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Various fixes #98

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Various fixes #98

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801b512
Use textwrap.dedent to form the error message
eric-wieser Jan 10, 2018
d6992e4
Use with statement to ensure files are closed
eric-wieser Jan 10, 2018
7ad2d56
Remove extra indentation in wikidoc
eric-wieser Jan 10, 2018
3193347
Use new-style classes
eric-wieser Jan 10, 2018
69306fb
Allow quotes in descriptions
eric-wieser Jan 10, 2018
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8 changes: 4 additions & 4 deletions cfg/Test.cfg
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Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,7 @@ gen.add("int_", int_t, 1, "Int parameter",0, -10, 10)
gen.add("double_", double_t, 2, "double parameter", 0, -2, 10)
gen.add("double_no_minmax", double_t, 2, "double parameter without boundaries", 1)
gen.add("double_no_max", double_t, 2, "double parameter without max value", 2, 0)
gen.add("str_", str_t, 4, "String parameter","foo")
gen.add("str_", str_t, 4, "String parameter","foo, default=\"this is it\"")
gen.add("mstr_", str_t, 4, "Multibyte String parameter","bar")
gen.add("bool_", bool_t, 8, "Boolean parameter",False)
gen.add("level", int_t, 16, "Contains the level of the previous change",0)
Expand All @@ -67,9 +67,9 @@ group2.add("group2_string", str_t, 0, "A third level group parameter", "test str
group2.add("some_other", str_t, 0, "Something", "AAAAAAGGHH")
group2.add("variable", bool_t,0, "A boolean", True)
group3 = group2.add_group("Group3")
group3.add("deep_var_int", int_t, 0, "Were very far down now", 0, 0, 3, edit_method = enum)
group3.add("deep_var_bool", bool_t, 0, "Were even farther down now!!", True)
group3.add("deep_var_double", double_t, 0, "Were super far down now!!", -1.0)
group3.add("deep_var_int", int_t, 0, "We're very far down now", 0, 0, 3, edit_method = enum)
group3.add("deep_var_bool", bool_t, 0, "We're even farther down now!!", True)
group3.add("deep_var_double", double_t, 0, "We're \"super\" far down now!!", -1.0)

group12 = gen.add_group("Upper Group 2")
group12.add("some_param", int_t, 0, "Some param", 20)
Expand Down
243 changes: 125 additions & 118 deletions src/dynamic_reconfigure/parameter_generator_catkin.py
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Original file line number Diff line number Diff line change
Expand Up @@ -50,6 +50,7 @@
import string
import sys
import re
import textwrap

# LINEDEBUG="#line"
LINEDEBUG = "//#line"
Expand All @@ -63,20 +64,27 @@
id = 0


def check_description(description):
quotes = ['"', "'"]
for quote in quotes:
if description.find(quote) != -1:
raise Exception(r"""quotes not allowed in description string `%s`""" % description)


def check_name(name):
pattern = r'^[a-zA-Z][a-zA-Z0-9_]*$'
if not re.match(pattern, name):
raise Exception("The name of field \'%s\' does not follow the ROS naming conventions, see http://wiki.ros.org/ROS/Patterns/Conventions" % name)

def cquote(s):
""" quote a string for inclusion in C source """
escape = {
'\\': r'\\',
'"': r'\"',
'\r': r'\r',
'\n': r'\n',
'\0': r'\0'
}
return '"{}"'.format(re.sub(
'|'.join(re.escape(c) for c in escape),
lambda m: escape[m.group(0)],
s
))

class ParameterGenerator:
class ParameterGenerator(object):
minval = {
'int': -0x80000000, # 'INT_MIN',
'double': '-std::numeric_limits<double>::infinity()',
Expand All @@ -98,7 +106,7 @@ class ParameterGenerator:
'bool': False,
}

class Group:
class Group(object):
instances = {}

def __init__(self, gen, name, type, state, id, parent):
Expand Down Expand Up @@ -246,21 +254,19 @@ def __init__(self):
id = 1
self.constants = []
if len(sys.argv) < 5:
msg = """
ahhhh! Unexpected command line syntax!
raise SystemExit(textwrap.dedent("""\
ahhhh! Unexpected command line syntax!

