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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
Download Patch File Download Diff File Expand all files Collapse all files
msg/templates/uorb_microcdr/microRTPS_client.cpp.template
+2 -10
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@@ -20,14 +20,6 @@ from px_generate_uorb_topic_files import MsgScope # this is in Tools/
topic_names = [single_spec.short_name for single_spec in spec] topic_names = [single_spec.short_name for single_spec in spec]
send_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND] send_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE] recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
yaml_file = os.path.abspath('uorb_rtps_message_ids.yaml')
try:
msg_ids = parse_yaml_msg_id_file(yaml_file)
except OSError as e:
if e.errno == errno.ENOENT:
raise IOError(errno.ENOENT, os.strerror(errno.ENOENT), yaml_file)
else:
raise
}@ }@
/**************************************************************************** /****************************************************************************
* *
@@ -120,7 +112,7 @@ void* send(void* /*unused*/)
/* payload is shifted by header length to make room for header*/ /* payload is shifted by header length to make room for header*/
serialize_@(topic)(&MicroBufferWriter, &data, &data_buffer[header_length], &length); serialize_@(topic)(&MicroBufferWriter, &data, &data_buffer[header_length], &length);
if (0 < (read = transport_node->write((char)@(rtps_message_id(msg_ids, topic)), data_buffer, length))) if (0 < (read = transport_node->write((char)@(rtps_message_id(ids, topic)), data_buffer, length)))
{ {
total_sent += read; total_sent += read;
++sent; ++sent;
@@ -196,7 +188,7 @@ void micrortps_start_topics(struct timespec &begin, int &total_read, uint32_t &r
{ {
@[for topic in recv_topics]@ @[for topic in recv_topics]@
case @(rtps_message_id(msg_ids, topic)): case @(rtps_message_id(ids, topic)):
{ {
deserialize_@(topic)(&MicroBufferReader, &@(topic)_data, data_buffer); deserialize_@(topic)(&MicroBufferReader, &@(topic)_data, data_buffer);
if (!@(topic)_pub) { if (!@(topic)_pub) {
msg/templates/urtps/RtpsTopics.cpp.template
+3 -11
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@@ -19,14 +19,6 @@ from px_generate_uorb_topic_files import MsgScope # this is in Tools/
topic_names = [single_spec.short_name for single_spec in spec] topic_names = [single_spec.short_name for single_spec in spec]
send_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND] send_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE] recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
yaml_file = os.path.abspath('uorb_rtps_message_ids.yaml')
try:
msg_ids = parse_yaml_msg_id_file(yaml_file)
except OSError as e:
if e.errno == errno.ENOENT:
raise IOError(errno.ENOENT, os.strerror(errno.ENOENT), yaml_file)
else:
raise
}@ }@
/**************************************************************************** /****************************************************************************
* *
@@ -97,7 +89,7 @@ void RtpsTopics::publish(uint8_t topic_ID, char data_buffer[], size_t len)
switch (topic_ID) switch (topic_ID)
{ {
@[for topic in send_topics]@ @[for topic in send_topics]@
case @(rtps_message_id(msg_ids, topic)): // @(topic) case @(rtps_message_id(ids, topic)): // @(topic)
{ {
@(topic)_ st; @(topic)_ st;
eprosima::fastcdr::FastBuffer cdrbuffer(data_buffer, len); eprosima::fastcdr::FastBuffer cdrbuffer(data_buffer, len);
@@ -125,7 +117,7 @@ bool RtpsTopics::hasMsg(uint8_t *topic_ID)
switch (_sub_topics[_next_sub_idx]) switch (_sub_topics[_next_sub_idx])
{ {
@[for topic in recv_topics]@ @[for topic in recv_topics]@
case @(rtps_message_id(msg_ids, topic)): if (_@(topic)_sub.hasMsg()) *topic_ID = @(rtps_message_id(msg_ids, topic)); break; case @(rtps_message_id(ids, topic)): if (_@(topic)_sub.hasMsg()) *topic_ID = @(rtps_message_id(ids, topic)); break;
@[end for]@ @[end for]@
default: default:
printf("Unexpected topic ID to check hasMsg\n"); printf("Unexpected topic ID to check hasMsg\n");
@@ -149,7 +141,7 @@ bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr)
switch (topic_ID) switch (topic_ID)
{ {
@[for topic in recv_topics]@ @[for topic in recv_topics]@
case @(rtps_message_id(msg_ids, topic)): // @(topic) case @(rtps_message_id(ids, topic)): // @(topic)
if (_@(topic)_sub.hasMsg()) if (_@(topic)_sub.hasMsg())
{ {
@(topic)_ msg = _@(topic)_sub.getMsg(); @(topic)_ msg = _@(topic)_sub.getMsg();
msg/templates/urtps/RtpsTopics.h.template
+1 -9
View File
@@ -19,14 +19,6 @@ from px_generate_uorb_topic_files import MsgScope # this is in Tools/
topic_names = [single_spec.short_name for single_spec in spec] topic_names = [single_spec.short_name for single_spec in spec]
send_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND] send_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE] recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
yaml_file = os.path.abspath('uorb_rtps_message_ids.yaml')
try:
msg_ids = parse_yaml_msg_id_file(yaml_file)
except OSError as e:
if e.errno == errno.ENOENT:
raise IOError(errno.ENOENT, os.strerror(errno.ENOENT), yaml_file)
else:
raise
}@ }@
/**************************************************************************** /****************************************************************************
* *
@@ -97,7 +89,7 @@ private:
unsigned _next_sub_idx = 0; unsigned _next_sub_idx = 0;
char _sub_topics[@(len(recv_topics))] = { char _sub_topics[@(len(recv_topics))] = {
@[for topic in recv_topics]@ @[for topic in recv_topics]@
@(rtps_message_id(msg_ids, topic)), // @(topic) @(rtps_message_id(ids, topic)), // @(topic)
@[end for]@ @[end for]@
}; };
@[end if]@ @[end if]@
msg/tools/generate_microRTPS_bridge.py
+23 -14
View File
@@ -43,6 +43,7 @@ import os
import argparse import argparse
import shutil import shutil
import px_generate_uorb_topic_files import px_generate_uorb_topic_files
import px_generate_uorb_topic_helper
import subprocess import subprocess
import glob import glob
import errno import errno
@@ -68,6 +69,7 @@ default_agent_out = get_absolute_path(
"src/modules/micrortps_bridge/micrortps_agent") "src/modules/micrortps_bridge/micrortps_agent")
