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msg: generation and parsing scripts: add Python3 support

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This commit is contained in:
TSC21
2019-11-23 18:21:58 +00:00
committed by Nuno Marques
parent 4329de9e3b
commit 2be7ca08ba
6 changed files with 93 additions and 147 deletions
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msg/tools/generate_microRTPS_bridge.py
+20 -50
View File
@@ -1,5 +1,4 @@
#!/usr/bin/env python #!/usr/bin/env python3
################################################################################ ################################################################################
# #
# Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima). # Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
@@ -69,69 +68,49 @@ def check_rtps_id_uniqueness(classifier):
repeated_ids = dict() repeated_ids = dict()
if sys.version_info[0] < 3: full_send_list = dict(list(msg for msg in list(classifier.msgs_to_send.items(
full_send_list = dict(list(msg for msg in classifier.msgs_to_send.items( ))) + list(list(msg[0].items())[0] for msg in classifier.alias_msgs_to_send))
)) + list(msg[0].items()[0] for msg in classifier.alias_msgs_to_send)) full_receive_list = dict(list(msg for msg in list(classifier.msgs_to_receive.items(
full_receive_list = dict(list(msg for msg in classifier.msgs_to_receive.items( ))) + list(list(msg[0].items())[0] for msg in classifier.alias_msgs_to_receive))
)) + list(msg[0].items()[0] for msg in classifier.alias_msgs_to_receive)) full_ignore_list = dict(list(msg for msg in list(classifier.msgs_to_ignore.items(
full_ignore_list = dict(list(msg for msg in classifier.msgs_to_ignore.items( ))) + list(list(msg[0].items())[0] for msg in classifier.alias_msgs_to_ignore))
)) + list(msg[0].items()[0] for msg in classifier.alias_msgs_to_ignore))
else:
full_send_list = dict(list(msg for msg in classifier.msgs_to_send.items(
)) + list(list(msg[0].items())[0] for msg in classifier.alias_msgs_to_send))
full_receive_list = dict(list(msg for msg in classifier.msgs_to_receive.items(
)) + list(list(msg[0].items())[0] for msg in classifier.alias_msgs_to_receive))
full_ignore_list = dict(list(msg for msg in classifier.msgs_to_ignore.items(
)) + list(list(msg[0].items())[0] for msg in classifier.alias_msgs_to_ignore))
# check if there are repeated ID's on the messages to send # check if there are repeated ID's on the messages to send
for key, value in full_send_list.items(): for key, value in list(full_send_list.items()):
if sys.version_info[0] < 3:
if full_send_list.values().count(value) > 1:
repeated_ids.update({key: value})
else:
if list(full_send_list.values()).count(value) > 1: if list(full_send_list.values()).count(value) > 1:
repeated_ids.update({key: value}) repeated_ids.update({key: value})
# check if there are repeated ID's on the messages to receive # check if there are repeated ID's on the messages to receive
for key, value in full_receive_list.items(): for key, value in list(full_receive_list.items()):
if sys.version_info[0] < 3:
if full_receive_list.values().count(value) > 1:
repeated_ids.update({key: value})
else:
if list(full_receive_list.values()).count(value) > 1: if list(full_receive_list.values()).count(value) > 1:
repeated_ids.update({key: value}) repeated_ids.update({key: value})
# check if there are repeated ID's on the messages to ignore # check if there are repeated ID's on the messages to ignore
for key, value in full_ignore_list.items(): for key, value in list(full_ignore_list.items()):
