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definition.py
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definition.py
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# Copyright 2018 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from collections import OrderedDict
import pathlib
"""Basic types as defined by the IDL specification."""
BASIC_TYPES = [
'short',
'unsigned short',
'long',
'unsigned long',
'long long',
'unsigned long long',
'float',
'double',
'long double',
'char',
'wchar',
'boolean',
'octet',
'int8',
'uint8',
'int16',
'uint16',
'int32',
'uint32',
'int64',
'uint64',
]
CONSTANT_MODULE_SUFFIX = '_Constants'
SERVICE_REQUEST_MESSAGE_SUFFIX = '_Request'
SERVICE_RESPONSE_MESSAGE_SUFFIX = '_Response'
ACTION_GOAL_SUFFIX = '_Goal'
ACTION_RESULT_SUFFIX = '_Result'
ACTION_FEEDBACK_SUFFIX = '_Feedback'
ACTION_GOAL_SERVICE_SUFFIX = '_SendGoal'
ACTION_RESULT_SERVICE_SUFFIX = '_GetResult'
ACTION_FEEDBACK_MESSAGE_SUFFIX = '_FeedbackMessage'
class AbstractType:
"""The base class for all types."""
__slots__ = ()
def __eq__(self, other):
return type(self) == type(other)
class BaseType(AbstractType):
"""The base class for types which can be used inside nested types."""
__slots__ = ()
class BasicType(BaseType):
"""A basic type according to the IDL specification."""
__slots__ = ('type', )
def __init__(self, typename):
"""
Constructor.
:param str typename: the name of the basic type
"""
super().__init__()
assert typename in BASIC_TYPES
self.type = typename
def __eq__(self, other):
return super().__eq__(other) and self.type == other.type
class NamedType(BaseType):
"""A type identified by the name."""
__slots__ = ('name')
def __init__(self, name):
"""
Constructor.
:param str name: the name
"""
super().__init__()
self.name = name
def __eq__(self, other):
return super().__eq__(other) and self.name == other.name
class NamespacedType(BaseType):
"""A type identified by a name in a namespaced scope."""
__slots__ = ('namespaces', 'name')
def __init__(self, namespaces, name):
"""
Constructor.
:param list[str] namespaces: the names of nested namespaces identifying
a specific scope
:param str name: the name of the type within that scope
"""
super().__init__()
self.namespaces = namespaces
self.name = name
def __eq__(self, other):
return super().__eq__(other) and \
self.namespaces == other.namespaces and self.name == other.name
class BaseString(BaseType):
"""The base class of string types."""
__slots__ = ('maximum_size', )
def __init__(self, maximum_size=None):
"""
Constructor.
:param int maximum_size: the maximum length of the string in
characters, or None if unlimited
"""
self.maximum_size = maximum_size
def __eq__(self, other):
return super().__eq__(other) and \
self.maximum_size == other.maximum_size
class String(BaseString):
"""A 8-bit string type."""
__slots__ = ()
def __init__(self, maximum_size=None):
"""
Constructor.
:param int maximum_size: the maximum length of the string in
characters, or None if unlimited
"""
super().__init__(maximum_size=maximum_size)
class WString(BaseString):
"""A 16-bit string type."""
__slots__ = ()
def __init__(self, maximum_size=None):
"""
Constructor.
:param int maximum_size: the maximum length of the string in
characters, or None if unlimited
"""
super().__init__(maximum_size=maximum_size)
# the following types are templated on a base type
class NestedType(AbstractType):
"""The base class of nested types."""
__slots__ = ('basetype', )
def __init__(self, basetype):
"""
Constructor.
:param BaseType basetype: the base of the nested type
"""
super().__init__()
assert isinstance(basetype, BaseType), basetype
self.basetype = basetype
def __eq__(self, other):
return super().__eq__(other) and self.basetype == other.basetype
class Array(NestedType):
"""An array type with a static size."""
__slots__ = ('size')
def __init__(self, basetype, size):
"""
Constructor.
:param BaseType basetype: the type of each element in the nested type
:param int size: the number of elements in the array
"""
super().__init__(basetype)
self.size = size
def __eq__(self, other):
return super().__eq__(other) and self.size == other.size
class Sequence(NestedType):
"""The base class of sequence types."""
__slots__ = set()
def __init__(self, basetype):
super().__init__(basetype)
class UnboundedSequence(Sequence):
"""A sequence type with an unlimited number of elements."""
__slots__ = ()
def __init__(self, basetype):
"""
Constructor.
