From 5e03a402a3f75e203cf632be3d6dc31726dcbe23 Mon Sep 17 00:00:00 2001 From: JaeyoungLim Date: Wed, 7 Oct 2020 14:22:12 +0200 Subject: [PATCH] Deprecate xacro macros (#623) xacro macros have been replaced by jinja templates in PX4/Firmware#15831, therefore no longer used in the PX4 toolchain. This commit removes rotors_description to deprecate xacro templates completely Remove xacro.py --- models/if750a/if750a.sdf | 8 +- models/iris_hitl/iris_hitl.sdf | 4 +- models/px4vision/px4vision.sdf | 8 +- models/rotors_description/model.config | 5 - .../urdf/component_snippets.xacro | 869 ------------------ .../urdf/fixedwing_base.xacro | 242 ----- models/rotors_description/urdf/iris.xacro | 184 ---- .../rotors_description/urdf/iris_base.xacro | 237 ----- .../urdf/iris_rtps_base.xacro | 37 - .../urdf/multirotor_base.xacro | 153 --- models/rotors_description/urdf/plane.xacro | 237 ----- .../rotors_description/urdf/plane_base.xacro | 244 ----- .../urdf/standard_vtol.xacro | 304 ------ .../urdf/standard_vtol_base.xacro | 244 ----- .../rotors_description/urdf/vtol_base.xacro | 56 -- scripts/xacro.py | 742 --------------- 16 files changed, 10 insertions(+), 3564 deletions(-) delete mode 100644 models/rotors_description/model.config delete mode 100644 models/rotors_description/urdf/component_snippets.xacro delete mode 100644 models/rotors_description/urdf/fixedwing_base.xacro delete mode 100644 models/rotors_description/urdf/iris.xacro delete mode 100644 models/rotors_description/urdf/iris_base.xacro delete mode 100644 models/rotors_description/urdf/iris_rtps_base.xacro delete mode 100644 models/rotors_description/urdf/multirotor_base.xacro delete mode 100644 models/rotors_description/urdf/plane.xacro delete mode 100644 models/rotors_description/urdf/plane_base.xacro delete mode 100644 models/rotors_description/urdf/standard_vtol.xacro delete mode 100644 models/rotors_description/urdf/standard_vtol_base.xacro delete mode 100644 models/rotors_description/urdf/vtol_base.xacro delete mode 100755 scripts/xacro.py diff --git a/models/if750a/if750a.sdf b/models/if750a/if750a.sdf index cf8e66aba9..57587a96e6 100644 --- a/models/if750a/if750a.sdf +++ b/models/if750a/if750a.sdf @@ -121,7 +121,7 @@ 1 1 1 - model://rotors_description/meshes/iris_prop_ccw.dae + model://iris/meshes/iris_prop_ccw.dae @@ -187,7 +187,7 @@ 1 1 1 - model://rotors_description/meshes/iris_prop_ccw.dae + model://iris/meshes/iris_prop_ccw.dae @@ -253,7 +253,7 @@ 1 1 1 - model://rotors_description/meshes/iris_prop_cw.dae + model://iris/meshes/iris_prop_cw.dae @@ -319,7 +319,7 @@ 1 1 1 - model://rotors_description/meshes/iris_prop_cw.dae + model://iris/meshes/iris_prop_cw.dae diff --git a/models/iris_hitl/iris_hitl.sdf b/models/iris_hitl/iris_hitl.sdf index 6de5dc57fe..686838b94a 100644 --- a/models/iris_hitl/iris_hitl.sdf +++ b/models/iris_hitl/iris_hitl.sdf @@ -37,7 +37,7 @@ 1 1 1 - model://rotors_description/meshes/iris.stl + model://iris/meshes/iris.stl @@ -200,7 +200,7 @@ 1 1 1 - model://rotors_description/meshes/iris_prop_ccw.dae + model://iris/meshes/iris_prop_ccw.dae diff --git a/models/px4vision/px4vision.sdf b/models/px4vision/px4vision.sdf index 2daf3f38ab..1da6ca3766 100644 --- a/models/px4vision/px4vision.sdf +++ b/models/px4vision/px4vision.sdf @@ -120,7 +120,7 @@ 0.6 0.6 0.6 - model://rotors_description/meshes/iris_prop_ccw.dae + model://iris/meshes/iris_prop_ccw.dae @@ -185,7 +185,7 @@ 0.6 0.6 0.6 - model://rotors_description/meshes/iris_prop_ccw.dae + model://iris/meshes/iris_prop_ccw.dae @@ -250,7 +250,7 @@ 0.6 0.6 0.6 - model://rotors_description/meshes/iris_prop_cw.dae + model://iris/meshes/iris_prop_cw.dae @@ -315,7 +315,7 @@ 0.6 0.6 0.6 - model://rotors_description/meshes/iris_prop_cw.dae + model://iris/meshes/iris_prop_cw.dae diff --git a/models/rotors_description/model.config b/models/rotors_description/model.config deleted file mode 100644 index ca022bed8a..0000000000 --- a/models/rotors_description/model.config +++ /dev/null @@ -1,5 +0,0 @@ - - - rotors description - 1.0 - diff --git a/models/rotors_description/urdf/component_snippets.xacro