00001 # Software License Agreement (BSD License) 00002 # 00003 # Copyright (c) 2008, Willow Garage, Inc. 00004 # All rights reserved. 00005 # 00006 # Redistribution and use in source and binary forms, with or without 00007 # modification, are permitted provided that the following conditions 00008 # are met: 00009 # 00010 # * Redistributions of source code must retain the above copyright 00011 # notice, this list of conditions and the following disclaimer. 00012 # * Redistributions in binary form must reproduce the above 00013 # copyright notice, this list of conditions and the following 00014 # disclaimer in the documentation and/or other materials provided 00015 # with the distribution. 00016 # * Neither the name of Willow Garage, Inc. nor the names of its 00017 # contributors may be used to endorse or promote products derived 00018 # from this software without specific prior written permission. 00019 # 00020 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00021 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00022 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00023 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00024 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00025 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00026 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00027 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00028 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00029 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00030 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00031 # POSSIBILITY OF SUCH DAMAGE. 00032 00033 ################################################################################ 00034 # Primitive type handling for ROS builtin types 00035 00036 SIMPLE_TYPES_DICT = { #see python module struct 00037 'int8': 'b', 00038 'uint8': 'B', 00039 # Python 2.6 adds in '?' for C99 _Bool, which appears equivalent to an uint8, 00040 # thus, we use uint8 00041 'bool': 'B', 00042 'int16' : 'h', 00043 'uint16' : 'H', 00044 'int32' : 'i', 00045 'uint32' : 'I', 00046 'int64' : 'q', 00047 'uint64' : 'Q', 00048 'float32': 'f', 00049 'float64': 'd', 00050 # deprecated 00051 'char' : 'B', #unsigned 00052 'byte' : 'b', #signed 00053 } 00054 00055 ## Simple types are primitives with fixed-serialization length 00056 SIMPLE_TYPES = list(SIMPLE_TYPES_DICT.keys()) #py3k 00057 00058 def is_simple(type_): 00059 """ 00060 :returns: ``True`` if type is a 'simple' type, i.e. is of 00061 fixed/known serialization length. This is effectively all primitive 00062 types except for string, ``bool`` 00063 """ 00064 return type_ in SIMPLE_TYPES 00065