681 lines
29 KiB
Python
681 lines
29 KiB
Python
# Copyright 2020-2023 Ternaris.
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# SPDX-License-Identifier: Apache-2.0
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"""Code generators for ROS1.
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`ROS1`_ uses a serialization format. This module supports fast byte-level
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conversion of ROS1 to CDR.
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.. _ROS1: http://wiki.ros.org/ROS/Technical%20Overview
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"""
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from __future__ import annotations
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import sys
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from itertools import tee
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from typing import TYPE_CHECKING, Iterator, cast
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from .typing import Field
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from .utils import SIZEMAP, Valtype, align, align_after, compile_lines
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if TYPE_CHECKING:
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from typing import Union
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from .typing import Bitcvt, BitcvtSize, CDRDeser, CDRSer, CDRSerSize
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def generate_ros1_to_cdr(
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fields: list[Field],
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typename: str,
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copy: bool,
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) -> Union[Bitcvt, BitcvtSize]:
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"""Generate ROS1 to CDR conversion function.
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Args:
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fields: Fields of message.
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typename: Message type name.
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copy: Generate conversion or sizing function.
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Returns:
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ROS1 to CDR conversion function.
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"""
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# pylint: disable=too-many-branches,too-many-locals,too-many-nested-blocks,too-many-statements
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aligned = 8
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iterators = tee([*fields, None])
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icurr = cast(Iterator[Field], iterators[0])
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inext = iterators[1]
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next(inext)
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funcname = 'ros1_to_cdr' if copy else 'getsize_ros1_to_cdr'
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lines = [
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'import sys',
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'import numpy',
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'from rosbags.serde.messages import SerdeError, get_msgdef',
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'from rosbags.serde.primitives import pack_int32_le',
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'from rosbags.serde.primitives import unpack_int32_le',
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f'def {funcname}(input, ipos, output, opos, typestore):',
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]
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if typename == 'std_msgs/msg/Header':
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lines.append(' ipos += 4')
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for fcurr, fnext in zip(icurr, inext):
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_, desc = fcurr
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if desc.valtype == Valtype.MESSAGE:
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lines.append(f' func = get_msgdef("{desc.args.name}", typestore).{funcname}')
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lines.append(' ipos, opos = func(input, ipos, output, opos, typestore)')
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aligned = align_after(desc)
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elif desc.valtype == Valtype.BASE:
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if desc.args == 'string':
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lines.append(' length = unpack_int32_le(input, ipos)[0] + 1')
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if copy:
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lines.append(' pack_int32_le(output, opos, length)')
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lines.append(' ipos += 4')
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lines.append(' opos += 4')
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if copy:
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lines.append(' output[opos:opos + length - 1] = input[ipos:ipos + length - 1]')
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lines.append(' ipos += length - 1')
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lines.append(' opos += length')
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aligned = 1
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else:
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size = SIZEMAP[desc.args]
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if copy:
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lines.append(f' output[opos:opos + {size}] = input[ipos:ipos + {size}]')
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lines.append(f' ipos += {size}')
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lines.append(f' opos += {size}')
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aligned = size
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elif desc.valtype == Valtype.ARRAY:
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subdesc, length = desc.args
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if subdesc.valtype == Valtype.BASE:
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if subdesc.args == 'string':
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for _ in range(length):
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lines.append(' opos = (opos + 4 - 1) & -4')
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lines.append(' length = unpack_int32_le(input, ipos)[0] + 1')
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if copy:
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lines.append(' pack_int32_le(output, opos, length)')
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lines.append(' ipos += 4')
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lines.append(' opos += 4')
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if copy:
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lines.append(
