niryo_libraries.genpy.generator

module documentation

Library for Python message generation.

The structure of the serialization descends several levels of serializers:

msg_generator: generator for an individual msg file

serialize_fn_generator: generator for msg.serialize() - serializer_generator

field-type-specific serializers

raise MsgGenerationException("unknown file extension: %s"%f)

deserialize_fn_generator: generator for msg.deserialize() - serializer_generator

field-type-specific serializers

Class	`Generator`	No class docstring; 0/4 instance variable, 1/3 method documented
Class	`MsgGenerator`	Generate Python message code for all messages in a package.
Class	`Special`	No class docstring; 0/3 instance variable, 2/2 methods documented
Class	`SrvGenerator`	Undocumented
Function	`array_serializer_generator`	Generator for array types.
Function	`complex_serializer_generator`	Generator for serializing complex type.
Function	`compute_constructor`	Compute python constructor expression for specified message type implementation.
Function	`compute_full_text_escaped`	Escape the result of genmsg.compute_full_text.
Function	`compute_import`	Compute python import statement for specified message type implementation.
Function	`compute_outfile_name`	No summary
Function	`compute_pkg_type`	No summary
Function	`compute_post_deserialize`	Compute post-deserialization code for type_, if necessary.
Function	`compute_resource_name`	Convert resource filename to ROS resource name.
Function	`default_value`	Compute default value for field_type.
Function	`deserialize_fn_generator`	Generator for body of deserialize() function.
Function	`flatten`	Flatten the msg spec so that embedded message fields become direct references.
Function	`get_registered_ex`	Wrap unknown types with a MsgGenerationException.
Function	`get_special`	No summary
Function	`is_special`	No summary
Function	`len_serializer_generator`	Generator for array-length serialization (32-bit, little-endian unsigned integer).
Function	`make_python_safe`	Remap field/constant names in spec to avoid collision with Python reserved words.
Function	`msg_generator`	Python code generator for .msg files.
Function	`next_var`	Undocumented
Function	`pop_context`	Pop variable context from context stack.
Function	`push_context`	Push new variable context onto context stack.
Function	`reset_var`	Undocumented
Function	`serialize_fn_generator`	Generator for body of serialize() function.
Function	`serializer_generator`	Generator that yields un-indented python code for (de)serializing MsgSpec.
Function	`simple_serializer_generator`	Generator (de)serialization code for multiple fields from spec.
Function	`srv_generator`	Undocumented
Function	`string_serializer_generator`	Generator for string types.
Constant	`INDENT`	Undocumented
Function	`_module_name`	No summary
Function	`_remap_reserved`	Map field_name to a python-safe representation, if necessary.
Constant	`_SPECIAL_TYPES`	Undocumented
Variable	`_context_stack`	Undocumented
Variable	`_counter`	Undocumented
Variable	`_serial_context`	Undocumented

def array_serializer_generator(msg_context, package, type_, name, serialize, is_numpy): ¶

Generator for array types.

Raises
`Unknown exception`	`MsgGenerationException` If array spec is invalid

def complex_serializer_generator(msg_context, package, type_, name, serialize, is_numpy): ¶

Generator for serializing complex type.

Parameters
msg_context	Undocumented
package	Undocumented
type_	Undocumented
name	Undocumented
serialize	if True, generate serialization code. Otherwise, deserialization code. `bool`
is_numpy	if True, generate serializer code for numpy datatypes instead of Python lists, `bool`
Raises
`Unknown exception`	MsgGenerationException If type is not a valid

def compute_constructor(msg_context, package, type_): ¶

Compute python constructor expression for specified message type implementation.

Parameters
msg_context	Undocumented
package	Undocumented
type_	message type, `str`
package str	package that type is being imported into. Used to resolve type_ if package is not specified. `str`

def compute_full_text_escaped(msg_context, spec): ¶

Escape the result of genmsg.compute_full_text.

The resulting text is escaped to be safe for Python's triple-quote string quoting.

Parameters
msg_context	Undocumented
spec	Undocumented
get_deps_dict	dictionary returned by load_dependencies call, `dict`
Returns
concatenated text for msg/srv file and embedded msg/srv types. Text will be escaped for triple-quote, `str`

def compute_import(msg_context, package, type_): ¶

Compute python import statement for specified message type implementation.

Parameters
msg_context	Undocumented
package	package that type is being imported into, `str`
type_	message type (package resource name), `str`
Returns
list of import statements (no newline) required to use type_ from package, `[str]`

def compute_outfile_name(outdir, infile_name, ext): ¶

Parameters
outdir	Undocumented
infile_name	Undocumented
ext	Undocumented
outdir str	path to directory that files are generated to
Returns
output file path based on input file name and output directory

def compute_pkg_type(package, type_): ¶

Parameters
package	package that type is being imported into, `str`
type_	Undocumented
type	message type (package resource name), `str`
Returns
python package and type name, `(str, str)`

def compute_post_deserialize(type_, varname): ¶

Compute post-deserialization code for type_, if necessary.

Returns
code to execute post-deserialization (unindented), or None if not necessary. `str`

def compute_resource_name(filename, ext): ¶

Convert resource filename to ROS resource name.

