v01

thirdparty/ros/ros_comm/clients/roscpp/rosbuild/scripts/genmsg_cpp.py

@@ -0,0 +1,56 @@
+#!/usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2009, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+
+## ROS message source code generation for C++
+## 
+## Converts ROS .msg files in a package into C++ source code implementations.
+
+import msg_gen
+
+import sys
+
+if __name__ == "__main__":
+    msg_gen.generate_messages(sys.argv)
+
+
+
+
+
+
+
+
+
+
+
+

thirdparty/ros/ros_comm/clients/roscpp/rosbuild/scripts/gensrv_cpp.py

@@ -0,0 +1,221 @@
+#!/usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2009, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+
+## ROS message source code generation for C++
+## 
+## Converts ROS .msg files in a package into C++ source code implementations.
+
+import msg_gen as genmsg_cpp
+ 
+import sys
+import os
+import traceback
+
+# roslib.msgs contains the utilities for parsing .msg specifications. It is meant to have no rospy-specific knowledge
+import roslib.srvs
+import roslib.packages
+import roslib.gentools
+from rospkg import RosPack
+
+try:
+    from cStringIO import StringIO #Python 2.x
+except ImportError:
+    from io import StringIO #Python 3.x
+
+def write_begin(s, spec, file):
+    """
+    Writes the beginning of the header file: a comment saying it's auto-generated and the include guards
+    
+    @param s: The stream to write to
+    @type s: stream
+    @param spec: The spec
+    @type spec: roslib.srvs.SrvSpec
+    @param file: The file this service is being generated for
+    @type file: str 
+    """
+    s.write("/* Auto-generated by genmsg_cpp for file %s */\n"%(file))
+    s.write('#ifndef %s_SERVICE_%s_H\n'%(spec.package.upper(), spec.short_name.upper()))
+    s.write('#define %s_SERVICE_%s_H\n'%(spec.package.upper(), spec.short_name.upper()))
+
+def write_end(s, spec):
+    """
+    Writes the end of the header file: the ending of the include guards
+    
+    @param s: The stream to write to
+    @type s: stream
+    @param spec: The spec
+    @type spec: roslib.srvs.SrvSpec
+    """
+    s.write('#endif // %s_SERVICE_%s_H\n'%(spec.package.upper(), spec.short_name.upper()))
+    
+def write_generic_includes(s):
+    """
+    Writes the includes that all service need
+    
+    @param s: The stream to write to
+    @type s: stream
+    """
+    s.write('#include "ros/service_traits.h"\n\n')
+    
+def write_trait_char_class(s, class_name, cpp_msg, value):
+    """
+    Writes a class trait for traits which have static value() members that return const char*
+    
+    e.g. write_trait_char_class(s, "MD5Sum", "std_srvs::Empty", "hello") yields:
+    template<>
+    struct MD5Sum<std_srvs::Empty> 
+    {
+        static const char* value() { return "hello"; }
+        static const char* value(const std_srvs::Empty&) { return value(); }
+    };
+    
+    @param s: The stream to write to
+    @type s: stream
+    @param class_name: The name of the trait class
+    @type class_name: str
+    @param cpp_msg: The C++ message declaration, e.g. "std_srvs::Empty"
+    @type cpp_msg: str
+    @param value: The string value to return from the value() function
+    @type value: str
+    """
+    s.write('template<>\nstruct %s<%s> {\n'%(class_name, cpp_msg))
+    s.write('  static const char* value() \n  {\n    return "%s";\n  }\n\n'%(value))
+    s.write('  static const char* value(const %s&) { return value(); } \n'%(cpp_msg))
+    s.write('};\n\n')
+    
+def write_traits(s, spec, cpp_name_prefix, rospack=None):
+    """
+    Write all the service traits for a message
+    
+    @param s: The stream to write to
+    @type s: stream
+    @param spec: The service spec
+    @type spec: roslib.srvs.SrvSpec
+    @param cpp_name_prefix: The C++ prefix to prepend when referencing the service, e.g. "std_srvs::"
+    @type cpp_name_prefix: str
+    """
+    gendeps_dict = roslib.gentools.get_dependencies(spec, spec.package, rospack=rospack)
+    md5sum = roslib.gentools.compute_md5(gendeps_dict, rospack=rospack)
+    
