src files

sasilva1998 · sasilva1998 · commit 0d4518e46914 · 2020-03-28T23:00:27.000-05:00
diff --git a/src/std_msgs/Bool.msg b/src/std_msgs/Bool.msg
@@ -0,0 +1 @@
+bool data
diff --git a/src/std_msgs/Byte.msg b/src/std_msgs/Byte.msg
@@ -0,0 +1 @@
+byte data
diff --git a/src/std_msgs/ByteMultiArray.msg b/src/std_msgs/ByteMultiArray.msg
@@ -0,0 +1,6 @@
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+byte[]            data          # array of data
+
diff --git a/src/std_msgs/Char.msg b/src/std_msgs/Char.msg
@@ -0,0 +1 @@
+char data
diff --git a/src/std_msgs/ColorRGBA.msg b/src/std_msgs/ColorRGBA.msg
@@ -0,0 +1,4 @@
+float32 r
+float32 g
+float32 b
+float32 a
diff --git a/src/std_msgs/Duration.msg b/src/std_msgs/Duration.msg
@@ -0,0 +1 @@
+duration data
diff --git a/src/std_msgs/Empty.msg b/src/std_msgs/Empty.msg
diff --git a/src/std_msgs/Float32.msg b/src/std_msgs/Float32.msg
@@ -0,0 +1 @@
+float32 data
diff --git a/src/std_msgs/Float32MultiArray.msg b/src/std_msgs/Float32MultiArray.msg
@@ -0,0 +1,6 @@
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+float32[]         data          # array of data
+
diff --git a/src/std_msgs/Float64.msg b/src/std_msgs/Float64.msg
@@ -0,0 +1 @@
+float64 data
diff --git a/src/std_msgs/Float64MultiArray.msg b/src/std_msgs/Float64MultiArray.msg
@@ -0,0 +1,6 @@
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+float64[]         data          # array of data
+
diff --git a/src/std_msgs/Header.msg b/src/std_msgs/Header.msg
@@ -0,0 +1,13 @@
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+string frame_id
diff --git a/src/std_msgs/Int16.msg b/src/std_msgs/Int16.msg
@@ -0,0 +1 @@
+int16 data
diff --git a/src/std_msgs/Int16MultiArray.msg b/src/std_msgs/Int16MultiArray.msg
@@ -0,0 +1,6 @@
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+int16[]           data          # array of data
+
diff --git a/src/std_msgs/Int32.msg b/src/std_msgs/Int32.msg
@@ -0,0 +1 @@
+int32 data
diff --git a/src/std_msgs/Int32MultiArray.msg b/src/std_msgs/Int32MultiArray.msg
@@ -0,0 +1,6 @@
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+int32[]           data          # array of data
+
diff --git a/src/std_msgs/Int64.msg b/src/std_msgs/Int64.msg
@@ -0,0 +1 @@
+int64 data
diff --git a/src/std_msgs/Int64MultiArray.msg b/src/std_msgs/Int64MultiArray.msg
@@ -0,0 +1,6 @@
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+int64[]           data          # array of data
+
diff --git a/src/std_msgs/Int8.msg b/src/std_msgs/Int8.msg
@@ -0,0 +1 @@
+int8 data
diff --git a/src/std_msgs/Int8MultiArray.msg b/src/std_msgs/Int8MultiArray.msg
@@ -0,0 +1,6 @@
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+int8[]            data          # array of data
+
diff --git a/src/std_msgs/MultiArrayDimension.msg b/src/std_msgs/MultiArrayDimension.msg
@@ -0,0 +1,3 @@
+string label   # label of given dimension
+uint32 size    # size of given dimension (in type units)
+uint32 stride  # stride of given dimension
diff --git a/src/std_msgs/MultiArrayLayout.msg b/src/std_msgs/MultiArrayLayout.msg
@@ -0,0 +1,26 @@
+# The multiarray declares a generic multi-dimensional array of a
+# particular data type.  Dimensions are ordered from outer most
+# to inner most.