if sys.version_info[0] < 3:
if full_ignore_list.values().count(value) > 1:
repeated_ids.update({key: value})
else:
if list(full_ignore_list.values()).count(value) > 1: if list(full_ignore_list.values()).count(value) > 1:
repeated_ids.update({key: value}) repeated_ids.update({key: value})
# check if there are repeated IDs between classified and unclassified msgs # check if there are repeated IDs between classified and unclassified msgs
# check send and ignore lists # check send and ignore lists
send_ignore_common_ids = list(set(full_ignore_list.values( send_ignore_common_ids = list(set(full_ignore_list.values(
)).intersection(full_send_list.values())) )).intersection(list(full_send_list.values())))
for item in full_send_list.items(): for item in list(full_send_list.items()):
for repeated in send_ignore_common_ids: for repeated in send_ignore_common_ids:
if item[1] == repeated: if item[1] == repeated:
repeated_ids.update({item[0]: item[1]}) repeated_ids.update({item[0]: item[1]})
for item in full_ignore_list.items(): for item in list(full_ignore_list.items()):
for repeated in send_ignore_common_ids: for repeated in send_ignore_common_ids:
if item[1] == repeated: if item[1] == repeated:
repeated_ids.update({item[0]: item[1]}) repeated_ids.update({item[0]: item[1]})
# check receive and ignore lists # check receive and ignore lists
receive_ignore_common_ids = list(set(full_ignore_list.values( receive_ignore_common_ids = list(set(full_ignore_list.values(
)).intersection(full_receive_list.values())) )).intersection(list(full_receive_list.values())))
for item in full_receive_list.items(): for item in list(full_receive_list.items()):
for repeated in receive_ignore_common_ids: for repeated in receive_ignore_common_ids:
if item[1] == repeated: if item[1] == repeated:
repeated_ids.update({item[0]: item[1]}) repeated_ids.update({item[0]: item[1]})
for item in full_ignore_list.items(): for item in list(full_ignore_list.items()):
for repeated in receive_ignore_common_ids: for repeated in receive_ignore_common_ids:
if item[1] == repeated: if item[1] == repeated:
repeated_ids.update({item[0]: item[1]}) repeated_ids.update({item[0]: item[1]})
@@ -141,16 +120,13 @@ def check_rtps_id_uniqueness(classifier):
all_msgs.update(full_receive_list) all_msgs.update(full_receive_list)
all_msgs.update(full_ignore_list) all_msgs.update(full_ignore_list)
all_ids = list() all_ids = list()
if sys.version_info[0] < 3:
all_ids = all_msgs.values()
else:
all_ids = list(all_msgs.values()) all_ids = list(all_msgs.values())
all_ids.sort() all_ids.sort()
if not repeated_ids: if not repeated_ids:
print("All good. RTPS ID's are unique") print("All good. RTPS ID's are unique")
else: else:
raise AssertionError(", ".join('%s' % msgs for msgs in repeated_ids.keys()) + raise AssertionError(", ".join('%s' % msgs for msgs in list(repeated_ids.keys())) +
" have their ID's repeated. Please choose from the following pool:\n" + " have their ID's repeated. Please choose from the following pool:\n" +
", ".join('%d' % id for id in px_generate_uorb_topic_helper.check_available_ids(all_ids))) ", ".join('%d' % id for id in px_generate_uorb_topic_helper.check_available_ids(all_ids)))
@@ -298,7 +274,7 @@ if del_tree:
if agent: if agent:
_continue = str(input("\nFiles in " + agent_out_dir + _continue = str(input("\nFiles in " + agent_out_dir +
" will be erased, continue?[Y/n]\n")) " will be erased, continue?[Y/n]\n"))
if _continue.strip() in ("N", "n"): if _continue == "N" or _continue == "n":
print("Aborting execution...") print("Aborting execution...")