+    s.write('namespace ros\n{\n')
+    s.write('namespace service_traits\n{\n')
+    
+    request_with_allocator = '%s%s_<ContainerAllocator> '%(cpp_name_prefix, spec.request.short_name)
+    response_with_allocator = '%s%s_<ContainerAllocator> '%(cpp_name_prefix, spec.response.short_name)
+    
+    write_trait_char_class(s, 'MD5Sum', '%s%s'%(cpp_name_prefix, spec.short_name), md5sum);
+    write_trait_char_class(s, 'DataType', '%s%s'%(cpp_name_prefix, spec.short_name), spec.full_name);
+    genmsg_cpp.write_trait_char_class(s, 'MD5Sum', request_with_allocator, md5sum)
+    genmsg_cpp.write_trait_char_class(s, 'DataType', request_with_allocator, spec.full_name)
+    genmsg_cpp.write_trait_char_class(s, 'MD5Sum', response_with_allocator, md5sum)
+    genmsg_cpp.write_trait_char_class(s, 'DataType', response_with_allocator, spec.full_name)
+    s.write('} // namespace service_traits\n')
+    s.write('} // namespace ros\n\n')
+
+def generate(srv_path):
+    """
+    Generate a service
+    
+    @param srv_path: the path to the .srv file
+    @type srv_path: str
+    """
+    (package_dir, package) = roslib.packages.get_dir_pkg(srv_path)
+    (_, spec) = roslib.srvs.load_from_file(srv_path, package)
+    
+    s = StringIO()  
+    cpp_prefix = '%s::'%(package)
+    write_begin(s, spec, srv_path)
+    genmsg_cpp.write_generic_includes(s)
+    write_generic_includes(s)
+    genmsg_cpp.write_includes(s, spec.request)
+    s.write('\n')
+    genmsg_cpp.write_includes(s, spec.response)
+    
+    rospack = RosPack()
+    gendeps_dict = roslib.gentools.get_dependencies(spec, spec.package, rospack=rospack)
+    md5sum = roslib.gentools.compute_md5(gendeps_dict, rospack=rospack)
+    
+    s.write('namespace %s\n{\n'%(package))
+    genmsg_cpp.write_struct(s, spec.request, cpp_prefix, {'ServerMD5Sum': md5sum})
+    genmsg_cpp.write_constant_definitions(s, spec.request)
+    s.write('\n')
+    genmsg_cpp.write_struct(s, spec.response, cpp_prefix, {'ServerMD5Sum': md5sum})
+    genmsg_cpp.write_constant_definitions(s, spec.response)
+    s.write('struct %s\n{\n'%(spec.short_name))
+    s.write('\n')
+    s.write('typedef %s Request;\n'%(spec.request.short_name))
+    s.write('typedef %s Response;\n'%(spec.response.short_name))
+    s.write('Request request;\n')
+    s.write('Response response;\n\n')
+    s.write('typedef Request RequestType;\n')
+    s.write('typedef Response ResponseType;\n')
+    s.write('}; // struct %s\n'%(spec.short_name))
+    s.write('} // namespace %s\n\n'%(package))
+    
+    request_cpp_name = "Request"
+    response_cpp_name = "Response"
+    genmsg_cpp.write_traits(s, spec.request, cpp_prefix, rospack=rospack)
+    s.write('\n')
+    genmsg_cpp.write_traits(s, spec.response, cpp_prefix, rospack=rospack)
+    genmsg_cpp.write_serialization(s, spec.request, cpp_prefix)
+    s.write('\n')
+    genmsg_cpp.write_serialization(s, spec.response, cpp_prefix)
+    
+    write_traits(s, spec, cpp_prefix, rospack=rospack)
+    
+    write_end(s, spec)
+    
+    output_dir = '%s/srv_gen/cpp/include/%s'%(package_dir, package)
+    if (not os.path.exists(output_dir)):
+        # if we're being run concurrently, the above test can report false but os.makedirs can still fail if
+        # another copy just created the directory
+        try:
+            os.makedirs(output_dir)
+        except OSError as e:
+            pass
+        
+    f = open('%s/%s.h'%(output_dir, spec.short_name), 'w')
+    f.write(s.getvalue() + "\n")
+    
+    s.close()
+
+def generate_services(argv):
+    for arg in argv[1:]:
+        generate(arg)
+
+if __name__ == "__main__":
+    roslib.msgs.set_verbose(False)
+    generate_services(sys.argv)
+    
+    

thirdparty/ros/ros_comm/clients/roscpp/rosbuild/scripts/msg_gen.py

@@ -0,0 +1,744 @@
+#!/usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2009, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+
+## ROS message source code generation for C++
+## 
+## Converts ROS .msg files in a package into C++ source code implementations.
