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Fixes unknown markup sequence empy v4 #42

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Fixes unknown markup sequence empy v4 #42

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38d611e
Implement empy_compat for template compatibility
OpenUAS Jul 17, 2026
665f1f4
Update dronecan_dsdlc.py
OpenUAS Jul 17, 2026
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27 changes: 20 additions & 7 deletions dronecan_dsdlc.py
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Original file line number Diff line number Diff line change
Expand Up @@ -91,6 +91,19 @@

templates_dir = os.path.join(os.path.dirname(__file__), 'templates')


def empy_compat(template):
# empy >= 4 removed the '@)' escape markup; replace it with a plain ')'.
# Older empy (3.x) still requires '@)', so only strip it on empy >= 4.
try:
empy_major = int(str(getattr(em, '__version__', '3')).split('.')[0])
except ValueError:
empy_major = 3
if empy_major >= 4:
template = template.replace('@)', ')')
return template


messages = dronecan.dsdl.parse_namespaces(namespace_paths)
message_dict = {}
builtlist = set()
Expand All @@ -105,15 +118,15 @@

# load standard templates
with open(os.path.join(templates_dir, 'msg.h.em'), 'rb') as f:
msg_header_template = f.read().decode("utf-8")
msg_header_template = empy_compat(f.read().decode("utf-8"))
with open(os.path.join(templates_dir, 'msg.c.em'), 'rb') as f:
msg_source_template = f.read().decode("utf-8")
msg_source_template = empy_compat(f.read().decode("utf-8"))
with open(os.path.join(templates_dir, 'service.h.em'), 'rb') as f:
service_header_template = f.read().decode("utf-8")
service_header_template = empy_compat(f.read().decode("utf-8"))
with open(os.path.join(templates_dir, 'test_msg.cpp.em'), 'rb') as f:
test_src_template = f.read().decode("utf-8")
test_src_template = empy_compat(f.read().decode("utf-8"))
with open(os.path.join(templates_dir, 'Makefile.em'), 'rb') as f:
test_mk_template = f.read().decode("utf-8")
test_mk_template = empy_compat(f.read().decode("utf-8"))


# expand source files and test files for messages
Expand All @@ -124,7 +137,7 @@ def expand_message(msg_name):
for template in templates:
output = ''
if msg.kind == msg.KIND_SERVICE and template['type'] == 'service_header':
output = em.expand(service_header_template, {"msg": msg})
output = em.expand(service_header_template, {'msg': msg})
elif msg.kind == msg.KIND_SERVICE and template['type'] == 'response_header':
output = em.expand(msg_header_template, get_empy_env_response(msg))
elif msg.kind == msg.KIND_SERVICE and template['type'] == 'request_header':
Expand Down Expand Up @@ -152,7 +165,7 @@ def expand_message(msg_name):
if not output.strip():
continue

output_file = os.path.join(build_dir, em.expand('@{from dronecan_dsdlc_helpers import *}'+template['output_file'], {"msg": msg}))
output_file = os.path.join(build_dir, em.expand('@{from dronecan_dsdlc_helpers import *}'+template['output_file'], {'msg': msg}))
mkdir_p(os.path.dirname(output_file))
with open(output_file, 'wb') as f:
f.write(output.encode("utf-8"))
Expand Down
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