Are you trying to call a dynamic_reconfigure configuration generation script
directly? When you are using dynamic_reconfigure with python, you don't ever
need to invoke the configuration generator script yourself; it loads
automatically. If you are using dynamic_reconfigure from C++, you need to
add a call to generate_dynamic_reconfigure_options() in your CMakeLists.txt
Are you trying to call a dynamic_reconfigure configuration generation script
directly? When you are using dynamic_reconfigure with python, you don't ever
need to invoke the configuration generator script yourself; it loads
automatically. If you are using dynamic_reconfigure from C++, you need to
add a call to generate_dynamic_reconfigure_options() in your CMakeLists.txt

For an example, see http://wiki.ros.org/dynamic_reconfigure/Tutorials
For an example, see http://wiki.ros.org/dynamic_reconfigure/Tutorials

Have a nice day
"""
print(msg)
sys.exit(1)
Have a nice day
"""))
self.dynconfpath = sys.argv[1] # FIXME this is awful
self.binary_dir = sys.argv[2]
self.cpp_gen_dir = sys.argv[3]
Expand All @@ -275,7 +281,6 @@ def const(self, name, type, value, descr):
'srcfile': inspect.getsourcefile(inspect.currentframe().f_back.f_code),
'description': descr
}
check_description(descr)
self.fill_type(newconst)
self.check_type(newconst, 'value')
self.constants.append(newconst)
Expand All @@ -284,7 +289,6 @@ def const(self, name, type, value, descr):
def enum(self, constants, description):
if len(set(const['type'] for const in constants)) != 1:
raise Exception("Inconsistent types in enum!")
check_description(description)
return repr({'enum': constants, 'enum_description': description})

# Wrap add and add_group for the default group
Expand Down Expand Up @@ -344,85 +348,82 @@ def generate(self, pkgname, nodename, name):

def generatewikidoc(self):
self.mkdirabs(os.path.join(self.binary_dir, "docs"))
f = open(os.path.join(self.binary_dir, "docs", self.msgname + ".wikidoc"), 'w')
print(
"""# Autogenerated param section. Do not hand edit.
param {
group.0 {
name=Dynamically Reconfigurable Parameters
desc=See the [[dynamic_reconfigure]] package for details on dynamically reconfigurable parameters.""", file=f)
i = -1
for param in self.group.get_parameters():
i = i + 1
range = ""
try:
enum = eval(param['edit_method'])['enum']
range = ", ".join(Template("$name ($value): $description").substitute(const) for const in enum)
range = "Possible values are: " + range
except:
if param['type'] == int_t or param['type'] == double_t:
range = Template("Range: $min to $max").substitute(param)
print(Template(
"""$i.name= ~$name
$i.default= $default
$i.type= $type
$i.desc=$description $range"""
).substitute(param, range=range, i=i), file=f)
print("}\n}\n# End of autogenerated section. You may edit below.", file=f)
f.close()
with open(os.path.join(self.binary_dir, "docs", self.msgname + ".wikidoc"), 'w') as f:
print(textwrap.dedent("""\
# Autogenerated param section. Do not hand edit.
param {
group.0 {
name=Dynamically Reconfigurable Parameters
desc=See the [[dynamic_reconfigure]] package for details on dynamically reconfigurable parameters."""
), file=f)
i = -1
for param in self.group.get_parameters():
i = i + 1
range = ""
try:
enum = eval(param['edit_method'])['enum']
range = ", ".join(Template("$name ($value): $description").substitute(const) for const in enum)
range = "Possible values are: " + range
except:
if param['type'] == int_t or param['type'] == double_t:
range = Template("Range: $min to $max").substitute(param)
print(Template(textwrap.dedent("""\
$i.name= ~$name
$i.default= $default
$i.type= $type
$i.desc=$description $range"""
)).substitute(param, range=range, i=i), file=f)
print("}\n}\n# End of autogenerated section. You may edit below.", file=f)