exit(-1) exit(-1)
else: else:
@@ -364,9 +340,6 @@ def generate_agent(out_dir):
if classifier.alias_msgs_to_send: if classifier.alias_msgs_to_send:
for msg_file in classifier.alias_msgs_to_send: for msg_file in classifier.alias_msgs_to_send:
if sys.version_info[0] < 3:
msg_alias = msg_file[0].keys()[0]
else:
msg_alias = list(msg_file[0].keys())[0] msg_alias = list(msg_file[0].keys())[0]
msg_name = msg_file[1] msg_name = msg_file[1]
if gen_idl: if gen_idl:
@@ -397,9 +370,6 @@ def generate_agent(out_dir):
if classifier.alias_msgs_to_receive: if classifier.alias_msgs_to_receive:
for msg_file in classifier.alias_msgs_to_receive: for msg_file in classifier.alias_msgs_to_receive:
if sys.version_info[0] < 3:
msg_alias = msg_file[0].keys()[0]
else:
msg_alias = list(msg_file[0].keys())[0] msg_alias = list(msg_file[0].keys())[0]
msg_name = msg_file[1] msg_name = msg_file[1]
if gen_idl: if gen_idl:
@@ -504,8 +474,8 @@ def generate_client(out_dir):
if agent: if agent:
generate_agent(agent_out_dir) generate_agent(agent_out_dir)
print("\nAgent created in: " + agent_out_dir) print(("\nAgent created in: " + agent_out_dir))
if client: if client:
generate_client(client_out_dir) generate_client(client_out_dir)
print("\nClient created in: " + client_out_dir) print(("\nClient created in: " + client_out_dir))
msg/tools/px_generate_uorb_topic_files.py
+3 -11
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@@ -1,4 +1,4 @@
#!/usr/bin/env python #!/usr/bin/env python3
############################################################################# #############################################################################
# #
# Copyright (C) 2013-2018 PX4 Pro Development Team. All rights reserved. # Copyright (C) 2013-2018 PX4 Pro Development Team. All rights reserved.
@@ -37,7 +37,7 @@ px_generate_uorb_topic_files.py
Generates c/cpp header/source files for uorb topics from .msg (ROS syntax) Generates c/cpp header/source files for uorb topics from .msg (ROS syntax)
message files message files
""" """
from __future__ import print_function
import os import os
import shutil import shutil
import filecmp import filecmp
@@ -208,17 +208,9 @@ def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filenam
receive_msgs = list(os.path.join(msg_dir, msg + ".msg") receive_msgs = list(os.path.join(msg_dir, msg + ".msg")
for msg in filename_receive_msgs) for msg in filename_receive_msgs)
if sys.version_info[0] < 3:
alias_send_msgs = list([os.path.join( alias_send_msgs = list([os.path.join(
msg_dir, msg[1] + ".msg"), msg[0].keys()[0]] for msg in filename_alias_send_msgs) msg_dir, msg[1] + ".msg"), list(msg[0].keys())[0]] for msg in filename_alias_send_msgs)
else:
alias_send_msgs = list([os.path.join(msg_dir, msg[1] + ".msg"),
list(msg[0].keys())[0]] for msg in filename_alias_send_msgs)
if sys.version_info[0] < 3:
alias_receive_msgs = list([os.path.join(
msg_dir, msg[1] + ".msg"), msg[0].keys()[0]] for msg in filename_alias_receive_msgs)
else:
alias_receive_msgs = list([os.path.join( alias_receive_msgs = list([os.path.join(
msg_dir, msg[1] + ".msg"), list(msg[0].keys())[0]] for msg in filename_alias_receive_msgs) msg_dir, msg[1] + ".msg"), list(msg[0].keys())[0]] for msg in filename_alias_receive_msgs)
msg/tools/px_generate_uorb_topic_helper.py
+14 -14
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@@ -1,4 +1,4 @@
#!/usr/bin/env python #!/usr/bin/env python3
############################################################################# #############################################################################
# #
# Copyright (C) 2013-2019 PX4 Pro Development Team. All rights reserved. # Copyright (C) 2013-2019 PX4 Pro Development Team. All rights reserved.
