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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,113 @@ | ||
| # Copyright DB Netz AG and contributors | ||
| # SPDX-License-Identifier: Apache-2.0 | ||
| """CLI for importing .msg to capella model.""" | ||
| import sys | ||
| from pathlib import Path | ||
|
|
||
| import click | ||
|
|
||
| import rosidl2capella | ||
| from rosidl2capella.modules import BASIC_TYPES, ROS_INTERFACES | ||
| from rosidl2capella.modules.parse_capella import ParseCapella | ||
| from rosidl2capella.modules.serialize_message import ( | ||
| SerializeMessageDef, | ||
| SerializeMessagesPkg, | ||
| ) | ||
|
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||
|
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| class Capella2Msg: | ||
| """Class for converting capella model to .msg files.""" | ||
|
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| def __init__(self, path_to_capella_model, layer, overlap) -> None: | ||
| self.parser = ParseCapella(path_to_capella_model, layer) | ||
| self.overlap = overlap | ||
|
|
||
| def add_package(self, current_root): | ||
| """Add package to message package.""" | ||
| out = SerializeMessagesPkg({}, {}) | ||
|
|
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| messages = self.parser.get_classes(current_root) | ||
| types = self.parser.get_types(current_root) | ||
|
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| out.messages = { | ||
| msg_name: SerializeMessageDef(msg_name, desc, props) | ||
| for msg_name, (desc, props) in (messages | types).items() | ||
| } | ||
| out.packages = { | ||
| pkg_name: self.add_package(current_root.packages.by_name(pkg_name)) | ||
| for pkg_name in self.parser.get_packages(current_root) | ||
| } | ||
| return out | ||
|
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||
|
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| @click.command() | ||
| @click.version_option( | ||
| version=rosidl2capella.__version__, | ||
| prog_name="rosidl2capella", | ||
| message="%(prog)s %(version)s", | ||
| ) | ||
| @click.argument( | ||
| "path-to-msgs-root", | ||
| type=click.Path( | ||
| file_okay=False, | ||
| readable=True, | ||
| resolve_path=True, | ||
| path_type=Path, | ||
| ), | ||
| required=True, | ||
| ) | ||
| @click.argument( | ||
| "path-to-capella-model", | ||
| type=click.Path( | ||
| exists=True, | ||
| readable=True, | ||
| resolve_path=True, | ||
| path_type=str, | ||
| ), | ||
| required=True, | ||
| ) | ||
| @click.argument( | ||
| "layer", | ||
| type=click.Choice(["oa", "sa", "la", "pa"], case_sensitive=False), | ||
| required=True, | ||
| ) | ||
| @click.option( | ||
| "-o", | ||
| "--overlap", | ||
| type=click.Choice( | ||
| ["keep", "overwrite", "ask", "abort"], case_sensitive=False | ||
| ), | ||
| default="ask" if sys.stdin.isatty() else "abort", | ||
| ) | ||
| @click.option("--debug", is_flag=True) | ||
| def capella2msg( | ||
| path_to_msgs_root, path_to_capella_model, layer, overlap, debug | ||
| ): | ||
| """Convert capella model to .msg files.""" | ||
| converter = Capella2Msg(path_to_capella_model, layer, overlap) | ||
| current_root = converter.parser.data | ||
|
|
||
| messages = converter.parser.get_classes(current_root) | ||
| types = converter.parser.get_types(current_root) | ||
|
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| packages = converter.parser.get_packages(current_root) | ||
| packages.discard(BASIC_TYPES) | ||
| packages.discard(ROS_INTERFACES) | ||
|
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| root = SerializeMessagesPkg({}, {}) | ||
| root.messages = { | ||
| msg_name: SerializeMessageDef(msg_name, desc, props) | ||
| for msg_name, (desc, props) in (messages | types).items() | ||
| } | ||
|
|
||
| root.packages = { | ||
| pkg_name: converter.add_package( | ||
| current_root.packages.by_name(pkg_name) | ||
| ) | ||
| for pkg_name in packages | ||
| } | ||
|
|
||
| if debug: | ||
| click.echo(root) | ||
| else: | ||
| root.to_msg_folder(path_to_msgs_root) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,51 @@ | ||
| # Copyright DB Netz AG and contributors | ||
| # SPDX-License-Identifier: Apache-2.0 | ||
| """Serializer for ROS messages.""" | ||
|
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| from pathlib import Path | ||
|
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| from . import MessageDef, MessagesPkg | ||
|
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|
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| class SerializeMessageDef(MessageDef): | ||
| """Serializer for message files.""" | ||
|
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| def to_msg_file(self, file: Path) -> None: | ||
| """Write message definition to message file.""" | ||
| description = "# " + self.description.replace("\n", "\n# ") + "\n" | ||
| props = "\n".join( | ||
| f"{p.typedir+'/' if p.typedir else ''}{p.type}" | ||
| f"{'[]' if p.min != p.max else ''} {p.name}\t" | ||
| f"{'# ' if p.comment else ''}{p.comment}" | ||
| for p in self.props | ||
| ) | ||
| file.write_text(description + "\n" + props) | ||
|
|
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| def to_type_file(self, file: Path) -> None: | ||
| """Write message definition to message file.""" | ||
| description = "# " + self.description.replace("\n", "\n# ") + "\n" | ||
| props = "\n".join( | ||
| f"{p.type} {file.stem + '_' + p.name}\t= {p.value}\t" | ||
| f"{'# ' if p.comment else ''}{p.comment}" | ||
| for p in self.props | ||
| ) | ||
| file.write_text(description + "\n" + props) | ||
|
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|
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| class SerializeMessagesPkg(MessagesPkg): | ||
| """Serializer for message packages.""" | ||
|
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| def to_msg_folder(self, path_to_pkg_root: Path) -> None: | ||
| """Write message package to message package.""" | ||
| path_to_pkg_root.mkdir(parents=True, exist_ok=True) | ||
| for msg_name, msg in self.messages.items(): | ||
| msg_file = path_to_pkg_root.joinpath(msg_name + ".msg") | ||
| if path_to_pkg_root.name == "types": | ||
| msg.to_type_file(msg_file) | ||
| else: | ||
| msg.to_msg_file(msg_file) | ||
|
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| for pkg_name, pkg in self.packages.items(): | ||
| new_path = path_to_pkg_root.joinpath(pkg_name) | ||
| new_path.mkdir(parents=True, exist_ok=True) | ||
| pkg.to_msg_folder(new_path) |
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