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generate_microRTPS_bridge.py: beautify

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This commit is contained in:
TSC21
2018-09-11 17:19:03 +01:00
committed by Beat Küng
parent 6eda4feb20
commit 57f5bb6290
1 changed files with 79 additions and 41 deletions
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msg/tools/generate_microRTPS_bridge.py
+66 -28
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@@ -37,11 +37,16 @@
# IDL for the topic messages. The PX4 msg definitions are used to create the IDL # IDL for the topic messages. The PX4 msg definitions are used to create the IDL
# used by fastrtpsgen using templates. # used by fastrtpsgen using templates.
import sys, os, argparse, shutil import sys
import os
import argparse
import shutil
import px_generate_uorb_topic_files import px_generate_uorb_topic_files
import subprocess, glob import subprocess
import glob
import errno import errno
def get_absolute_path(arg_parse_dir): def get_absolute_path(arg_parse_dir):
root_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__))) root_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
@@ -55,29 +60,47 @@ def get_absolute_path(arg_parse_dir):
return dir return dir
default_client_out = get_absolute_path("src/modules/micrortps_bridge/micrortps_client")
default_agent_out = get_absolute_path("src/modules/micrortps_bridge/micrortps_agent") default_client_out = get_absolute_path(
"src/modules/micrortps_bridge/micrortps_client")
default_agent_out = get_absolute_path(
"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_package_name = px_generate_uorb_topic_files.PACKAGE default_package_name = px_generate_uorb_topic_files.PACKAGE
parser = argparse.ArgumentParser() parser = argparse.ArgumentParser()
parser.add_argument("-s", "--send", dest='send', metavar='*.msg', type=str, nargs='+', help="Topics to be sended") parser.add_argument("-s", "--send", dest='send', metavar='*.msg',
parser.add_argument("-r", "--receive", dest='receive', metavar='*.msg', type=str, nargs='+', help="Topics to be received") type=str, nargs='+', help="Topics to be sended")
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") parser.add_argument("-r", "--receive", dest='receive', metavar='*.msg',
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") type=str, nargs='+', help="Topics to be received")
parser.add_argument("-i", "--generate-idl", dest='gen_idl', action="store_true", help="Flag for generate idl files for each msg") parser.add_argument("-a", "--agent", dest='agent', action="store_true",
parser.add_argument("-j", "--idl-dir", dest='idl_dir', type=str, help="IDL files dir", default='') help="Flag for generate the agent, by default is true if -c is not specified")
parser.add_argument("-m", "--mkdir-build", dest='mkdir_build', action="store_true", help="Flag to create 'build' dir") parser.add_argument("-c", "--client", dest='client', action="store_true",
parser.add_argument("-t", "--topic-msg-dir", dest='msgdir', type=str, help="Topics message dir, by default msg/", default="msg") help="Flag for generate the client, by default is true if -a is not specified")
parser.add_argument("-b", "--uorb-templates-dir", dest='uorb_templates', type=str, help="uORB templates dir, by default msg_dir/templates/uorb_microcdr", default=default_uorb_templates_dir) parser.add_argument("-i", "--generate-idl", dest='gen_idl',
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) action="store_true", help="Flag for generate idl files for each msg")
parser.add_argument("-p", "--package", dest='package', type=str, help="Msg package naming, by default px4", default=default_package_name) parser.add_argument("-j", "--idl-dir", dest='idl_dir',