+
+import sys
+import os
+import traceback
+
+import roslib.msgs 
+import roslib.packages
+import roslib.gentools
+from rospkg import RosPack
+
+try:
+    from cStringIO import StringIO #Python 2.x
+except ImportError:
+    from io import StringIO #Python 3.x
+
+MSG_TYPE_TO_CPP = {'byte': 'int8_t', 'char': 'uint8_t',
+                   'bool': 'uint8_t',
+                   'uint8': 'uint8_t', 'int8': 'int8_t', 
+                   'uint16': 'uint16_t', 'int16': 'int16_t', 
+                   'uint32': 'uint32_t', 'int32': 'int32_t',
+                   'uint64': 'uint64_t', 'int64': 'int64_t',
+                   'float32': 'float',
+                   'float64': 'double',
+                   'string': 'std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > ',
+                   'time': 'ros::Time',
+                   'duration': 'ros::Duration'}
+
+def msg_type_to_cpp(type):
+    """
+    Converts a message type (e.g. uint32, std_msgs/String, etc.) into the C++ declaration
+    for that type (e.g. uint32_t, std_msgs::String_<ContainerAllocator>)
+    
+    @param type: The message type
+    @type type: str
+    @return: The C++ declaration
+    @rtype: str
+    """
+    (base_type, is_array, array_len) = roslib.msgs.parse_type(type)
+    cpp_type = None
+    if (roslib.msgs.is_builtin(base_type)):
+        cpp_type = MSG_TYPE_TO_CPP[base_type]
+    elif (len(base_type.split('/')) == 1):
+        if (roslib.msgs.is_header_type(base_type)):
+            cpp_type = ' ::std_msgs::Header_<ContainerAllocator> '
+        else:
+            cpp_type = '%s_<ContainerAllocator> '%(base_type)
+    else:
+        pkg = base_type.split('/')[0]
+        msg = base_type.split('/')[1]
+        cpp_type = ' ::%s::%s_<ContainerAllocator> '%(pkg, msg)
+        
+    if (is_array):
+        if (array_len is None):
+            return 'std::vector<%s, typename ContainerAllocator::template rebind<%s>::other > '%(cpp_type, cpp_type)
+        else:
+            return 'boost::array<%s, %s> '%(cpp_type, array_len)
+    else:
+        return cpp_type
+    
+def cpp_message_declarations(name_prefix, msg):
+    """
+    Returns the different possible C++ declarations for a message given the message itself.
+    
+    @param name_prefix: The C++ prefix to be prepended to the name, e.g. "std_msgs::"
+    @type name_prefix: str
+    @param msg: The message type
+    @type msg: str
+    @return: A tuple of 3 different names.  cpp_message_decelarations("std_msgs::", "String") returns the tuple
+        ("std_msgs::String_", "std_msgs::String_<ContainerAllocator>", "std_msgs::String")
+    @rtype: str 
+    """
+    pkg, basetype = roslib.names.package_resource_name(msg)
+    cpp_name = ' ::%s%s'%(name_prefix, msg)
+    if (pkg):
+        cpp_name = ' ::%s::%s'%(pkg, basetype)
+    return ('%s_'%(cpp_name), '%s_<ContainerAllocator> '%(cpp_name), '%s'%(cpp_name))
+
+def write_begin(s, spec, file):
+    """
+    Writes the beginning of the header file: a comment saying it's auto-generated and the include guards
+    
+    @param s: The stream to write to
+    @type s: stream
+    @param spec: The spec
+    @type spec: roslib.msgs.MsgSpec
+    @param file: The file this message is being generated for
+    @type file: str
+    """
+    s.write("/* Auto-generated by genmsg_cpp for file %s */\n"%(file))
+    s.write('#ifndef %s_MESSAGE_%s_H\n'%(spec.package.upper(), spec.short_name.upper()))
+    s.write('#define %s_MESSAGE_%s_H\n'%(spec.package.upper(), spec.short_name.upper()))
+    
+def write_end(s, spec):
+    """
+    Writes the end of the header file: the ending of the include guards
+    
+    @param s: The stream to write to
+    @type s: stream
+    @param spec: The spec
+    @type spec: roslib.msgs.MsgSpec
+    """
+    s.write('#endif // %s_MESSAGE_%s_H\n'%(spec.package.upper(), spec.short_name.upper()))
+    
+def write_generic_includes(s):
+    """
+    Writes the includes that all messages need
+    
+    @param s: The stream to write to
+    @type s: stream
+    """
+    s.write('#include <string>\n')
+    s.write('#include <vector>\n')
+    s.write('#include <map>\n')
+    s.write('#include <ostream>\n')
+    s.write('#include "ros/serialization.h"\n')
+    s.write('#include "ros/builtin_message_traits.h"\n')
+    s.write('#include "ros/message_operations.h"\n')
+    s.write('#include "ros/time.h"\n\n')
+    s.write('#include "ros/macros.h"\n\n')
+    s.write('#include "ros/assert.h"\n\n')
+    
+def write_includes(s, spec):
+    """
+    Writes the message-specific includes
+    
+    @param s: The stream to write to
+    @type s: stream
+    @param spec: The message spec to iterate over
+    @type spec: roslib.msgs.MsgSpec
+    """
+    for field in spec.parsed_fields():
+        if (not field.is_builtin):
+            if (field.is_header):
+                s.write('#include "std_msgs/Header.h"\n')
+            else:
