
    path = rospack.get_path(p)
    outdir = get_outdir(p, path, subdir)
    retcode = genpy.generate_initpy.write_modules(outdir)
    parent_initpy = os.path.join(path, 'src', p, '__init__.py')
    if not os.path.exists(parent_initpy):
        with open(parent_initpy, 'w') as f:
            f.write("#autogenerated by ROS python message generators")
    return retcode
    
def genmain(argv, subdir):
    rospack = rospkg.RosPack()
    try:
        gen_initpy = '--initpy' in argv
        no_gen_initpy = '--noinitpy' in argv
        if gen_initpy:
            # #1827

            # new __init__py does not take explicit file args.  just
            # convert to unique package names and compute path.
            files = [f for f in argv[1:] if not f.startswith('--')]
            packages = list(set([rospkg.get_package_name(f) for f in files]))
            retcodes = [generate_initpy(rospack, p, subdir) for p in packages]
            retcodes = [c for c in retcodes if c not in (0, None)]
            if retcodes:
                retcode = retcodes[0]
            else:
                retcode = 0
        else:
            package, msg_file = get_package_and_file(argv)
            retcode = generate_messages(rospack, package, msg_file, subdir)

    except genmsg.InvalidMsgSpec as e:
        sys.stderr.write("ERROR: %s\n"%(str(e)))
        retcode = 1
    except genmsg.MsgGenerationException as e:
        sys.stderr.write("ERROR: %s\n"%(str(e)))
        retcode = 2
    except Exception as e:
        traceback.print_exc()
        sys.stderr.write("ERROR: %s\n"%(str(e)))
        retcode = 3
    sys.exit(retcode or 0)