genaction.py
Go to the documentation of this file.
00001 #! /usr/bin/env python
00002 # Copyright (c) 2009, Willow Garage, Inc.
00003 # All rights reserved.
00004 # 
00005 # Redistribution and use in source and binary forms, with or without
00006 # modification, are permitted provided that the following conditions are met:
00007 # 
00008 #     * Redistributions of source code must retain the above copyright
00009 #       notice, this list of conditions and the following disclaimer.
00010 #     * Redistributions in binary form must reproduce the above copyright
00011 #       notice, this list of conditions and the following disclaimer in the
00012 #       documentation and/or other materials provided with the distribution.
00013 #     * Neither the name of the Willow Garage, Inc. nor the names of its
00014 #       contributors may be used to endorse or promote products derived from
00015 #       this software without specific prior written permission.
00016 # 
00017 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018 # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019 # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020 # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021 # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022 # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023 # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024 # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027 # POSSIBILITY OF SUCH DAMAGE.
00028 
00029 # Author: Stuart Glaser
00030 
00031 import sys
00032 import cStringIO
00033 import re
00034 import os, os.path
00035 import errno
00036 from optparse import OptionParser
00037 
00038 IODELIM   = '---'
00039 AUTOGEN="# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n"
00040 
00041 class ActionSpecException(Exception): pass
00042 
00043 def parse_action_spec(text, package_context = ''):
00044     pieces = [cStringIO.StringIO()]
00045     for l in text.split('\n'):
00046         if l.startswith(IODELIM):
00047             pieces.append(cStringIO.StringIO())
00048         else:
00049             pieces[-1].write(l + '\n')
00050     return [p.getvalue() for p in pieces]
00051 
00052 def write_file(filename, text):
00053     f = open(filename, 'w')
00054     f.write(text)
00055     f.close()
00056 
00057 def main():
00058 
00059     parser = OptionParser("Actionlib generator")
00060     parser.add_option('-o', dest='output_dir',
00061                       help='output directory')
00062 
00063     (options, args) = parser.parse_args(sys.argv)
00064 
00065     pkg = os.path.abspath(sys.argv[1])
00066     filename = sys.argv[2]
00067 
00068     output_dir = options.output_dir
00069 
00070     # Try to make the directory, but silently continue if it already exists
00071     try:
00072         os.makedirs(output_dir)
00073     except OSError, e:
00074         if e.errno == errno.EEXIST:
00075             pass
00076         else:
00077             raise
00078 
00079     action_file = args[1]
00080     if not action_file.endswith('.action'):
00081         print "The file specified has the wrong extension. It must end in .action"
00082     else:
00083         filename = action_file
00084 
00085         f = open(filename)
00086         action_spec = f.read()
00087         f.close()
00088 
00089         name = os.path.basename(filename)[:-7]
00090         print "Generating for action %s" % name
00091 
00092         pieces = parse_action_spec(action_spec)
00093         if len(pieces) != 3:
00094             raise ActionSpecException("%s: wrong number of pieces, %d"%(filename,len(pieces)))
00095         goal, result, feedback = pieces
00096 
00097         action_msg = AUTOGEN + """
00098 %sActionGoal action_goal
00099 %sActionResult action_result
00100 %sActionFeedback action_feedback
00101 """ % (name, name, name)
00102 
00103         goal_msg = AUTOGEN + goal
00104         action_goal_msg = AUTOGEN + """
00105 Header header
00106 actionlib_msgs/GoalID goal_id
00107 %sGoal goal
00108 """ % name
00109 
00110         result_msg = AUTOGEN + result
00111         action_result_msg = AUTOGEN + """
00112 Header header
00113 actionlib_msgs/GoalStatus status
00114 %sResult result
00115 """ % name
00116 
00117         feedback_msg = AUTOGEN + feedback
00118         action_feedback_msg = AUTOGEN + """
00119 Header header
00120 actionlib_msgs/GoalStatus status
00121 %sFeedback feedback
00122 """ % name
00123 
00124         write_file(os.path.join(output_dir, "%sAction.msg"%name), action_msg)
00125         write_file(os.path.join(output_dir, "%sGoal.msg"%name), goal_msg)
00126         write_file(os.path.join(output_dir, "%sActionGoal.msg"%name), action_goal_msg)
00127         write_file(os.path.join(output_dir, "%sResult.msg"%name), result_msg)
00128         write_file(os.path.join(output_dir, "%sActionResult.msg"%name), action_result_msg)
00129         write_file(os.path.join(output_dir, "%sFeedback.msg"%name), feedback_msg)
00130         write_file(os.path.join(output_dir, "%sActionFeedback.msg"%name), action_feedback_msg)
00131 
00132 
00133 if __name__ == '__main__': main()


actionlib_msgs
Author(s): Vijay Pradeep
autogenerated on Sun Oct 5 2014 23:11:20