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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,189 @@ | ||
| #!/usr/bin/env python3 | ||
| # | ||
| # Copyright (C) 2023 Open Source Robotics Foundation | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License") | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
|
|
||
| import argparse | ||
| import os | ||
| import re | ||
| import sys | ||
|
|
||
| # Create <gz/msgs/MessageTypes.hh> | ||
| cc_header = """/* | ||
| * Copyright (C) 2023 Open Source Robotics Foundation | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| * | ||
| */ | ||
| /* This file was automatically generated. | ||
| * Do not edit this directly | ||
| */ | ||
| #ifndef GZ_MSGS_MESSAGE_TYPES_HH_ | ||
| #define GZ_MSGS_MESSAGE_TYPES_HH_ | ||
| {gz_msgs_headers} | ||
| namespace {namespace} {{ | ||
| int RegisterAll(); | ||
| }} | ||
| #endif""" | ||
|
|
||
| # Create factory registration bits | ||
| cc_source = """/* | ||
| * Copyright (C) 2023 Open Source Robotics Foundation | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| * | ||
| */ | ||
| /* This file was automatically generated. | ||
| * Do not edit this directly | ||
| */ | ||
| #include "gz/msgs/Factory.hh" | ||
| #include "gz/msgs/MessageFactory.hh" | ||
| #include "{include_path}/MessageTypes.hh" | ||
| #include <array> | ||
| namespace {{ | ||
| using NamedFactoryFn = std::pair<std::string, gz::msgs::MessageFactory::FactoryFn>; | ||
| std::array<NamedFactoryFn, {nRegistrations}> kFactoryFunctions = {{{{ | ||
| {registrations} | ||
| }}}}; | ||
| }} // namespace | ||
| """ | ||
|
|
||
| cc_factory = """ | ||
| namespace {namespace} {{ | ||
| int RegisterAll() {{ | ||
| size_t registered = 0; | ||
| for (const auto &entry: kFactoryFunctions) {{ | ||
| gz::msgs::Factory::Register(entry.first, entry.second); | ||
| registered++; | ||
| }} | ||
| return registered; | ||
| }} | ||
| static int kMessagesRegistered = RegisterAll(); | ||
| }} // namespace {namespace} | ||
| """ | ||
|
|
||
| register_fn = """ {{"{package_str}.{message_str}", | ||
| []()->std::unique_ptr<google::protobuf::Message>{{return std::make_unique<{message_cpp_type}>();}}}},""" | ||
|
|
||
| def main(argv=sys.argv[1:]): | ||
| parser = argparse.ArgumentParser( | ||
| description='Generate protobuf factory file', | ||
| formatter_class=argparse.ArgumentDefaultsHelpFormatter) | ||
| parser.add_argument( | ||
| '--cc-output', | ||
| required=True, | ||
| help='The path to the generated cpp file') | ||
| parser.add_argument( | ||
| '--hh-output', | ||
| required=True, | ||
| help='The path to the generated hh file') | ||
| parser.add_argument( | ||
| '--proto-path', | ||
| required=True, | ||
| help='The location of the protos') | ||
| parser.add_argument( | ||
| '--proto-include-path', | ||
| required=True, | ||
| help='The location of the protos') | ||
| parser.add_argument( | ||
| '--protos', | ||
| type=str, | ||
| nargs='*', | ||
| required=True, | ||
| help='The list of protos to include' | ||
| ) | ||
|
|
||
| args = parser.parse_args(argv) | ||
|
|
||
| package_re = re.compile('^package (.*);$') | ||
| message_re = re.compile(r'message (\w*)\s?{?$') | ||
|
|
||
| registrations = dict() | ||
| gz_msgs_headers = [] | ||
| package = [] | ||
| messages = [] | ||
|
|
||
| for proto in args.protos: | ||
| try: | ||
| with open(proto, 'r') as f: | ||
| content = f.readlines() | ||
| for line in content: | ||
| package_found = package_re.match(line) | ||
| if package_found: | ||
| package = package_found.group(1).split('.') | ||
|
|
||
| message_found = message_re.match(line) | ||
| if message_found: | ||
| messages.append(message_found.group(1)) | ||
| except: | ||
| pass | ||
|
|
||
| if package and messages: | ||
| for message in messages: | ||
| registrations['_'.join([*package, message])] = register_fn.format( | ||
| package_str='.'.join(package), | ||
| message_str=message, | ||
| message_cpp_type='::'.join([*package, message]) | ||
| ) | ||
|
|
||
| split = proto.replace(args.proto_include_path, '') | ||
| split = [s for s in split.split("/") if s] | ||
| split[-1] = split[-1].replace(".proto", ".pb.h") | ||
| gz_msgs_headers.append("#include <" + "/".join(split) + ">") | ||
|
|
||
| namespace = '::'.join(package) | ||
| include_path = '/'.join(package) | ||
|
|
||
| with open(os.path.join(args.cc_output), 'w') as f: | ||
| f.write((cc_source.format(registrations='\n'.join(registrations.values()), | ||
| nRegistrations=len(registrations.values()), | ||
| namespace=namespace, | ||
| include_path=include_path) + | ||
| cc_factory.format(namespace=namespace))) | ||
|
|
||
| with open(os.path.join(args.hh_output), 'w') as f: | ||
| f.write(cc_header.format(namespace=namespace, | ||
| gz_msgs_headers='\n'.join(gz_msgs_headers))) | ||
|
|
||
| if __name__ == '__main__': | ||
| sys.exit(main()) |