mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-26 17:36:40 +08:00
uORB generation move to msg/
This commit is contained in:
Daniel Agar
@@ -0,0 +1,237 @@
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#!/usr/bin/env python
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################################################################################
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#
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# Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# 1. Redistributions of source code must retain the above copyright notice, this
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# list of conditions and the following disclaimer.
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#
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# 2. Redistributions in binary form must reproduce the above copyright notice,
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# this list of conditions and the following disclaimer in the documentation
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# and/or other materials provided with the distribution.
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#
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# 3. Neither the name of the copyright holder nor the names of its contributors
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# may be used to endorse or promote products derived from this software without
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# specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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################################################################################
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# This script can generate the client and agent code based on a set of topics
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# to sent and set to receive. It uses fastrtpsgen to generate the code from the
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# IDL for the topic messages. The PX4 msg definitions are used to create the IDL
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# used by fastrtpsgen using templates.
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import sys, os, argparse, shutil
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import px_generate_uorb_topic_files
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import subprocess, glob
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import errno
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def get_absolute_path(arg_parse_dir):
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root_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
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if isinstance(arg_parse_dir, list):
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dir = arg_parse_dir[0]
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else:
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dir = arg_parse_dir
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if dir[0] != '/':
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dir = root_path + "/" + dir
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return dir
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default_client_out = get_absolute_path("src/modules/micrortps_bridge/micrortps_client")
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default_agent_out = get_absolute_path("src/modules/micrortps_bridge/micrortps_agent")
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parser = argparse.ArgumentParser()
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parser.add_argument("-s", "--send", dest='send', metavar='*.msg', type=str, nargs='+', help="Topics to be sended")
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parser.add_argument("-r", "--receive", dest='receive', metavar='*.msg', type=str, nargs='+', help="Topics to be received")
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parser.add_argument("-a", "--agent", dest='agent', action="store_true", help="Flag for generate the agent, by default is true if -c is not specified")
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parser.add_argument("-c", "--client", dest='client', action="store_true", help="Flag for generate the client, by default is true if -a is not specified")
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parser.add_argument("-t", "--topic-msg-dir", dest='msgdir', type=str, nargs=1, help="Topics message dir, by default msg/", default="msg")
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parser.add_argument("-o", "--agent-outdir", dest='agentdir', type=str, nargs=1, help="Agent output dir, by default src/modules/micrortps_bridge/micrortps_agent", default=default_agent_out)
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parser.add_argument("-u", "--client-outdir", dest='clientdir', type=str, nargs=1, help="Client output dir, by default src/modules/micrortps_bridge/micrortps_client", default=default_client_out)
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parser.add_argument("-f", "--fastrtpsgen-dir", dest='fastrtpsgen', type=str, nargs='?', help="fastrtpsgen installation dir, only needed if fastrtpsgen is not in PATH, by default empty", default="")
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parser.add_argument("--delete-tree", dest='del_tree', action="store_true", help="Delete dir tree output dir(s)")
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if len(sys.argv) <= 1:
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parser.print_usage()
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exit(-1)
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# Parse arguments
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args = parser.parse_args()
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msg_folder = get_absolute_path(args.msgdir)
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msg_files_send = []
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if args.send:
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msg_files_send = [get_absolute_path(msg) for msg in args.send]
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else:
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msg_files_send = []
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if args.receive:
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msg_files_receive = [get_absolute_path(msg) for msg in args.receive]
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else:
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msg_files_receive = []
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agent = args.agent
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client = args.client
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del_tree = args.del_tree
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px_generate_uorb_topic_files.append_to_include_path({msg_folder}, px_generate_uorb_topic_files.INCL_DEFAULT)
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agent_out_dir = get_absolute_path(args.agentdir)
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client_out_dir = get_absolute_path(args.clientdir)
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if args.fastrtpsgen is None or args.fastrtpsgen == "":
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# Assume fastrtpsgen is in PATH
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fastrtpsgen_path = "fastrtpsgen"
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else:
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# Path to fastrtpsgen is explicitly specified
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fastrtpsgen_path = get_absolute_path(args.fastrtpsgen) + "/fastrtpsgen"
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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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agent = True
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client = True
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if del_tree:
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if agent:
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_continue = str(raw_input("\nFiles in " + agent_out_dir + " will be erased, continue?[Y/n]\n"))
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if _continue == "N" or _continue == "n":
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print("Aborting execution...")
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exit(-1)
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else:
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if agent and os.path.isdir(agent_out_dir):
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shutil.rmtree(agent_out_dir)
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if client:
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_continue = str(raw_input("\nFiles in " + client_out_dir + " will be erased, continue?[Y/n]\n"))
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if _continue == "N" or _continue == "n":
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print("Aborting execution...")
