mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-02 03:49:12 +08:00
msg: RTPS: pass RTPS ID msg definition file as an EmPy global var
This commit is contained in:
TSC21
Beat Küng
@@ -20,14 +20,6 @@ from px_generate_uorb_topic_files import MsgScope # this is in Tools/
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topic_names = [single_spec.short_name for single_spec in spec]
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send_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
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recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
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yaml_file = os.path.abspath('uorb_rtps_message_ids.yaml')
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try:
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msg_ids = parse_yaml_msg_id_file(yaml_file)
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except OSError as e:
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if e.errno == errno.ENOENT:
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raise IOError(errno.ENOENT, os.strerror(errno.ENOENT), yaml_file)
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else:
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raise
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}@
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/****************************************************************************
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*
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@@ -120,7 +112,7 @@ void* send(void* /*unused*/)
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/* payload is shifted by header length to make room for header*/
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serialize_@(topic)(&MicroBufferWriter, &data, &data_buffer[header_length], &length);
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if (0 < (read = transport_node->write((char)@(rtps_message_id(msg_ids, topic)), data_buffer, length)))
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if (0 < (read = transport_node->write((char)@(rtps_message_id(ids, topic)), data_buffer, length)))
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{
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total_sent += read;
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++sent;
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@@ -196,7 +188,7 @@ void micrortps_start_topics(struct timespec &begin, int &total_read, uint32_t &r
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{
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@[for topic in recv_topics]@
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case @(rtps_message_id(msg_ids, topic)):
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case @(rtps_message_id(ids, topic)):
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{
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deserialize_@(topic)(&MicroBufferReader, &@(topic)_data, data_buffer);
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if (!@(topic)_pub) {
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@@ -19,14 +19,6 @@ from px_generate_uorb_topic_files import MsgScope # this is in Tools/
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topic_names = [single_spec.short_name for single_spec in spec]
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send_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
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recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
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yaml_file = os.path.abspath('uorb_rtps_message_ids.yaml')
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try:
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msg_ids = parse_yaml_msg_id_file(yaml_file)
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except OSError as e:
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if e.errno == errno.ENOENT:
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raise IOError(errno.ENOENT, os.strerror(errno.ENOENT), yaml_file)
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else:
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raise
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}@
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/****************************************************************************
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*
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@@ -97,7 +89,7 @@ void RtpsTopics::publish(uint8_t topic_ID, char data_buffer[], size_t len)
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switch (topic_ID)
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{
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@[for topic in send_topics]@
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case @(rtps_message_id(msg_ids, topic)): // @(topic)
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case @(rtps_message_id(ids, topic)): // @(topic)
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{
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@(topic)_ st;
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eprosima::fastcdr::FastBuffer cdrbuffer(data_buffer, len);
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@@ -125,7 +117,7 @@ bool RtpsTopics::hasMsg(uint8_t *topic_ID)
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switch (_sub_topics[_next_sub_idx])
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{
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@[for topic in recv_topics]@
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case @(rtps_message_id(msg_ids, topic)): if (_@(topic)_sub.hasMsg()) *topic_ID = @(rtps_message_id(msg_ids, topic)); break;
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case @(rtps_message_id(ids, topic)): if (_@(topic)_sub.hasMsg()) *topic_ID = @(rtps_message_id(ids, topic)); break;
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@[end for]@
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default:
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printf("Unexpected topic ID to check hasMsg\n");
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@@ -149,7 +141,7 @@ bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr)
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switch (topic_ID)
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{
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@[for topic in recv_topics]@
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case @(rtps_message_id(msg_ids, topic)): // @(topic)
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case @(rtps_message_id(ids, topic)): // @(topic)
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if (_@(topic)_sub.hasMsg())
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{
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@(topic)_ msg = _@(topic)_sub.getMsg();
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@@ -19,14 +19,6 @@ from px_generate_uorb_topic_files import MsgScope # this is in Tools/
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topic_names = [single_spec.short_name for single_spec in spec]
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send_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
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recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
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yaml_file = os.path.abspath('uorb_rtps_message_ids.yaml')
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try:
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msg_ids = parse_yaml_msg_id_file(yaml_file)
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except OSError as e:
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if e.errno == errno.ENOENT:
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raise IOError(errno.ENOENT, os.strerror(errno.ENOENT), yaml_file)