@@ -254,10 +254,10 @@ def print_field(field):
else: else:
for i in range(array_length): for i in range(array_length):
print("PX4_INFO_RAW(\"\\t" + field.type + print(("PX4_INFO_RAW(\"\\t" + field.type +
" " + field.name + "[" + str(i) + "]\");") " " + field.name + "[" + str(i) + "]\");"))
print(" print_message(message." + print((" print_message(message." +
field.name + "[" + str(i) + "]);") field.name + "[" + str(i) + "]);"))
return return
for i in range(array_length): for i in range(array_length):
@@ -291,23 +291,23 @@ def print_field(field):
field_name = "(" + field_name + " ? \"True\" : \"False\")" field_name = "(" + field_name + " ? \"True\" : \"False\")"
else: else:
print("PX4_INFO_RAW(\"\\n\\t" + field.name + "\");") print(("PX4_INFO_RAW(\"\\n\\t" + field.name + "\");"))
print("\tprint_message(message." + field.name + ");") print(("\tprint_message(message." + field.name + ");"))
return return
if field.name == 'timestamp': if field.name == 'timestamp':
print("if (message.timestamp != 0) {\n\t\tPX4_INFO_RAW(\"\\t" + field.name + print(("if (message.timestamp != 0) {\n\t\tPX4_INFO_RAW(\"\\t" + field.name +
": " + c_type + " (%.6f seconds ago)\\n\", " + field_name + ": " + c_type + " (%.6f seconds ago)\\n\", " + field_name +
", hrt_elapsed_time(&message.timestamp) / 1e6);\n\t} else {\n\t\tPX4_INFO_RAW(\"\\n\");\n\t}") ", hrt_elapsed_time(&message.timestamp) / 1e6);\n\t} else {\n\t\tPX4_INFO_RAW(\"\\n\");\n\t}"))
elif field.name == 'device_id': elif field.name == 'device_id':
print("char device_id_buffer[80];") print("char device_id_buffer[80];")
print("device::Device::device_id_print_buffer(device_id_buffer, sizeof(device_id_buffer), message.device_id);") print("device::Device::device_id_print_buffer(device_id_buffer, sizeof(device_id_buffer), message.device_id);")
print("PX4_INFO_RAW(\"\\tdevice_id: %d (%s) \\n\", message.device_id, device_id_buffer);") print("PX4_INFO_RAW(\"\\tdevice_id: %d (%s) \\n\", message.device_id, device_id_buffer);")
elif is_array and 'char' in field.type: elif is_array and 'char' in field.type:
print("PX4_INFO_RAW(\"\\t" + field.name + ": \\\"%." + str(array_length) + "s\\\" \\n\", message." + field.name + ");") print(("PX4_INFO_RAW(\"\\t" + field.name + ": \\\"%." + str(array_length) + "s\\\" \\n\", message." + field.name + ");"))
else: else:
print("PX4_INFO_RAW(\"\\t" + field.name + ": " + print(("PX4_INFO_RAW(\"\\t" + field.name + ": " +
c_type + "\\n\", " + field_name + ");") c_type + "\\n\", " + field_name + ");"))
def print_field_def(field): def print_field_def(field):
@@ -347,8 +347,8 @@ def print_field_def(field):
if field.name.startswith('_padding'): if field.name.startswith('_padding'):
comment = ' // required for logger' comment = ' // required for logger'
print('\t%s%s%s %s%s;%s' % (type_prefix, type_px4, type_appendix, field.name, print(('\t%s%s%s %s%s;%s' % (type_prefix, type_px4, type_appendix, field.name,
array_size, comment)) array_size, comment)))
def check_available_ids(used_msg_ids_list): def check_available_ids(used_msg_ids_list):
msg/tools/uorb_rtps_classifier.py
+38 -54
View File
@@ -1,5 +1,4 @@
#!/usr/bin/env python #!/usr/bin/env python3
################################################################################ ################################################################################
# #
# Copyright (c) 2018-2019 PX4 Development Team. All rights reserved. # Copyright (c) 2018-2019 PX4 Development Team. All rights reserved.