+                (pkg, name) = roslib.names.package_resource_name(field.base_type)
+                pkg = pkg or spec.package # convert '' to package
+                s.write('#include "%s/%s.h"\n'%(pkg, name))
+                
+    s.write('\n') 
+    
+    
+def write_struct(s, spec, cpp_name_prefix, extra_deprecated_traits = {}):
+    """
+    Writes the entire message struct: declaration, constructors, members, constants and (deprecated) member functions
+    @param s: The stream to write to
+    @type s: stream
+    @param spec: The message spec
+    @type spec: roslib.msgs.MsgSpec
+    @param cpp_name_prefix: The C++ prefix to use when referring to the message, e.g. "std_msgs::"
+    @type cpp_name_prefix: str
+    """
+    
+    msg = spec.short_name
+    s.write('template <class ContainerAllocator>\n')
+    s.write('struct %s_ {\n'%(msg))
+    s.write('  typedef %s_<ContainerAllocator> Type;\n\n'%(msg))
+    
+    write_constructors(s, spec, cpp_name_prefix)
+    write_members(s, spec)
+    write_constant_declarations(s, spec)
+    
+    #rospack = RosPack()
+    #gendeps_dict = roslib.gentools.get_dependencies(spec, spec.package, compute_files=False, rospack=rospack)
+    #md5sum = roslib.gentools.compute_md5(gendeps_dict, rospack=rospack)
+    #full_text = compute_full_text_escaped(gendeps_dict)
+    
+    # write_deprecated_member_functions(s, spec, dict(list({'MD5Sum': md5sum, 'DataType': '%s/%s'%(spec.package, spec.short_name), 'MessageDefinition': full_text}.items()) + list(extra_deprecated_traits.items())))
+    
+    (cpp_msg_unqualified, cpp_msg_with_alloc, cpp_msg_base) = cpp_message_declarations(cpp_name_prefix, msg)
+    s.write('  typedef boost::shared_ptr<%s> Ptr;\n'%(cpp_msg_with_alloc))
+    s.write('  typedef boost::shared_ptr<%s const> ConstPtr;\n'%(cpp_msg_with_alloc))
+
+    s.write('}; // struct %s\n'%(msg))
+    
+    s.write('typedef %s_<std::allocator<void> > %s;\n\n'%(cpp_msg_base, msg))
+    s.write('typedef boost::shared_ptr<%s> %sPtr;\n'%(cpp_msg_base, msg))
+    s.write('typedef boost::shared_ptr<%s const> %sConstPtr;\n\n'%(cpp_msg_base, msg))
+
+def default_value(type):
+    """
+    Returns the value to initialize a message member with.  0 for integer types, 0.0 for floating point, false for bool,
+    empty string for everything else
+    
+    @param type: The type
+    @type type: str
+    """
+    if type in ['byte', 'int8', 'int16', 'int32', 'int64',
+                'char', 'uint8', 'uint16', 'uint32', 'uint64']:
+        return '0'
+    elif type in ['float32', 'float64']:
+        return '0.0'
+    elif type == 'bool':
+        return 'false'
+        
+    return ""
+
+def takes_allocator(type):
+    """
+    Returns whether or not a type can take an allocator in its constructor.  False for all builtin types except string.
+    True for all others.
+    
+    @param type: The type
+    @type: str
+    """
+    return not type in ['byte', 'int8', 'int16', 'int32', 'int64',
+                        'char', 'uint8', 'uint16', 'uint32', 'uint64',
+                        'float32', 'float64', 'bool', 'time', 'duration']
+
+def write_initializer_list(s, spec, container_gets_allocator):
+    """
+    Writes the initializer list for a constructor
+    
+    @param s: The stream to write to
+    @type s: stream
+    @param spec: The message spec
+    @type spec: roslib.msgs.MsgSpec
+    @param container_gets_allocator: Whether or not a container type (whether it's another message, a vector, array or string)
+        should have the allocator passed to its constructor.  Assumes the allocator is named _alloc.
+    @type container_gets_allocator: bool
+    """
+    
+    i = 0
+    for field in spec.parsed_fields():
+        if (i == 0):
+            s.write('  : ')
+        else:
+            s.write('  , ')
+            
+        val = default_value(field.base_type)
+        use_alloc = takes_allocator(field.base_type)
+        if (field.is_array):
+            if (field.array_len is None and container_gets_allocator):
+                s.write('%s(_alloc)\n'%(field.name))
+            else:
+                s.write('%s()\n'%(field.name))
+        else:
+            if (container_gets_allocator and use_alloc):
+                s.write('%s(_alloc)\n'%(field.name))
+            else:
+                s.write('%s(%s)\n'%(field.name, val))
+        i = i + 1
+        
+def write_fixed_length_assigns(s, spec, container_gets_allocator, cpp_name_prefix):
+    """
+    Initialize any fixed-length arrays
+    
+    @param s: The stream to write to
+    @type s: stream
+    @param spec: The message spec
+    @type spec: roslib.msgs.MsgSpec
+    @param container_gets_allocator: Whether or not a container type (whether it's another message, a vector, array or string)
+        should have the allocator passed to its constructor.  Assumes the allocator is named _alloc.