+
+MultiArrayDimension[] dim # Array of dimension properties
+uint32 data_offset        # padding elements at front of data
+
+# Accessors should ALWAYS be written in terms of dimension stride
+# and specified outer-most dimension first.
+# 
+# multiarray(i,j,k) = data[data_offset + dim_stride[1]*i + dim_stride[2]*j + k]
+#
+# A standard, 3-channel 640x480 image with interleaved color channels
+# would be specified as:
+#
+# dim[0].label  = "height"
+# dim[0].size   = 480
+# dim[0].stride = 3*640*480 = 921600  (note dim[0] stride is just size of image)
+# dim[1].label  = "width"
+# dim[1].size   = 640
+# dim[1].stride = 3*640 = 1920
+# dim[2].label  = "channel"
+# dim[2].size   = 3
+# dim[2].stride = 3
+#
+# multiarray(i,j,k) refers to the ith row, jth column, and kth channel.
diff --git a/src/std_msgs/String.msg b/src/std_msgs/String.msg
@@ -0,0 +1 @@
+string data
diff --git a/src/std_msgs/Time.msg b/src/std_msgs/Time.msg
@@ -0,0 +1 @@
+time data
diff --git a/src/std_msgs/UInt16.msg b/src/std_msgs/UInt16.msg
@@ -0,0 +1 @@
+uint16 data
diff --git a/src/std_msgs/UInt16MultiArray.msg b/src/std_msgs/UInt16MultiArray.msg
@@ -0,0 +1,6 @@
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+uint16[]            data        # array of data
+
diff --git a/src/std_msgs/UInt32.msg b/src/std_msgs/UInt32.msg
@@ -0,0 +1 @@
+uint32 data
diff --git a/src/std_msgs/UInt32MultiArray.msg b/src/std_msgs/UInt32MultiArray.msg
@@ -0,0 +1,6 @@
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+uint32[]          data          # array of data
+
diff --git a/src/std_msgs/UInt64.msg b/src/std_msgs/UInt64.msg
@@ -0,0 +1 @@
+uint64 data
diff --git a/src/std_msgs/UInt64MultiArray.msg b/src/std_msgs/UInt64MultiArray.msg
@@ -0,0 +1,6 @@
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+uint64[]          data          # array of data
+
diff --git a/src/std_msgs/UInt8.msg b/src/std_msgs/UInt8.msg
@@ -0,0 +1 @@
+uint8 data
diff --git a/src/std_msgs/UInt8MultiArray.msg b/src/std_msgs/UInt8MultiArray.msg
@@ -0,0 +1,6 @@
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+uint8[]           data          # array of data
+
diff --git a/src/ugenpy/__init__.py b/src/ugenpy/__init__.py
@@ -0,0 +1,2 @@
+from . import md5
+from . import message
diff --git a/src/ugenpy/md5.py b/src/ugenpy/md5.py
@@ -0,0 +1,84 @@
+"""
+Copyright [2018] [Mauro Riva <lemariva@mail.com> <lemariva.com>]
+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.
+The above copyright notice and this permission notice shall be
+included in all copies or substantial portions of the Software.
