/usr/lib/rosbag/makerule.py is in python-rosbag 1.11.16-3.
This file is owned by root:root, with mode 0o755.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 | #!/usr/bin/env python
# Software License Agreement (BSD License)
#
# Copyright (c) 2009, Willow Garage, 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 Willow Garage, 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
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
from __future__ import print_function
import optparse
import os
import re
import sys
import rosbag.migration
import genpy.message
import genpy.dynamic
def print_trans(old, new, indent):
from_txt = '%s [%s]' % (old._type, old._md5sum)
if new is not None:
to_txt= '%s [%s]' % (new._type, new._md5sum)
else:
to_txt = 'Unknown'
print(' ' * indent + ' * From: %s' % from_txt)
print(' ' * indent + ' To: %s' % to_txt)
if __name__ == '__main__':
parser = optparse.OptionParser(usage='usage: makerule.py msg.saved [-a] output_rulefile [rulefile1, rulefile2, ...] [-n]')
parser.add_option('-a', '--append', action='store_true', dest='append', default=False)
parser.add_option('-n', '--noplugins', action='store_true', dest='noplugins', default=False)
(options, args) = parser.parse_args()
if len(args) < 2:
parser.error("Incorrect number of arguments")
rulefile = args[1]
if os.path.isfile(rulefile) and not options.append:
print("The file %s already exists. Include -a if you intend to append." % rulefile, file=sys.stderr)
exit(1)
if not os.path.isfile(rulefile) and options.append:
print("The file %s does not exist, and so -a is invalid." % rulefile, file=sys.stderr)
exit(1)
if options.append:
append_rule = [rulefile]
else:
append_rule = []
f = open(args[0])
if f is None:
print('Could not open message full definition: %s', file=sys.stderr)
sys.exit()
type_line = f.readline()
pat = re.compile(r"\[(.*)]:")
type_match = pat.match(type_line)
if type_match is None:
print("Full definition file malformed. First line should be: '[my_package/my_msg]:'", file=sys.stderr)
sys.exit()
old_type = type_match.groups()[0]
old_full_text = f.read()
f.close()
old_class = genpy.dynamic.generate_dynamic(old_type,old_full_text)[old_type]
if old_class is None:
print('Could not generate class from full definition file.', file=sys.stderr)
sys.exit()
mm = rosbag.migration.MessageMigrator(args[2:]+append_rule,not options.noplugins)
migrations = rosbag.migration.checkmessages(mm, [old_class])
if migrations == []:
print('Saved definition is up to date.')
exit(0)
print('The following migrations need to occur:')
all_rules = []
for m in migrations:
all_rules.extend(m[1])
print_trans(m[0][0].old_class, m[0][-1].new_class, 0)
if len(m[1]) > 0:
print(" %d rules missing:" % len(m[1]))
for r in m[1]:
print_trans(r.old_class, r.new_class, 1)
if rulefile is None:
print("rulefile not specified")
else:
output = ''
rules_left = mm.filter_rules_unique(all_rules)
if rules_left == []:
print("\nNo additional rule files needed to be generated. %s not created." % rulefile)
exit(0)
while rules_left != []:
extra_rules = []
for r in rules_left:
if r.new_class is None:
print("The message type %s appears to have moved. Please enter the type to migrate it to." % r.old_class._type)
new_type = raw_input('>')
new_class = genpy.message.get_message_class(new_type)
while new_class is None:
print("\'%s\' could not be found in your system. Please make sure it is built." % new_type)
new_type = raw_input('>')
new_class = genpy.message.get_message_class(new_type)
new_rule = mm.make_update_rule(r.old_class, new_class)
R = new_rule(mm, 'GENERATED.' + new_rule.__name__)
R.find_sub_paths()
new_rules = [r for r in mm.expand_rules(R.sub_rules) if r.valid == False]
extra_rules.extend(new_rules)
print('Creating the migration rule for %s requires additional missing rules:' % new_type)
for nr in new_rules:
print_trans(nr.old_class, nr.new_class,1)
output += R.get_class_def()
else:
output += r.get_class_def()
rules_left = mm.filter_rules_unique(extra_rules)
f = open(rulefile, 'a')
f.write(output)
f.close()
print("\nThe necessary rule files have been written to: %s" % rulefile)
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