:param BaseType basetype: the type of each element in the sequence
"""
super().__init__(basetype)
class BoundedSequence(Sequence):
"""A sequence type with a maximum number of elements."""
__slots__ = ('upper_bound', )
def __init__(self, basetype, upper_bound):
"""
Constructor.
:param BaseType basetype: the type of each element in the sequence
:param int upper_bound: the maximum number of elements in the sequence
"""
super().__init__(basetype)
assert isinstance(upper_bound, int)
self.upper_bound = upper_bound
def __eq__(self, other):
return super().__eq__(other) and self.upper_bound == other.upper_bound
class Annotation:
"""An annotation identified by a name with an arbitrary value."""
__slots__ = ('name', 'value')
def __init__(self, name, value):
"""
Constructor.
:param str name: the type of the annotation as defined in the IDL spec
:param value: the type of the value is defined by the annotation, it
can be a primitive type like int or str or a dictionary containing
multiple key-value pairs
"""
assert isinstance(name, str)
self.name = name
self.value = value
class Annotatable:
"""The base class for types which can have annotations."""
__slots__ = ('annotations', )
def __init__(self):
self.annotations = []
def get_annotation_value(self, name):
"""
Get the unique value of an annotation of a specific type.
:param str name: the name of the annotation type
:returns: the annotation value
:raises: ValueError if there is no or multiple annotations with the
given name
"""
values = self.get_annotation_values(name)
if not values:
raise ValueError("No '{name}' annotation".format_map(locals()))
if len(values) > 1:
raise ValueError("Multiple '{name}' annotations".format_map(locals()))
return values[0]
def get_annotation_values(self, name):
"""
Get the values of annotations of a specific type.
:param str name: the name of the annotation type
:returns: a list of annotation values
"""
return [a.value for a in self.annotations if a.name == name]
def has_annotation(self, name):
"""
Check if there is exactly one annotation of a specific type.
:param str name: the name of the annotation type
:returns: True if there is exactly one annotation, False otherwise
"""
values = self.get_annotation_values(name)
return len(values) == 1
def has_annotations(self, name):
"""
Check if there are any annotations of a specific type.
:param str name: the name of the annotation type
:returns: True if there are any annotations, False otherwise
"""
annotations = self.get_annotation_values(name)
return bool(annotations)
class Member(Annotatable):
"""A member of a structure."""
__slots__ = ('type', 'name')
def __init__(self, type_, name):
"""
Constructor.
:param AbstractTypestr type_: the type of the member
:param str name: the name of the member
"""
super().__init__()
assert isinstance(type_, AbstractType)
self.type = type_
self.name = name
class Structure(Annotatable):
"""A namespaced type containing of a list of members."""
__slots__ = ('type', 'members')
def __init__(self, type_, members=None):
"""
Constructor.
:param NamespacedType type_: the namespaced type identifying the
structure
:param list members: the members of the structure
"""
super().__init__()
assert isinstance(type_, NamespacedType)
self.type = type_
self.members = members or []
class Include:
"""An include statement."""
__slots__ = ('locator', )
def __init__(self, locator):
"""
Constructor.
:param str locator: a URI identifying the included file
"""
self.locator = locator
class Constant(Annotatable):
"""A constant definition."""
__slots__ = ('name', 'type', 'value')
def __init__(self, name, type_, value):
"""
Constructor.
:param str name: the name of the constant
:param AbstractTypestr type_: the type of the constant
:param value: the value of the constant
"""
super().__init__()
assert isinstance(type_, AbstractType)
self.name = name
self.type = type_
self.value = value
class Message:
"""A structure containing constants."""
__slots__ = ('structure', 'constants')
def __init__(self, structure):
"""
Constructor.
:param Structure structure: the structure of the message
"""
super().__init__()
assert isinstance(structure, Structure)
self.structure = structure
self.constants = OrderedDict()
class Service:
"""A namespaced type containing a request and response message."""
__slots__ = ('structure_type', 'request_message', 'response_message')
def __init__(self, type_, request, response):
"""
Constructor.
:param NamespacedType type_: the namespaced type identifying the
service
:param Message request: the request message
:param Message response: the response message
"""
super().__init__()
assert isinstance(type_, NamespacedType)
self.structure_type = type_
assert isinstance(request, Message)
assert request.structure.type.namespaces == type_.namespaces
assert request.structure.type.name == type_.name + \
SERVICE_REQUEST_MESSAGE_SUFFIX
self.request_message = request
assert isinstance(response, Message)
assert response.structure.type.namespaces == type_.namespaces
assert response.structure.type.name == type_.name + \
SERVICE_RESPONSE_MESSAGE_SUFFIX
self.response_message = response
class Action:
"""A namespaced type of an action including the derived types."""
