| 37 | 37 |
# classes to allow runtime reconfiguration. Documentation of a node's
|
| 38 | 38 |
# parameters is a handy byproduct.
|
| 39 | 39 |
|
| 40 | |
## @todo
|
|
40 |
# @todo
|
| 41 | 41 |
# Need to check types of min max and default
|
| 42 | 42 |
# Need to put sane error on exceptions
|
| 43 | 43 |
|
| 44 | 44 |
from __future__ import print_function
|
| 45 | 45 |
|
|
46 |
import inspect
|
|
47 |
import os
|
|
48 |
import re
|
| 46 | 49 |
from string import Template
|
| 47 | |
import os
|
| 48 | |
import inspect
|
| 49 | |
import string
|
| 50 | 50 |
import sys
|
| 51 | |
import re
|
|
51 |
import textwrap
|
| 52 | 52 |
|
| 53 | 53 |
# LINEDEBUG="#line"
|
| 54 | 54 |
LINEDEBUG = "//#line"
|
|
| 75 | 75 |
raise Exception("The name of field \'%s\' does not follow the ROS naming conventions, see http://wiki.ros.org/ROS/Patterns/Conventions" % name)
|
| 76 | 76 |
|
| 77 | 77 |
|
| 78 | |
class ParameterGenerator:
|
|
78 |
class ParameterGenerator(object):
|
| 79 | 79 |
minval = {
|
| 80 | 80 |
'int': -0x80000000, # 'INT_MIN',
|
| 81 | 81 |
'double': '-std::numeric_limits<double>::infinity()',
|
|
| 97 | 97 |
'bool': False,
|
| 98 | 98 |
}
|
| 99 | 99 |
|
| 100 | |
class Group:
|
|
100 |
class Group(object):
|
| 101 | 101 |
instances = {}
|
| 102 | 102 |
|
| 103 | 103 |
def __init__(self, gen, name, type, state, id, parent):
|
|
| 138 | 138 |
'srcfile': inspect.getsourcefile(inspect.currentframe().f_back.f_code),
|
| 139 | 139 |
'edit_method': edit_method,
|
| 140 | 140 |
}
|
| 141 | |
if type == str_t and (max is not None or min is not None):
|
| 142 | |
raise Exception("Max or min specified for %s, which is of string type" % name)
|
|
141 |
if (paramtype == str_t or paramtype == bool_t) and (max is not None or min is not None):
|
|
142 |
raise Exception(
|
|
143 |
"Max or min specified for %s, which is of '%s' type" % (name, paramtype))
|
| 143 | 144 |
check_name(name)
|
| 144 | 145 |
self.gen.fill_type(newparam)
|
| 145 | 146 |
self.gen.check_type_fill_default(newparam, 'default', self.gen.defval[paramtype])
|
|
| 245 | 246 |
id = 1
|
| 246 | 247 |
self.constants = []
|
| 247 | 248 |
if len(sys.argv) < 5:
|
| 248 | |
msg = """
|
| 249 | |
ahhhh! Unexpected command line syntax!
|
| 250 | |
|
| 251 | |
Are you trying to call a dynamic_reconfigure configuration generation script
|
| 252 | |
directly? When you are using dynamic_reconfigure with python, you don't ever
|
| 253 | |
need to invoke the configuration generator script yourself; it loads
|
| 254 | |
automatically. If you are using dynamic_reconfigure from C++, you need to
|
| 255 | |
add a call to generate_dynamic_reconfigure_options() in your CMakeLists.txt
|
| 256 | |
|
| 257 | |
For an example, see http://wiki.ros.org/dynamic_reconfigure/Tutorials
|
| 258 | |
|
| 259 | |
Have a nice day
|
| 260 | |
"""
|
| 261 | |
print(msg)
|
| 262 | |
sys.exit(1)
|
|
249 |
raise SystemExit(textwrap.dedent("""\
|
|
250 |
ahhhh! Unexpected command line syntax!