Parameters
filename	Undocumented
ext	Undocumented
filename str	path to .msg/.srv file
Returns
name of ROS resource

def default_value(msg_context, field_type, default_package): ¶

Compute default value for field_type.

Parameters
msg_context	Undocumented
field_type	ROS .msg field type, `str`
default_package	default package, `str`
Returns
default value encoded in Python string representation, `str`

def deserialize_fn_generator(msg_context, spec, is_numpy=False): ¶

Generator for body of deserialize() function.

Parameters
msg_context	Undocumented
spec	Undocumented
is_numpy	if True, generate serializer code for numpy datatypes instead of Python lists, `bool`

def flatten(msg_context, msg): ¶

Flatten the msg spec so that embedded message fields become direct references.

The resulting MsgSpec isn't a true/legal. MsgSpec and should only be used for serializer generation. :param msg: MsgSpec to flatten :returns: flattened MsgSpec message

def get_registered_ex(msg_context, type_): ¶

Wrap unknown types with a MsgGenerationException.

Wrapper for get_registered.

Parameters
msg_context	Undocumented
type_	ROS message type, `str`

def get_special(type_): ¶

Returns
special type handler for type_ or `None`, `Special`

def is_special(type_): ¶

Returns
True` if type_ is a special type (i.e. builtin represented as a class instead of a primitive), ``bool

def len_serializer_generator(var, is_string, serialize): ¶

Generator for array-length serialization (32-bit, little-endian unsigned integer).

Parameters
var	variable name, `str`
is_string	if True, variable is a string type, `bool`
serialize	Undocumented
serialize bool	if True, generate code for serialization. Other, generate code for deserialization, `bool`

def make_python_safe(spec): ¶

Remap field/constant names in spec to avoid collision with Python reserved words.

Parameters
spec	msg spec to map to new, python-safe field names, `MsgSpec`
Returns
python-safe message specification, `MsgSpec`

def msg_generator(msg_context, spec, search_path): ¶

Python code generator for .msg files.

Generates a Python from a genmsg.MsgSpec.

Parameters
msg_context	Undocumented
spec	parsed .msg `genmsg.MsgSpec` instance
search_path	dictionary mapping message namespaces to a directory locations

def next_var(): ¶

Undocumented

def pop_context(): ¶

Pop variable context from context stack.

The context stack manages field-reference context for serialization, e.g. 'self.foo' vs. 'self.bar.foo' vs. 'var.foo'

def push_context(context): ¶

Push new variable context onto context stack.

The context stack manages field-reference context for serialization, e.g. 'self.foo' vs. 'self.bar.foo' vs. 'var.foo'

def reset_var(): ¶

Undocumented

def serialize_fn_generator(msg_context, spec, is_numpy=False): ¶

Generator for body of serialize() function.

Parameters
msg_context	Undocumented
spec	Undocumented
is_numpy	if True, generate serializer code for numpy datatypes instead of Python lists, `bool`

def serializer_generator(msg_context, spec, serialize, is_numpy): ¶

Generator that yields un-indented python code for (de)serializing MsgSpec.

The code this yields is meant to be included in a class method and cannot be used standalone. serialize_fn_generator and deserialize_fn_generator wrap method to provide appropriate class field initializations.

Parameters
msg_context	Undocumented
spec	Undocumented
serialize	if True, yield serialization code. Otherwise, yield deserialization code. `bool`
is_numpy	if True, generate serializer code for numpy datatypes instead of Python lists. `bool`

def simple_serializer_generator(msg_context, spec, start, end, serialize): ¶

Generator (de)serialization code for multiple fields from spec.

Parameters
msg_context	Undocumented
spec	`genmsg.MsgSpec`
start	first field to serialize, `int`
end	last field to serialize, `int`
serialize	Undocumented

def srv_generator(msg_context, spec, search_path): ¶

Undocumented

def string_serializer_generator(package, type_, name, serialize): ¶

Generator for string types.

Similar to arrays, but with more efficient call to struct.pack.

Parameters
package	Undocumented
type_	Undocumented
name	spec field name, `str`
serialize	if `True`, generate code for serialization. Other, generate code for deserialization, `bool`

INDENT: str = ¶

Undocumented

Value

'  '

def _module_name(type_name): ¶

Parameters
type_name	Undocumented
type_name str	Name of message type sans package, e.g. 'String'
Returns
name of python module for auto-generated code

def _remap_reserved(field_name): ¶

Map field_name to a python-safe representation, if necessary.

Parameters
field_name	msg field name, `str`
Returns
remapped name, `str`

_SPECIAL_TYPES = ¶

Undocumented

Value

{genmsg.HEADER: Special('std_msgs.msg._Header.Header()',
                        None,
                        'import std_msgs.msg'),
 genmsg.TIME: Special('genpy.Time()', '%s.canon()', 'import genpy'),
 genmsg.DURATION: Special('genpy.Duration()', '%s.canon()', 'import genpy')}

_context_stack: list = ¶

Undocumented

_counter: int = ¶

Undocumented

_serial_context: str = ¶

Undocumented