feat(slam): add cartographer_ros
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X-lanni
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#!/usr/bin/python3
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# -*- coding: utf-8 -*-
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# Copyright 2016 The Cartographer Authors
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""A dumb configuration.rst generator that relies on source comments."""
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import io
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import os
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TARGET = 'docs/source/configuration.rst'
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ROOT = 'cartographer'
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PREFIX = """.. Copyright 2016 The Cartographer Authors
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.. Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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.. http://www.apache.org/licenses/LICENSE-2.0
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.. Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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=============
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Configuration
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=============
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.. DO NOT EDIT! This documentation is AUTOGENERATED, please edit .proto files as
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.. needed and run scripts/update_configuration_doc.py.
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"""
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SUFFIX = """
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"""
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NODOC = 'Not yet documented.'
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class Message(object):
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def __init__(self, name, package, preceding_comments):
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self.name = name
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self.package = package
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self.preceding_comments = preceding_comments
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self.trailing_comments = None
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self.options = []
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def AddTrailingComments(self, comments):
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self.trailing_comments = comments
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def AddOption(self, option_type, name, comments):
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self.options.append((option_type, name, comments))
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def ParseProtoFile(proto_file):
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"""Computes the list of Message objects of the option messages in a file."""
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line_iter = iter(proto_file)
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# We ignore the license header and search for the 'package' line.
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for line in line_iter:
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line = line.strip()
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if line.startswith('package'):
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assert line[-1] == ';'
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package = line[7:-1].strip()
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break
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else:
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assert '}' not in line
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message_list = []
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while True:
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# Search for the next options message and capture preceding comments.
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message_comments = []
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for line in line_iter:
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line = line.strip()
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if '}' in line:
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# The preceding comments were for a different message it seems.
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message_comments = []
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elif line.startswith('//'):
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# We keep comments preceding an options message.
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comment = line[2:].strip()
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if not comment.startswith('NEXT ID:'):
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message_comments.append(comment)
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elif line.startswith('message') and line.endswith('Options {'):
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message_name = package + '.' + line[7:-1].strip()
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break
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else:
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# We reached the end of file.
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break
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print(" Found '%s'." % message_name)
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message = Message(message_name, package, message_comments)
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message_list.append(message)
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# We capture the contents of this message.
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option_comments = []
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multiline = ''
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for line in line_iter:
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line = line.strip()
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if '}' in line:
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# We reached the end of this message.
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message.AddTrailingComments(option_comments)
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break
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elif line.startswith('//'):
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comment = line[2:].strip()
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if not comment.startswith('NEXT ID:'):
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option_comments.append(comment)
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else:
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assert not line.startswith('required')
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multiline += ' ' + line
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if not multiline.endswith(';'):
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continue
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assert len(multiline) < 200
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option = multiline[:-1].strip().rstrip('0123456789').strip()
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assert option.endswith('=')
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if option.startswith('repeated'):
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option = option[8:]
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option_type, option_name = option[:-1].strip().split();
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print(" Option '%s'." % option_name)
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multiline = ''
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message.AddOption(option_type, option_name, option_comments)
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option_comments = []
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return message_list
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def ParseProtoFilesRecursively(root):
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"""Recursively parses all proto files into a list of Message objects."""
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message_list = []
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for dirpath, dirnames, filenames in os.walk(root):
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for name in filenames:
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if name.endswith('.proto'):
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path = os.path.join(dirpath, name)
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print("Found '%s'..." % path)
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assert not os.path.islink(path)
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message_list.extend(ParseProtoFile(io.open(path, encoding='UTF-8')))
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return message_list
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class ResolutionError(Exception):
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"""Raised when resolving a message name fails."""
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class Resolver(object):
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def __init__(self, name_set):
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self.name_set = set(iter(name_set))
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def Resolve(self, message_name, package_name):
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if message_name in ('bool', 'double', 'float', 'int32'):
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return message_name
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if message_name.startswith('.'):
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return message_name[1:]
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package = package_name.split('.')
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for levels in range(len(package), -1, -1):
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candidate = '.'.join(package[0:levels]) + '.' + message_name
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if candidate in self.name_set:
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return candidate
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raise ResolutionError(
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'Resolving %s in %s failed.' % (message_name, package_name))
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def GenerateDocumentation(output_file, root):
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"""Recursively generates documentation, sorts and writes it."""
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message_list = ParseProtoFilesRecursively(root)
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resolver = Resolver(message.name for message in message_list)
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output_dict = {}
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for message in message_list:
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content = [message.name, '=' * len(message.name), '']
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assert message.name not in output_dict
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output_dict[message.name] = content
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if message.preceding_comments:
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content.extend(message.preceding_comments)
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content.append('')
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for option_type, option_name, option_comments in message.options:
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# TODO(whess): For now we exclude InitialTrajectoryPose from the
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# documentation. It is documented itself (since it has no Options suffix)
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# and is not parsed from the Lua files.
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if option_type in ('InitialTrajectoryPose',):
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continue
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content.append(
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resolver.Resolve(option_type, message.package) + ' ' + option_name)
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if not option_comments:
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option_comments.append(NODOC)
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for comment in option_comments:
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content.append(' ' + comment)
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content.append('')
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if message.trailing_comments:
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content.extend(message.trailing_comments)
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content.append('')
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output = ['\n'.join(doc) for key, doc in sorted(list(output_dict.items()))]
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print('\n\n'.join(output), file=output_file)
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def main():
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assert not os.path.islink(TARGET) and os.path.isfile(TARGET)
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assert not os.path.islink(ROOT) and os.path.isdir(ROOT)
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output_file = io.open(TARGET, mode='w', encoding='UTF-8', newline='\n')
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output_file.write(PREFIX)
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GenerateDocumentation(output_file, ROOT)
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output_file.write(SUFFIX)
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output_file.close()
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if __name__ == "__main__":
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main()
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