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import os
import marv_ros.genmsg.msg_loader as msg_loader
from marv_ros import genmsg

# pkg_name - string
# msg_file - string full path
# search_paths -  dict of {'pkg':'msg_dir'}
def find_msg_dependencies_with_type(pkg_name, msg_file, search_paths):

    # Read and parse the source msg file
    msg_context = msg_loader.MsgContext.create_default()
    full_type_name = genmsg.gentools.compute_full_type_name(pkg_name, os.path.basename(msg_file))
    spec = msg_loader.load_msg_from_file(msg_context, msg_file, full_type_name)

    try:
        msg_loader.load_depends(msg_context, spec, search_paths)
    except genmsg.InvalidMsgSpec as e:
        raise genmsg.MsgGenerationException("Cannot read .msg for %s: %s"%(full_type_name, str(e)))

    deps = set()
    for dep_type_name in msg_context.get_all_depends(full_type_name):
        deps.add((dep_type_name, msg_context.get_file(dep_type_name)))

    return list(deps)


def find_msg_dependencies(pkg_name, msg_file, search_paths):
    deps = find_msg_dependencies_with_type(pkg_name, msg_file, search_paths)
    return [d[1] for d in deps]


def find_srv_dependencies_with_type(pkg_name, msg_file, search_paths):

    # Read and parse the source msg file
    msg_context = msg_loader.MsgContext.create_default()
    full_type_name = genmsg.gentools.compute_full_type_name(pkg_name, os.path.basename(msg_file))

    spec = msg_loader.load_srv_from_file(msg_context, msg_file, full_type_name)

    try:
        msg_loader.load_depends(msg_context, spec, search_paths)
    except genmsg.InvalidMsgSpec as e:
        raise genmsg.MsgGenerationException("Cannot read .msg for %s: %s"%(full_type_name, str(e)))

    deps = set()

    for dep_type_name in msg_context.get_all_depends(spec.request.full_name):
        deps.add((dep_type_name, msg_context.get_file(dep_type_name)))

    for dep_type_name in msg_context.get_all_depends(spec.response.full_name):
        deps.add((dep_type_name, msg_context.get_file(dep_type_name)))

    return list(deps)


def find_srv_dependencies(pkg_name, msg_file, search_paths):
    deps = find_srv_dependencies_with_type(pkg_name, msg_file, search_paths)
    return [d[1] for d in deps]

#paths = {'std_msgs':'/u/mkjargaard/repositories/mkjargaard/dist-sandbox/std_msgs/msg'}
#file = '/u/mkjargaard/repositories/mkjargaard/dist-sandbox/quux_msgs/msg/QuuxString.msg'
#find_msg_dependencies('quux_msgs', file, paths)
