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__init__.py
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__init__.py
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# Copyright 2017 Open Source Robotics Foundation, Inc.
#
# 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 os
from ament_index_python import get_resource
from ament_index_python import get_resources
from ament_index_python import has_resource
def get_all_message_types():
all_message_types = {}
for package_name in get_resources('rosidl_interfaces'):
message_types = get_message_types(package_name)
if message_types:
all_message_types[package_name] = message_types
return all_message_types
def get_message_types(package_name):
if not has_resource('packages', package_name):
raise LookupError('Unknown package name')
try:
content, _ = get_resource('rosidl_interfaces', package_name)
except LookupError:
return []
interface_names = content.splitlines()
# TODO(dirk-thomas) this logic should come from a rosidl related package
# Only return messages in msg folder
return list(sorted({
n[4:-4]
for n in interface_names
if n.startswith('msg/') and n[-4:] in ('.idl', '.msg')}))
def get_message_path(package_name, message_name):
message_types = get_message_types(package_name)
if message_name not in message_types:
raise LookupError('Unknown message name')
prefix_path = has_resource('packages', package_name)
# TODO(dirk-thomas) this logic should come from a rosidl related package
return os.path.join(
prefix_path, 'share', package_name, 'msg', message_name + '.msg')
def message_package_name_completer(**kwargs):
"""Callable returning a list of package names which contain messages."""
return get_all_message_types().keys()
def message_type_completer(**kwargs):
"""Callable returning a list of message types."""
message_types = []
for package_name, message_names in get_all_message_types().items():
for message_name in message_names:
message_types.append(
'{package_name}/{message_name}'.format_map(locals()))
return message_types
class MessageNameCompleter:
"""Callable returning a list of message names within a package."""
def __init__(self, *, package_name_key=None):
self.package_name_key = package_name_key
def __call__(self, prefix, parsed_args, **kwargs):
package_name = getattr(parsed_args, self.package_name_key)
return get_message_types(package_name)