+    @type container_gets_allocator: bool
+    @param cpp_name_prefix: The C++ prefix to use when referring to the message, e.g. "std_msgs::"
+    @type cpp_name_prefix: str
+    """
+    # Assign all fixed-length arrays their default values
+    for field in spec.parsed_fields():
+        if (not field.is_array or field.array_len is None):
+            continue
+        
+        val = default_value(field.base_type)
+        if (container_gets_allocator and takes_allocator(field.base_type)):
+            # String is a special case, as it is the only builtin type that takes an allocator
+            if (field.base_type == "string"):
+                string_cpp = msg_type_to_cpp("string")
+                s.write('    %s.assign(%s(_alloc));\n'%(field.name, string_cpp))
+            else:
+                (cpp_msg_unqualified, cpp_msg_with_alloc, _) = cpp_message_declarations(cpp_name_prefix, field.base_type)
+                s.write('    %s.assign(%s(_alloc));\n'%(field.name, cpp_msg_with_alloc))
+        elif (len(val) > 0):
+            s.write('    %s.assign(%s);\n'%(field.name, val))
+
+def write_constructors(s, spec, cpp_name_prefix):
+    """
+    Writes any necessary constructors for the message
+    
+    @param s: The stream to write to
+    @type s: stream
+    @param spec: The message spec
+    @type spec: roslib.msgs.MsgSpec
+    @param cpp_name_prefix: The C++ prefix to use when referring to the message, e.g. "std_msgs::"
+    @type cpp_name_prefix: str
+    """
+    
+    msg = spec.short_name
+    
+    # Default constructor
+    s.write('  %s_()\n'%(msg))
+    write_initializer_list(s, spec, False)
+    s.write('  {\n')
+    write_fixed_length_assigns(s, spec, False, cpp_name_prefix)
+    s.write('  }\n\n')
+    
+    # Constructor that takes an allocator constructor
+    s.write('  %s_(const ContainerAllocator& _alloc)\n'%(msg))
+    write_initializer_list(s, spec, True)
+    s.write('  {\n')
+    write_fixed_length_assigns(s, spec, True, cpp_name_prefix)
+    s.write('  }\n\n')
+
+def write_member(s, field):
+    """
+    Writes a single member's declaration and type typedef
+    
+    @param s: The stream to write to
+    @type s: stream
+    @param type: The member type
+    @type type: str
+    @param name: The name of the member
+    @type name: str
+    """
+    cpp_type = msg_type_to_cpp(field.type)
+    s.write('  typedef %s _%s_type;\n'%(cpp_type, field.name))
+    s.write('  %s %s;\n\n'%(cpp_type, field.name))
+
+def write_members(s, spec):
+    """
+    Write all the member declarations
+    
+    @param s: The stream to write to
+    @type s: stream
+    @param spec: The message spec
+    @type spec: roslib.msgs.MsgSpec
+    """
+    [write_member(s, field) for field in spec.parsed_fields()]
+        
+def escape_string(str):
+    str = str.replace('\\', '\\\\')
+    str = str.replace('"', '\\"')
+    return str
+        
+def write_constant_declaration(s, constant):
+    """
+    Write a constant value as a static member
+    
+    @param s: The stream to write to
+    @type s: stream
+    @param constant: The constant
+    @type constant: roslib.msgs.Constant
+    """
+    
+    # integral types get their declarations as enums to allow use at compile time
+    if (constant.type in ['byte', 'int8', 'int16', 'int32', 'int64', 'char', 'uint8', 'uint16', 'uint32', 'uint64']):
+        s.write('  enum { %s = %s };\n'%(constant.name, constant.val))
+    else:
+        s.write('  static const %s %s;\n'%(msg_type_to_cpp(constant.type), constant.name))
+        
+def write_constant_declarations(s, spec):
+    """
+    Write all the constants from a spec as static members
+    
+    @param s: The stream to write to
+    @type s: stream
+    @param spec: The message spec
+    @type spec: roslib.msgs.MsgSpec
+    """
+    [write_constant_declaration(s, constant) for constant in spec.constants]
+    s.write('\n')
+    
+def write_constant_definition(s, spec, constant):
+    """
+    Write a constant value as a static member
+    
+    @param s: The stream to write to
+    @type s: stream
+    @param constant: The constant
+    @type constant: roslib.msgs.Constant
+    """
+    
+    # integral types do not need a definition, since they've been defined where they are declared
+    if (constant.type not in ['byte', 'int8', 'int16', 'int32', 'int64', 'char', 'uint8', 'uint16', 'uint32', 'uint64', 'string']):
+        s.write('template<typename ContainerAllocator> const %s %s_<ContainerAllocator>::%s = %s;\n'%(msg_type_to_cpp(constant.type), spec.short_name, constant.name, constant.val))
+    elif (constant.type == 'string'):
+        s.write('template<typename ContainerAllocator> const %s %s_<ContainerAllocator>::%s = "%s";\n'%(msg_type_to_cpp(constant.type), spec.short_name, constant.name, escape_string(constant.val)))