b/models/rotors_description/urdf/component_snippets.xacro deleted file mode 100644 index 1c7e72edcc..0000000000 --- a/models/rotors_description/urdf/component_snippets.xacro +++ /dev/null @@ -1,869 +0,0 @@ - - - - - - - - - - ${pos_x} ${pos_y} ${pos_z} 0 0 0 - - 0 0 0 0 0 0 - 0.01 - - 2.1733e-6 - 0 - 0 - 2.1733e-6 - 0 - 1.8e-7 - - - - - - 0.01 - 0.002 - - - - - - - - 0 0 0 0 0 0 - - ${namespace} - ${gps_noise} - ${gps_xy_random_walk} - ${gps_z_random_walk} - ${gps_xy_noise_density} - ${gps_z_noise_density} - ${gps_vxy_noise_density} - ${gps_vz_noise_density} - - - - - - ${parent_link} - ${gps_name}::link - - - - - - - - - ${namespace} - ${bag_file} - base_link - base_link - command/attitude - command/attitude - ${rotor_velocity_slowdown_sim} - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ${frame_rate} - - ${horizontal_fov} - - ${image_width} - ${image_height} - ${image_format} - - - ${min_distance} - ${max_distance} - - - gaussian - - ${noise_mean} - ${noise_stddev} - - - - ${namespace} - true - ${frame_rate} - camera_${camera_suffix} - image_raw - camera_info - camera_${camera_suffix}_link - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - - - - - - - - - - - - - - - - - - - - - - - - - - ${namespace}/airspeed_link - - - - - - - - - ${namespace} - /command/attitude - /command/rate - /command/motor_speed - /${imu_sub_topic} - /gazebo/command/motor_speed - - - - - - - - - ${namespace} - - - - - - - - - ${namespace} - ${pub_rate} - ${noise_density} - ${random_walk} - ${bias_correlation_time} - ${mag_topic} - - - - - - - - - ${namespace} - ${pub_rate} - ${baro_topic} - ${baro_drift_pa_per_sec} - - - - - - - - - ${namespace} - ${imu_sub_topic} - ${mag_sub_topic} - ${baro_sub_topic} - $(arg mavlink_addr) - $(arg mavlink_udp_port) - $(arg mavlink_tcp_port) - $(arg serial_enabled) - $(arg serial_device) - $(arg baudrate) - $(arg qgc_addr) - $(arg qgc_udp_port) - $(arg sdk_addr) - $(arg sdk_udp_port) - $(arg hil_mode) - $(arg hil_state_level) - $(arg vehicle_is_tailsitter) - $(arg send_vision_estimation) - $(arg send_odometry) - $(arg enable_lockstep) - $(arg use_tcp) - /gazebo/command/motor_speed - - - 0 - 0 - 1000 - 0 - 100 - velocity - - - 1 - 0 - 1000 - 0 - 100 - velocity - - - 2 - 0 - 1000 - 0 - 100 - velocity - - - 3 - 0 - 1000 - 0 - 100 - velocity - - - 4 - 1 - 324.6 - 0 - 0 - velocity - -

0.1

- 0 - 0 - 0.0 - 0.0 - 2 - -2 - - zephyr_delta_wing::propeller_joint - - - 5 - 0 - - 0.524 - 0 - 0 - position - zephyr_delta_wing::flap_left_joint - -

10.0

- 0 - 0 - 0 - 0 - 20 - -20 - - - - 6 - 0 - - 0.524 - 0 - 0 - position - zephyr_delta_wing::flap_right_joint - -

10.0

- 0 - 0 - 0 - 0 - 20 - -20 - - - - 7 - 0 - 0.524 - 0 - 0 - position - - - - - - - - - - - ${namespace} - ${imu_sub_topic} - ${mag_sub_topic} - ${baro_sub_topic} - $(arg mavlink_addr) - $(arg mavlink_udp_port) - $(arg mavlink_tcp_port) - $(arg serial_enabled) - $(arg serial_device) - $(arg baudrate) - $(arg qgc_addr) - $(arg qgc_udp_port) - $(arg sdk_addr) - $(arg sdk_udp_port) - $(arg hil_mode) - $(arg hil_state_level) - $(arg vehicle_is_tailsitter) - $(arg send_vision_estimation) - $(arg send_odometry) - $(arg enable_lockstep) - $(arg use_tcp) - /gazebo/command/motor_speed - - - 2 - 0 - 1 - 0 - 0 - position_kinematic - rudder_joint - - - 4 - 0 - 3500 - 0 - 0 - velocity - rotor_4_joint - - - 5 - 0 - 1 - 0 - 0 - position_kinematic - left_elevon_joint - - - 6 - 0 - 1 - 0 - 0 - position_kinematic - right_elevon_joint - - - 7 - 0 - 1 - 0 - 0 - position_kinematic - elevator_joint - - - - - - - - - - - ${namespace} - ${imu_sub_topic} - ${mag_sub_topic} - ${baro_sub_topic} - $(arg mavlink_addr) - $(arg mavlink_udp_port) - $(arg mavlink_tcp_port) - $(arg serial_enabled) - $(arg serial_device) - $(arg baudrate) - $(arg qgc_addr) - $(arg qgc_udp_port) - $(arg sdk_addr) - $(arg sdk_udp_port) - $(arg hil_mode) - $(arg hil_state_level) - $(arg vehicle_is_tailsitter) - $(arg send_vision_estimation) - $(arg send_odometry) - $(arg enable_lockstep) - $(arg use_tcp) - /gazebo/command/motor_speed - - - 0 - 0 - 1500 - 0 - 0 - velocity - rotor_0_joint - - - 1 - 0 - 1500 - 0 - 0 - velocity - rotor_1_joint - - - 2 - 0 - 1500 - 0 - 0 - velocity - rotor_2_joint - - - 3 - 0 - 1500 - 0 - 0 - velocity - rotor_3_joint - - - 4 - 0 - 5500 - 0 - 0 - velocity - rotor_puller_joint - - - 5 - 0 - 1 - 0 - 0 - position_kinematic - left_elevon_joint - - - 6 - 0 - 1 - 0 - 0 - position_kinematic - right_elevon_joint - - - 7 - 0 - 1 - 0 - 0 - position_kinematic - elevator_joint - - - - - - - - - - - - - - - - - - - - - - - - - - - ${namespace} - ${namespace}/imu${imu_suffix}_link - ${imu_topic} - ${gyroscope_noise_density} - ${gyroscopoe_random_walk} - ${gyroscope_bias_correlation_time} - ${gyroscope_turn_on_bias_sigma} - ${accelerometer_noise_density} - ${accelerometer_random_walk} - ${accelerometer_bias_correlation_time} - ${accelerometer_turn_on_bias_sigma} - - - - - - - - - - - - - - - - - - - - - - - ${namespace}/odometry_sensor${odometry_sensor_suffix}_link - ${namespace} - ${pose_topic} - ${pose_with_covariance_topic} - ${position_topic} - ${transform_topic} - ${odometry_topic} - ${parent_frame_id} - ${measurement_divisor} - ${measurement_delay} - ${unknown_delay} - ${noise_normal_position} - ${noise_normal_quaternion} - ${noise_normal_linear_velocity} - ${noise_normal_angular_velocity} - ${noise_uniform_position} - ${noise_uniform_quaternion} - ${noise_uniform_linear_velocity} - ${noise_uniform_angular_velocity} - - package://rotors_gazebo/resource/${odometry_map} - ${image_scale} - - - - - - - - - - base_link - base_link - ${namespace} - ${xyz_offset} - ${wind_direction} - ${wind_force_mean} - ${wind_gust_direction} - ${wind_gust_duration} - ${wind_gust_start} - ${wind_gust_force_mean} - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - true - ${frame_rate} - - 2 - - L8 - 640 - 480 - - - 0.01 - 100 - - - - ${namespace} - true - 0.11 - ${frame_rate} - camera_${camera_suffix} - camera/image_raw - camera/camera_info - depth/disparity - depth/camera_info - depth/points - camera_${camera_suffix}_optical_center_link - 0.5 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/models/rotors_description/urdf/fixedwing_base.xacro b/models/rotors_description/urdf/fixedwing_base.xacro deleted file mode 100644 index 382e4120c1..0000000000 --- a/models/rotors_description/urdf/fixedwing_base.xacro +++ /dev/null @@ -1,242 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Gazebo/DarkGrey - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ${robot_namespace} - rotor_${motor_number}_joint - rotor_${motor_number} - ${direction} - ${time_constant_up} - ${time_constant_down} - ${max_rot_velocity} - ${motor_constant} - ${moment_constant} - /gazebo/command/motor_speed - ${motor_number} - ${rotor_drag_coefficient} - ${rolling_moment_coefficient} - /motor_speed/${motor_number} - ${rotor_velocity_slowdown_sim} - - - - - Gazebo/${color} - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ${a0} - 4.752798721 - 0.6417112299 - 0.0 - 0.3391428111 - -3.85 - -0.9233984055 - 0 - ${cpx} ${cpy} ${cpz} - ${area} - 1.2041 - 1 0 0 - ${upx} ${upy} ${upz} - ${parent} - - ${link_name}_joint - - ${control_joint_rad_to_cl} - - /wind - - - - Gazebo/${color} - - - True - - - - - - - - - - - - - - - - - - - - - - - ${a0} - 4.752798721 - 0.6417112299 - 0.0 - 0.3391428111 - -3.85 - -0.9233984055 - 0 - ${cpx} ${cpy} ${cpz} - ${area} - 1.2041 - 1 0 0 - ${upx} ${upy} ${upz} - ${parent} - - ${link_name}_joint - - ${control_joint_rad_to_cl} - - /wind - - - - Gazebo/${color} - - - True - - - - diff --git a/models/rotors_description/urdf/iris.xacro b/models/rotors_description/urdf/iris.xacro deleted file mode 100644 index 369975d40e..0000000000 --- a/models/rotors_description/urdf/iris.xacro +++ /dev/null @@ -1,184 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/models/rotors_description/urdf/iris_base.xacro b/models/rotors_description/urdf/iris_base.xacro deleted file mode 100644 index 727f34f585..0000000000 --- a/models/rotors_description/urdf/iris_base.xacro +++ /dev/null @@ -1,237 