def generateusage(self):
self.mkdirabs("docs")
f = open(os.path.join(self.binary_dir, "docs", self.msgname + "-usage.dox"), 'w')
# print("/**", file=f)
print("\\subsubsection usage Usage", file=f)
print('\\verbatim', file=f)
print(Template('<node name="$nodename" pkg="$pkgname" type="$nodename">').substitute(
pkgname=self.pkgname, nodename=self.nodename), file=f)
for param in self.group.get_parameters():
print(Template(' <param name="$name" type="$type" value="$default" />').substitute(param), file=f)
print('</node>', file=f)
print('\\endverbatim', file=f)
print('', file=f)
# print("*/", file=f)
f.close()
with open(os.path.join(self.binary_dir, "docs", self.msgname + "-usage.dox"), 'w') as f:
# print("/**", file=f)
print("\\subsubsection usage Usage", file=f)
print('\\verbatim', file=f)
print(Template('<node name="$nodename" pkg="$pkgname" type="$nodename">').substitute(
pkgname=self.pkgname, nodename=self.nodename), file=f)
for param in self.group.get_parameters():
print(Template(' <param name="$name" type="$type" value="$default" />').substitute(param), file=f)
print('</node>', file=f)
print('\\endverbatim', file=f)
print('', file=f)
# print("*/", file=f)

def generatedoc(self):
self.mkdirabs("docs")
dir_path = os.path.join(self.binary_dir, "docs")
self.mkdirabs(dir_path)
f = open(os.path.join(dir_path, self.msgname + ".dox"), 'w')
# print("/**", file=f)
print("\\subsubsection parameters ROS parameters", file=f)
print("", file=f)
print("Reads and maintains the following parameters on the ROS server", file=f)
print("", file=f)
for param in self.group.get_parameters():
print(Template("- \\b \"~$name\" : \\b [$type] $description min: $min, default: $default, max: $max").substitute(param), file=f)
print("", file=f)
# print("*/", file=f)
f.close()
with open(os.path.join(dir_path, self.msgname + ".dox"), 'w') as f:
# print("/**", file=f)
print("\\subsubsection parameters ROS parameters", file=f)
print("", file=f)
print("Reads and maintains the following parameters on the ROS server", file=f)
print("", file=f)
for param in self.group.get_parameters():
print(Template("- \\b \"~$name\" : \\b [$type] $description min: $min, default: $default, max: $max").substitute(param), file=f)
print("", file=f)
# print("*/", file=f)

def generateusage(self):
self.mkdirabs("docs")
f = open(os.path.join(self.binary_dir, "docs", self.msgname + "-usage.dox"), 'w')
# print("/**", file=f)
print("\\subsubsection usage Usage", file=f)
print('\\verbatim', file=f)
print(Template('<node name="$nodename" pkg="$pkgname" type="$nodename">').substitute(
pkgname=self.pkgname, nodename=self.nodename), file=f)
for param in self.group.get_parameters():
print(Template(' <param name="$name" type="$type" value="$default" />').substitute(param), file=f)
print('</node>', file=f)
print('\\endverbatim', file=f)
print("", file=f)
# print("*/", file=f)
f.close()
with open(os.path.join(self.binary_dir, "docs", self.msgname + "-usage.dox"), 'w') as f:
# print("/**", file=f)
print("\\subsubsection usage Usage", file=f)
print('\\verbatim', file=f)
print(Template('<node name="$nodename" pkg="$pkgname" type="$nodename">').substitute(
pkgname=self.pkgname, nodename=self.nodename), file=f)
for param in self.group.get_parameters():
print(Template(' <param name="$name" type="$type" value="$default" />').substitute(param), file=f)
print('</node>', file=f)
print('\\endverbatim', file=f)
print("", file=f)
# print("*/", file=f)

def crepr(self, param, val):
type = param["type"]
if type == 'str':
return '"' + val + '"'
return cquote(val)
if type in ['int', 'double']:
return str(val)
if type == 'bool':
Expand All @@ -441,12 +442,15 @@ def crepr(self, param, val):
# if 'float' in types:
# return str(val)

def appendline(self, list, text, param, value=None):
def appendline(self, list, text, param, value=None, **kwarg):
if value is None:
val = ""
else:
val = self.crepr(param, param[value])
list.append(Template('${doline} $srcline "$srcfile"\n ' + text).safe_substitute(param, v=val, doline=LINEDEBUG, configname=self.name))
list.append(
Template('${doline} $srcline "$srcfile"\n ' + text)
.safe_substitute(param, v=val, doline=LINEDEBUG, configname=self.name, **kwarg
))

def appendgroup(self, list, group):
subgroups = []
Expand All @@ -470,16 +474,15 @@ def generatecpp(self):
templatelines = []
templatefilesafe = templatefile.replace('\\', '\\\\') # line directive does backslash expansion.
curline = 1
f = open(templatefile)
for line in f:
curline = curline + 1
templatelines.append(Template(line).safe_substitute(linenum=curline, filename=templatefilesafe))
f.close()
with open(templatefile) as f:
for line in f:
curline = curline + 1
templatelines.append(Template(line).safe_substitute(linenum=curline, filename=templatefilesafe))

template = ''.join(templatelines)

