CassandraTopic_ros.py
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00001 import roslib; roslib.load_manifest("cassandra_ros")
00002 import rospy
00003 import std_msgs.msg
00004 import rosmsg
00005 import genpy
00006 
00007 import pickle
00008 import pycassa
00009 
00010 from CassandraTopic_ import *
00011 
00012 class CassandraTopic_ros(CassandraTopic_):
00013     def __init__(self, MsgClass):        
00014         CassandraTopic_.__init__(MsgClass)
00015     
00016     def getColumnValidationClasses(self):
00017         msg = self.MsgClass()
00018         
00019         spec = rosmsg.get_msg_text(msg._type)
00020         spec = spec.split('\n')
00021         spec.remove("")
00022         spec, _ = self._parseMsg(spec)
00023         
00024         spec = self._translateSpecToCassandra(spec)        
00025         
00026         
00027         
00028         return spec
00029     
00030     def _translateSpecToCassandra(self, spec):
00031         for key in spec.keys():
00032             if spec[key] in ('int8', 'int16', 'int32', 'uint8','uint16', 'uint32'):
00033                 spec[key] = pycassa.INT_TYPE
00034             elif spec[key] in ('int64', 'uint64'):
00035                 spec[key] = pycassa.LONG_TYPE
00036             elif spec[key] in ('float32'):
00037                 spec[key] = pycassa.FLOAT_TYPE
00038             elif spec[key] in ('float64'):
00039                 spec[key] = pycassa.DOUBLE_TYPE
00040             elif spec[key] in ('char', 'string', 'char[]'):
00041                 spec[key] = pycassa.UTF8_TYPE
00042             elif spec[key] in ('time', 'duration'):
00043                 spec[key] = pycassa.DATE_TYPE
00044             elif spec[key] in ('bool'):
00045                 spec[key] = pycassa.BOOLEAN_TYPE
00046             else:
00047                 spec[key] = pycassa.BYTES_TYPE
00048         return spec
00049     
00050     def _parseMsg(self, defs, parent=""):
00051         _dict = {} 
00052         parent += "."
00053         i = 0
00054         while i< len(defs):
00055             
00056             _type, _name = defs[i].replace('  ','').split(" ")
00057             
00058             # last one ...
00059             if len(defs)-1 == i:
00060                 _dict[parent+_name] = _type
00061             elif defs[i].count(" ") == defs[i+1].count(" "):
00062                 _dict[parent+_name] = _type
00063             elif defs[i].count(" ") > defs[i+1].count(" "):
00064                 _dict[parent+_name] = _type
00065                 break
00066             else:
00067                 # its an array
00068                 if _type.endswith("[]"):
00069                     _name += "[]"
00070                 _d, _i = self._parseMsg(defs[i+1:], parent+_name)
00071                 
00072                 i += _i+1
00073                 for key in _d.keys():
00074                     _dict[key] = _d[key]
00075             
00076             i += 1
00077                 
00078         return _dict, i
00079                 
00080     def encode(self, msg):
00081         return self._ros_to_cassandra(msg)
00082     
00083     def decode(self, data):
00084         msg = self.MsgClass()
00085         _dict = self._cassandra_to_dict(data)
00086         msg = self._dict_to_ros(_dict, msg)
00087         return msg
00088     
00089     def _value_to_cassandra(self ,data, parent):
00090 
00091         if type(data) in ( str, int, float, long, bool ):
00092             return { parent : data }
00093         elif isinstance(data, (genpy.rostime.Time, genpy.rostime.Duration)):
00094             return { parent : data.to_time() }#{ parent+'.secs':data.secs, parent+'.nsecs':data.nsecs}
00095         elif type(data) in (list, tuple):
00096             if len(data) == 0:
00097                 return { parent: pickle.dumps(data) }
00098             elif type(data[0]) in ( str, int, float, long, bool ):
00099                 return { parent: pickle.dumps(data) }
00100             else:
00101                 _dict = {}
00102                 for i in range(len(data)):
00103                     res = self._value_to_cassandra(data[i], parent)#+"["+str(i)+"]")
00104                     for key in res.keys():
00105                         _dict[key] = res[key]
00106                 return _dict
00107         elif isinstance(data, rospy.Message):
00108             return self._ros_to_cassandra(data, parent)
00109         else:
00110             raise CassandraTopicException("unknown type: %s"%type(data)) 
00111     
00112     ################################################################################################################    
00113     def _ros_to_cassandra(self, data, parent=""):
00114         if not isinstance(data, rospy.Message):
00115             #raise RosCassandraTranspileException("not a valid rospy Message instance: %s"%data.__class__.__name__)
00116             return self._value_to_cassandra(data, parent)
00117     
00118         _dict = {}
00119     
00120         parent += "."        