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' output[opos:opos + length - 1] = input[ipos:ipos + length - 1]',
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)
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lines.append(' ipos += length - 1')
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lines.append(' opos += length')
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aligned = 1
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else:
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size = length * SIZEMAP[subdesc.args]
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if copy:
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lines.append(f' output[opos:opos + {size}] = input[ipos:ipos + {size}]')
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lines.append(f' ipos += {size}')
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lines.append(f' opos += {size}')
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aligned = SIZEMAP[subdesc.args]
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if subdesc.valtype == Valtype.MESSAGE:
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anext_before = align(subdesc)
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anext_after = align_after(subdesc)
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lines.append(f' func = get_msgdef("{subdesc.args.name}", typestore).{funcname}')
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for _ in range(length):
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if anext_before > anext_after:
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lines.append(f' opos = (opos + {anext_before} - 1) & -{anext_before}')
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lines.append(' ipos, opos = func(input, ipos, output, opos, typestore)')
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aligned = anext_after
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else:
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assert desc.valtype == Valtype.SEQUENCE
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lines.append(' size = unpack_int32_le(input, ipos)[0]')
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if copy:
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lines.append(' pack_int32_le(output, opos, size)')
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lines.append(' ipos += 4')
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lines.append(' opos += 4')
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subdesc = desc.args[0]
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aligned = 4
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if subdesc.valtype == Valtype.BASE:
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if subdesc.args == 'string':
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lines.append(' for _ in range(size):')
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lines.append(' length = unpack_int32_le(input, ipos)[0] + 1')
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lines.append(' opos = (opos + 4 - 1) & -4')
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if copy:
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lines.append(' pack_int32_le(output, opos, length)')
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lines.append(' ipos += 4')
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lines.append(' opos += 4')
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if copy:
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lines.append(
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' output[opos:opos + length - 1] = input[ipos:ipos + length - 1]',
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)
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lines.append(' ipos += length - 1')
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lines.append(' opos += length')
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aligned = 1
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else:
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if aligned < (anext_before := align(subdesc)):
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lines.append(' if size:')
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lines.append(f' opos = (opos + {anext_before} - 1) & -{anext_before}')
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lines.append(f' length = size * {SIZEMAP[subdesc.args]}')
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if copy:
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lines.append(' output[opos:opos + length] = input[ipos:ipos + length]')
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lines.append(' ipos += length')
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lines.append(' opos += length')
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aligned = anext_before
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else:
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assert subdesc.valtype == Valtype.MESSAGE
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anext_before = align(subdesc)
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lines.append(f' func = get_msgdef("{subdesc.args.name}", typestore).{funcname}')
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lines.append(' for _ in range(size):')
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lines.append(f' opos = (opos + {anext_before} - 1) & -{anext_before}')
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lines.append(' ipos, opos = func(input, ipos, output, opos, typestore)')
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aligned = align_after(subdesc)
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aligned = min([aligned, 4])
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if fnext and aligned < (anext_before := align(fnext.descriptor)):
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lines.append(f' opos = (opos + {anext_before} - 1) & -{anext_before}')
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aligned = anext_before
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lines.append(' return ipos, opos')
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return getattr(compile_lines(lines), funcname) # type: ignore
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def generate_cdr_to_ros1(
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fields: list[Field],
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typename: str,
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copy: bool,
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) -> Union[Bitcvt, BitcvtSize]:
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"""Generate CDR to ROS1 conversion function.
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Args:
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fields: Fields of message.
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typename: Message type name.
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copy: Generate conversion or sizing function.
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Returns:
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CDR to ROS1 conversion function.