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/models/rotors_description/urdf/iris_rtps_base.xacro b/models/rotors_description/urdf/iris_rtps_base.xacro deleted file mode 100644 index f2b0beb907..0000000000 --- a/models/rotors_description/urdf/iris_rtps_base.xacro +++ /dev/null @@ -1,37 +0,0 @@ - - - - - - - diff --git a/models/rotors_description/urdf/multirotor_base.xacro b/models/rotors_description/urdf/multirotor_base.xacro deleted file mode 100644 index 629909c619..0000000000 --- a/models/rotors_description/urdf/multirotor_base.xacro +++ /dev/null @@ -1,153 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ${robot_namespace} - base_link - ${rotor_velocity_slowdown_sim} - - - - Gazebo/${color} - - - - - 0.001 - 0.0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ${robot_namespace} - rotor_${motor_number}_joint - rotor_${motor_number} - ${direction} - ${time_constant_up} - ${time_constant_down} - ${max_rot_velocity} - ${motor_constant} - ${moment_constant} - /gazebo/command/motor_speed - ${motor_number} - ${rotor_drag_coefficient} - ${rolling_moment_coefficient} - /motor_speed/${motor_number} - ${rotor_velocity_slowdown_sim} - - - - - Gazebo/${color} - - - diff --git a/models/rotors_description/urdf/plane.xacro b/models/rotors_description/urdf/plane.xacro deleted file mode 100644 index 9bb85776bb..0000000000 --- a/models/rotors_description/urdf/plane.xacro +++ /dev/null @@ -1,237 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/models/rotors_description/urdf/plane_base.xacro b/models/rotors_description/urdf/plane_base.xacro deleted file mode 100644 index 47cbc7f8b1..0000000000 --- a/models/rotors_description/urdf/plane_base.xacro +++ /dev/null @@ -1,244 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/models/rotors_description/urdf/standard_vtol.xacro b/models/rotors_description/urdf/standard_vtol.xacro deleted file mode 100644 index 6dbf49aa9f..0000000000 --- a/models/rotors_description/urdf/standard_vtol.xacro +++ /dev/null @@ -1,304 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/models/rotors_description/urdf/standard_vtol_base.xacro b/models/rotors_description/urdf/standard_vtol_base.xacro deleted file mode 100644 index 7e9c551b17..0000000000 --- a/models/rotors_description/urdf/standard_vtol_base.xacro +++ /dev/null @@ -1,244 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/models/rotors_description/urdf/vtol_base.xacro b/models/rotors_description/urdf/vtol_base.xacro deleted file mode 100644 index 4d7768a772..0000000000 --- a/models/rotors_description/urdf/vtol_base.xacro +++ /dev/null @@ -1,56 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Gazebo/DarkGrey - - 0 - - - diff --git a/scripts/xacro.py b/scripts/xacro.py deleted file mode 100755 index 606e1a53d9..0000000000 --- a/scripts/xacro.py +++ /dev/null @@ -1,742 +0,0 @@ -#!/usr/bin/env python3 - -# Copyright (c) 2013, Willow Garage, Inc. -# Copyright (c) 2014, Open Source Robotics Foundation, 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 the Open Source Robotics Foundation, 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. - -# Author: Stuart Glaser -# Maintainer: William Woodall - -from __future__ import print_function -import getopt -import glob -import os -import re -import string -import sys -import xml - -from xml.dom.minidom import parse - -import substitution_args -from names import load_mappings - -try: - _basestr = basestring -except NameError: - _basestr = str - -# Dictionary of subtitution args -substitution_args_context = {} - - -class XacroException(Exception): - pass - - -def isnumber(x): - return hasattr(x, '__int__') - - -def eval_extension(str): - return substitution_args.resolve_args( - str, context=substitution_args_context, resolve_anon=False) - - -# Better pretty printing of xml -# Taken from -# http://ronrothman.com/public/leftbraned/xml-dom-minidom-toprettyxml-and-silly-whitespace/ -def fixed_writexml(self, writer, indent="", addindent="", newl=""): - # indent = current indentation - # addindent = indentation to add to higher levels - # newl = newline string - writer.write(indent + "<" + self.tagName) - - attrs = self._get_attributes() - a_names = sorted(attrs.keys()) - - for a_name in a_names: - writer.write(" %s=\"" % a_name) - xml.dom.minidom._write_data(writer, attrs[a_name].value) - writer.write("\"") - if self.childNodes: - if len(self.childNodes) == 1 \ - and self.childNodes[0].nodeType == xml.dom.minidom.Node.TEXT_NODE: - writer.write(">") - self.childNodes[0].writexml(writer, "", "", "") - writer.write("%s" % (self.tagName, newl)) - return - writer.write(">%s" % (newl)) - for node in self.childNodes: - # skip whitespace-only text nodes - if node.nodeType == xml.dom.minidom.Node.TEXT_NODE and \ - not node.data.strip(): - continue - node.writexml(writer, indent + addindent, addindent, newl) - writer.write("%s%s" % (indent, self.tagName, newl)) - else: - writer.write("/>%s" % (newl)) - - -# replace minidom's function with ours -xml.dom.minidom.Element.writexml = fixed_writexml - - -class Table: - def __init__(self, parent=None): - self.parent = parent - self.table = {} - - def __getitem__(self, key): - if key in self.table: - return self.table[key] - elif self.parent: - return self.parent[key] - else: - raise KeyError(key) - - def __setitem__(self, key, value): - self.table[key] = value - - def __contains__(self, key): - return \ - key in self.table or \ - (self.parent and key in self.parent) - - -class QuickLexer(object): - def __init__(self, **res): - self.str = "" - self.top = None - self.res = [] - for k, v in res.items(): - self.__setattr__(k, len(self.res)) - self.res.append(v) - - def lex(self, str): - self.str = str - self.top = None - self.next() - - def peek(self): - return self.top - - def next(self): - result = self.top - self.top = None - for i in range(len(self.res)): - m = re.match(self.res[i], self.str) - if m: - self.top = (i, m.group(0)) - self.str = self.str[m.end():] - break - return result - - -def first_child_element(elt): - c = elt.firstChild - while c: - if c.nodeType == xml.dom.Node.ELEMENT_NODE: - return c - c = c.nextSibling - return None - - -def next_sibling_element(elt): - c = elt.nextSibling - while c: - if c.nodeType == xml.dom.Node.ELEMENT_NODE: - return c - c = c.nextSibling - return None - - -# Pre-order traversal of the elements -def next_element(elt): - child = first_child_element(elt) - if child: - return child - while elt and elt.nodeType == xml.dom.Node.ELEMENT_NODE: - next = next_sibling_element(elt) - if next: - return next - elt = elt.parentNode - return None - - -# Pre-order traversal of all the nodes -def next_node(node): - if node.firstChild: - return node.firstChild - while node: - if node.nextSibling: - return node.nextSibling - node = node.parentNode - return None - - -def child_nodes(elt): - c = elt.firstChild - while c: - yield c - c = c.nextSibling - - -all_includes = [] - -# Deprecated message for tags that don't have -# prepended: -deprecated_include_msg = """DEPRECATED IN HYDRO: - The tag should be prepended with 'xacro' if that is the intended use - of it, such as . Use the following script to fix incorrect - xacro includes: - sed -i 's/ extensions - is_include = False - if elt.tagName == 'xacro:include' or elt.tagName == 'include': - - is_include = True - # Temporary fix for ROS Hydro and the xacro include scope problem - if elt.tagName == 'include': - - # check if there is any element within the tag. mostly we are concerned - # with Gazebo's element, but it could be anything. also, make sure the child - # nodes aren't just a single Text node, which is still considered a deprecated - # instance - if elt.childNodes and not (len(elt.childNodes) == 1 and - elt.childNodes[0].nodeType == elt.TEXT_NODE): - # this is not intended to be a xacro element, so we can - # ignore it - is_include = False - else: - # throw a deprecated warning - print(deprecated_include_msg, file=sys.stderr) - - # Process current element depending on previous conditions - if is_include: - filename_spec = eval_text(elt.getAttribute('filename'), {}) - if not os.path.isabs(filename_spec): - filename_spec = os.path.join(base_dir, filename_spec) - - if re.search('[*[?]