|
|
251 |
|
|
252 |
Are you trying to call a dynamic_reconfigure configuration generation script
|
|
253 |
directly? When you are using dynamic_reconfigure with python, you don't ever
|
|
254 |
need to invoke the configuration generator script yourself; it loads
|
|
255 |
automatically. If you are using dynamic_reconfigure from C++, you need to
|
|
256 |
add a call to generate_dynamic_reconfigure_options() in your CMakeLists.txt
|
|
257 |
|
|
258 |
For an example, see http://wiki.ros.org/dynamic_reconfigure/Tutorials
|
|
259 |
|
|
260 |
Have a nice day
|
|
261 |
"""))
|
| 263 | 262 |
self.dynconfpath = sys.argv[1] # FIXME this is awful
|
| 264 | 263 |
self.binary_dir = sys.argv[2]
|
| 265 | 264 |
self.cpp_gen_dir = sys.argv[3]
|
|
| 316 | 315 |
# causes imports of dynamic_reconfigure.msg to fail from at
|
| 317 | 316 |
# least some .cfg files. (Not sure why)
|
| 318 | 317 |
return
|
| 319 | |
except:
|
|
318 |
except Exception:
|
| 320 | 319 |
pass
|
| 321 | 320 |
try:
|
| 322 | 321 |
self.pkgname = pkgname
|
|
| 343 | 342 |
|
| 344 | 343 |
def generatewikidoc(self):
|
| 345 | 344 |
self.mkdirabs(os.path.join(self.binary_dir, "docs"))
|
| 346 | |
f = open(os.path.join(self.binary_dir, "docs", self.msgname + ".wikidoc"), 'w')
|
| 347 | |
print(
|
| 348 | |
"""# Autogenerated param section. Do not hand edit.
|
| 349 | |
param {
|
| 350 | |
group.0 {
|
| 351 | |
name=Dynamically Reconfigurable Parameters
|
| 352 | |
desc=See the [[dynamic_reconfigure]] package for details on dynamically reconfigurable parameters.""", file=f)
|
| 353 | |
i = -1
|
| 354 | |
for param in self.group.get_parameters():
|
| 355 | |
i = i + 1
|
| 356 | |
range = ""
|
| 357 | |
try:
|
| 358 | |
enum = eval(param['edit_method'])['enum']
|
| 359 | |
range = ", ".join(Template("$name ($value): $description").substitute(const) for const in enum)
|
| 360 | |
range = "Possible values are: " + range
|
| 361 | |
except:
|
| 362 | |
if param['type'] == int_t or param['type'] == double_t:
|
| 363 | |
range = Template("Range: $min to $max").substitute(param)
|
| 364 | |
print(Template(
|
| 365 | |
"""$i.name= ~$name
|
| 366 | |
$i.default= $default
|
| 367 | |
$i.type= $type
|
| 368 | |
$i.desc=$description $range"""
|
| 369 | |
).substitute(param, range=range, i=i), file=f)
|
| 370 | |
print("}\n}\n# End of autogenerated section. You may edit below.", file=f)
|
| 371 | |
f.close()
|
| 372 | |
|
| 373 | |
def generateusage(self):
|
| 374 | |
self.mkdirabs("docs")
|
| 375 | |
f = open(os.path.join(self.binary_dir, "docs", self.msgname + "-usage.dox"), 'w')
|
| 376 | |
# print("/**", file=f)
|
| 377 | |
print("\\subsubsection usage Usage", file=f)
|
| 378 | |
print('\\verbatim', file=f)
|
| 379 | |
print(Template('<node name="$nodename" pkg="$pkgname" type="$nodename">').substitute(
|
| 380 | |
pkgname=self.pkgname, nodename=self.nodename), file=f)
|
| 381 | |
for param in self.group.get_parameters():
|
| 382 | |
print(Template(' <param name="$name" type="$type" value="$default" />').substitute(param), file=f)
|
| 383 | |
print('</node>', file=f)
|
| 384 | |
print('\\endverbatim', file=f)
|
| 385 | |
print('', file=f)
|
| 386 | |
# print("*/", file=f)
|
| 387 | |
f.close()
|
|
345 |
with open(os.path.join(self.binary_dir, "docs", self.msgname + ".wikidoc"), 'w') as f:
|
|
346 |
print(textwrap.dedent("""\
|
|
347 |
# Autogenerated param section. Do not hand edit.
|
|
348 |
param {
|
|
349 |
group.0 {
|
|
350 |
name=Dynamically Reconfigurable Parameters
|
|
351 |
desc=See the [[dynamic_reconfigure]] package for details on dynamically reconfigurable parameters."""