# Write the configuration manipulator.
self.mkdirabs(self.cpp_gen_dir)
f = open(os.path.join(self.cpp_gen_dir, self.name + "Config.h"), 'w')
paramdescr = []
groups = []
members = []
Expand All @@ -501,11 +504,17 @@ def write_params(group):
paramdescr,
group.to_dict()['name'] +
".abstract_parameters.push_back(${configname}Config::AbstractParamDescriptionConstPtr(new ${configname}Config::ParamDescription<${ctype}>(\"${name}\", \"${type}\", ${level}, "
"\"${description}\", \"${edit_method}\", &${configname}Config::${name})));", param)
"${description}, ${edit_method}, &${configname}Config::${name})));",
param,
description=cquote(param['description']),
edit_method=cquote(param['edit_method']))
self.appendline(
paramdescr,
"__param_descriptions__.push_back(${configname}Config::AbstractParamDescriptionConstPtr(new ${configname}Config::ParamDescription<${ctype}>(\"${name}\", \"${type}\", ${level}, "
"\"${description}\", \"${edit_method}\", &${configname}Config::${name})));", param)
"${description}, ${edit_method}, &${configname}Config::${name})));",
param,
description=cquote(param['description']),
edit_method=cquote(param['edit_method']))

for g in group.groups:
write_params(g)
Expand All @@ -524,11 +533,11 @@ def write_params(group):
members = '\n'.join(members)
constants = '\n'.join(constants)
groups = '\n'.join(groups)
f.write(Template(template).substitute(
uname=self.name.upper(),
configname=self.name, pkgname=self.pkgname, paramdescr=paramdescr,
members=members, groups=groups, doline=LINEDEBUG, constants=constants))
f.close()
with open(os.path.join(self.cpp_gen_dir, self.name + "Config.h"), 'w') as f:
f.write(Template(template).substitute(
uname=self.name.upper(),
configname=self.name, pkgname=self.pkgname, paramdescr=paramdescr,
members=members, groups=groups, doline=LINEDEBUG, constants=constants))
print("Wrote header file in " + os.path.join(self.cpp_gen_dir, self.name + "Config.h"))

# def deleteoneobsolete(self, file):
Expand Down Expand Up @@ -602,22 +611,20 @@ def replace_infinity(self, config_dict):
def generatepy(self):
# Read the configuration manipulator template and insert line numbers and file name into template.
templatefile = os.path.join(self.dynconfpath, "templates", "ConfigType.py.template")
f = open(templatefile)
template = f.read()
f.close()
with open(templatefile) as f:
template = f.read()

# Write the configuration manipulator.
self.mkdirabs(os.path.join(self.py_gen_dir, "cfg"))
f = open(os.path.join(self.py_gen_dir, "cfg", self.name + "Config.py"), 'w')
pycfgdata = self.replace_infinity(self.group.to_dict())
f.write(Template(template).substitute(
name=self.name,
pkgname=self.pkgname, pycfgdata=pycfgdata))
for const in self.constants:
f.write(Template("${configname}_${name} = $v\n").substitute(
const, v=repr(const['value']),
configname=self.name))
f.close()

f = open(os.path.join(self.py_gen_dir, "cfg", "__init__.py"), 'a')
f.close()
with open(os.path.join(self.py_gen_dir, "cfg", self.name + "Config.py"), 'w') as f:
pycfgdata = self.replace_infinity(self.group.to_dict())
f.write(Template(template).substitute(
name=self.name,
pkgname=self.pkgname, pycfgdata=pycfgdata))
for const in self.constants:
f.write(Template("${configname}_${name} = $v\n").substitute(
const, v=repr(const['value']),
configname=self.name))

with open(os.path.join(self.py_gen_dir, "cfg", "__init__.py"), 'a'):
pass