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https://github.com/funpythonec/upy-genpy
ROS message python classes generator specifically for uPy.
https://github.com/funpythonec/upy-genpy
esp32 genpy message-files micropython python ros
Last synced: about 1 month ago
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ROS message python classes generator specifically for uPy.
- Host: GitHub
- URL: https://github.com/funpythonec/upy-genpy
- Owner: FunPythonEC
- License: mit
- Created: 2020-03-29T03:57:34.000Z (over 4 years ago)
- Default Branch: master
- Last Pushed: 2022-06-16T03:19:20.000Z (over 2 years ago)
- Last Synced: 2024-10-10T14:01:41.206Z (about 1 month ago)
- Topics: esp32, genpy, message-files, micropython, python, ros
- Language: Python
- Homepage:
- Size: 18.6 KB
- Stars: 3
- Watchers: 4
- Forks: 2
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# uPy-genpy
This is a little similar implementation of `genpy` for uPy. In order to use rosserial with it, having messages classes. For that and automation purposes, this package has been done so that this classes can be done easily. This has been done to be used with [uPy rosserial](https://github.com/FunPythonEC/uPy-rosserial).
## Features
- [x] uPy files gen with publish availability
- [x] uPy files gen with subscribe availability
- [ ] Services
## Installation
### Copying source files
In order to use this package the folder `ugenpy` from `src` must be copied to the flash memory. I strongly recommend using [rshell](https://github.com/dhylands/rshell) for this task.
There is also a folder called `std_msgs` which has all default `*.msg` files, this folder can also be copied or any other folder with the wanted message types. For memory purposes not all the `msg` files in that folder must be copied, only the ones that are going to be used.
### Using upip
You can also install `ugenpy` with upip but have in mind the `.msg` files must be copied, located in the corresponding dir:
``` python
import upip
import network
from time import sleep
wlan=network.WLAN(network.STA_IF)
wlan.active(True)
wlan.connect('', '')
sleep(5)
upip.install('micropython-genpy')
```
>Note: To use upip you must be connected to WiFi and the files with std_msgs dir must be included manually.
## Usage
Suppose there is already the dir `std_msgs/ColorRGB.msg` and we want to create the uPy file for it, then a script like below can be run:
``` python
from ugenpy.message import MessageGenerator
msg=MessageGenerator('std_msgs/ColorRGBA.msg')
msg.create_message()
```
You could verify it has been created with the following:
``` python
import os
os.listdir('std_msgs')
```
## Classes
### `ugenpy.message.MessageGenerator`
#### Constructor
##### `ugenpy.message.MessageGenerator(addr)`
Class responsible of writing the `*.py` script and message class from `*.msg`.
* `addr`: address where the `.msg` file is located inside the microcontroller.
#### Methods
##### `ugenpy.message.MessageGenerator.create_message()`
Creates the message from the address already defined in constructor.