|
|
352 |
), file=f)
|
|
353 |
i = -1
|
|
354 |
for param in self.group.get_parameters():
|
|
355 |
i = i + 1
|
|
356 |
range = ""
|
|
357 |
try:
|
|
358 |
enum = eval(param['edit_method'])['enum']
|
|
359 |
range = ", ".join(Template("$name ($value): $description").substitute(const) for const in enum)
|
|
360 |
range = "Possible values are: " + range
|
|
361 |
except Exception:
|
|
362 |
if param['type'] == int_t or param['type'] == double_t:
|
|
363 |
range = Template("Range: $min to $max").substitute(param)
|
|
364 |
print(Template(textwrap.dedent("""\
|
|
365 |
$i.name= ~$name
|
|
366 |
$i.default= $default
|
|
367 |
$i.type= $type
|
|
368 |
$i.desc=$description $range"""
|
|
369 |
)).substitute(param, range=range, i=i), file=f)
|
|
370 |
print("}\n}\n# End of autogenerated section. You may edit below.", file=f)
|
| 388 | 371 |
|
| 389 | 372 |
def generatedoc(self):
|
| 390 | 373 |
self.mkdirabs("docs")
|
| 391 | 374 |
dir_path = os.path.join(self.binary_dir, "docs")
|
| 392 | 375 |
self.mkdirabs(dir_path)
|
| 393 | |
f = open(os.path.join(dir_path, self.msgname + ".dox"), 'w')
|
| 394 | |
# print("/**", file=f)
|
| 395 | |
print("\\subsubsection parameters ROS parameters", file=f)
|
| 396 | |
print("", file=f)
|
| 397 | |
print("Reads and maintains the following parameters on the ROS server", file=f)
|
| 398 | |
print("", file=f)
|
| 399 | |
for param in self.group.get_parameters():
|
| 400 | |
print(Template("- \\b \"~$name\" : \\b [$type] $description min: $min, default: $default, max: $max").substitute(param), file=f)
|
| 401 | |
print("", file=f)
|
| 402 | |
# print("*/", file=f)
|
| 403 | |
f.close()
|
|
376 |
with open(os.path.join(dir_path, self.msgname + ".dox"), 'w') as f:
|
|
377 |
# print("/**", file=f)
|
|
378 |
print("\\subsubsection parameters ROS parameters", file=f)
|
|
379 |
print("", file=f)
|
|
380 |
print("Reads and maintains the following parameters on the ROS server", file=f)
|
|
381 |
print("", file=f)
|
|
382 |
for param in self.group.get_parameters():
|
|
383 |
print(Template("- \\b \"~$name\" : \\b [$type] $description min: $min, default: $default, max: $max").substitute(param), file=f)
|
|
384 |
print("", file=f)
|
|
385 |
# print("*/", file=f)
|
| 404 | 386 |
|
| 405 | 387 |
def generateusage(self):
|
| 406 | 388 |
self.mkdirabs("docs")
|
| 407 | |
f = open(os.path.join(self.binary_dir, "docs", self.msgname + "-usage.dox"), 'w')
|
| 408 | |
# print("/**", file=f)
|
| 409 | |
print("\\subsubsection usage Usage", file=f)
|
| 410 | |
print('\\verbatim', file=f)
|
| 411 | |
print(Template('<node name="$nodename" pkg="$pkgname" type="$nodename">').substitute(
|
| 412 | |
pkgname=self.pkgname, nodename=self.nodename), file=f)
|
| 413 | |
for param in self.group.get_parameters():
|
| 414 | |
print(Template(' <param name="$name" type="$type" value="$default" />').substitute(param), file=f)
|
| 415 | |
print('</node>', file=f)
|
| 416 | |
print('\\endverbatim', file=f)
|
| 417 | |
print("", file=f)
|
| 418 | |
# print("*/", file=f)
|
| 419 | |
f.close()
|
|
389 |
with open(os.path.join(self.binary_dir, "docs", self.msgname + "-usage.dox"), 'w') as f:
|
|
390 |
# print("/**", file=f)
|
|
391 |
print("\\subsubsection usage Usage", file=f)
|
|
392 |
print('\\verbatim', file=f)
|
|
393 |
print(Template('<node name="$nodename" pkg="$pkgname" type="$nodename">').substitute(
|
|
394 |
pkgname=self.pkgname, nodename=self.nodename), file=f)
|
|
395 |
for param in self.group.get_parameters():
|
|
396 |
print(Template(' <param name="$name" type="$type" value="$default" />').substitute(param), file=f)
|
|
397 |
print('</node>', file=f)
|
|
398 |
print('\\endverbatim', file=f)
|
|
399 |
print("", file=f)
|
|
400 |
# print("*/", file=f)
|
| 420 | 401 |
|
| 421 | 402 |
def crepr(self, param, val):
|
| 422 | 403 |
type = param["type"]
|
|
| 469 | 450 |
templatelines = []
|
| 470 | 451 |
templatefilesafe = templatefile.replace('\\', '\\\\') # line directive does backslash expansion.
