msgs.py

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#!/usr/bin/env python
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import roslib; roslib.load_manifest('rve_interface_gen')
import roslib.msgs
import roslib.packages

import rve_interface_gen
from rve_interface_gen.InterfaceParser import InterfaceParser
from rve_interface_gen.InterfaceLexer import InterfaceLexer
from rve_interface_gen.antlr3 import ANTLRFileStream
from rve_interface_gen.antlr3 import CommonTokenStream

from cStringIO import StringIO

import os
import os.path
import sys

def msg_prefix_from_interface_method(i, m):
    return '%s_%s'%(i.name, m.name)

def get_generated_messages(i):
    msgs = []
    for m in i.methods:
        request_message = '%sRequest'%(msg_prefix_from_interface_method(i, m))
        response_message = '%sResponse'%(msg_prefix_from_interface_method(i, m))
        msgs = msgs + [request_message, response_message]
        
    return msgs

def write_message(i, members, pkg, pkg_path, name):
    output_dir = '%s/msg'%(pkg_path)
    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
         
    f = open('%s/%s.msg'%(output_dir, name), 'w')
    
    s = StringIO()
    for m in members:
        print >> s, '%s %s'%(m[0], m[1])
        
    print >> f, s.getvalue()
    f.close()

def write_method_messages(i, m, pkg, pkg_path):
    request_message = '%sRequest'%(msg_prefix_from_interface_method(i, m))
    response_message = '%sResponse'%(msg_prefix_from_interface_method(i, m))
    write_message(i, m.fields, pkg, pkg_path, request_message)
    write_message(i, m.return_fields, pkg, pkg_path, response_message)

def generate_interface(i, pkg, pkg_path):
    for m in i.methods:
        write_method_messages(i, m, pkg, pkg_path)

def generate(interface_file, pkg, pkg_path):
    parser = load_from_file(interface_file)
    [generate_interface(i, pkg, pkg_path) for i in parser.interfaces]

def load_from_file(interface_file):
    char_stream = ANTLRFileStream(sys.argv[1])
    lexer = InterfaceLexer(char_stream)
    tokens = CommonTokenStream(lexer)
    parser = InterfaceParser(tokens);
    parser.main()
    
    return parser