@@ -76,8 +75,8 @@ class Classifier():
send = {} send = {}
send_alias = [] send_alias = []
for dict in self.msg_id_map['rtps']: for dict in self.msg_id_map['rtps']:
if 'send' in dict.keys(): if 'send' in list(dict.keys()):
if 'alias' in dict.keys(): if 'alias' in list(dict.keys()):
send_alias.append( send_alias.append(
({dict['msg']: dict['id']}, dict['alias'])) ({dict['msg']: dict['id']}, dict['alias']))
else: else:
@@ -88,8 +87,8 @@ class Classifier():
receive = {} receive = {}
receive_alias = [] receive_alias = []
for dict in self.msg_id_map['rtps']: for dict in self.msg_id_map['rtps']:
if 'receive' in dict.keys(): if 'receive' in list(dict.keys()):
if 'alias' in dict.keys(): if 'alias' in list(dict.keys()):
receive_alias.append( receive_alias.append(
({dict['msg']: dict['id']}, dict['alias'])) ({dict['msg']: dict['id']}, dict['alias']))
else: else:
@@ -100,8 +99,8 @@ class Classifier():
ignore = {} ignore = {}
ignore_alias = [] ignore_alias = []
for dict in self.msg_id_map['rtps']: for dict in self.msg_id_map['rtps']:
if (('send' not in dict.keys()) and ('receive' not in dict.keys())): if (('send' not in list(dict.keys())) and ('receive' not in list(dict.keys()))):
if 'alias' in dict.keys(): if 'alias' in list(dict.keys()):
ignore_alias.append( ignore_alias.append(
({dict['msg']: dict['id']}, dict['alias'])) ({dict['msg']: dict['id']}, dict['alias']))
else: else:
@@ -110,15 +109,15 @@ class Classifier():
def set_msg_files_send(self): def set_msg_files_send(self):
return [os.path.join(self.msg_folder, msg + ".msg") return [os.path.join(self.msg_folder, msg + ".msg")
for msg in self.msgs_to_send.keys()] for msg in list(self.msgs_to_send.keys())]
def set_msg_files_receive(self): def set_msg_files_receive(self):
return [os.path.join(self.msg_folder, msg + ".msg") return [os.path.join(self.msg_folder, msg + ".msg")
for msg in self.msgs_to_receive.keys()] for msg in list(self.msgs_to_receive.keys())]
def set_msg_files_ignore(self): def set_msg_files_ignore(self):
return [os.path.join(self.msg_folder, msg + ".msg") return [os.path.join(self.msg_folder, msg + ".msg")
for msg in self.msgs_to_ignore.keys()] for msg in list(self.msgs_to_ignore.keys())]
def check_if_listed(self, yaml_file): def check_if_listed(self, yaml_file):
""" """
@@ -148,11 +147,11 @@ class Classifier():
Check if alias message has correct base type Check if alias message has correct base type
""" """
registered_alias_msgs = list( registered_alias_msgs = list(
dict['alias'] for dict in self.msg_id_map['rtps'] if 'alias' in dict.keys()) dict['alias'] for dict in self.msg_id_map['rtps'] if 'alias' in list(dict.keys()))
base_types = [] base_types = []
for dict in self.msg_id_map['rtps']: for dict in self.msg_id_map['rtps']:
if 'alias' not in dict.keys(): if 'alias' not in list(dict.keys()):
base_types.append(dict['msg']) base_types.append(dict['msg'])
incorrect_base_types = list( incorrect_base_types = list(
@@ -165,7 +164,7 @@ class Classifier():
if len(base_types_suggestion) > 0: if len(base_types_suggestion) > 0:
raise AssertionError( raise AssertionError(
('\n' + '\n'.join('\t- The multi-topic message base type \'{}\' does not exist.{}'.format(k, (' Did you mean \'' + v[0] + '\'?' if v else '')) for k, v in base_types_suggestion.items()))) ('\n' + '\n'.join('\t- The multi-topic message base type \'{}\' does not exist.{}'.format(k, (' Did you mean \'' + v[0] + '\'?' if v else '')) for k, v in list(base_types_suggestion.items()))))
def check_id_space(self): def check_id_space(self):
""" """
@@ -174,18 +173,18 @@ class Classifier():
incorrect_base_ids = {} incorrect_base_ids = {}
incorrect_alias_ids = {} incorrect_alias_ids = {}