|
| 471 | 452 |
curline = 1
|
| 472 | |
f = open(templatefile)
|
| 473 | |
for line in f:
|
| 474 | |
curline = curline + 1
|
| 475 | |
templatelines.append(Template(line).safe_substitute(linenum=curline, filename=templatefilesafe))
|
| 476 | |
f.close()
|
|
453 |
with open(templatefile) as f:
|
|
454 |
for line in f:
|
|
455 |
curline = curline + 1
|
|
456 |
templatelines.append(Template(line).safe_substitute(linenum=curline, filename=templatefilesafe))
|
|
457 |
|
| 477 | 458 |
template = ''.join(templatelines)
|
| 478 | 459 |
|
| 479 | 460 |
# Write the configuration manipulator.
|
| 480 | 461 |
self.mkdirabs(self.cpp_gen_dir)
|
| 481 | |
f = open(os.path.join(self.cpp_gen_dir, self.name + "Config.h"), 'w')
|
| 482 | 462 |
paramdescr = []
|
| 483 | 463 |
groups = []
|
| 484 | 464 |
members = []
|
|
| 523 | 503 |
members = '\n'.join(members)
|
| 524 | 504 |
constants = '\n'.join(constants)
|
| 525 | 505 |
groups = '\n'.join(groups)
|
| 526 | |
f.write(Template(template).substitute(
|
| 527 | |
uname=self.name.upper(),
|
| 528 | |
configname=self.name, pkgname=self.pkgname, paramdescr=paramdescr,
|
| 529 | |
members=members, groups=groups, doline=LINEDEBUG, constants=constants))
|
| 530 | |
f.close()
|
|
506 |
with open(os.path.join(self.cpp_gen_dir, self.name + "Config.h"), 'w') as f:
|
|
507 |
f.write(Template(template).substitute(
|
|
508 |
uname=self.name.upper(),
|
|
509 |
configname=self.name, pkgname=self.pkgname, paramdescr=paramdescr,
|
|
510 |
members=members, groups=groups, doline=LINEDEBUG, constants=constants))
|
| 531 | 511 |
print("Wrote header file in " + os.path.join(self.cpp_gen_dir, self.name + "Config.h"))
|
| 532 | 512 |
|
| 533 | 513 |
# def deleteoneobsolete(self, file):
|
|
| 601 | 581 |
def generatepy(self):
|
| 602 | 582 |
# Read the configuration manipulator template and insert line numbers and file name into template.
|
| 603 | 583 |
templatefile = os.path.join(self.dynconfpath, "templates", "ConfigType.py.template")
|
| 604 | |
f = open(templatefile)
|
| 605 | |
template = f.read()
|
| 606 | |
f.close()
|
|
584 |
with open(templatefile) as f:
|
|
585 |
template = f.read()
|
| 607 | 586 |
|
| 608 | 587 |
# Write the configuration manipulator.
|
| 609 | 588 |
self.mkdirabs(os.path.join(self.py_gen_dir, "cfg"))
|
| 610 | |
f = open(os.path.join(self.py_gen_dir, "cfg", self.name + "Config.py"), 'w')
|
| 611 | |
pycfgdata = self.replace_infinity(self.group.to_dict())
|
| 612 | |
f.write(Template(template).substitute(
|
| 613 | |
name=self.name,
|
| 614 | |
pkgname=self.pkgname, pycfgdata=pycfgdata))
|
| 615 | |
for const in self.constants:
|
| 616 | |
f.write(Template("${configname}_${name} = $v\n").substitute(
|
| 617 | |
const, v=repr(const['value']),
|
| 618 | |
configname=self.name))
|
| 619 | |
f.close()
|
| 620 | |
|
| 621 | |
f = open(os.path.join(self.py_gen_dir, "cfg", "__init__.py"), 'a')
|
| 622 | |
f.close()
|
|
589 |
with open(os.path.join(self.py_gen_dir, "cfg", self.name + "Config.py"), 'w') as f:
|
|
590 |
pycfgdata = self.replace_infinity(self.group.to_dict())
|
|
591 |
f.write(Template(template).substitute(
|
|
592 |
name=self.name,
|
|
593 |
pkgname=self.pkgname, pycfgdata=pycfgdata))
|
|
594 |
for const in self.constants:
|
|
595 |
f.write(Template("${configname}_${name} = $v\n").substitute(
|
|
596 |
const, v=repr(const['value']),
|
|
597 |
configname=self.name))
|
|
598 |
|
|
599 |
with open(os.path.join(self.py_gen_dir, "cfg", "__init__.py"), 'a'):
|
|
600 |
pass
|