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) type=str, help="IDL files dir", default='')
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) parser.add_argument("-m", "--mkdir-build", dest='mkdir_build',
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="") action="store_true", help="Flag to create 'build' dir")
parser.add_argument("--delete-tree", dest='del_tree', action="store_true", help="Delete dir tree output dir(s)") parser.add_argument("-t", "--topic-msg-dir", dest='msgdir', type=str,
help="Topics message dir, by default msg/", default="msg")
parser.add_argument("-b", "--uorb-templates-dir", dest='uorb_templates', type=str,
help="uORB templates dir, by default msg_dir/templates/uorb_microcdr", default=default_uorb_templates_dir)
parser.add_argument("-q", "--urtps-templates-dir", dest='urtps_templates', type=str,
help="uRTPS templates dir, by default msg_dir/templates/urtps", default=default_urtps_templates_dir)
parser.add_argument("-p", "--package", dest='package', type=str,
help="Msg package naming, by default px4", default=default_package_name)
parser.add_argument("-o", "--agent-outdir", dest='agentdir', type=str, nargs=1,
help="Agent output dir, by default src/modules/micrortps_bridge/micrortps_agent", default=default_agent_out)
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)
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="")
parser.add_argument("--delete-tree", dest='del_tree',
action="store_true", help="Delete dir tree output dir(s)")
if len(sys.argv) <= 1: if len(sys.argv) <= 1:
parser.print_usage() parser.print_usage()
@@ -102,7 +125,8 @@ agent = args.agent
client = args.client client = args.client
mkdir_build = args.mkdir_build mkdir_build = args.mkdir_build
del_tree = args.del_tree del_tree = args.del_tree
px_generate_uorb_topic_files.append_to_include_path({msg_folder}, px_generate_uorb_topic_files.INCL_DEFAULT, package) px_generate_uorb_topic_files.append_to_include_path(
{msg_folder}, px_generate_uorb_topic_files.INCL_DEFAULT, package)
agent_out_dir = get_absolute_path(args.agentdir) agent_out_dir = get_absolute_path(args.agentdir)
client_out_dir = get_absolute_path(args.clientdir) client_out_dir = get_absolute_path(args.clientdir)
gen_idl = args.gen_idl gen_idl = args.gen_idl
@@ -117,7 +141,8 @@ if args.fastrtpsgen is None or args.fastrtpsgen == "":
fastrtpsgen_path = "fastrtpsgen" fastrtpsgen_path = "fastrtpsgen"
else: else:
# Path to fastrtpsgen is explicitly specified # Path to fastrtpsgen is explicitly specified
fastrtpsgen_path = os.path.join(get_absolute_path(args.fastrtpsgen), "/fastrtpsgen") fastrtpsgen_path = os.path.join(
get_absolute_path(args.fastrtpsgen), "/fastrtpsgen")
# 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:
@@ -126,7 +151,8 @@ if agent == False and client == False:
if del_tree: if del_tree:
if agent: if agent:
_continue = str(raw_input("\nFiles in " + agent_out_dir + " will be erased, continue?[Y/n]\n")) _continue = str(raw_input("\nFiles in " + agent_out_dir +
" will be erased, continue?[Y/n]\n"))
if _continue == "N" or _continue == "n": if _continue == "N" or _continue == "n":
print("Aborting execution...") print("Aborting execution...")
exit(-1) exit(-1)
@@ -135,7 +161,8 @@ if del_tree:
shutil.rmtree(agent_out_dir) shutil.rmtree(agent_out_dir)
if client: if client:
_continue = str(raw_input("\nFiles in " + client_out_dir + " will be erased, continue?[Y/n]\n")) _continue = str(raw_input(
"\nFiles in " + client_out_dir + " will be erased, continue?[Y/n]\n"))
if _continue == "N" or _continue == "n": if _continue == "N" or _continue == "n":
print("Aborting execution...") print("Aborting execution...")