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"""
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# pylint: disable=too-many-branches,too-many-locals,too-many-nested-blocks,too-many-statements
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aligned = 8
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iterators = tee([*fields, None])
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icurr = cast(Iterator[Field], iterators[0])
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inext = iterators[1]
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next(inext)
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funcname = 'cdr_to_ros1' if copy else 'getsize_cdr_to_ros1'
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lines = [
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'import sys',
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'import numpy',
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'from rosbags.serde.messages import SerdeError, get_msgdef',
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'from rosbags.serde.primitives import pack_int32_le',
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'from rosbags.serde.primitives import unpack_int32_le',
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f'def {funcname}(input, ipos, output, opos, typestore):',
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]
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if typename == 'std_msgs/msg/Header':
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lines.append(' opos += 4')
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for fcurr, fnext in zip(icurr, inext):
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_, desc = fcurr
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if desc.valtype == Valtype.MESSAGE:
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lines.append(f' func = get_msgdef("{desc.args.name}", typestore).{funcname}')
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lines.append(' ipos, opos = func(input, ipos, output, opos, typestore)')
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aligned = align_after(desc)
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elif desc.valtype == Valtype.BASE:
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if desc.args == 'string':
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lines.append(' length = unpack_int32_le(input, ipos)[0] - 1')
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if copy:
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lines.append(' pack_int32_le(output, opos, length)')
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lines.append(' ipos += 4')
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lines.append(' opos += 4')
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if copy:
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lines.append(' output[opos:opos + length] = input[ipos:ipos + length]')
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lines.append(' ipos += length + 1')
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lines.append(' opos += length')
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aligned = 1
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else:
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size = SIZEMAP[desc.args]
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if copy:
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lines.append(f' output[opos:opos + {size}] = input[ipos:ipos + {size}]')
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lines.append(f' ipos += {size}')
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lines.append(f' opos += {size}')
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aligned = size
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elif desc.valtype == Valtype.ARRAY:
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subdesc, length = desc.args
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if subdesc.valtype == Valtype.BASE:
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if subdesc.args == 'string':
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for _ in range(length):
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lines.append(' ipos = (ipos + 4 - 1) & -4')
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lines.append(' length = unpack_int32_le(input, ipos)[0] - 1')
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if copy:
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lines.append(' pack_int32_le(output, opos, length)')
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lines.append(' ipos += 4')
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lines.append(' opos += 4')
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if copy:
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lines.append(
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' output[opos:opos + length] = input[ipos:ipos + length]',
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)
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lines.append(' ipos += length + 1')
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lines.append(' opos += length')
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aligned = 1
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else:
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size = length * SIZEMAP[subdesc.args]
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if copy:
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lines.append(f' output[opos:opos + {size}] = input[ipos:ipos + {size}]')
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lines.append(f' ipos += {size}')
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lines.append(f' opos += {size}')
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aligned = SIZEMAP[subdesc.args]
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if subdesc.valtype == Valtype.MESSAGE:
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anext_before = align(subdesc)
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anext_after = align_after(subdesc)
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lines.append(f' func = get_msgdef("{subdesc.args.name}", typestore).{funcname}')
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for _ in range(length):
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if anext_before > anext_after:
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lines.append(f' ipos = (ipos + {anext_before} - 1) & -{anext_before}')
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lines.append(' ipos, opos = func(input, ipos, output, opos, typestore)')
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aligned = anext_after
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else:
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assert desc.valtype == Valtype.SEQUENCE
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lines.append(' size = unpack_int32_le(input, ipos)[0]')
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if copy:
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lines.append(' pack_int32_le(output, opos, size)')
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lines.append(' ipos += 4')
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lines.append(' opos += 4')
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subdesc = desc.args[0]
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aligned = 4
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if subdesc.valtype == Valtype.BASE:
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if subdesc.args == 'string':
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lines.append(' for _ in range(size):')
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lines.append(' ipos = (ipos + 4 - 1) & -4')
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lines.append(' length = unpack_int32_le(input, ipos)[0] - 1')
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if copy:
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lines.append(' pack_int32_le(output, opos, length)')
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lines.append(' ipos += 4')
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lines.append(' opos += 4')
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if copy:
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lines.append(' output[opos:opos + length] = input[ipos:ipos + length]')
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lines.append(' ipos += length + 1')
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lines.append(' opos += length')
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aligned = 1
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else:
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if aligned < (anext_before := align(subdesc)):
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lines.append(' if size:')
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lines.append(f' ipos = (ipos + {anext_before} - 1) & -{anext_before}')
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lines.append(f' length = size * {SIZEMAP[subdesc.args]}')
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if copy:
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lines.append(' output[opos:opos + length] = input[ipos:ipos + length]')
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lines.append(' ipos += length')
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lines.append(' opos += length')
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aligned = anext_before
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else:
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assert subdesc.valtype == Valtype.MESSAGE
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anext_before = align(subdesc)
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lines.append(f' func = get_msgdef("{subdesc.args.name}", typestore).{funcname}')
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lines.append(' for _ in range(size):')
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lines.append(f' ipos = (ipos + {anext_before} - 1) & -{anext_before}')
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lines.append(' ipos, opos = func(input, ipos, output, opos, typestore)')
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aligned = align_after(subdesc)
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aligned = min([aligned, 4])
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if fnext and aligned < (anext_before := align(fnext.descriptor)):
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lines.append(f' ipos = (ipos + {anext_before} - 1) & -{anext_before}')
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aligned = anext_before
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lines.append(' return ipos, opos')
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return getattr(compile_lines(lines), funcname) # type: ignore
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def generate_getsize_ros1(fields: list[Field], typename: str) -> tuple[CDRSerSize, int]:
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"""Generate ros1 size calculation function.