+
+
+based on https://rosettacode.org/wiki/MD5/Implementation#Python
+adapted for MicroPython
+"""
+
+rotate_amounts = [7, 12, 17, 22, 7, 12, 17, 22, 7, 12, 17, 22, 7, 12, 17, 22,
+                  5,  9, 14, 20, 5,  9, 14, 20, 5,  9, 14, 20, 5,  9, 14, 20,
+                  4, 11, 16, 23, 4, 11, 16, 23, 4, 11, 16, 23, 4, 11, 16, 23,
+                  6, 10, 15, 21, 6, 10, 15, 21, 6, 10, 15, 21, 6, 10, 15, 21]
+
+#constants = [int(abs(math.sin(i+1)) * 2**32) & 0xFFFFFFFF for i in range(64)] # precision is not enough
+constants = [3614090360, 3905402710, 606105819, 3250441966, 4118548399, 1200080426, 2821735955, 4249261313,
+             1770035416, 2336552879, 4294925233, 2304563134, 1804603682, 4254626195, 2792965006, 1236535329,
+             4129170786, 3225465664, 643717713, 3921069994, 3593408605, 38016083, 3634488961, 3889429448,
+             568446438, 3275163606, 4107603335, 1163531501, 2850285829, 4243563512, 1735328473, 2368359562,
+             4294588738, 2272392833, 1839030562, 4259657740, 2763975236, 1272893353, 4139469664, 3200236656,
+             681279174, 3936430074, 3572445317, 76029189, 3654602809, 3873151461, 530742520, 3299628645,
+             4096336452, 1126891415, 2878612391, 4237533241, 1700485571, 2399980690, 4293915773, 2240044497,
+             1873313359, 4264355552, 2734768916, 1309151649, 4149444226, 3174756917, 718787259, 3951481745]
+
+init_values = [0x67452301, 0xefcdab89, 0x98badcfe, 0x10325476]
+
+functions = 16*[lambda b, c, d: (b & c) | (~b & d)] + \
+    16*[lambda b, c, d: (d & b) | (~d & c)] + \
+            16*[lambda b, c, d: b ^ c ^ d] + \
+            16*[lambda b, c, d: c ^ (b | ~d)]
+
+index_functions = 16*[lambda i: i] + \
+    16*[lambda i: (5*i + 1)%16] + \
+                  16*[lambda i: (3*i + 5)%16] + \
+                  16*[lambda i: (7*i)%16]
+
+def left_rotate(x, amount):
+    x &= 0xFFFFFFFF
+    return ((x<<amount) | (x>>(32-amount))) & 0xFFFFFFFF
+
+def md5(message):
+    message = bytearray(message) #copy our input into a mutable buffer
+    orig_len_in_bits = (8 * len(message)) & 0xffffffffffffffff
+    message.append(0x80)
+    while len(message)%64 != 56:
+        message.append(0)
+    message += orig_len_in_bits.to_bytes(8, 'little')
+    #print (message)
+
+    hash_pieces = init_values[:]
+
+    for chunk_ofst in range(0, len(message), 64):
+        a, b, c, d = hash_pieces
+        chunk = message[chunk_ofst:chunk_ofst+64]
+        #print(a, b, c, d)
+        for i in range(64):
+            f = functions[i](b, c, d)
+            g = index_functions[i](i)
+            #print(constants[i])
+            to_rotate = a + f + constants[i] + int.from_bytes(chunk[4*g:4*g+4], 'little')
+            new_b = (b + left_rotate(to_rotate, rotate_amounts[i])) & 0xFFFFFFFF
+            a, b, c, d = d, new_b, b, c
+            #print(to_rotate)
+
+        for i, val in enumerate([a, b, c, d]):
+            hash_pieces[i] += val
+            hash_pieces[i] &= 0xFFFFFFFF
+    return sum(x<<(32*i) for i, x in enumerate(hash_pieces))
+
+def digest(message):
+    digest = md5(message)
+    raw = digest.to_bytes(16, 'little')
+    return '{:032x}'.format(int.from_bytes(raw, 'big'))
+    #return raw
diff --git a/src/ugenpy/message.py b/src/ugenpy/message.py
@@ -0,0 +1,132 @@
+from . import md5
+
+class Message(object):
+
+    __slots__ = ['_connection_header']
+
+    def __init__(self, *args, **kwds):
+
+        if args and kwds:
+            raise TypeError('Message constructor may only use args OR keywords, not both')
+        if args:
+            if len(args) != len(self.__slots__):
+                raise TypeError('Invalid number of arguments, args should be %s' % str(self.__slots__) + ' args are' + str(args))
+            for i, k in enumerate(self.__slots__):
+                setattr(self, k, args[i])
+        else:
+            # validate kwds
+            for k, v in kwds.items():
