Initial commit

unilabos/ros/scripts/pydantic2rosmsg.py

@@ -0,0 +1,55 @@
+import os
+import inspect
+from pydantic import BaseModel, Field
+from typing import get_type_hints
+
+# 定义你要解析的 pydantic 模型所在的 Python 文件
+MODULES = ['my_pydantic_models']  # 替换为你的 Python 模块名
+
+ROS_MSG_DIR = 'msg'  # 消息文件生成目录
+
+
+def map_python_type_to_ros(python_type):
+    type_map = {
+        int: 'int32',
+        float: 'float64',
+        str: 'string',
+        bool: 'bool',
+        list: '[]',  # List in Pydantic should be handled separately
+    }
+    return type_map.get(python_type, None)
+
+
+def generate_ros_msg_from_pydantic(model):
+    fields = get_type_hints(model)
+    ros_msg_lines = []
+
+    for field_name, field_type in fields.items():
+        ros_type = map_python_type_to_ros(field_type)
+        if not ros_type:
+            raise TypeError(f"Unsupported type {field_type} for field {field_name}")
+
+        ros_msg_lines.append(f"{ros_type} {field_name}\n")
+
+    return ''.join(ros_msg_lines)
+
+
+def save_ros_msg_file(model_name, ros_msg_definition):
+    msg_file_path = os.path.join(ROS_MSG_DIR, f'{model_name}.msg')
+    os.makedirs(ROS_MSG_DIR, exist_ok=True)
+    with open(msg_file_path, 'w') as msg_file:
+        msg_file.write(ros_msg_definition)
+
+
+def main():
+    for module_name in MODULES:
+        module = __import__(module_name)
+        for name, obj in inspect.getmembers(module):
+            if inspect.isclass(obj) and issubclass(obj, BaseModel) and obj != BaseModel:
+                print(f"Generating ROS message for Pydantic model: {name}")
+                ros_msg_definition = generate_ros_msg_from_pydantic(obj)
+                save_ros_msg_file(name, ros_msg_definition)
+
+
+if __name__ == '__main__':
+    main()