Source Code for Module rospy.numpy_msg

 1  # Software License Agreement (BSD License) 
 2  # 
 3  # Copyright (c) 2009, Willow Garage, Inc. 
 4  # All rights reserved. 
 5  # 
 6  # Redistribution and use in source and binary forms, with or without 
 7  # modification, are permitted provided that the following conditions 
 8  # are met: 
 9  # 
10  #  * Redistributions of source code must retain the above copyright 
11  #    notice, this list of conditions and the following disclaimer. 
12  #  * Redistributions in binary form must reproduce the above 
13  #    copyright notice, this list of conditions and the following 
14  #    disclaimer in the documentation and/or other materials provided 
15  #    with the distribution. 
16  #  * Neither the name of Willow Garage, Inc. nor the names of its 
17  #    contributors may be used to endorse or promote products derived 
18  #    from this software without specific prior written permission. 
19  # 
20  # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
21  # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
22  # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 
23  # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 
24  # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 
25  # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 
26  # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 
27  # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 
28  # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 
29  # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 
30  # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 
31  # POSSIBILITY OF SUCH DAMAGE. 
32  # 
33  # Revision $Id: numpy_msg.py 6163 2009-09-17 02:45:57Z kwc $ 
34   
35  """ 
36  Support for using numpy with rospy messages. 
37   
38  For tutorials, see U{http://www.ros.org/wiki/rospy_tutorials/Tutorials/numpy} 
39   
40  Listener example:: 
41      from rospy.numpy_msg import numpy_msg 
42   
43      rospy.init_node('mynode') 
44      rospy.Subscriber("mytopic", numpy_msg(TopicType) 
45   
46  Publisher example:: 
47   
48      from rospy.numpy_msg import numpy_msg 
49      import numpy 
50       
51      pub = rospy.Publisher('mytopic', numpy_msg(TopicType)) 
52      rospy.init_node('mynode') 
53      a = numpy.array([1.0, 2.1, 3.2, 4.3, 5.4, 6.5], dtype=numpy.float32) 
54      pub.publish(a) 
55  """ 
56   
57  import numpy 
58   
59  # TODO: we will need to generate a new type structure with 
60  # little-endian specified and then pass that type structure into the 
61  # *_numpy calls. 
62   
63 -def _serialize_numpy(self, buff): 
64      """ 
65      wrapper for factory-generated class that passes numpy module into serialize 
66      """ 
67      # pass in numpy module reference to prevent import in auto-generated code 
68      return self.serialize_numpy(buff, numpy) 
69   
70 -def _deserialize_numpy(self, str): 
71      """ 
72      wrapper for factory-generated class that passes numpy module into deserialize     
73      """ 
74      # pass in numpy module reference to prevent import in auto-generated code 
75      return self.deserialize_numpy(str, numpy) 
76       
77  ## Use this function to generate message instances using numpy array 
78  ## types for numerical arrays.  
79  ## @msg_type Message class: call this functioning on the message type that you pass 
80  ## into a Publisher or Subscriber call.  
81  ## @returns Message class 
82 -def numpy_msg(msg_type): 
83      classdict = { '__slots__': msg_type.__slots__, '_slot_types': msg_type._slot_types, 
84                    '_md5sum': msg_type._md5sum, '_type': msg_type._type, 
85                    '_has_header': msg_type._has_header, '_full_text': msg_type._full_text, 
86                    'serialize': _serialize_numpy, 'deserialize': _deserialize_numpy, 
87                    'serialize_numpy': msg_type.serialize_numpy, 
88                    'deserialize_numpy': msg_type.deserialize_numpy 
89                    } 
90   
91      # create the numpy message type 
92      msg_type_name = "Numpy_%s"%msg_type._type.replace('/', '__') 
93      return type(msg_type_name,(msg_type,),classdict) 
94