+', filename_spec): - # Globbing behaviour - filenames = sorted(glob.glob(filename_spec)) - if len(filenames) == 0: - print(include_no_matches_msg.format( - filename_spec), file=sys.stderr) - else: - # Default behaviour - filenames = [filename_spec] - - for filename in filenames: - global all_includes - all_includes.append(filename) - try: - with open(filename) as f: - try: - included = parse(f) - except Exception as e: - raise XacroException( - "included file \"%s\" generated an error during XML parsing: %s" % - (filename, str(e))) - except IOError as e: - raise XacroException( - "included file \"%s\" could not be opened: %s" % - (filename, str(e))) - - # Replaces the include tag with the elements of the included - # file - for c in child_nodes(included.documentElement): - elt.parentNode.insertBefore(c.cloneNode(deep=True), elt) - - # Grabs all the declared namespaces of the included document - for name, value in included.documentElement.attributes.items(): - if name.startswith('xmlns:'): - namespaces[name] = value - - elt.parentNode.removeChild(elt) - elt = None - else: - previous = elt - - elt = next_element(previous) - - # Makes sure the final document declares all the namespaces of the - # included documents. - for k, v in namespaces.items(): - doc.documentElement.setAttribute(k, v) - - -# Returns a dictionary: { macro_name => macro_xml_block } -def grab_macros(doc): - macros = {} - - previous = doc.documentElement - elt = next_element(previous) - while elt: - if elt.tagName == 'macro' or elt.tagName == 'xacro:macro': - name = elt.getAttribute('name') - - macros[name] = elt - macros['xacro:' + name] = elt - - elt.parentNode.removeChild(elt) - elt = None - else: - previous = elt - - elt = next_element(previous) - return macros - - -# Returns a Table of the properties -def grab_properties(doc): - table = Table() - - previous = doc.documentElement - elt = next_element(previous) - while elt: - if elt.tagName == 'property' or elt.tagName == 'xacro:property': - name = elt.getAttribute('name') - value = None - - if elt.hasAttribute('value'): - value = elt.getAttribute('value') - else: - name = '**' + name - value = elt # debug - - bad = string.whitespace + "${}" - has_bad = False - for b in bad: - if b in name: - has_bad = True - break - - if has_bad: - sys.stderr.write('Property names may not have whitespace, ' + - '"{", "}", or "$" : "' + name + '"') - else: - table[name] = value - - elt.parentNode.removeChild(elt) - elt = None - else: - previous = elt - - elt = next_element(previous) - return table - - -def eat_ignore(lex): - while lex.peek() and lex.peek()[0] == lex.IGNORE: - lex.next() - - -def eval_lit(lex, symbols): - eat_ignore(lex) - if lex.peek()[0] == lex.NUMBER: - return float(lex.next()[1]) - if lex.peek()[0] == lex.SYMBOL: - try: - key = lex.next()[1] - value = symbols[key] - except KeyError as ex: - raise XacroException("Property wasn't defined: %s" % str(ex)) - if not (isnumber(value) or isinstance(value, _basestr)): - if value is None: - raise XacroException("Property %s recursively used" % key) - raise XacroException("WTF2") - try: - return int(value) - except BaseException: - try: - return float(value) - except BaseException: - # prevent infinite recursion - symbols[key] = None - result = eval_text(value, symbols) - # restore old entry - symbols[key] = value - return result - raise XacroException("Bad literal") - - -def eval_factor(lex, symbols): - eat_ignore(lex) - - neg = 1 - if lex.peek()[1] == '-': - lex.next() - neg = -1 - - if lex.peek()[0] in [lex.NUMBER, lex.SYMBOL]: - return neg * eval_lit(lex, symbols) - if lex.peek()[0] == lex.LPAREN: - lex.next() - eat_ignore(lex) - result = eval_expr(lex, symbols) - eat_ignore(lex) - if lex.next()[0] != lex.RPAREN: - raise XacroException("Unmatched left paren") - eat_ignore(lex) - return neg * result - - raise XacroException("Misplaced operator") - - -def eval_term(lex, symbols): - eat_ignore(lex) - - result = 0 - if lex.peek()[0] in [lex.NUMBER, lex.SYMBOL, lex.LPAREN] \ - or lex.peek()[1] == '-': - result = eval_factor(lex, symbols) - - eat_ignore(lex) - while lex.peek() and lex.peek()[1] in ['*', '/']: - op = lex.next()[1] - n = eval_factor(lex, symbols) - - if op == '*': - result = float(result) * float(n) - elif op == '/': - result = float(result) / float(n) - else: - raise XacroException("WTF") - eat_ignore(lex) - return result - - -def eval_expr(lex, symbols): - eat_ignore(lex) - - op = None - if lex.peek()[0] == lex.OP: - op = lex.next()[1] - if op not in ['+', '-']: - raise XacroException("Invalid operation. Must be '+' or '-'") - - result = eval_term(lex, symbols) - if op == '-': - result = -float(result) - - eat_ignore(lex) - while lex.peek() and lex.peek()[1] in ['+', '-']: - op = lex.next()[1] - n = eval_term(lex, symbols) - - if op == '+': - result = float(result) + float(n) - if op == '-': - result = float(result) - float(n) - eat_ignore(lex) - return result - - -def eval_text(text, symbols): - def handle_expr(s): - lex = QuickLexer(IGNORE=r"\s+", - NUMBER=r"(\d+(\.\d*)?|\.\d+)([eE][-+]?\d+)?", - SYMBOL=r"[a-zA-Z_]\w*", - OP=r"[\+\-\*/^]", - LPAREN=r"\(", - RPAREN=r"\)") - lex.lex(s) - return eval_expr(lex, symbols) - - def handle_extension(s): - return eval_extension("$(%s)" % s) - - results = [] - lex = QuickLexer(DOLLAR_DOLLAR_BRACE=r"\$\$+\{", - EXPR=r"\$\{[^\}]*\}", - EXTENSION=r"\$\([^\)]*\)", - TEXT=r"([^\$]|\$[^{(]|\$$)+") - lex.lex(text) - while lex.peek(): - if lex.peek()[0] == lex.EXPR: - results.append(handle_expr(lex.next()[1][2:-1])) - elif lex.peek()[0] == lex.EXTENSION: - results.append(handle_extension(lex.next()[1][2:-1])) - elif lex.peek()[0] == lex.TEXT: - results.append(lex.next()[1]) - elif lex.peek()[0] == lex.DOLLAR_DOLLAR_BRACE: - results.append(lex.next()[1][1:]) - return ''.join(map(str, results)) - - -# Expands macros, replaces properties, and evaluates expressions -def eval_all(root, macros, symbols): - # Evaluates the attributes for the root node - for at in root.attributes.items(): - result = eval_text(at[1], symbols) - root.setAttribute(at[0], result) - - previous = root - node = next_node(previous) - while node: - if node.nodeType == xml.dom.Node.ELEMENT_NODE: - if node.tagName in macros: - body = macros[node.tagName].cloneNode(deep=True) - params = body.getAttribute('params').split() - - # Parse default values for any parameters - defaultmap = {} - for param in params[:]: - splitParam = param.split(':=') - - if len(splitParam) == 2: - defaultmap[splitParam[0]] = splitParam[1] - params.remove(param) - params.append(splitParam[0]) - - elif len(splitParam) != 1: - raise XacroException("Invalid parameter definition") - - # Expands the macro - scoped = Table(symbols) - for name, value in node.attributes.items(): - if name not in params: - raise XacroException( - "Invalid parameter \"%s\" while expanding macro \"%s\"" % - (str(name), str( - node.tagName))) - params.remove(name) - scoped[name] = eval_text(value, symbols) - - # Pulls out the block arguments, in order - cloned = node.cloneNode(deep=True) - eval_all(cloned, macros, symbols) - block = cloned.firstChild - for param in params[:]: - if param[0] == '*': - while block and block.nodeType != xml.dom.Node.ELEMENT_NODE: - block = block.nextSibling - if not block: - raise XacroException( - "Not enough blocks while evaluating macro %s" % str( - node.tagName)) - params.remove(param) - scoped[param] = block - block = block.nextSibling - - # Try to load defaults for any remaining non-block parameters - for param in params[:]: - if param[0] != '*' and param in defaultmap: - scoped[param] = defaultmap[param] - params.remove(param) - - if params: - raise XacroException( - "Parameters [%s] were not set for macro %s" % - (",".join(params), str( - node.tagName))) - eval_all(body, macros, scoped) - - # Replaces the macro node with the expansion - for e in list(child_nodes(body)): # Ew - node.parentNode.insertBefore(e, node) - node.parentNode.removeChild(node) - - node = None - elif node.tagName == 'xacro:arg': - name = node.getAttribute('name') - if not name: - raise XacroException("Argument name