+        
+def write_constant_definitions(s, spec):
+    """
+    Write all the constants from a spec as static members
+    
+    @param s: The stream to write to
+    @type s: stream
+    @param spec: The message spec
+    @type spec: roslib.msgs.MsgSpec
+    """
+    [write_constant_definition(s, spec, constant) for constant in spec.constants]
+    s.write('\n')
+        
+def is_fixed_length(spec):
+    """
+    Returns whether or not the message is fixed-length
+    
+    @param spec: The message spec
+    @type spec: roslib.msgs.MsgSpec
+    @param package: The package of the
+    @type package: str
+    """
+    types = []
+    for field in spec.parsed_fields():
+        if (field.is_array and field.array_len is None):
+            return False
+        
+        if (field.base_type == 'string'):
+            return False
+        
+        if (not field.is_builtin):
+            types.append(field.base_type)
+            
+    types = set(types)
+    for type in types:
+        type = roslib.msgs.resolve_type(type, spec.package)
+        (_, new_spec) = roslib.msgs.load_by_type(type, spec.package)
+        if (not is_fixed_length(new_spec)):
+            return False
+        
+    return True
+    
+def write_deprecated_member_functions(s, spec, traits):
+    """
+    Writes the deprecated member functions for backwards compatibility
+    """
+    for field in spec.parsed_fields():
+        if (field.is_array):
+            s.write('  ROS_DEPRECATED uint32_t get_%s_size() const { return (uint32_t)%s.size(); }\n'%(field.name, field.name))
+            
+            if (field.array_len is None):
+                s.write('  ROS_DEPRECATED void set_%s_size(uint32_t size) { %s.resize((size_t)size); }\n'%(field.name, field.name))
+                s.write('  ROS_DEPRECATED void get_%s_vec(%s& vec) const { vec = this->%s; }\n'%(field.name, msg_type_to_cpp(field.type), field.name))
+                s.write('  ROS_DEPRECATED void set_%s_vec(const %s& vec) { this->%s = vec; }\n'%(field.name, msg_type_to_cpp(field.type), field.name))
+    
+    for k, v in traits.items():
+        s.write('private:\n')
+        s.write('  static const char* __s_get%s_() { return "%s"; }\n'%(k, v))
+        s.write('public:\n')
+        s.write('  ROS_DEPRECATED static const std::string __s_get%s() { return __s_get%s_(); }\n\n'%(k, k))
+        s.write('  ROS_DEPRECATED const std::string __get%s() const { return __s_get%s_(); }\n\n'%(k, k))
+    
+    s.write('  ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const\n  {\n')
+    s.write('    ros::serialization::OStream stream(write_ptr, 1000000000);\n')
+    for field in spec.parsed_fields():
+        s.write('    ros::serialization::serialize(stream, %s);\n'%(field.name))
+    s.write('    return stream.getData();\n  }\n\n')
+    
+    s.write('  ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)\n  {\n')
+    s.write('    ros::serialization::IStream stream(read_ptr, 1000000000);\n');
+    for field in spec.parsed_fields():
+        s.write('    ros::serialization::deserialize(stream, %s);\n'%(field.name))
+    s.write('    return stream.getData();\n  }\n\n')
+    
+    s.write('  ROS_DEPRECATED virtual uint32_t serializationLength() const\n  {\n')
+    s.write('    uint32_t size = 0;\n');
+    for field in spec.parsed_fields():
+        s.write('    size += ros::serialization::serializationLength(%s);\n'%(field.name))
+    s.write('    return size;\n  }\n\n')
+
+def compute_full_text_escaped(gen_deps_dict):
+    """
+    Same as roslib.gentools.compute_full_text, except that the
+    resulting text is escaped to be safe for C++ double quotes
+
+    @param get_deps_dict: dictionary returned by get_dependencies call
+    @type  get_deps_dict: dict
+    @return: concatenated text for msg/srv file and embedded msg/srv types. Text will be escaped for double quotes
+    @rtype: str
+    """
+    definition = roslib.gentools.compute_full_text(gen_deps_dict)
+    lines = definition.split('\n')
+    s = StringIO()
+    for line in lines:
+        line = escape_string(line)
+        s.write('%s\\n\\\n'%(line))
+        
+    val = s.getvalue()
+    s.close()
+    return val
+
+def is_hex_string(str):
+    for c in str:
+        if c not in '0123456789abcdefABCDEF':
+            return False
+        
+    return True
+
+def write_trait_char_class(s, class_name, cpp_msg_with_alloc, value, write_static_hex_value = False):
+    """
+    Writes a class trait for traits which have static value() members that return const char*
+    
+    e.g. write_trait_char_class(s, "MD5Sum", "std_msgs::String_<ContainerAllocator>", "hello") yields:
+    template<class ContainerAllocator>