for dict in self.msg_id_map['rtps']: for dict in self.msg_id_map['rtps']:
if 'alias' not in dict.keys() and dict['id'] >= self.alias_space_init_id: if 'alias' not in list(dict.keys()) and dict['id'] >= self.alias_space_init_id:
incorrect_base_ids.update({dict['msg']: dict['id']}) incorrect_base_ids.update({dict['msg']: dict['id']})
elif 'alias' in dict.keys() and dict['id'] < self.alias_space_init_id: elif 'alias' in list(dict.keys()) and dict['id'] < self.alias_space_init_id:
incorrect_alias_ids.update({dict['msg']: dict['id']}) incorrect_alias_ids.update({dict['msg']: dict['id']})
if len(incorrect_base_ids) > 0: if len(incorrect_base_ids) > 0:
raise AssertionError( raise AssertionError(
('\n' + '\n'.join('\t- The message \'{} with ID \'{}\' is in the wrong ID space. Please use any of the available IDs from 0 to 149'.format(k, v) for k, v in incorrect_base_ids.items()))) ('\n' + '\n'.join('\t- The message \'{} with ID \'{}\' is in the wrong ID space. Please use any of the available IDs from 0 to 149'.format(k, v) for k, v in list(incorrect_base_ids.items()))))
if len(incorrect_alias_ids) > 0: if len(incorrect_alias_ids) > 0:
raise AssertionError( raise AssertionError(
('\n' + '\n'.join('\t- The alias message \'{}\' with ID \'{}\' is in the wrong ID space. Please use any of the available IDs from 149 to 255'.format(k, v) for k, v in incorrect_alias_ids.items()))) ('\n' + '\n'.join('\t- The alias message \'{}\' with ID \'{}\' is in the wrong ID space. Please use any of the available IDs from 149 to 255'.format(k, v) for k, v in list(incorrect_alias_ids.items()))))
@staticmethod @staticmethod
def parse_yaml_msg_id_file(yaml_file): def parse_yaml_msg_id_file(yaml_file):
@@ -235,52 +234,37 @@ if __name__ == "__main__":
if args.send: if args.send:
if args.path: if args.path:
print ('send files: ' + ', '.join(str(msg_file) print(('send files: ' + ', '.join(str(msg_file)
for msg_file in classifier.msgs_files_send) + '\n') for msg_file in classifier.msgs_files_send) + '\n'))
else: else:
if args.alias: if args.alias:
if sys.version_info[0] < 3: print((', '.join(str(msg)
print (', '.join(str(msg) for msg in list(classifier.msgs_to_send.keys())) + (' alias ' + ', '.join(str(list(msg[0].keys())[0])
for msg in classifier.msgs_to_send.keys()) + (' alias ' + ', '.join(str(msg[0].keys()[0]) for msg in classifier.alias_msgs_to_send) if len(classifier.alias_msgs_to_send) > 0 else '') + '\n'))
for msg in classifier.alias_msgs_to_send) if len(classifier.alias_msgs_to_send) > 0 else '') + '\n')
else: else:
print (', '.join(str(msg) print((', '.join(str(msg)
for msg in classifier.msgs_to_send.keys()) + (' alias ' + ', '.join(str(list(msg[0].keys())[0]) for msg in list(classifier.msgs_to_send.keys()))))
for msg in classifier.alias_msgs_to_send) if len(classifier.alias_msgs_to_send) > 0 else '') + '\n')
else:
print (', '.join(str(msg)
for msg in classifier.msgs_to_send.keys()))
if args.receive: if args.receive:
if args.path: if args.path:
print ('receive files: ' + ', '.join(str(msg_file) print(('receive files: ' + ', '.join(str(msg_file)
for msg_file in classifier.msgs_files_receive) + '\n') for msg_file in classifier.msgs_files_receive) + '\n'))
else: else:
if args.alias: if args.alias:
if sys.version_info[0] < 3: print((', '.join(str(msg)
print (', '.join(str(msg) for msg in list(classifier.msgs_to_receive.keys())) + (' alias ' + ', '.join(str(list(msg[0].keys())[0])
for msg in classifier.msgs_to_receive.keys()) + (' alias ' + ', '.join(str(msg[0].keys()[0]) for msg in classifier.alias_msgs_to_receive) if len(classifier.alias_msgs_to_receive) > 0 else '') + '\n'))
for msg in classifier.alias_msgs_to_receive) if len(classifier.alias_msgs_to_receive) > 0 else '') + '\n')
