# Copyright 2020-2021 Ternaris. # SPDX-License-Identifier: Apache-2.0 """Code generators for ROS1. `ROS1`_ uses a serialization format. This module supports fast byte-level conversion of ROS1 to CDR. .. _ROS1: http://wiki.ros.org/ROS/Technical%20Overview """ from __future__ import annotations from itertools import tee from typing import TYPE_CHECKING, Iterator, Optional, Tuple, cast from .typing import Field from .utils import SIZEMAP, Valtype, align, align_after, compile_lines if TYPE_CHECKING: from typing import Callable, List # pylint: disable=ungrouped-imports def generate_ros1_to_cdr(fields: List[Field], typename: str, copy: bool) -> Callable: """Generate CDR serialization function. Args: fields: Fields of message. typename: Message type name. copy: Generate serialization or sizing function. Returns: ROS1 to CDR conversion function. """ # pylint: disable=too-many-branches,too-many-locals,too-many-nested-blocks,too-many-statements aligned = 8 icurr, inext = cast(Tuple[Iterator[Field], Iterator[Optional[Field]]], tee([*fields, None])) next(inext) funcname = 'ros1_to_cdr' if copy else 'getsize_ros1_to_cdr' lines = [ 'import sys', 'import numpy', 'from rosbags.serde.messages import SerdeError, get_msgdef', 'from rosbags.serde.primitives import pack_bool_le', 'from rosbags.serde.primitives import pack_int8_le', 'from rosbags.serde.primitives import pack_int16_le', 'from rosbags.serde.primitives import pack_int32_le', 'from rosbags.serde.primitives import pack_int64_le', 'from rosbags.serde.primitives import pack_uint8_le', 'from rosbags.serde.primitives import pack_uint16_le', 'from rosbags.serde.primitives import pack_uint32_le', 'from rosbags.serde.primitives import pack_uint64_le', 'from rosbags.serde.primitives import pack_float32_le', 'from rosbags.serde.primitives import pack_float64_le', 'from rosbags.serde.primitives import unpack_int32_le', f'def {funcname}(input, ipos, output, opos):', ] if typename == 'std_msgs/msg/Header': lines.append(' ipos += 4') for fcurr, fnext in zip(icurr, inext): _, desc = fcurr if desc.valtype == Valtype.MESSAGE: lines.append(f' func = get_msgdef("{desc.args.name}").{funcname}') lines.append(' ipos, opos = func(input, ipos, output, opos)') aligned = align_after(desc) elif desc.valtype == Valtype.BASE: if desc.args == 'string': lines.append(' length = unpack_int32_le(input, ipos)[0] + 1') if copy: lines.append(' pack_int32_le(output, opos, length)') lines.append(' ipos += 4') lines.append(' opos += 4') if copy: lines.append(' output[opos:opos + length - 1] = input[ipos:ipos + length - 1]') lines.append(' ipos += length - 1') lines.append(' opos += length') aligned = 1 else: size = SIZEMAP[desc.args] if copy: lines.append(f' output[opos:opos + {size}] = input[ipos:ipos + {size}]') lines.append(f' ipos += {size}') lines.append(f' opos += {size}') aligned = size elif desc.valtype == Valtype.ARRAY: subdesc = desc.args[1] if subdesc.valtype == Valtype.BASE: if subdesc.args == 'string': for _ in range(desc.args[0]): lines.append(' opos = (opos + 4 - 1) & -4') lines.append(' length = unpack_int32_le(input, ipos)[0] + 1') if copy: lines.append(' pack_int32_le(output, opos, length)') lines.append(' ipos += 4') lines.append(' opos += 4') if copy: lines.append( ' output[opos:opos + length - 1] = input[ipos:ipos + length - 1]', ) lines.append(' ipos += length - 1') lines.append(' opos += length') aligned = 1 else: size = desc.args[0] * SIZEMAP[subdesc.args] if copy: lines.append(f' output[opos:opos + {size}] = input[ipos:ipos + {size}]') lines.append(f' ipos += {size}') lines.append(f' opos += {size}') aligned = SIZEMAP[subdesc.args] if subdesc.valtype == Valtype.MESSAGE: anext = align(subdesc) anext_after = align_after(subdesc) lines.append(f' func = get_msgdef("{subdesc.args.name}").{funcname}') for _ in range(desc.args[0]): if anext > anext_after: lines.append(f' opos = (opos + {anext} - 1) & -{anext}') lines.append(' ipos, opos = func(input, ipos, output, opos)') aligned = anext_after else: assert desc.valtype == Valtype.SEQUENCE lines.append(' size = unpack_int32_le(input, ipos)[0]') if copy: lines.append(' pack_int32_le(output, opos, size)') lines.append(' ipos += 4') lines.append(' opos += 4') subdesc = desc.args aligned = 4 if subdesc.valtype == Valtype.BASE: if subdesc.args == 'string': lines.append(' for _ in range(size):') lines.append(' length = unpack_int32_le(input, ipos)[0] + 1') lines.append(' opos = (opos + 4 - 1) & -4') if copy: lines.append(' pack_int32_le(output, opos, length)') lines.append(' ipos += 4') lines.append(' opos += 4') if copy: lines.append( ' output[opos:opos + length - 1] = input[ipos:ipos + length - 1]', ) lines.append(' ipos += length - 1') lines.append(' opos += length') aligned = 1 else: if aligned < (anext := align(subdesc)): lines.append(f' opos = (opos + {anext} - 1) & -{anext}') lines.append(f' length = size * {SIZEMAP[subdesc.args]}') if copy: lines.append(' output[opos:opos + length] = input[ipos:ipos + length]') lines.append(' ipos += length') lines.append(' opos += length') aligned = anext else: assert subdesc.valtype == Valtype.MESSAGE anext = align(subdesc) lines.append(f' func = get_msgdef("{subdesc.args.name}").{funcname}') lines.append(' for _ in range(size):') lines.append(f' opos = (opos + {anext} - 1) & -{anext}') lines.append(' ipos, opos = func(input, ipos, output, opos)') aligned = align_after(subdesc) aligned = min([aligned, 4]) if fnext and aligned < (anext := align(fnext.descriptor)): lines.append(f' opos = (opos + {anext} - 1) & -{anext}') aligned = anext lines.append(' return ipos, opos') return getattr(compile_lines(lines), funcname)