+    struct MD5Sum<std_msgs::String_<ContainerAllocator> > 
+    {
+        static const char* value() { return "hello"; }
+        static const char* value(const std_msgs::String_<ContainerAllocator>&) { return value(); }
+    };
+    
+    @param s: The stream to write to
+    @type s: stream
+    @param class_name: The name of the trait class to write
+    @type class_name: str
+    @param cpp_msg_with_alloc: The C++ declaration of the message, including the allocator template
+    @type cpp_msg_with_alloc: str
+    @param value: The value to return in the string
+    @type value: str
+    @param write_static_hex_value: Whether or not to write a set of compile-time-checkable static values.  Useful for,
+        for example, MD5Sum.  Writes static const uint64_t static_value1... static_valueN
+    @type write_static_hex_value: bool
+    @raise ValueError if write_static_hex_value is True but value contains characters invalid in a hex value
+    """
+    s.write('template<class ContainerAllocator>\nstruct %s<%s> {\n'%(class_name, cpp_msg_with_alloc))
+    s.write('  static const char* value() \n  {\n    return "%s";\n  }\n\n'%(value))
+    s.write('  static const char* value(const %s&) { return value(); } \n'%(cpp_msg_with_alloc))
+    if (write_static_hex_value):
+        if (not is_hex_string(value)):
+            raise ValueError('%s is not a hex value'%(value))
+        
+        iter_count = len(value) / 16
+        for i in range(0, int(iter_count)):
+            start = i*16
+            s.write('  static const uint64_t static_value%s = 0x%sULL;\n'%((i+1), value[start:start+16]))
+    s.write('};\n\n')
+    
+def write_trait_true_class(s, class_name, cpp_msg_with_alloc):
+    """
+    Writes a true/false trait class
+    
+    @param s: stream to write to
+    @type s: stream
+    @param class_name: Name of the trait class
+    @type class_name: str
+    @param cpp_msg_with_alloc: The C++ declaration of the message, including the allocator template
+    @type cpp_msg_with_alloc: str
+    """
+    s.write('template<class ContainerAllocator> struct %s<%s> : public TrueType {};\n'%(class_name, cpp_msg_with_alloc))
+
+def write_traits(s, spec, cpp_name_prefix, datatype = None, rospack=None):
+    """
+    Writes all the traits classes for a message
+    
+    @param s: The stream to write to
+    @type s: stream
+    @param spec: The message spec
+    @type spec: roslib.msgs.MsgSpec
+    @param cpp_name_prefix: The C++ prefix to prepend to a message to refer to it (e.g. "std_msgs::")
+    @type cpp_name_prefix: str
+    @param datatype: The string to write as the datatype of the message.  If None (default), pkg/msg is used.
+    @type datatype: str
+    """
+    # generate dependencies dictionary
+    gendeps_dict = roslib.gentools.get_dependencies(spec, spec.package, compute_files=False, rospack=rospack)
+    md5sum = roslib.gentools.compute_md5(gendeps_dict, rospack=rospack)
+    full_text = compute_full_text_escaped(gendeps_dict)
+    
+    if (datatype is None):
+        datatype = '%s'%(spec.full_name)
+    
+    (cpp_msg_unqualified, cpp_msg_with_alloc, _) = cpp_message_declarations(cpp_name_prefix, spec.short_name)
+    s.write('namespace ros\n{\n')
+    s.write('namespace message_traits\n{\n')
+
+    write_trait_true_class(s, 'IsMessage', cpp_msg_with_alloc)
+    write_trait_true_class(s, 'IsMessage', cpp_msg_with_alloc + " const")
+
+    write_trait_char_class(s, 'MD5Sum', cpp_msg_with_alloc, md5sum, True)
+    write_trait_char_class(s, 'DataType', cpp_msg_with_alloc, datatype)
+    write_trait_char_class(s, 'Definition', cpp_msg_with_alloc, full_text)
+    
+    if (spec.has_header()):
+        write_trait_true_class(s, 'HasHeader', cpp_msg_with_alloc)
+        write_trait_true_class(s, 'HasHeader', ' const' + cpp_msg_with_alloc)
+
+    if (is_fixed_length(spec)):
+        write_trait_true_class(s, 'IsFixedSize', cpp_msg_with_alloc)
+        
+    s.write('} // namespace message_traits\n')
+    s.write('} // namespace ros\n\n')
+    
+def write_operations(s, spec, cpp_name_prefix):
+    (cpp_msg_unqualified, cpp_msg_with_alloc, _) = cpp_message_declarations(cpp_name_prefix, spec.short_name)
+    s.write('namespace ros\n{\n')
+    s.write('namespace message_operations\n{\n')
+    
+    # Write the Printer operation
+    s.write('\ntemplate<class ContainerAllocator>\nstruct Printer<%s>\n{\n'%(cpp_msg_with_alloc))
+    s.write('  template<typename Stream> static void stream(Stream& s, const std::string& indent, const %s& v) \n  {\n'%cpp_msg_with_alloc)
+    for field in spec.parsed_fields():
+        cpp_type = msg_type_to_cpp(field.base_type)
+        if (field.is_array):
+            s.write('    s << indent << "%s[]" << std::endl;\n'%(field.name))
