158 lines
6.0 KiB
Python
Executable File
158 lines
6.0 KiB
Python
Executable File
#!/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)
|