diff options
Diffstat (limited to 'data/xacro_standalone.py')
| -rwxr-xr-x | data/xacro_standalone.py | 1087 |
1 files changed, 551 insertions, 536 deletions
diff --git a/data/xacro_standalone.py b/data/xacro_standalone.py index a1e77f6f9..384c91bf6 100755 --- a/data/xacro_standalone.py +++ b/data/xacro_standalone.py @@ -44,157 +44,162 @@ import xml from xml.dom.minidom import parse try: - _basestr = basestring + _basestr = basestring except NameError: - _basestr = str + _basestr = str # Dictionary of subtitution args substitution_args_context = {} class XacroException(Exception): - pass + pass def isnumber(x): - return hasattr(x, '__int__') + return hasattr(x, '__int__') # 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 = list(attrs.keys()) - a_names.sort() - - 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>%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>%s" % (indent, self.tagName, newl)) - else: - writer.write("/>%s" % (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 = list(attrs.keys()) + a_names.sort() + + 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>%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>%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 __init__(self, parent=None): + self.parent = parent + self.table = {} - def __contains__(self, key): - return \ - key in self.table or \ - (self.parent and key in self.parent) + 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 __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 + 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 + 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 + 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 + 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 + c = elt.firstChild + while c: + yield c + c = c.nextSibling + all_includes = [] @@ -210,496 +215,506 @@ include_no_matches_msg = """Include tag filename spec \"{}\" matched no files."" ## @throws XacroException if a parsing error occurs with an included document def process_includes(doc, base_dir): - namespaces = {} - previous = doc.documentElement - elt = next_element(previous) - while elt: - # Xacro should not use plain 'include' tags but only namespaced ones. Causes conflicts with - # other XML elements including Gazebo's <gazebo> 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 <include> tag. mostly we are concerned - # with Gazebo's <uri> 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 + namespaces = {} + previous = doc.documentElement + elt = next_element(previous) + while elt: + # Xacro should not use plain 'include' tags but only namespaced ones. Causes conflicts with + # other XML elements including Gazebo's <gazebo> 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 <include> tag. mostly we are concerned + # with Gazebo's <uri> 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: - previous = elt + # 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) + 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) + # 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 = {} + macros = {} - previous = doc.documentElement - elt = next_element(previous) - while elt: - if elt.tagName == 'macro' or elt.tagName == 'xacro:macro': - name = elt.getAttribute('name') + 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 + macros[name] = elt + macros['xacro:' + name] = elt - elt.parentNode.removeChild(elt) - elt = None - else: - previous = elt + elt.parentNode.removeChild(elt) + elt = None + else: + previous = elt - elt = next_element(previous) - return macros + elt = next_element(previous) + return macros # Returns a Table of the properties def grab_properties(doc): - table = Table() + 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 - 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 + return table def eat_ignore(lex): - while lex.peek() and lex.peek()[0] == lex.IGNORE: - lex.next() + 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: - try: - return float(value) - except: - # prevent infinite recursion - symbols[key] = None - result = eval_text(value, symbols) - # restore old entry - symbols[key] = value - return result - raise XacroException("Bad literal") + 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: + try: + return float(value) + except: + # 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) + eat_ignore(lex) - neg = 1 - if lex.peek()[1] == '-': - lex.next() - neg = -1 + 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 + 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") + 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 - 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 not op in ['+', '-']: + raise XacroException("Invalid operation. Must be '+' or '-'") -def eval_expr(lex, symbols): - eat_ignore(lex) + result = eval_term(lex, symbols) + if op == '-': + result = -float(result) - op = None - if lex.peek()[0] == lex.OP: - op = lex.next()[1] - if not op in ['+', '-']: - raise XacroException("Invalid operation. Must be '+' or '-'") + eat_ignore(lex) + while lex.peek() and lex.peek()[1] in ['+', '-']: + op = lex.next()[1] + n = eval_term(lex, symbols) - result = eval_term(lex, symbols) + if op == '+': + result = float(result) + float(n) if op == '-': - result = -float(result) - + result = float(result) - float(n) 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 + 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 ("$(%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)) + + 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 ("$(%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 not name 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 == 'arg' or 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 + # 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 not name 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 == 'arg' or 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: - previous = node + raise XacroException("Block \"%s\" was never declared" % name) - node = next_node(previous) - return macros + 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) + macros = grab_macros(doc) + symbols = grab_properties(doc) + eval_all(doc.documentElement, macros, symbols) def print_usage(exit_code=0): - print("Usage: %s [-o <output>] <input>" % 'xacro.py') - print(" %s --deps Prints dependencies" % 'xacro.py') - print(" %s --includes Only evalutes includes" % 'xacro.py') - sys.exit(exit_code) + print("Usage: %s [-o <output>] <input>" % '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 + substitution_args_context['arg'] = context + def open_output(output_filename): - if output_filename is None: - return sys.stdout - else: - return open(output_filename, 'w') + 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)) - set_substitution_args_context((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() + 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)) + set_substitution_args_context((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() + if __name__ == '__main__': - main() + main() |