mirror of
https://github.com/micro-ROS/micro-ROS-Agent.git
synced 2026-09-06 09:55:15 +02:00
241 lines
9.5 KiB
Python
241 lines
9.5 KiB
Python
# Copyright 2016-2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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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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import struct
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import os
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import sys
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if os.name == 'nt':
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import win32con
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import win32file
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import pywintypes
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__overlapped = pywintypes.OVERLAPPED()
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elif os.name == 'posix':
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import fcntl
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else:
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raise RuntimeError('PortaLocker only defined for nt and posix platforms')
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from rosidl_cmake import convert_camel_case_to_lower_case_underscore
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from rosidl_cmake import expand_template
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from rosidl_cmake import extract_message_types
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from rosidl_cmake import get_newest_modification_time
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from rosidl_parser import parse_message_file
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from rosidl_parser import parse_service_file
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from rosidl_parser import validate_field_types
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from shutil import copyfile
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from pathlib import Path
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def generate_micro_ros_agent_xml_support(args):
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pkg_name = args['package_name']
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known_msg_types = extract_message_types(
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pkg_name, args['ros_interface_files'], args.get('ros_interface_dependencies', []))
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functions = {
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'get_header_filename_from_msg_name': convert_camel_case_to_lower_case_underscore,
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}
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# Set file format
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file_format = ".xml"
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ros2_prefix = "rt/"
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# Check destination dir
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dest_dir = args['output_dir']
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if not os.path.exists(dest_dir):
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os.makedirs(dest_dir)
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# Check source dir
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srcs_dir = os.path.join(dest_dir, "srcs")
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if not os.path.exists(srcs_dir):
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os.makedirs(srcs_dir)
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# Copy all included xml files
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for filename in os.listdir(args['template_dir']):
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if filename.endswith(file_format):
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template_src_path = os.path.join(args['template_dir'], filename)
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template_dest_path = os.path.join(srcs_dir, filename)
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if not os.path.isfile(template_dest_path):
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copyfile(template_src_path, template_dest_path)
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# Iterate throw all msgs/srvs
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for idl_file in args['ros_interface_files']:
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extension = os.path.splitext(idl_file)[1]
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if extension == '.msg':
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spec = parse_message_file(pkg_name, idl_file)
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validate_field_types(spec, known_msg_types)
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subfolder = os.path.basename(os.path.dirname(idl_file))
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data = {
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'spec': spec,
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'pkg': spec.base_type.pkg_name,
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'msg': spec.msg_name,
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'type': spec.base_type.type,
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'subfolder': subfolder,
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}
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data.update(functions)
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# Generate source file path
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src_file = os.path.join(srcs_dir, "%s_%s_%s.xml" % (spec.base_type.pkg_name, subfolder, spec.msg_name))
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# Publisher
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file_content = " <publisher profile_name=\"%s_%s_%s_p\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
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file_content += " <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
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file_content += " <kind>NO_KEY</kind>\n"
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file_content += " <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
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file_content += " <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
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file_content += " <historyQos>\n"
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file_content += " <kind>KEEP_LAST</kind>\n"
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file_content += " <depth>5</depth>\n"
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file_content += " </historyQos>\n"
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file_content += " <durability>\n"
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file_content += " <kind>TRANSIENT_LOCAL</kind>\n"
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file_content += " </durability>\n"
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file_content += " </topic>\n"
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file_content += " </publisher>\n"
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# Subscriber
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file_content += " <subscriber profile_name=\"%s_%s_%s_s\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
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file_content += " <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
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file_content += " <kind>NO_KEY</kind>\n"
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file_content += " <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
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file_content += " <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
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file_content += " <historyQos>\n"
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file_content += " <kind>KEEP_LAST</kind>\n"
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file_content += " <depth>5</depth>\n"
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file_content += " </historyQos>\n"
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file_content += " <durability>\n"
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file_content += " <kind>TRANSIENT_LOCAL</kind>\n"
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file_content += " </durability>\n"
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file_content += " </topic>\n"
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file_content += " </subscriber>\n"
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# Topic
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file_content += " <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
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file_content += " <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
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file_content += " <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
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file_content += " </topic>\n"
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# Write file content
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fd1 = open(src_file, "w")
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if os.name == 'nt':
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# Lock
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hfile1 = win32file._get_osfhandle(fd1.fileno())
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win32file.LockFileEx(hfile1, win32con.LOCKFILE_EXCLUSIVE_LOCK, 0, -0x10000, __overlapped)
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# Write
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fd1.write(file_content)
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# Unlock
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win32file.UnlockFileEx(hfile1, 0, -0x10000, __overlapped)
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elif os.name == 'posix':
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# Lock
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fcntl.flock(fd1.fileno(), fcntl.LOCK_EX)
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# Write
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fd1.write(file_content)
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# Unlock
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fcntl.flock(fd1.fileno(), fcntl.LOCK_UN)
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fd1.close()
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# Open collect file
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collec_file = os.path.join(args['output_dir'], "DEFAULT_FASTRTPS_PROFILES.xml")
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fd2 = open(collec_file, "w")
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if os.name == 'nt':
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# Lock
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hfile2 = win32file._get_osfhandle(fd2.fileno())
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win32file.LockFileEx(hfile2, win32con.LOCKFILE_EXCLUSIVE_LOCK, 0, -0x10000, __overlapped)
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# Generate head
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fd2.write("<profiles>\n")
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# Append all files contents
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for filename in os.listdir(srcs_dir):
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if filename.endswith(".xml"):
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# Open
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fd3 = open(os.path.join(srcs_dir, filename), "r+")
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# Lock
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hfile3 = win32file._get_osfhandle(fd3.fileno())
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win32file.LockFileEx(hfile3, win32con.LOCKFILE_EXCLUSIVE_LOCK, 0, -0x10000, __overlapped)
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# Write
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fd2.write(fd3.read())
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# Unlock
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win32file.UnlockFileEx(hfile3, 0, -0x10000, __overlapped)
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fd3.close()
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# Generate tail
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fd2.write("</profiles>\n")
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# UnLock
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win32file.UnlockFileEx(hfile2, 0, -0x10000, __overlapped)
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elif os.name == 'posix':
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# Lock
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fcntl.flock(fd2.fileno(), fcntl.LOCK_EX)
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# Generate head
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fd2.write("<profiles>\n")
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# Append all files contents
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for filename in os.listdir(srcs_dir):
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if filename.endswith(".xml"):
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# Open
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fd3 = open(os.path.join(srcs_dir, filename), "r+")
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# Lock
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fcntl.flock(fd3, fcntl.LOCK_EX)
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# Write
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fd2.write(fd3.read())
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# Unlock
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fcntl.flock(fd3.fileno(), fcntl.LOCK_UN)
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# Close
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fd3.close()
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# Generate tail
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fd2.write("</profiles>\n")
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# UnLock
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fcntl.flock(fd2.fileno(), fcntl.LOCK_UN)
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# Close file
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fd2.close()
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#elif extension == '.srv':
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#data = {'spec': spec}
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#data.update(functions)
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#if not os.path.exists(args['output_dir']):
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# os.makedirs(args['output_dir'])
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#f = open(os.path.join(args['output_dir'], 'demofile.txt'), 'w+')
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#f.write("%s\n" % spec)
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#f.close()
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return 0 |