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Args:
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fields: Fields of message.
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typename: Message type name.
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Returns:
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Size calculation function and static size.
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"""
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# pylint: disable=too-many-branches,too-many-statements
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size = 0
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is_stat = True
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lines = [
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'import sys',
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'from rosbags.serde.messages import get_msgdef',
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'def getsize_ros1(pos, message, typestore):',
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]
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if typename == 'std_msgs/msg/Header':
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lines.append(' pos += 4')
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for fcurr in fields:
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fieldname, desc = fcurr
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if desc.valtype == Valtype.MESSAGE:
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if desc.args.size_ros1:
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lines.append(f' pos += {desc.args.size_ros1}')
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size += desc.args.size_ros1
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else:
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lines.append(f' func = get_msgdef("{desc.args.name}", typestore).getsize_ros1')
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lines.append(f' pos = func(pos, message.{fieldname}, typestore)')
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is_stat = False
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elif desc.valtype == Valtype.BASE:
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if desc.args == 'string':
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lines.append(f' pos += 4 + len(message.{fieldname}.encode())')
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is_stat = False
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else:
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lines.append(f' pos += {SIZEMAP[desc.args]}')
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size += SIZEMAP[desc.args]
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elif desc.valtype == Valtype.ARRAY:
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subdesc, length = desc.args
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if subdesc.valtype == Valtype.BASE:
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if subdesc.args == 'string':
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lines.append(f' val = message.{fieldname}')
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for idx in range(length):
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lines.append(f' pos += 4 + len(val[{idx}].encode())')
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is_stat = False
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else:
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lines.append(f' pos += {length * SIZEMAP[subdesc.args]}')
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size += length * SIZEMAP[subdesc.args]
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else:
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assert subdesc.valtype == Valtype.MESSAGE
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if subdesc.args.size_ros1:
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for _ in range(length):
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lines.append(f' pos += {subdesc.args.size_ros1}')
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size += subdesc.args.size_ros1
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else:
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lines.append(
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f' func = get_msgdef("{subdesc.args.name}", typestore).getsize_ros1',
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)
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lines.append(f' val = message.{fieldname}')
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for idx in range(length):
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lines.append(f' pos = func(pos, val[{idx}], typestore)')
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is_stat = False
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else:
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assert desc.valtype == Valtype.SEQUENCE
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lines.append(' pos += 4')
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subdesc = desc.args[0]
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if subdesc.valtype == Valtype.BASE:
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if subdesc.args == 'string':
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lines.append(f' for val in message.{fieldname}:')
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lines.append(' pos += 4 + len(val.encode())')
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else:
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lines.append(f' pos += len(message.{fieldname}) * {SIZEMAP[subdesc.args]}')
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else:
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assert subdesc.valtype == Valtype.MESSAGE
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lines.append(f' val = message.{fieldname}')
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if subdesc.args.size_ros1:
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lines.append(f' pos += {subdesc.args.size_ros1} * len(val)')
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else:
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lines.append(
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f' func = get_msgdef("{subdesc.args.name}", typestore).getsize_ros1',
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)
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lines.append(' for item in val:')
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lines.append(' pos = func(pos, item, typestore)')
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is_stat = False
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lines.append(' return pos')
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return compile_lines(lines).getsize_ros1, is_stat * size
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def generate_serialize_ros1(fields: list[Field], typename: str) -> CDRSer:
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"""Generate ros1 serialization function.