else: else:
print (', '.join(str(msg) print((', '.join(str(msg)
for msg in classifier.msgs_to_receive.keys()) + (' alias ' + ', '.join(str(list(msg[0].keys())[0]) for msg in list(classifier.msgs_to_receive.keys()))))
for msg in classifier.alias_msgs_to_receive) if len(classifier.alias_msgs_to_receive) > 0 else '') + '\n')
else:
print (', '.join(str(msg)
for msg in classifier.msgs_to_receive.keys()))
if args.ignore: if args.ignore:
if args.path: if args.path:
print ('ignore files: ' + ', '.join(str(msg_file) print(('ignore files: ' + ', '.join(str(msg_file)
for msg_file in classifier.msgs_files_ignore) + '\n') for msg_file in classifier.msgs_files_ignore) + '\n'))
else: else:
if args.alias: if args.alias:
if sys.version_info[0] < 3: print((', '.join(str(msg)
print (', '.join(str(msg) for msg in list(classifier.msgs_to_ignore.keys())) + (' alias ' + ', '.join(str(list(msg[0].keys())[0])
for msg in classifier.msgs_to_ignore.keys()) + (' alias ' + ', '.join(str(msg[0].keys()[0]) for msg in classifier.alias_msgs_to_ignore) if len(classifier.alias_msgs_to_ignore) > 0 else '') + '\n'))
for msg in classifier.alias_msgs_to_ignore) if len(classifier.alias_msgs_to_ignore) > 0 else '') + '\n')
else: else:
print (', '.join(str(msg) print((', '.join(str(msg)
for msg in classifier.msgs_to_ignore.keys()) + (' alias ' + ', '.join(str(list(msg[0].keys())[0]) for msg in list(classifier.msgs_to_ignore.keys()))))
for msg in classifier.alias_msgs_to_ignore) if len(classifier.alias_msgs_to_ignore) > 0 else '') + '\n')
else:
print (', '.join(str(msg)
for msg in classifier.msgs_to_ignore.keys()))
msg/tools/uorb_to_ros_msgs.py
+1 -1
View File
@@ -1,4 +1,4 @@
#!/usr/bin/env python #!/usr/bin/env python3
""" """
Script to parse uORB message format to ROS msg format Script to parse uORB message format to ROS msg format
Adapted from https://github.com/eProsima/px4_to_ros/blob/master/px4_to_ros2_PoC/px4_msgs/scripts/copy_and_rename.py Adapted from https://github.com/eProsima/px4_to_ros/blob/master/px4_to_ros2_PoC/px4_msgs/scripts/copy_and_rename.py
msg/tools/uorb_to_ros_rtps_ids.py
+5 -5
View File
@@ -1,4 +1,4 @@
#!/usr/bin/env python #!/usr/bin/env python3
""" """
Script to read an yaml file containing the RTPS message IDs and update the naming convention to PascalCase Script to read an yaml file containing the RTPS message IDs and update the naming convention to PascalCase
""" """
@@ -75,7 +75,7 @@ def load_yaml_file(file):
try: try:
with open(file, 'r') as f: with open(file, 'r') as f:
if verbose: if verbose:
print("--\t[Step 1] %s yaml file loaded!" % file) print(("--\t[Step 1] %s yaml file loaded!" % file))
return yaml.safe_load(f) return yaml.safe_load(f)
except OSError as e: except OSError as e:
if e.errno == errno.ENOENT: if e.errno == errno.ENOENT:
@@ -98,7 +98,7 @@ def update_dict(list):
if verbose: if verbose:
num_of_msgs += 1 num_of_msgs += 1
if verbose: if verbose:
print("--\t[Step 2] List: %d msg names updated!" % num_of_msgs) print(("--\t[Step 2] List: %d msg names updated!" % num_of_msgs))
def update_yaml_file(list, file): def update_yaml_file(list, file):
@@ -117,9 +117,9 @@ def update_yaml_file(list, file):
yaml.dump(list, f, Dumper=IndenterDumper, default_flow_style=False) yaml.dump(list, f, Dumper=IndenterDumper, default_flow_style=False)
if verbose: if verbose:
if in_file == out_file: if in_file == out_file:
print("--\t[Step 3] %s updated!" % in_file) print(("--\t[Step 3] %s updated!" % in_file))
else: else:
print("--\t[Step 3] %s created!" % out_file) print(("--\t[Step 3] %s created!" % out_file))
except OSError as e: except OSError as e:
if e.errno == errno.ENOENT: if e.errno == errno.ENOENT: