v01

thirdparty/ros/ros_comm/tools/rosbag/scripts/makerule.py

@@ -0,0 +1,157 @@
+#!/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.
+
+from __future__ import print_function
+
+import optparse
+import os
+import re
+import sys
+import rosbag.migration
+
+import genpy.message
+import genpy.dynamic
+
+def print_trans(old, new, indent):
+    from_txt = '%s [%s]' % (old._type, old._md5sum)
+    if new is not None:
+        to_txt= '%s [%s]' % (new._type, new._md5sum)
+    else:
+        to_txt = 'Unknown'
+    print('    ' * indent + ' * From: %s' % from_txt)
+    print('    ' * indent + '   To:   %s' % to_txt)
+
+if __name__ == '__main__':
+    parser = optparse.OptionParser(usage='usage: makerule.py msg.saved [-a] output_rulefile [rulefile1, rulefile2, ...] [-n]')
+    parser.add_option('-a', '--append',    action='store_true', dest='append',    default=False)
+    parser.add_option('-n', '--noplugins', action='store_true', dest='noplugins', default=False)
+    (options, args) = parser.parse_args()
+
+    if len(args) < 2:
+        parser.error("Incorrect number of arguments")
+
+    rulefile = args[1]
+
+    if os.path.isfile(rulefile) and not options.append:
+        print("The file %s already exists.  Include -a if you intend to append." % rulefile, file=sys.stderr)
+        exit(1)
+
+    if not os.path.isfile(rulefile) and options.append:
+        print("The file %s does not exist, and so -a is invalid." % rulefile, file=sys.stderr)
+        exit(1)
+
+    if options.append:
+        append_rule = [rulefile]
+    else:
+        append_rule = []
+
+    f = open(args[0])
+    if f is None:
+        print('Could not open message full definition: %s', file=sys.stderr)
+        sys.exit()
+
+    type_line = f.readline()
+    pat = re.compile(r"\[(.*)]:")
+    type_match = pat.match(type_line)
+    if type_match is None:
+        print("Full definition file malformed.  First line should be: '[my_package/my_msg]:'", file=sys.stderr)
+        sys.exit()
+
+    old_type = type_match.groups()[0]
+    old_full_text = f.read()
+    f.close()
+
+    old_class = genpy.dynamic.generate_dynamic(old_type,old_full_text)[old_type]
+
+    if old_class is None:
+        print('Could not generate class from full definition file.', file=sys.stderr)
+        sys.exit()
+
+    mm = rosbag.migration.MessageMigrator(args[2:]+append_rule,not options.noplugins)
+
+    migrations = rosbag.migration.checkmessages(mm, [old_class])
+
+    if migrations == []:
+        print('Saved definition is up to date.')
+        exit(0)
+
+    print('The following migrations need to occur:')
+
+    all_rules = []
+    for m in migrations:
+        all_rules.extend(m[1])
+
+        print_trans(m[0][0].old_class, m[0][-1].new_class, 0)
+        if len(m[1]) > 0:
+            print("    %d rules missing:" % len(m[1]))
+            for r in m[1]:
+                print_trans(r.old_class, r.new_class, 1)
+
+    if rulefile is None:
+        print("rulefile not specified")
+    else:
+        output = ''
+        rules_left = mm.filter_rules_unique(all_rules)
+
+        if rules_left == []:
+            print("\nNo additional rule files needed to be generated.  %s not created." % rulefile)
+            exit(0)
+
+        while rules_left != []:
+            extra_rules = []
+
+            for r in rules_left:
+                if r.new_class is None:
+                    print("The message type %s appears to have moved.  Please enter the type to migrate it to." % r.old_class._type)
+                    new_type = raw_input('>')
+                    new_class = genpy.message.get_message_class(new_type)
+                    while new_class is None:
+                        print("\'%s\' could not be found in your system.  Please make sure it is built." % new_type)
+                        new_type = raw_input('>')
+                        new_class = genpy.message.get_message_class(new_type)
+                    new_rule = mm.make_update_rule(r.old_class, new_class)
+                    R = new_rule(mm, 'GENERATED.' + new_rule.__name__)
+                    R.find_sub_paths()
+                    new_rules = [r for r in mm.expand_rules(R.sub_rules) if r.valid == False]
+                    extra_rules.extend(new_rules)
+                    print('Creating the migration rule for %s requires additional missing rules:' % new_type)
+                    for nr in new_rules:
+                        print_trans(nr.old_class, nr.new_class,1)
+                    output += R.get_class_def()
+                else:
+                    output += r.get_class_def()
+            rules_left = mm.filter_rules_unique(extra_rules)
+        f = open(rulefile, 'a')
+        f.write(output)
+        f.close()
+        print("\nThe necessary rule files have been written to: %s" % rulefile)