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Args:
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fields: Fields of message.
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typename: Message type name.
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Returns:
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Serializer function.
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"""
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# pylint: disable=too-many-branches,too-many-statements
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lines = [
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'import sys',
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'import numpy',
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'from rosbags.serde.messages import SerdeError, get_msgdef',
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'from rosbags.serde.primitives import pack_bool_le',
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'from rosbags.serde.primitives import pack_int8_le',
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'from rosbags.serde.primitives import pack_int16_le',
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'from rosbags.serde.primitives import pack_int32_le',
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'from rosbags.serde.primitives import pack_int64_le',
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'from rosbags.serde.primitives import pack_uint8_le',
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'from rosbags.serde.primitives import pack_uint16_le',
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'from rosbags.serde.primitives import pack_uint32_le',
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'from rosbags.serde.primitives import pack_uint64_le',
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'from rosbags.serde.primitives import pack_float32_le',
|
|
'from rosbags.serde.primitives import pack_float64_le',
|
|
'def serialize_ros1(rawdata, pos, message, typestore):',
|
|
]
|
|
|
|
if typename == 'std_msgs/msg/Header':
|
|
lines.append(' pos += 4')
|
|
|
|
be_syms = ('>',) if sys.byteorder == 'little' else ('=', '>')
|
|
|
|
for fcurr in fields:
|
|
fieldname, desc = fcurr
|
|
|
|
lines.append(f' val = message.{fieldname}')
|
|
if desc.valtype == Valtype.MESSAGE:
|
|
name = desc.args.name
|
|
lines.append(f' func = get_msgdef("{name}", typestore).serialize_ros1')
|
|
lines.append(' pos = func(rawdata, pos, val, typestore)')
|
|
|
|
elif desc.valtype == Valtype.BASE:
|
|
if desc.args == 'string':
|
|
lines.append(' bval = memoryview(val.encode())')
|
|
lines.append(' length = len(bval)')
|
|
lines.append(' pack_int32_le(rawdata, pos, length)')
|
|
lines.append(' pos += 4')
|
|
lines.append(' rawdata[pos:pos + length] = bval')
|
|
lines.append(' pos += length')
|
|
else:
|
|
lines.append(f' pack_{desc.args}_le(rawdata, pos, val)')
|
|
lines.append(f' pos += {SIZEMAP[desc.args]}')
|
|
|
|
elif desc.valtype == Valtype.ARRAY:
|
|
subdesc, length = desc.args
|
|
lines.append(f' if len(val) != {length}:')
|
|
lines.append(' raise SerdeError(\'Unexpected array length\')')
|
|
|
|
if subdesc.valtype == Valtype.BASE:
|
|
if subdesc.args == 'string':
|
|
for idx in range(length):
|
|
lines.append(f' bval = memoryview(val[{idx}].encode())')
|
|
lines.append(' length = len(bval)')