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else:
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raise
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}@
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/****************************************************************************
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*
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@@ -97,7 +89,7 @@ private:
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unsigned _next_sub_idx = 0;
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char _sub_topics[@(len(recv_topics))] = {
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@[for topic in recv_topics]@
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@(rtps_message_id(msg_ids, topic)), // @(topic)
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@(rtps_message_id(ids, topic)), // @(topic)
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@[end for]@
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};
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@[end if]@
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@@ -43,6 +43,7 @@ import os
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import argparse
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import shutil
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import px_generate_uorb_topic_files
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import px_generate_uorb_topic_helper
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import subprocess
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import glob
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import errno
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@@ -68,6 +69,7 @@ default_agent_out = get_absolute_path(
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"src/modules/micrortps_bridge/micrortps_agent")
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default_uorb_templates_dir = "templates/uorb_microcdr"
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default_urtps_templates_dir = "templates/urtps"
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default_rtps_id_file = "tools/uorb_rtps_message_ids.yaml"
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default_package_name = px_generate_uorb_topic_files.PACKAGE
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parser = argparse.ArgumentParser()
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@@ -94,6 +96,8 @@ parser.add_argument("-b", "--uorb-templates-dir", dest='uorb_templates', type=st
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help="uORB templates dir, by default msg_dir/templates/uorb_microcdr", default=default_uorb_templates_dir)
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parser.add_argument("-q", "--urtps-templates-dir", dest='urtps_templates', type=str,
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help="uRTPS templates dir, by default msg_dir/templates/urtps", default=default_urtps_templates_dir)
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parser.add_argument("-y", "--rtps-ids-file", dest='yaml_file', type=str,
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help="RTPS msg IDs definition file, by default tools/uorb_rtps_message_ids.yaml", default=default_rtps_id_file)
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parser.add_argument("-p", "--package", dest='package', type=str,
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help="Msg package naming, by default px4", default=default_package_name)
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parser.add_argument("-o", "--agent-outdir", dest='agentdir', type=str, nargs=1,
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@@ -147,7 +151,8 @@ else:
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get_absolute_path(args.fastrtpsgen), "/fastrtpsgen")
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fastrtpsgen_include = args.fastrtpsgen_include
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if fastrtpsgen_include is not None and fastrtpsgen_include != '':
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fastrtpsgen_include = "-I " + get_absolute_path(args.fastrtpsgen_include) + " "
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fastrtpsgen_include = "-I " + \
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get_absolute_path(args.fastrtpsgen_include) + " "
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# If nothing specified it's generated both
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if agent == False and client == False:
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@@ -180,6 +185,10 @@ if agent and os.path.isdir(os.path.join(agent_out_dir, "idl")):
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uorb_templates_dir = os.path.join(msg_folder, args.uorb_templates)
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urtps_templates_dir = os.path.join(msg_folder, args.urtps_templates)
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# parse yaml file into a map of ids
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rtps_ids = px_generate_uorb_topic_helper.parse_yaml_msg_id_file(
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os.path.join(msg_folder, args.yaml_file))
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uRTPS_CLIENT_TEMPL_FILE = 'microRTPS_client.cpp.template'
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uRTPS_AGENT_TOPICS_H_TEMPL_FILE = 'RtpsTopics.h.template'
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@@ -199,38 +208,38 @@ def generate_agent(out_dir):
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if gen_idl:
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if out_dir != agent_out_dir:
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px_generate_uorb_topic_files.generate_idl_file(msg_file, os.path.join(out_dir, "/idl"), urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids)
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else:
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px_generate_uorb_topic_files.generate_idl_file(msg_file, idl_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids)
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px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_PUBLISHER_H_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_PUBLISHER_H_TEMPL_FILE)
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if msg_files_receive:
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for msg_file in msg_files_receive:
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if gen_idl:
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if out_dir != agent_out_dir:
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px_generate_uorb_topic_files.generate_idl_file(msg_file, os.path.join(out_dir, "/idl"), urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids)
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else:
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px_generate_uorb_topic_files.generate_idl_file(msg_file, idl_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids)
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px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_AGENT_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
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if cmakelists:
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px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE)
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# Final steps to install agent
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mkdir_p(os.path.join(out_dir, "fastrtpsgen"))
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@@ -299,7 +308,7 @@ def generate_client(out_dir):
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os.rename(def_file, def_file.replace(".h", ".h_"))
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px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, uorb_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_CLIENT_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_CLIENT_TEMPL_FILE)