+                if k not in self.__slots__:
+                    raise AttributeError('%s is not an attribute of %s' % (k, self.__class__.__name__))
+
+            for k in self.__slots__:
+                if k in kwds:
+                    setattr(self, k, kwds[k])
+                else:
+                    setattr(self, k, None)
+
+class MessageGenerator(object):
+
+    def __init__(self, addr):
+
+        self.addr=addr
+
+    def create_message(self):
+        def_types={'bool':'<B', 'byte':'<b', 'char':'<B', 'float32':'<f', 'float64':'<d', 'int8':'<b', 'int16':'<h', 'int32':'<i', 
+        'int64':'<q', 'string':'<I%ss', 'uint8':'<B', 'uint16':'<H', 'uint32':'<I', 'uint64':'<Q'}
+    
+        #getting script name and dir
+        script_addr = self.addr.split('/')[0]
+        script_name= self.addr.split('/')[1].split('.')[0]
+
+        #script created
+        script = open("{}/_{}.py".format(script_addr,script_name), 'w')
+        #import input
+        script.write('import ustruct as struct\nfrom ugenpy.message import Message\n')
+
+        #file with types and varibles is opened
+        f = open(self.addr, 'r')
+        md5string=''
+        msgfile=f.read()
+        data=msgfile.split('\n')
+        md5string=data[0]
+
+        #md5 is calculated
+        for i in range(1,len(data)-1):
+            md5string+='\n{}'.format(data[i])
+        
+        md5hash=md5.digest(md5string)
+        classdef="""class {}(Message):
+            _md5sum = "{}"
+            _type = "{}"
+            _has_header = False
+            _full_text = '''{}'''\n""".format(script_name, md5hash, "{}/{}".format(script_addr,script_name), md5string)
+        
+        #first part is written
+        script.write(classdef)
+
+        #slots part
+        slots="['{}'".format(data[0].split(' ')[1])
+        for i in range(1,len(data)-1):
+            slots+=",'{}'".format(data[i].split(' ')[1])
+        slots+="]"
+
+        #slots type part
+        slots_type="['{}'".format(data[0].split(' ')[0])
+        for i in range(1,len(data)-1):
+            slots_type+=",'{}'".format(data[i].split(' ')[0])
+        slots_type+="]"
+        
+        #slots types and args to define self attributes
+        initdef="""
+            __slots__ = {}
+            _slots_types = {}        
+            
+            def __init__(self, *args, **kwds):
+            
+                if args or kwds:
+                    super({}, self).__init__(*args, **kwds)\n""".format(slots, slots_type, script_name)    
+        script.write(initdef)
+        print(len(slots))
+        print(slots_type)
+
+        
+        for i in range(0,len(data)-1):
+            temp=[data[i].split(' ')[0],data[i].split(' ')[1]]
+            if 'bool' in temp[0]:
+                val='False'
+            elif 'string' in temp[0]:
+                val="''"
+            elif 'float' in temp[0]:
+                val='0.'
+            else:
+                val='0'
+            
+            
+            script.write("""
+                    if self.{} is None:
+                        self.{} = {}""".format(temp[0], temp[0], val))
+
+        script.write("""
+            
+            def _get_types(self):
+                return self._slot_types
+            
+            def serialize(self, buff):
+                try:""")
+                
+        for i in range(0,len(data)-1):
+            temp=data[i].split(' ')[1]
+            if 'string' in data[i].split(' ')[0]:
+                script.write("""
+                    buff.write(struct.pack('<I%ss'%len(self.{}),len(self.{}),self.{}))""".format(temp, temp, temp))
+
+            else:
+                script.write("""
+                    buff.write(struct.pack('{}',self.{}))""".format(def_types.get(data[i].split(' ')[0]), data[i].split(' ')[1]))
+
+        script.write("""
+                except Exception as e:
+                    print(e)""")
+
+        script.close()