default_uorb_templates_dir = "templates/uorb_microcdr" default_uorb_templates_dir = "templates/uorb_microcdr"
default_urtps_templates_dir = "templates/urtps" 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 default_package_name = px_generate_uorb_topic_files.PACKAGE
parser = argparse.ArgumentParser() 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) 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, 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) 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, parser.add_argument("-p", "--package", dest='package', type=str,
help="Msg package naming, by default px4", default=default_package_name) help="Msg package naming, by default px4", default=default_package_name)
parser.add_argument("-o", "--agent-outdir", dest='agentdir', type=str, nargs=1, parser.add_argument("-o", "--agent-outdir", dest='agentdir', type=str, nargs=1,
@@ -147,7 +151,8 @@ else:
get_absolute_path(args.fastrtpsgen), "/fastrtpsgen") get_absolute_path(args.fastrtpsgen), "/fastrtpsgen")
fastrtpsgen_include = args.fastrtpsgen_include fastrtpsgen_include = args.fastrtpsgen_include
if fastrtpsgen_include is not None and 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 nothing specified it's generated both
if agent == False and client == False: 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) uorb_templates_dir = os.path.join(msg_folder, args.uorb_templates)
urtps_templates_dir = os.path.join(msg_folder, args.urtps_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_CLIENT_TEMPL_FILE = 'microRTPS_client.cpp.template'
uRTPS_AGENT_TOPICS_H_TEMPL_FILE = 'RtpsTopics.h.template' uRTPS_AGENT_TOPICS_H_TEMPL_FILE = 'RtpsTopics.h.template'
@@ -199,38 +208,38 @@ def generate_agent(out_dir):
if gen_idl: if gen_idl:
if out_dir != agent_out_dir: 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, 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: else:
px_generate_uorb_topic_files.generate_idl_file(msg_file, idl_dir, urtps_templates_dir, 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, 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, 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: if msg_files_receive:
for msg_file in msg_files_receive: for msg_file in msg_files_receive:
if gen_idl: if gen_idl:
if out_dir != agent_out_dir: 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, 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: else:
px_generate_uorb_topic_files.generate_idl_file(msg_file, idl_dir, urtps_templates_dir, 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, 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, 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, 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, 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, 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: if cmakelists:
px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir, 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 # Final steps to install agent
mkdir_p(os.path.join(out_dir, "fastrtpsgen")) 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_")) 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, 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 # Final steps to install client
cp_wildcard(os.path.join(urtps_templates_dir, 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) 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 Generates an .idl from .msg file
""" """
em_globals = get_em_globals( 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 spec_short_name = em_globals["spec"].short_name
# Make sure output directory exists: # 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, 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 Generates source file by msg content
""" """
em_globals_list = [] em_globals_list = []
if filename_send_msgs: if filename_send_msgs:
em_globals_list.extend([get_em_globals( 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: if filename_received_msgs:
em_globals_list.extend([get_em_globals( 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) merged_em_globals = merge_em_globals_list(em_globals_list)
# Make sure output directory exists: # 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) 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 Generates an .idl from .msg file
""" """
em_globals = get_em_globals( 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 spec_short_name = em_globals["spec"].short_name
# Make sure output directory exists: # 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) 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 Generates em globals dictionary
""" """
@@ -259,6 +259,7 @@ def get_em_globals(filename_msg, package, includepath, scope):
"msg_context": msg_context, "msg_context": msg_context,
"spec": spec, "spec": spec,
"topics": topics, "topics": topics,
"ids": ids,
"scope": scope "scope": scope
} }
msg/tools/px_generate_uorb_topic_helper.py
+3 -3
View File
@@ -370,7 +370,7 @@ def rtps_message_id(msg_id_map, message):
""" """
Get RTPS ID of uORB message Get RTPS ID of uORB message
""" """
for dict in msg_id_map["rtps"]: for dict in msg_id_map[0]['rtps']:
if message in dict["msg"]: if message in dict['msg']:
return dict["id"] return dict['id']
return 0 return 0
src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt
+3 -2
View File
@@ -84,8 +84,9 @@ if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_t
--mkdir-build --mkdir-build
--generate-cmakelists --generate-cmakelists
--topic-msg-dir ${PX4_SOURCE_DIR}/msg --topic-msg-dir ${PX4_SOURCE_DIR}/msg
--uorb-templates-dir "templates/uorb_microcdr" --uorb-templates-dir templates/uorb_microcdr
--urtps-templates-dir "templates/urtps" --urtps-templates-dir templates/urtps
--rtps-ids-file tools/uorb_rtps_message_ids.yaml
--agent-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_agent --agent-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_agent
--client-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_client --client-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_client
--idl-dir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_agent/idl --idl-dir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_agent/idl