00121         
00122         for elem in data.__slots__:
00123             sub_elements = self._value_to_cassandra( getattr(data, elem) , parent+elem)
00124             
00125             if type(sub_elements) == dict:
00126                 for key in sub_elements.keys():
00127                     _dict[key] = sub_elements[key]
00128                 
00129         return _dict
00130     
00131     ################################################################################################################
00132     
00133     def _value_to_dict(self, name, value, _dict):
00134 
00135         # treat as array
00136         if name[0][-1] == ']':
00137             ar = name[0].find('[')
00138             element = int(name[0][ar+1:-1])
00139             name[0] = name[0][:ar]
00140             
00141             # it is already an array
00142             if _dict.has_key(name[0]):
00143                 if len(_dict[name[0]]) == element:
00144                     _dict[name[0]].append(self._value_to_dict(name[1:], value, {}))
00145                 else:
00146                     _dict[name[0]][element] = self._value_to_dict(name[1:], value, _dict[name[0]][element])
00147             else:
00148                 _dict[name[0]] = [self._value_to_dict(name[1:], value, {})]
00149     
00150         elif len(name) == 1:
00151             _dict[name[0]] = value
00152             
00153         else:
00154             if not _dict.has_key(name[0]):
00155                 _dict[name[0]] = self._value_to_dict(name[1:], value, {})
00156             else:
00157                 _dict[name[0]] = self._value_to_dict(name[1:], value, _dict[name[0]])
00158                  
00159         return _dict
00160         
00161     def _cassandra_to_dict(self, data):
00162         _dict = {}
00163         
00164         for key in data.keys():
00165             name = key.split(".")
00166             _dict = self._value_to_dict(name[1:], data[key], _dict)
00167         return _dict
00168     
00169     def _dict_to_value(self, _dict, _slot, _type):
00170         
00171         if isinstance(_slot, (str, int, float, bool)):
00172             return _dict
00173         elif isinstance(_slot, (list, dict, tuple)):
00174             msg = []
00175             
00176             if _type in ('bool[]', 'int8[]', 'uint8[]', 'int16[]', 'uint16[]', 'int32[]', 'uint32[]',
00177                          'int64[]', 'uint64[]', 'float32[]', 'float64[]', 'string[]'):
00178                 msg = pickle.loads(_dict)
00179             else:
00180                 _type = _type.replace("[]","")
00181                 _slot = genpy.message.get_message_class(_type)()
00182                 for elem in _dict:
00183                     msg.append( self._dict_to_ros( elem, _slot) )
00184             return msg
00185         elif isinstance(_slot, (genpy.rostime.Time, genpy.rostime.Duration)):
00186             t = rospy.Time()
00187             t.set(int(_dict.strftime('%s')), _dict.microsecond)
00188             return t
00189         elif isinstance(_slot, rospy.Message):
00190             return self._dict_to_ros(_dict, _slot)
00191         else:
00192             raise RosCassandraTranspileException("unknown type: %s"%type(_slot)) 
00193         
00194     def _dict_to_ros(self, _dict, msg):
00195         
00196         for i in range(len(msg.__slots__)):
00197             _slot = msg.__slots__[i]
00198             _type = msg._slot_types[i]
00199             
00200             setattr(msg, 
00201                     _slot,
00202                     self._dict_to_value( _dict[_slot],
00203                                         getattr(msg, _slot),
00204                                         _type))
00205     
00206         return msg


cassandra_ros
Author(s): André Dietrich, Sebastian Zug
autogenerated on Sun Jan 5 2014 11:10:29