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msg: RTPS: pass RTPS ID msg definition file as an EmPy global var

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This commit is contained in:
TSC21
2018-09-22 16:32:56 +01:00
committed by Beat Küng
parent eac8f8813a
commit 0227ea3835
7 changed files with 44 additions and 57 deletions
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msg/tools/generate_microRTPS_bridge.py
+23 -14
View File
@@ -43,6 +43,7 @@ import os
import argparse
import shutil
import px_generate_uorb_topic_files
import px_generate_uorb_topic_helper
import subprocess
import glob
import errno
@@ -68,6 +69,7 @@ default_agent_out = get_absolute_path(
"src/modules/micrortps_bridge/micrortps_agent")
default_uorb_templates_dir = "templates/uorb_microcdr"
default_urtps_templates_dir = "templates/urtps"
default_rtps_id_file = "tools/uorb_rtps_message_ids.yaml"
default_package_name = px_generate_uorb_topic_files.PACKAGE
parser = argparse.ArgumentParser()
@@ -94,6 +96,8 @@ parser.add_argument("-b", "--uorb-templates-dir", dest='uorb_templates', type=st
help="uORB templates dir, by default msg_dir/templates/uorb_microcdr", default=default_uorb_templates_dir)
parser.add_argument("-q", "--urtps-templates-dir", dest='urtps_templates', type=str,
help="uRTPS templates dir, by default msg_dir/templates/urtps", default=default_urtps_templates_dir)
parser.add_argument("-y", "--rtps-ids-file", dest='yaml_file', type=str,
help="RTPS msg IDs definition file, by default tools/uorb_rtps_message_ids.yaml", default=default_rtps_id_file)
parser.add_argument("-p", "--package", dest='package', type=str,
help="Msg package naming, by default px4", default=default_package_name)
parser.add_argument("-o", "--agent-outdir", dest='agentdir', type=str, nargs=1,
@@ -147,7 +151,8 @@ else:
get_absolute_path(args.fastrtpsgen), "/fastrtpsgen")
fastrtpsgen_include = args.fastrtpsgen_include
if fastrtpsgen_include is not None and fastrtpsgen_include != '':
fastrtpsgen_include = "-I " + get_absolute_path(args.fastrtpsgen_include) + " "
fastrtpsgen_include = "-I " + \
get_absolute_path(args.fastrtpsgen_include) + " "
# If nothing specified it's generated both
if agent == False and client == False:
@@ -180,6 +185,10 @@ if agent and os.path.isdir(os.path.join(agent_out_dir, "idl")):
uorb_templates_dir = os.path.join(msg_folder, args.uorb_templates)
urtps_templates_dir = os.path.join(msg_folder, args.urtps_templates)
# parse yaml file into a map of ids
rtps_ids = px_generate_uorb_topic_helper.parse_yaml_msg_id_file(
os.path.join(msg_folder, args.yaml_file))
uRTPS_CLIENT_TEMPL_FILE = 'microRTPS_client.cpp.template'
uRTPS_AGENT_TOPICS_H_TEMPL_FILE = 'RtpsTopics.h.template'
@@ -199,38 +208,38 @@ def generate_agent(out_dir):
if gen_idl:
if out_dir != agent_out_dir:
px_generate_uorb_topic_files.generate_idl_file(msg_file, os.path.join(out_dir, "/idl"), urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT)
package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids)
else:
px_generate_uorb_topic_files.generate_idl_file(msg_file, idl_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT)
package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids)
px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_PUBLISHER_H_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_PUBLISHER_H_TEMPL_FILE)
if msg_files_receive:
for msg_file in msg_files_receive:
if gen_idl:
if out_dir != agent_out_dir:
px_generate_uorb_topic_files.generate_idl_file(msg_file, os.path.join(out_dir, "/idl"), urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT)
package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids)
else:
px_generate_uorb_topic_files.generate_idl_file(msg_file, idl_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT)
package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids)
px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_AGENT_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
if cmakelists:
px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE)
# Final steps to install agent
mkdir_p(os.path.join(out_dir, "fastrtpsgen"))
@@ -299,7 +308,7 @@ def generate_client(out_dir):
os.rename(def_file, def_file.replace(".h", ".h_"))
px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, uorb_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_CLIENT_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_CLIENT_TEMPL_FILE)
# Final steps to install client
cp_wildcard(os.path.join(urtps_templates_dir,
msg/tools/px_generate_uorb_topic_files.py
+9 -8
View File
@@ -170,12 +170,12 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template
return generate_by_template(output_file, template_file, em_globals)
def generate_idl_file(filename_msg, outputdir, templatedir, package, includepath):
def generate_idl_file(filename_msg, outputdir, templatedir, package, includepath, ids):
"""
Generates an .idl from .msg file
"""
em_globals = get_em_globals(
filename_msg, package, includepath, MsgScope.NONE)
filename_msg, package, includepath, ids, MsgScope.NONE)
spec_short_name = em_globals["spec"].short_name
# Make sure output directory exists:
@@ -190,18 +190,18 @@ def generate_idl_file(filename_msg, outputdir, templatedir, package, includepath
def generate_uRTPS_general(filename_send_msgs, filename_received_msgs,
outputdir, templatedir, package, includepath, template_name):
outputdir, templatedir, package, includepath, ids, template_name):
"""
Generates source file by msg content
"""
em_globals_list = []
if filename_send_msgs:
em_globals_list.extend([get_em_globals(
f, package, includepath, MsgScope.SEND) for f in filename_send_msgs])
f, package, includepath, ids, MsgScope.SEND) for f in filename_send_msgs])
if filename_received_msgs:
em_globals_list.extend([get_em_globals(
f, package, includepath, MsgScope.RECEIVE) for f in filename_received_msgs])
f, package, includepath, ids, MsgScope.RECEIVE) for f in filename_received_msgs])
merged_em_globals = merge_em_globals_list(em_globals_list)
# Make sure output directory exists:
@@ -215,12 +215,12 @@ def generate_uRTPS_general(filename_send_msgs, filename_received_msgs,
return generate_by_template(output_file, template_file, merged_em_globals)
def generate_topic_file(filename_msg, outputdir, templatedir, package, includepath, template_name):
def generate_topic_file(filename_msg, outputdir, templatedir, package, includepath, ids, template_name):
"""
Generates an .idl from .msg file
"""
em_globals = get_em_globals(
filename_msg, package, includepath, MsgScope.NONE)
filename_msg, package, includepath, ids, MsgScope.NONE)
spec_short_name = em_globals["spec"].short_name
# Make sure output directory exists:
@@ -234,7 +234,7 @@ def generate_topic_file(filename_msg, outputdir, templatedir, package, includepa
return generate_by_template(output_file, template_file, em_globals)
def get_em_globals(filename_msg, package, includepath, scope):
def get_em_globals(filename_msg, package, includepath, ids, scope):
"""
Generates em globals dictionary
"""
@@ -259,6 +259,7 @@ def get_em_globals(filename_msg, package, includepath, scope):
"msg_context": msg_context,
"spec": spec,
"topics": topics,
"ids": ids,
"scope": scope
}
msg/tools/px_generate_uorb_topic_helper.py
+3 -3
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@@ -370,7 +370,7 @@ def rtps_message_id(msg_id_map, message):
"""
Get RTPS ID of uORB message
"""
for dict in msg_id_map["rtps"]:
if message in dict["msg"]:
return dict["id"]
for dict in msg_id_map[0]['rtps']:
if message in dict['msg']:
return dict['id']
return 0