missing") - default = node.getAttribute('default') - if default and name not in substitution_args_context['arg']: - substitution_args_context['arg'][name] = default - - node.parentNode.removeChild(node) - node = None - - elif node.tagName == 'insert_block' or node.tagName == 'xacro:insert_block': - name = node.getAttribute('name') - - if ("**" + name) in symbols: - # Multi-block - block = symbols['**' + name] - - for e in list(child_nodes(block)): - node.parentNode.insertBefore( - e.cloneNode(deep=True), node) - node.parentNode.removeChild(node) - elif ("*" + name) in symbols: - # Single block - block = symbols['*' + name] - - node.parentNode.insertBefore( - block.cloneNode(deep=True), node) - node.parentNode.removeChild(node) - else: - raise XacroException( - "Block \"%s\" was never declared" % name) - - node = None - elif node.tagName in ['if', 'xacro:if', 'unless', 'xacro:unless']: - value = eval_text(node.getAttribute('value'), symbols) - try: - if value == 'true': - keep = True - elif value == 'false': - keep = False - else: - keep = float(value) - except ValueError: - raise XacroException( - "Xacro conditional evaluated to \"%s\". Acceptable evaluations are one of [\"1\",\"true\",\"0\",\"false\"]" % - value) - if node.tagName in ['unless', 'xacro:unless']: - keep = not keep - if keep: - for e in list(child_nodes(node)): - node.parentNode.insertBefore( - e.cloneNode(deep=True), node) - - node.parentNode.removeChild(node) - else: - # Evals the attributes - for at in node.attributes.items(): - result = eval_text(at[1], symbols) - node.setAttribute(at[0], result) - previous = node - elif node.nodeType == xml.dom.Node.TEXT_NODE: - node.data = eval_text(node.data, symbols) - previous = node - else: - previous = node - - node = next_node(previous) - return macros - - -# Expands everything except includes -def eval_self_contained(doc): - macros = grab_macros(doc) - symbols = grab_properties(doc) - eval_all(doc.documentElement, macros, symbols) - - -def print_usage(exit_code=0): - print("Usage: %s [-o ] " % 'xacro.py') - print(" %s --deps Prints dependencies" % 'xacro.py') - print(" %s --includes Only evalutes includes" % 'xacro.py') - sys.exit(exit_code) - - -def set_substitution_args_context(context={}): - substitution_args_context['arg'] = context - - -def open_output(output_filename): - if output_filename is None: - return sys.stdout - else: - return open(output_filename, 'w') - - -def main(): - try: - opts, args = getopt.gnu_getopt( - sys.argv[1:], "ho:", ['deps', 'includes']) - except getopt.GetoptError as err: - print(str(err)) - print_usage(2) - - just_deps = False - just_includes = False - - output_filename = None - for o, a in opts: - if o == '-h': - print_usage(0) - elif o == '-o': - output_filename = a - elif o == '--deps': - just_deps = True - elif o == '--includes': - just_includes = True - - if len(args) < 1: - print("No input given") - print_usage(2) - - # Process substitution args - set_substitution_args_context(load_mappings(sys.argv)) - - f = open(args[0]) - doc = None - try: - doc = parse(f) - except xml.parsers.expat.ExpatError: - sys.stderr.write("Expat parsing error. Check that:\n") - sys.stderr.write(" - Your XML is correctly formed\n") - sys.stderr.write(" - You have the xacro xmlns declaration: " + - "xmlns:xacro=\"http://www.ros.org/wiki/xacro\"\n") - sys.stderr.write("\n") - raise - finally: - f.close() - - process_includes(doc, os.path.dirname(args[0])) - if just_deps: - for inc in all_includes: - sys.stdout.write(inc + " ") - sys.stdout.write("\n") - elif just_includes: - doc.writexml(open_output(output_filename)) - print() - else: - eval_self_contained(doc) - banner = [ - xml.dom.minidom.Comment(c) for c in [ - " %s " % ('=' * 83), - " | This document was autogenerated by xacro from %-30s | " % args[0], - " | EDITING THIS FILE BY HAND IS NOT RECOMMENDED %-30s | " % "", - " %s " % ('=' * 83)]] - first = doc.firstChild - for comment in banner: - doc.insertBefore(comment, first) - - open_output(output_filename).write(doc.toprettyxml(indent=' ')) - print() - - -main()