__slots__ = (
'structure_type', 'goal', 'result', 'feedback',
'send_goal_service', 'get_result_service', 'feedback_message',
'implicit_includes')
def __init__(self, type_, goal, result, feedback):
"""
Constructor.
From the provided types the actually used services and messages are
derived.
:param NamespacedType type_: the namespaced type identifying the action
:param Message goal: the goal message
:param Message result: the result message
:param Message feedback: the feedback message
"""
super().__init__()
assert isinstance(type_, NamespacedType)
self.structure_type = type_
# explicitly defined types
assert isinstance(goal, Message)
assert goal.structure.type.namespaces == type_.namespaces
assert goal.structure.type.name == type_.name + ACTION_GOAL_SUFFIX
self.goal = goal
assert isinstance(result, Message)
assert result.structure.type.namespaces == type_.namespaces
assert result.structure.type.name == type_.name + ACTION_RESULT_SUFFIX
self.result = result
assert isinstance(feedback, Message)
assert feedback.structure.type.namespaces == type_.namespaces
assert feedback.structure.type.name == type_.name + \
ACTION_FEEDBACK_SUFFIX
self.feedback = feedback
# necessary include for injected timestamp member
self.implicit_includes = [
Include('builtin_interfaces/msg/Time.idl')
]
# derived types
goal_id_type = Array(BasicType('uint8'), 16)
goal_service_name = type_.name + ACTION_GOAL_SERVICE_SUFFIX
self.send_goal_service = Service(
NamespacedType(
namespaces=type_.namespaces, name=goal_service_name),
request=Message(Structure(
NamespacedType(
namespaces=type_.namespaces,
name=goal_service_name + SERVICE_REQUEST_MESSAGE_SUFFIX),
members=[
Member(goal_id_type, 'goal_id'),
Member(goal.structure.type, 'goal')]
)),
response=Message(Structure(
NamespacedType(
namespaces=type_.namespaces,
name=goal_service_name + SERVICE_RESPONSE_MESSAGE_SUFFIX),
members=[
Member(BasicType('boolean'), 'accepted'),
Member(
NamespacedType(['builtin_interfaces', 'msg'], 'Time'),
'stamp')]
)),
)
result_service_name = type_.name + ACTION_RESULT_SERVICE_SUFFIX
self.get_result_service = Service(
NamespacedType(
namespaces=type_.namespaces, name=result_service_name),
request=Message(Structure(
NamespacedType(
namespaces=type_.namespaces,
name=result_service_name + SERVICE_REQUEST_MESSAGE_SUFFIX),
members=[Member(goal_id_type, 'goal_id')]
)),
response=Message(Structure(
NamespacedType(
namespaces=type_.namespaces,
name=result_service_name + SERVICE_RESPONSE_MESSAGE_SUFFIX),
members=[
Member(BasicType('int8'), 'status'),
Member(result.structure.type, 'result')]
)),
)
self.feedback_message = Message(Structure(
NamespacedType(
namespaces=type_.namespaces,
name=type_.name + ACTION_FEEDBACK_MESSAGE_SUFFIX),
members=[
Member(goal_id_type, 'goal_id'),
Member(feedback.structure.type, 'feedback')]
))
class IdlLocator:
"""A URL of an IDL file."""
__slots__ = ('basepath', 'relative_path')
def __init__(self, basepath, relative_path):
"""
Constructor.
:param str basepath: the basepath of file
:param str relative_path: the path relative to the basepath of the file
"""
super().__init__()
self.basepath = pathlib.Path(basepath)
self.relative_path = pathlib.Path(relative_path)
def get_absolute_path(self):
return self.basepath / self.relative_path
class IdlContent:
"""The content of an IDL file consisting of a list of elements."""
__slots__ = ('elements', )
def __init__(self):
super().__init__()
self.elements = []
def get_elements_of_type(self, type_):
return [e for e in self.elements if isinstance(e, type_)]
class IdlFile:
"""Descriptor for a parsed IDL file."""
__slots__ = ('locator', 'content')
def __init__(self, locator, content):
"""
Constructor.
:param IdlLocator locator: the locator of the IDL file
:param IdlContent content: the content of the IDL file
"""
super().__init__()
assert isinstance(locator, IdlLocator)
self.locator = locator
assert isinstance(content, IdlContent)
self.content = content