translator.py

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#! /usr/bin/env python
# -*- coding: utf-8 -*-
#     _____
#    /  _  \
#   / _/ \  \
#  / / \_/   \
# /  \_/  _   \  ___  _    ___   ___   ____   ____   ___   _____  _   _
# \  / \_/ \  / /  _\| |  | __| / _ \ | ┌┐ \ | ┌┐ \ / _ \ |_   _|| | | |
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#            ROBOTICS™
#
#
#  Copyright © 2012 Clearpath Robotics, Inc. 
#  All Rights Reserved
#  
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#     * Redistributions of source code must retain the above copyright
#       notice, this list of conditions and the following disclaimer.
#     * Redistributions in binary form must reproduce the above copyright
#       notice, this list of conditions and the following disclaimer in the
#       documentation and/or other materials provided with the distribution.
#     * Neither the name of Clearpath Robotics, Inc. nor the
#       names of its contributors may be used to endorse or promote products
#       derived from this software without specific prior written permission.
# 
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY
# DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
# (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
# ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#
# Please send comments, questions, or patches to skynet@clearpathrobotics.com
#

import genpy.message, genpy.base
import roslib.msgs

import rospy
import struct
from itertools import izip
from cStringIO import StringIO


class EndOfBuffer(BaseException):
  pass


class TranslatorError(ValueError):
  pass


class Handler(object):
  def field(self, msg):
    return getattr(msg, self.name)

  def preserialize(self, msg):
    pass


class SubMessageHandler(Handler):
  def __init__(self, field):
    self.name = field.name
    self.msg_cls = genpy.message.get_message_class(field.type)

  def deserialize(self, buff, msg):
    self.field(msg).translator().deserialize(buff)

  def serialize(self, buff, msg):
    self.field(msg).translator().serialize(buff)


class FixedFieldsHandler(Handler):
  def __init__(self, fields):
    struct_strs = ['<']
    def pattern(field):
      try:
        return genpy.base.SIMPLE_TYPES_DICT[field.type]
      except KeyError:
        if field.base_type in ['uint8', 'char'] and field.array_len is not None:
          return "%is" % field.array_len
        else:
          raise ValueError("Field type " + str(field.type) + " not found")
          
    struct_strs.extend([pattern(f) for f in fields])
    self.struct = struct.Struct(''.join(struct_strs))
    self.names = [f.name for f in fields]
    self.size = self.struct.size

  def serialize(self, buff, msg):
    buff.write(self.struct.pack(*[getattr(msg, name) for name in self.names])) 

  def deserialize(self, buff, msg):
    st = buff.read(self.struct.size)
    if st == '': raise EndOfBuffer()
    values = self.struct.unpack(st) 
    for name, value in izip(self.names, values):
      setattr(msg, name, value)


class SubMessageArrayHandler(Handler):
  struct_uint16 = struct.Struct('<H')
  struct_uint8 = struct.Struct('<B')

  def __init__(self, field):
    self.name = field.name
    self.name_count = "%s_count" % self.name
    self.msg_cls = genpy.message.get_message_class(field.base_type)
    self.submessage_size = self.msg_cls().translator().size

  def deserialize(self, buff, msg):
    if hasattr(msg, self.name_count):
      # Another field specifies number of array items to deserialize.
      length = getattr(msg, self.name_count) * self.submessage_size 
      data = StringIO(buff.read(length))
    else:
      # Consume as much as we can straight from the buffer.
      data = buff

    # Find and empty the array to be populated.
    array = self.field(msg)
    array[:] = []

    try:
      while True:
        submessage = self.msg_cls()
        submessage.translator().deserialize(data)
        array.append(submessage)
    except EndOfBuffer:
      pass

  def serialize(self, buff, msg):
    for submessage in self.field(msg):
      submessage.translator().serialize(buff)

  def preserialize(self, msg):
    if hasattr(msg, self.name_count):
      setattr(msg, self.name_count, len(self.field(msg)))


class VariableStringHandler(Handler):
  struct_bytes = struct.Struct('<H')

  def __init__(self, field):
    self.name = field.name

  def deserialize(self, buff, msg):
    length = self.struct_bytes.unpack(buff.read(self.struct_bytes.size))[0]
    setattr(msg, self.name, str(buff.read(length)))


class Translator:
  def __init__(self, msg_cls):
    self.handlers = []
    self.size = None

    cls_name, spec = roslib.msgs.load_by_type(msg_cls._type)

    fixed_fields = []
    for field in spec.parsed_fields():
      if genpy.base.is_simple(field.base_type) and (field.array_len != None or not field.is_array):
        # Simple types and fixed-length character arrays.
        fixed_fields.append(field)
      else:
        # Before dealing with this non-simple field, add a handler for the fixed fields
        # encountered so far.
        if len(fixed_fields) > 0:
          self.handlers.append(FixedFieldsHandler(fixed_fields))
          fixed_fields = []

        # Handle this other type.
        if field.type == 'string' or (field.base_type == 'uint8' and field.is_array):
          self.handlers.append(VariableStringHandler(field))
        elif field.is_array:
          self.handlers.append(SubMessageArrayHandler(field))
        else:
          self.handlers.append(SubMessageHandler(field))

    if len(fixed_fields) > 0:
      self.handlers.append(FixedFieldsHandler(fixed_fields))

    if len(self.handlers) == 1 and hasattr(self.handlers[0], 'size'):
      self.size = self.handlers[0].size


class TranslatorProxy:
  def __init__(self, translator, msg):
    self.translator = translator
    self.size = translator.size
    self.msg = msg

  def deserialize(self, buff):
    try:
      for handler in self.translator.handlers:
        handler.deserialize(buff, self.msg)
    except struct.error as e:
      raise TranslatorError(e)

  def serialize(self, buff):
    #rospy.loginfo(str(self.msg))
    try:
      for handler in self.translator.handlers:
        handler.serialize(buff, self.msg)
    except struct.error as e:
      raise TranslatorError(e)

  def preserialize(self):
    for handler in self.translator.handlers:
      handler.preserialize(self.msg)


def translator(self):
  if not hasattr(self.__class__, "_translator"):
    self.__class__._translator = Translator(self.__class__)
  return TranslatorProxy(self.__class__._translator, self)

genpy.message.Message.translator = translator