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exit(-1)
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else:
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if client and os.path.isdir(client_out_dir):
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shutil.rmtree(client_out_dir)
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if agent and os.path.isdir(agent_out_dir + "/idl"):
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shutil.rmtree(agent_out_dir + "/idl")
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uorb_templates_dir = msg_folder + "/templates/uorb"
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urtps_templates_dir = msg_folder + "/templates/urtps"
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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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uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE = 'RtpsTopics.cpp.template'
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uRTPS_AGENT_TEMPL_FILE = 'microRTPS_agent.cpp.template'
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uRTPS_AGENT_CMAKELIST_TEMPL_FILE = 'microRTPS_agent_CMakeLists.txt.template'
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uRTPS_PUBLISHER_SRC_TEMPL_FILE = 'Publisher.cpp.template'
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uRTPS_PUBLISHER_H_TEMPL_FILE = 'Publisher.h.template'
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uRTPS_SUBSCRIBER_SRC_TEMPL_FILE = 'Subscriber.cpp.template'
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uRTPS_SUBSCRIBER_H_TEMPL_FILE = 'Subscriber.h.template'
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def generate_agent(out_dir):
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if msg_files_send:
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for msg_file in msg_files_send:
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px_generate_uorb_topic_files.generate_idl_file(msg_file, out_dir + "/idl", urtps_templates_dir,
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px_generate_uorb_topic_files.INCL_DEFAULT)
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px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
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px_generate_uorb_topic_files.INCL_DEFAULT, 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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px_generate_uorb_topic_files.INCL_DEFAULT, 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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px_generate_uorb_topic_files.generate_idl_file(msg_file, out_dir + "/idl", urtps_templates_dir,
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px_generate_uorb_topic_files.INCL_DEFAULT)
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px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
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px_generate_uorb_topic_files.INCL_DEFAULT, 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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px_generate_uorb_topic_files.INCL_DEFAULT, 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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px_generate_uorb_topic_files.INCL_DEFAULT, 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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px_generate_uorb_topic_files.INCL_DEFAULT, 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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px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TOPICS_SRC_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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px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_CMAKELIST_TEMPL_FILE)
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# Final steps to install agent
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mkdir_p(agent_out_dir + "/fastrtpsgen")
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os.chdir(agent_out_dir + "/fastrtpsgen")
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for idl_file in glob.glob(agent_out_dir + "/idl/*.idl"):
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ret = subprocess.call(fastrtpsgen_path + " -d " + agent_out_dir + "/fastrtpsgen -example x64Linux2.6gcc " + idl_file, shell=True)
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if ret:
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raise Exception("fastrtpsgen not found. Specify the location of fastrtpsgen with the -f flag")
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rm_wildcard(agent_out_dir + "/fastrtpsgen/*PubSubMain*")
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rm_wildcard(agent_out_dir + "/fastrtpsgen/makefile*")
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rm_wildcard(agent_out_dir + "/fastrtpsgen/*Publisher*")
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rm_wildcard(agent_out_dir + "/fastrtpsgen/*Subscriber*")
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for f in glob.glob(agent_out_dir + "/fastrtpsgen/*.cxx"):
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os.rename(f, f.replace(".cxx", ".cpp"))
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cp_wildcard(agent_out_dir + "/fastrtpsgen/*", agent_out_dir)
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if os.path.isdir(agent_out_dir + "/fastrtpsgen"):
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shutil.rmtree(agent_out_dir + "/fastrtpsgen")
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cp_wildcard(urtps_templates_dir + "/microRTPS_transport.*", agent_out_dir)
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os.rename(agent_out_dir + "/microRTPS_agent_CMakeLists.txt", agent_out_dir + "/CMakeLists.txt")
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mkdir_p(agent_out_dir + "/build")
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return 0
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def rm_wildcard(pattern):
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for f in glob.glob(pattern):
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os.remove(f)
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def cp_wildcard(pattern, destdir):
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for f in glob.glob(pattern):
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shutil.copy(f, destdir)
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def mkdir_p(dirpath):
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try:
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os.makedirs(dirpath)
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except OSError as e:
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if e.errno == errno.EEXIST and os.path.isdir(dirpath):
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pass
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else:
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raise
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def generate_client(out_dir):
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# Rename work in the default path
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if default_client_out != out_dir:
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def_file = default_client_out + "/microRTPS_client.cpp"
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if os.path.isfile(def_file):
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os.rename(def_file, def_file.replace(".cpp", ".cpp_"))
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def_file = default_client_out + "/microRTPS_transport.cpp"
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if os.path.isfile(def_file):
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os.rename(def_file, def_file.replace(".cpp", ".cpp_"))
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def_file = default_client_out + "/microRTPS_transport.h"
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if os.path.isfile(def_file):
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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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px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_CLIENT_TEMPL_FILE)
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# Final steps to install client
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cp_wildcard(urtps_templates_dir + "/microRTPS_transport.*", out_dir)
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return 0
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if agent:
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generate_agent(agent_out_dir)
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print("\nAgent created in: " + agent_out_dir)
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if client:
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generate_client(client_out_dir)
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print("\nClient created in: " + client_out_dir)
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