+            s.write('    for (size_t i = 0; i < v.%s.size(); ++i)\n    {\n'%(field.name))
+            s.write('      s << indent << "  %s[" << i << "]: ";\n'%field.name)
+            indent_increment = '  '
+            if (not field.is_builtin):
+                s.write('      s << std::endl;\n')
+                s.write('      s << indent;\n')
+                indent_increment = '    ';
+            s.write('      Printer<%s>::stream(s, indent + "%s", v.%s[i]);\n'%(cpp_type, indent_increment, field.name))
+            s.write('    }\n')
+        else:
+            s.write('    s << indent << "%s: ";\n'%field.name)
+            indent_increment = '  '
+            if (not field.is_builtin or field.is_array):
+                s.write('s << std::endl;\n')
+            s.write('    Printer<%s>::stream(s, indent + "%s", v.%s);\n'%(cpp_type, indent_increment, field.name))
+    s.write('  }\n')
+    s.write('};\n\n')
+        
+    s.write('\n')
+        
+    s.write('} // namespace message_operations\n')
+    s.write('} // namespace ros\n\n')
+    
+def write_serialization(s, spec, cpp_name_prefix):
+    """
+    Writes the Serializer class for a message
+    
+    @param s: Stream to write to
+    @type s: stream
+    @param spec: The message spec
+    @type spec: roslib.msgs.MsgSpec
+    @param cpp_name_prefix: The C++ prefix to prepend to a message to refer to it (e.g. "std_msgs::")
+    @type cpp_name_prefix: str
+    """
+    (cpp_msg_unqualified, cpp_msg_with_alloc, _) = cpp_message_declarations(cpp_name_prefix, spec.short_name)
+    
+    s.write('namespace ros\n{\n')
+    s.write('namespace serialization\n{\n\n')
+    
+    s.write('template<class ContainerAllocator> struct Serializer<%s>\n{\n'%(cpp_msg_with_alloc))
+    
+    s.write('  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)\n  {\n')
+    for field in spec.parsed_fields():
+        s.write('    stream.next(m.%s);\n'%(field.name))
+    s.write('  }\n\n')
+    
+    s.write('  ROS_DECLARE_ALLINONE_SERIALIZER\n')
+    
+    s.write('}; // struct %s_\n'%(spec.short_name))
+        
+    s.write('} // namespace serialization\n')
+    s.write('} // namespace ros\n\n')
+    
+def write_ostream_operator(s, spec, cpp_name_prefix):
+    (cpp_msg_unqualified, cpp_msg_with_alloc, _) = cpp_message_declarations(cpp_name_prefix, spec.short_name)
+    s.write('template<typename ContainerAllocator>\nstd::ostream& operator<<(std::ostream& s, const %s& v)\n{\n'%(cpp_msg_with_alloc))
+    s.write('  ros::message_operations::Printer<%s>::stream(s, "", v);\n  return s;}\n\n'%(cpp_msg_with_alloc))
+
+def generate(msg_path):
+    """
+    Generate a message
+    
+    @param msg_path: The path to the .msg file
+    @type msg_path: str
+    """
+    (package_dir, package) = roslib.packages.get_dir_pkg(msg_path)
+    (_, spec) = roslib.msgs.load_from_file(msg_path, package)
+    
+    s = StringIO()
+    write_begin(s, spec, msg_path)
+    write_generic_includes(s)
+    write_includes(s, spec)
+    
+    cpp_prefix = '%s::'%(package)
+    
+    s.write('namespace %s\n{\n'%(package))
+    write_struct(s, spec, cpp_prefix)
+    write_constant_definitions(s, spec)
+    write_ostream_operator(s, spec, cpp_prefix)
+    s.write('} // namespace %s\n\n'%(package))
+    
+    rospack = RosPack()
+    write_traits(s, spec, cpp_prefix, rospack=rospack)
+    write_serialization(s, spec, cpp_prefix)
+    write_operations(s, spec, cpp_prefix)
+    
+    # HACK HACK HACK.  The moving of roslib/Header causes many problems.  We end up having to make roslib/Header act exactly
+    # like std_msgs/Header (as in, constructor that takes it, as well as operator std_msgs::Header()), and it needs to be
+    # available wherever std_msgs/Header.h has been included
+    if (package == "std_msgs" and spec.short_name == "Header"):
+        s.write("#define STD_MSGS_INCLUDING_HEADER_DEPRECATED_DEF 1\n")
+        s.write("#include <std_msgs/header_deprecated_def.h>\n")
+        s.write("#undef STD_MSGS_INCLUDING_HEADER_DEPRECATED_DEF\n\n") 
+    
+    write_end(s, spec)
+    
+    output_dir = '%s/msg_gen/cpp/include/%s'%(package_dir, package)
+    if (not os.path.exists(output_dir)):
+        # if we're being run concurrently, the above test can report false but os.makedirs can still fail if
+        # another copy just created the directory
+        try:
+            os.makedirs(output_dir)
+        except OSError as e:
+            pass
+         
+    f = open('%s/%s.h'%(output_dir, spec.short_name), 'w')
+    f.write(s.getvalue() + "\n")
+    
+    s.close()
+
+def generate_messages(argv):
+    for arg in argv[1:]:
+        generate(arg)
+
+if __name__ == "__main__":
+    roslib.msgs.set_verbose(False)
+    generate_messages(sys.argv)
+