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gensrv_cpp.py

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#!/usr/bin/env python
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## ROS message source code generation for C++
## 
## Converts ROS .msg files in a package into C++ source code implementations.

from rosidl import log, plog

import genmsg_cpp
 
import sys
import os
import traceback

# roslib.msgs contains the utilities for parsing .msg specifications. It is meant to have no rospy-specific knowledge
import rosidl.srvs
#import roslib.packages
import rosidl.gentools

from cStringIO import StringIO

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.srvs.SrvSpec
    @param file: The file this service is being generated for
    @type file: str 
    """
    s.write("/* Auto-generated by genmsg_cpp for file %s */\n"%(file))
    s.write('#ifndef %s_SERVICE_%s_H\n'%(spec.package.upper(), spec.short_name.upper()))
    s.write('#define %s_SERVICE_%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.srvs.SrvSpec
    """
    s.write('#endif // %s_SERVICE_%s_H\n'%(spec.package.upper(), spec.short_name.upper()))
    
def write_generic_includes(s):
    """
    Writes the includes that all service need
    
    @param s: The stream to write to
    @type s: stream
    """
    s.write('#include "ros/service_traits.h"\n\n')
    
def write_trait_char_class(s, class_name, cpp_msg, value):
    """
    Writes a class trait for traits which have static value() members that return const char*
    
    e.g. write_trait_char_class(s, "MD5Sum", "std_srvs::Empty", "hello") yields:
    template<>
    struct MD5Sum<std_srvs::Empty> 
    {
        static const char* value() { return "hello"; }
        static const char* value(const std_srvs::Empty&) { return value(); }
    };
    
    @param s: The stream to write to
    @type s: stream
    @param class_name: The name of the trait class
    @type class_name: str
    @param cpp_msg: The C++ message declaration, e.g. "std_srvs::Empty"
    @type cpp_msg: str
    @param value: The string value to return from the value() function
    @type value: str
    """
    s.write('template<>\nstruct %s<%s> {\n'%(class_name, cpp_msg))
    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))
    s.write('};\n\n')
    
def write_traits(s, spec, cpp_name_prefix, includepath):
    """
    Write all the service traits for a message
    
    @param s: The stream to write to
    @type s: stream
    @param spec: The service spec
    @type spec: roslib.srvs.SrvSpec
    @param cpp_name_prefix: The C++ prefix to prepend when referencing the service, e.g. "std_srvs::"
    @type cpp_name_prefix: str
    """
    gendeps_dict = rosidl.gentools.get_dependencies(spec, spec.package, includepath)
    md5sum = rosidl.gentools.compute_md5(gendeps_dict, includepath)
    
    s.write('namespace ros\n{\n')
    s.write('namespace service_traits\n{\n')
    
    request_with_allocator = '%s%s_<ContainerAllocator> '%(cpp_name_prefix, spec.request.short_name)
    response_with_allocator = '%s%s_<ContainerAllocator> '%(cpp_name_prefix, spec.response.short_name)
    
    write_trait_char_class(s, 'MD5Sum', '%s%s'%(cpp_name_prefix, spec.short_name), md5sum);
    write_trait_char_class(s, 'DataType', '%s%s'%(cpp_name_prefix, spec.short_name), spec.full_name);
    genmsg_cpp.write_trait_char_class(s, 'MD5Sum', request_with_allocator, md5sum)
    genmsg_cpp.write_trait_char_class(s, 'DataType', request_with_allocator, spec.full_name)
    genmsg_cpp.write_trait_char_class(s, 'MD5Sum', response_with_allocator, md5sum)
    genmsg_cpp.write_trait_char_class(s, 'DataType', response_with_allocator, spec.full_name)
    s.write('} // namespace service_traits\n')
    s.write('} // namespace ros\n\n')

def generate(srv_path, options):
    """
    Generate a service
    
    @param srv_path: the path to the .srv file
    @type srv_path: str
    """
    # (package_dir, package) = roslib.packages.get_dir_pkg(srv_path)
    (_, spec) = rosidl.srvs.load_from_file(srv_path, options.package)
    
    s = StringIO()  
    cpp_prefix = '%s::'%(options.package)
    write_begin(s, spec, srv_path)
    genmsg_cpp.write_generic_includes(s)
    write_generic_includes(s)
    genmsg_cpp.write_includes(s, spec.request)
    s.write('\n')
    genmsg_cpp.write_includes(s, spec.response)
    
    gendeps_dict = rosidl.gentools.get_dependencies(spec, spec.package,
                                                    options.includepath,
                                                    compute_files=False)

    md5sum = rosidl.gentools.compute_md5(gendeps_dict, options.includepath)
    
    s.write('namespace %s\n{\n'%(options.package))
    genmsg_cpp.write_struct(s, spec.request, cpp_prefix, {'ServerMD5Sum': md5sum})
    s.write('\n')
    genmsg_cpp.write_struct(s, spec.response, cpp_prefix, {'ServerMD5Sum': md5sum})
    s.write('struct %s\n{\n'%(spec.short_name))
    s.write('\n')
    s.write('typedef %s Request;\n'%(spec.request.short_name))
    s.write('typedef %s Response;\n'%(spec.response.short_name))
    s.write('Request request;\n')
    s.write('Response response;\n\n')
    s.write('typedef Request RequestType;\n')
    s.write('typedef Response ResponseType;\n')
    s.write('}; // struct %s\n'%(spec.short_name))
    s.write('} // namespace %s\n\n'%(options.package))
    
    request_cpp_name = "Request"
    response_cpp_name = "Response"
    log("options.includepath", str(options.includepath))
    genmsg_cpp.write_traits(s, spec.request, cpp_prefix, options.includepath)
    s.write('\n')
    genmsg_cpp.write_traits(s, spec.response, cpp_prefix, options.includepath)
    genmsg_cpp.write_serialization(s, spec.request, cpp_prefix)
    s.write('\n')
    genmsg_cpp.write_serialization(s, spec.response, cpp_prefix)
    
    write_traits(s, spec, cpp_prefix, options.includepath)
    
    write_end(s, spec)
    
    if 'ROS_BUILD' in os.environ:
        package_dir = os.environ['ROS_BUILD']
    output_dir = os.path.join(options.outdir, options.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, e:
            pass
        
    ofile = os.path.join(output_dir, spec.short_name + ".h")
    f = open(ofile, 'w')
    print "Writing to", ofile  
    print >> f, s.getvalue()
    
    s.close()

def generate_services(argv):
    # print argv
    from optparse import OptionParser
    parser = OptionParser("generates c++ message serialization code")
    parser.add_option("-p", dest='package',
                      help="package name")

    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")
    (options, argv) = parser.parse_args(argv)

    assert len(argv) == 2

    generate(argv[1], options)

if __name__ == "__main__":
    generate_services(sys.argv)
    

---

roscpp
Author(s): Morgan Quigley mquigley@cs.stanford.edu, Josh Faust jfaust@willowgarage.com, Brian Gerkey gerkey@willowgarage.com, Troy Straszheim straszheim@willowgarage.com
autogenerated on Sat Mar 2 13:22:57 2013