exit(-1) exit(-1)
@@ -159,6 +186,7 @@ uRTPS_PUBLISHER_H_TEMPL_FILE = 'Publisher.h.template'
uRTPS_SUBSCRIBER_SRC_TEMPL_FILE = 'Subscriber.cpp.template' uRTPS_SUBSCRIBER_SRC_TEMPL_FILE = 'Subscriber.cpp.template'
uRTPS_SUBSCRIBER_H_TEMPL_FILE = 'Subscriber.h.template' uRTPS_SUBSCRIBER_H_TEMPL_FILE = 'Subscriber.h.template'
def generate_agent(out_dir): def generate_agent(out_dir):
if msg_files_send: if msg_files_send:
@@ -205,9 +233,11 @@ def generate_agent(out_dir):
if not glob.glob(os.path.join(idl_dir, "*.idl")): if not glob.glob(os.path.join(idl_dir, "*.idl")):
raise Exception("No IDL files found in %s" % idl_dir) raise Exception("No IDL files found in %s" % idl_dir)
for idl_file in glob.glob(os.path.join(idl_dir, "*.idl")): for idl_file in glob.glob(os.path.join(idl_dir, "*.idl")):
ret = subprocess.call(fastrtpsgen_path + " -d " + out_dir + "/fastrtpsgen -example x64Linux2.6gcc " + idl_file, shell=True) ret = subprocess.call(fastrtpsgen_path + " -d " + out_dir +
"/fastrtpsgen -example x64Linux2.6gcc " + idl_file, shell=True)
if ret: if ret:
raise Exception("fastrtpsgen not found. Specify the location of fastrtpsgen with the -f flag") raise Exception(
"fastrtpsgen not found. Specify the location of fastrtpsgen with the -f flag")
rm_wildcard(os.path.join(out_dir, "fastrtpsgen/*PubSubMain*")) rm_wildcard(os.path.join(out_dir, "fastrtpsgen/*PubSubMain*"))
rm_wildcard(os.path.join(out_dir, "fastrtpsgen/makefile*")) rm_wildcard(os.path.join(out_dir, "fastrtpsgen/makefile*"))
rm_wildcard(os.path.join(out_dir, "fastrtpsgen/*Publisher*")) rm_wildcard(os.path.join(out_dir, "fastrtpsgen/*Publisher*"))
@@ -217,21 +247,26 @@ def generate_agent(out_dir):
cp_wildcard(os.path.join(out_dir, "fastrtpsgen/*"), out_dir) cp_wildcard(os.path.join(out_dir, "fastrtpsgen/*"), out_dir)
if os.path.isdir(os.path.join(out_dir, "fastrtpsgen")): if os.path.isdir(os.path.join(out_dir, "fastrtpsgen")):
shutil.rmtree(os.path.join(out_dir, "fastrtpsgen")) shutil.rmtree(os.path.join(out_dir, "fastrtpsgen"))
cp_wildcard(os.path.join(urtps_templates_dir, "microRTPS_transport.*"), agent_out_dir) cp_wildcard(os.path.join(urtps_templates_dir,
os.rename(os.path.join(out_dir, "microRTPS_agent_CMakeLists.txt"), os.path.join(out_dir, "CMakeLists.txt")) "microRTPS_transport.*"), agent_out_dir)
os.rename(os.path.join(out_dir, "microRTPS_agent_CMakeLists.txt"),
os.path.join(out_dir, "CMakeLists.txt"))
if (mkdir_build): if (mkdir_build):
mkdir_p(os.path.join(out_dir, "build")) mkdir_p(os.path.join(out_dir, "build"))
os.chdir(prev_cwd_path) os.chdir(prev_cwd_path)
return 0 return 0
def rm_wildcard(pattern): def rm_wildcard(pattern):
for f in glob.glob(pattern): for f in glob.glob(pattern):
os.remove(f) os.remove(f)
def cp_wildcard(pattern, destdir): def cp_wildcard(pattern, destdir):
for f in glob.glob(pattern): for f in glob.glob(pattern):
shutil.copy(f, destdir) shutil.copy(f, destdir)
def mkdir_p(dirpath): def mkdir_p(dirpath):
try: try:
os.makedirs(dirpath) os.makedirs(dirpath)
@@ -241,6 +276,7 @@ def mkdir_p(dirpath):
else: else:
raise raise
def generate_client(out_dir): def generate_client(out_dir):
# Rename work in the default path # Rename work in the default path
@@ -259,10 +295,12 @@ def generate_client(out_dir):
package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_CLIENT_TEMPL_FILE) package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_CLIENT_TEMPL_FILE)
# Final steps to install client # Final steps to install client
cp_wildcard(os.path.join(urtps_templates_dir, "microRTPS_transport.*"), out_dir) cp_wildcard(os.path.join(urtps_templates_dir,
"microRTPS_transport.*"), out_dir)
return 0 return 0
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)