|
|
lines.append(' pack_int32_le(rawdata, pos, length)')
|
|
lines.append(' pos += 4')
|
|
lines.append(' rawdata[pos:pos + length] = bval')
|
|
lines.append(' pos += length')
|
|
else:
|
|
lines.append(f' if val.dtype.byteorder in {be_syms}:')
|
|
lines.append(' val = val.byteswap()')
|
|
size = length * SIZEMAP[subdesc.args]
|
|
lines.append(f' rawdata[pos:pos + {size}] = val.view(numpy.uint8)')
|
|
lines.append(f' pos += {size}')
|
|
|
|
else:
|
|
assert subdesc.valtype == Valtype.MESSAGE
|
|
name = subdesc.args.name
|
|
lines.append(f' func = get_msgdef("{name}", typestore).serialize_ros1')
|
|
for idx in range(length):
|
|
lines.append(f' pos = func(rawdata, pos, val[{idx}], typestore)')
|
|
else:
|
|
assert desc.valtype == Valtype.SEQUENCE
|
|
lines.append(' pack_int32_le(rawdata, pos, len(val))')
|
|
lines.append(' pos += 4')
|
|
subdesc = desc.args[0]
|
|
|
|
if subdesc.valtype == Valtype.BASE:
|
|
if subdesc.args == 'string':
|
|
lines.append(' for item in val:')
|
|
lines.append(' bval = memoryview(item.encode())')
|
|
lines.append(' length = len(bval)')
|
|
lines.append(' pack_int32_le(rawdata, pos, length)')
|
|
lines.append(' pos += 4')
|
|
lines.append(' rawdata[pos:pos + length] = bval')
|
|
lines.append(' pos += length')
|
|
else:
|
|
lines.append(f' size = len(val) * {SIZEMAP[subdesc.args]}')
|
|
lines.append(f' if val.dtype.byteorder in {be_syms}:')
|
|
lines.append(' val = val.byteswap()')
|
|
lines.append(' rawdata[pos:pos + size] = val.view(numpy.uint8)')
|
|
lines.append(' pos += size')
|
|
|
|
if subdesc.valtype == Valtype.MESSAGE:
|
|
name = subdesc.args.name
|
|
lines.append(f' func = get_msgdef("{name}", typestore).serialize_ros1')
|
|
lines.append(' for item in val:')
|
|
lines.append(' pos = func(rawdata, pos, item, typestore)')
|
|
|
|
lines.append(' return pos')
|
|
return compile_lines(lines).serialize_ros1 # type: ignore
|
|
|
|
|
|
def generate_deserialize_ros1(fields: list[Field], typename: str) -> CDRDeser:
|
|
"""Generate ros1 deserialization function.
|
|
|
|
Args:
|
|
fields: Fields of message.
|
|
typename: Message type name.
|
|
|
|
Returns:
|
|
Deserializer function.
|
|
|
|
"""
|
|
# pylint: disable=too-many-branches,too-many-statements
|
|
lines = [
|
|
'import sys',
|
|
'import numpy',
|
|
'from rosbags.serde.messages import SerdeError, get_msgdef',
|
|
'from rosbags.serde.primitives import unpack_bool_le',
|
|
'from rosbags.serde.primitives import unpack_int8_le',
|
|
'from rosbags.serde.primitives import unpack_int16_le',
|
|
'from rosbags.serde.primitives import unpack_int32_le',
|
|
'from rosbags.serde.primitives import unpack_int64_le',
|
|
'from rosbags.serde.primitives import unpack_uint8_le',
|
|
'from rosbags.serde.primitives import unpack_uint16_le',
|
|
'from rosbags.serde.primitives import unpack_uint32_le',
|
|
'from rosbags.serde.primitives import unpack_uint64_le',
|
|
'from rosbags.serde.primitives import unpack_float32_le',
|
|
'from rosbags.serde.primitives import unpack_float64_le',
|
|
'def deserialize_ros1(rawdata, pos, cls, typestore):',
|
|
]
|
|
|
|
if typename == 'std_msgs/msg/Header':
|
|
lines.append(' pos += 4')
|
|
|
|
be_syms = ('>',) if sys.byteorder == 'little' else ('=', '>')
|
|
|
|
funcname = 'deserialize_ros1'
|
|
lines.append(' values = []')
|
|
for fcurr in fields:
|
|
desc = fcurr[1]
|
|
|
|
if desc.valtype == Valtype.MESSAGE:
|
|
lines.append(f' msgdef = get_msgdef("{desc.args.name}", typestore)')
|
|
lines.append(f' obj, pos = msgdef.{funcname}(rawdata, pos, msgdef.cls, typestore)')
|
|
lines.append(' values.append(obj)')
|
|
|
|
elif desc.valtype == Valtype.BASE:
|
|
if desc.args == 'string':
|
|
lines.append(' length = unpack_int32_le(rawdata, pos)[0]')
|
|
lines.append(' string = bytes(rawdata[pos + 4:pos + 4 + length]).decode()')
|
|
lines.append(' values.append(string)')
|
|
lines.append(' pos += 4 + length')
|
|
else:
|
|
lines.append(f' value = unpack_{desc.args}_le(rawdata, pos)[0]')
|
|
lines.append(' values.append(value)')
|
|
lines.append(f' pos += {SIZEMAP[desc.args]}')
|
|
|
|
elif desc.valtype == Valtype.ARRAY:
|
|
subdesc, length = desc.args
|
|
if subdesc.valtype == Valtype.BASE:
|
|
if subdesc.args == 'string':
|
|
lines.append(' value = []')
|
|
for _ in range(length):
|
|
lines.append(' length = unpack_int32_le(rawdata, pos)[0]')
|
|
lines.append(
|
|
' value.append(bytes(rawdata[pos + 4:pos + 4 + length]).decode())',
|
|
)
|
|
lines.append(' pos += 4 + length')
|
|
lines.append(' values.append(value)')
|
|
else:
|
|
size = length * SIZEMAP[subdesc.args]
|
|
lines.append(
|
|
f' val = numpy.frombuffer(rawdata, '
|
|
f'dtype=numpy.{subdesc.args}, count={length}, offset=pos)',
|
|
)
|
|
lines.append(f' if val.dtype.byteorder in {be_syms}:')
|
|
lines.append(' val = val.byteswap()')
|
|
lines.append(' values.append(val)')
|
|
lines.append(f' pos += {size}')
|
|
else:
|
|
assert subdesc.valtype == Valtype.MESSAGE
|
|
lines.append(f' msgdef = get_msgdef("{subdesc.args.name}", typestore)')
|
|
lines.append(' value = []')
|
|
for _ in range(length):
|
|
lines.append(
|
|
f' obj, pos = msgdef.{funcname}(rawdata, pos, msgdef.cls, typestore)',
|
|
)
|
|
lines.append(' value.append(obj)')
|
|
lines.append(' values.append(value)')
|
|
|
|
else:
|
|
assert desc.valtype == Valtype.SEQUENCE
|
|
lines.append(' size = unpack_int32_le(rawdata, pos)[0]')
|
|
lines.append(' pos += 4')
|
|
subdesc = desc.args[0]
|
|
|
|
if subdesc.valtype == Valtype.BASE:
|
|
if subdesc.args == 'string':
|
|
lines.append(' value = []')
|
|
lines.append(' for _ in range(size):')
|
|
lines.append(' length = unpack_int32_le(rawdata, pos)[0]')
|
|
lines.append(
|
|
' value.append(bytes(rawdata[pos + 4:pos + 4 + length])'
|
|
'.decode())',
|
|
)
|
|
lines.append(' pos += 4 + length')
|
|
lines.append(' values.append(value)')
|
|
else:
|
|
lines.append(f' length = size * {SIZEMAP[subdesc.args]}')
|
|
lines.append(
|
|
f' val = numpy.frombuffer(rawdata, '
|
|
f'dtype=numpy.{subdesc.args}, count=size, offset=pos)',
|
|
)
|
|
lines.append(f' if val.dtype.byteorder in {be_syms}:')
|
|
lines.append(' val = val.byteswap()')
|
|
lines.append(' values.append(val)')
|
|
lines.append(' pos += length')
|
|
|
|
if subdesc.valtype == Valtype.MESSAGE:
|
|
lines.append(f' msgdef = get_msgdef("{subdesc.args.name}", typestore)')
|
|
lines.append(' value = []')
|
|
lines.append(' for _ in range(size):')
|
|
lines.append(
|
|
f' obj, pos = msgdef.{funcname}(rawdata, pos, msgdef.cls, typestore)',
|
|
)
|
|
lines.append(' value.append(obj)')
|
|
lines.append(' values.append(value)')
|
|
|
|
lines.append(' return cls(*values), pos')
|
|
return compile_lines(lines).deserialize_ros1 # type: ignore
|