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# Final steps to install client
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cp_wildcard(os.path.join(urtps_templates_dir,
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@@ -170,12 +170,12 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template
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return generate_by_template(output_file, template_file, em_globals)
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def generate_idl_file(filename_msg, outputdir, templatedir, package, includepath):
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def generate_idl_file(filename_msg, outputdir, templatedir, package, includepath, ids):
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"""
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Generates an .idl from .msg file
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"""
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em_globals = get_em_globals(
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filename_msg, package, includepath, MsgScope.NONE)
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filename_msg, package, includepath, ids, MsgScope.NONE)
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spec_short_name = em_globals["spec"].short_name
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# Make sure output directory exists:
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@@ -190,18 +190,18 @@ def generate_idl_file(filename_msg, outputdir, templatedir, package, includepath
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def generate_uRTPS_general(filename_send_msgs, filename_received_msgs,
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outputdir, templatedir, package, includepath, template_name):
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outputdir, templatedir, package, includepath, ids, template_name):
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"""
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Generates source file by msg content
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"""
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em_globals_list = []
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if filename_send_msgs:
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em_globals_list.extend([get_em_globals(
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f, package, includepath, MsgScope.SEND) for f in filename_send_msgs])
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f, package, includepath, ids, MsgScope.SEND) for f in filename_send_msgs])
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if filename_received_msgs:
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em_globals_list.extend([get_em_globals(
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f, package, includepath, MsgScope.RECEIVE) for f in filename_received_msgs])
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f, package, includepath, ids, MsgScope.RECEIVE) for f in filename_received_msgs])
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merged_em_globals = merge_em_globals_list(em_globals_list)
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# Make sure output directory exists:
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@@ -215,12 +215,12 @@ def generate_uRTPS_general(filename_send_msgs, filename_received_msgs,
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return generate_by_template(output_file, template_file, merged_em_globals)
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def generate_topic_file(filename_msg, outputdir, templatedir, package, includepath, template_name):
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def generate_topic_file(filename_msg, outputdir, templatedir, package, includepath, ids, template_name):
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"""
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Generates an .idl from .msg file
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"""
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em_globals = get_em_globals(
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filename_msg, package, includepath, MsgScope.NONE)
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filename_msg, package, includepath, ids, MsgScope.NONE)
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spec_short_name = em_globals["spec"].short_name
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# Make sure output directory exists:
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@@ -234,7 +234,7 @@ def generate_topic_file(filename_msg, outputdir, templatedir, package, includepa
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return generate_by_template(output_file, template_file, em_globals)
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def get_em_globals(filename_msg, package, includepath, scope):
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def get_em_globals(filename_msg, package, includepath, ids, scope):
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"""
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Generates em globals dictionary
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"""
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@@ -259,6 +259,7 @@ def get_em_globals(filename_msg, package, includepath, scope):
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"msg_context": msg_context,
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"spec": spec,
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"topics": topics,
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"ids": ids,
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"scope": scope
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}
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@@ -370,7 +370,7 @@ def rtps_message_id(msg_id_map, message):
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"""
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Get RTPS ID of uORB message
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"""
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for dict in msg_id_map["rtps"]:
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if message in dict["msg"]:
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return dict["id"]
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for dict in msg_id_map[0]['rtps']:
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if message in dict['msg']:
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return dict['id']
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return 0
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@@ -84,8 +84,9 @@ if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_t
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--mkdir-build
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--generate-cmakelists
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--topic-msg-dir ${PX4_SOURCE_DIR}/msg
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--uorb-templates-dir "templates/uorb_microcdr"
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--urtps-templates-dir "templates/urtps"
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--uorb-templates-dir templates/uorb_microcdr
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--urtps-templates-dir templates/urtps
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--rtps-ids-file tools/uorb_rtps_message_ids.yaml
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--agent-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_agent
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--client-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_client
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--idl-dir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_agent/idl
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