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parse output from python script into readable cmake list to use; refactor RTPS scripts

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TSC21
2018-09-30 18:37:53 +01:00
committed by Beat Küng
parent a9771f13d1
commit 71d1b77bbe
5 changed files with 53 additions and 50 deletions
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msg/tools/generate_microRTPS_bridge.py
+18 -17
View File
@@ -44,7 +44,7 @@ import argparse
import shutil
import px_generate_uorb_topic_files
import px_generate_uorb_topic_helper
import uorb_rtps_classifier
from uorb_rtps_classifier import Classifier
import subprocess
import glob
import errno
@@ -69,7 +69,7 @@ def check_rtps_id_uniqueness(classifier):
used_ids.sort()
repeated_keys = dict()
for key, value in msg_ids.items():
for key, value in msgs_to_use.items():
if used_ids.count(value) > 1:
repeated_keys.update({key: value})
@@ -196,20 +196,21 @@ if agent and os.path.isdir(os.path.join(agent_out_dir, "idl")):
uorb_templates_dir = os.path.join(msg_folder, args.uorb_templates)
urtps_templates_dir = os.path.join(msg_folder, args.urtps_templates)
# parse yaml file into a map of ids
classifier = Classifier(px_generate_uorb_topic_helper.parse_yaml_msg_id_file(os.path.join(msg_folder, args.yaml_file), msg_folder)
classifier = Classifier(px_generate_uorb_topic_helper.parse_yaml_msg_id_file(
os.path.join(msg_folder, args.yaml_file)), msg_folder)
# check if there are no ID's repeated
check_rtps_id_uniqueness(classifier)
uRTPS_CLIENT_TEMPL_FILE='microRTPS_client.cpp.template'
uRTPS_AGENT_TOPICS_H_TEMPL_FILE='RtpsTopics.h.template'
uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE='RtpsTopics.cpp.template'
uRTPS_AGENT_TEMPL_FILE='microRTPS_agent.cpp.template'
uRTPS_AGENT_CMAKELISTS_TEMPL_FILE='microRTPS_agent_CMakeLists.txt.template'
uRTPS_PUBLISHER_SRC_TEMPL_FILE='Publisher.cpp.template'
uRTPS_PUBLISHER_H_TEMPL_FILE='Publisher.h.template'
uRTPS_SUBSCRIBER_SRC_TEMPL_FILE='Subscriber.cpp.template'
uRTPS_SUBSCRIBER_H_TEMPL_FILE='Subscriber.h.template'
uRTPS_CLIENT_TEMPL_FILE = 'microRTPS_client.cpp.template'
uRTPS_AGENT_TOPICS_H_TEMPL_FILE = 'RtpsTopics.h.template'
uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE = 'RtpsTopics.cpp.template'
uRTPS_AGENT_TEMPL_FILE = 'microRTPS_agent.cpp.template'
uRTPS_AGENT_CMAKELISTS_TEMPL_FILE = 'microRTPS_agent_CMakeLists.txt.template'
uRTPS_PUBLISHER_SRC_TEMPL_FILE = 'Publisher.cpp.template'
uRTPS_PUBLISHER_H_TEMPL_FILE = 'Publisher.h.template'
uRTPS_SUBSCRIBER_SRC_TEMPL_FILE = 'Subscriber.cpp.template'
uRTPS_SUBSCRIBER_H_TEMPL_FILE = 'Subscriber.h.template'
def generate_agent(out_dir):
@@ -254,12 +255,12 @@ def generate_agent(out_dir):
# Final steps to install agent
mkdir_p(os.path.join(out_dir, "fastrtpsgen"))
prev_cwd_path=os.getcwd()
prev_cwd_path = os.getcwd()
os.chdir(os.path.join(out_dir, "fastrtpsgen"))
if not glob.glob(os.path.join(idl_dir, "*.idl")):
raise Exception("No IDL files found in %s" % idl_dir)
for idl_file in glob.glob(os.path.join(idl_dir, "*.idl")):
ret=subprocess.call(fastrtpsgen_path + " -d " + out_dir +
ret = subprocess.call(fastrtpsgen_path + " -d " + out_dir +
"/fastrtpsgen -example x64Linux2.6gcc " + fastrtpsgen_include + idl_file, shell=True)
if ret:
raise Exception(
@@ -308,13 +309,13 @@ def generate_client(out_dir):
# Rename work in the default path
if default_client_out != out_dir:
def_file=os.path.join(default_client_out, "microRTPS_client.cpp")
def_file = os.path.join(default_client_out, "microRTPS_client.cpp")
if os.path.isfile(def_file):
os.rename(def_file, def_file.replace(".cpp", ".cpp_"))
def_file=os.path.join(default_client_out, "microRTPS_transport.cpp")
def_file = os.path.join(default_client_out, "microRTPS_transport.cpp")
if os.path.isfile(def_file):
os.rename(def_file, def_file.replace(".cpp", ".cpp_"))
def_file=os.path.join(default_client_out, "microRTPS_transport.h")
def_file = os.path.join(default_client_out, "microRTPS_transport.h")
if os.path.isfile(def_file):
os.rename(def_file, def_file.replace(".h", ".h_"))
msg/tools/uorb_rtps_classifier.py
+7 -7
View File
@@ -141,7 +141,7 @@ if __name__ == "__main__":
# Parse arguments
args = parser.parse_args()
msg_folder = os.path.dirname(os.path.dirname(os.path.abspath(args.msgdir)))
msg_folder = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
classifier = Classifier(px_generate_uorb_topic_helper.parse_yaml_msg_id_file(
os.path.join(msg_folder, args.yaml_file)), msg_folder)
@@ -150,19 +150,19 @@ if __name__ == "__main__":
print ('send files: ' + ', '.join(str(msg_file)
for msg_file in classifier.msgs_files_send) + '\n')
else:
print ('send topics: ' + ', '.join(str(msg)
for msg in classifier.msgs_to_send.keys()) + '\n')
print (', '.join(str(msg)
for msg in classifier.msgs_to_send.keys()) + '\n')
if args.receive:
if args.path:
print ('receive files: ' + ', '.join(str(msg_file)
for msg_file in classifier.msgs_files_receive) + '\n')
else:
print ('receive topics: ' + ', '.join(str(msg)
for msg in classifier.msgs_to_receive.keys()) + '\n')
print (', '.join(str(msg)
for msg in classifier.msgs_to_receive.keys()) + '\n')
if args.ignore:
if args.path:
print ('ignore files: ' + ', '.join(str(msg_file)
for msg_file in classifier.msgs_files_ignore) + '\n')
else:
print ('ignore topics: ' + ', '.join(str(msg)
for msg in classifier.msgs_to_ignore.keys()) + '\n')
print (', '.join(str(msg)
for msg in classifier.msgs_to_ignore.keys()) + '\n')
msg/tools/uorb_rtps_message_ids.yaml
+7 -7
View File
@@ -69,11 +69,13 @@ rtps:
id: 14
- msg: obstacle_distance
id: 42
# multi topics
- msg: vehicle_mocap_odometry
id: 132
- msg: vehicle_visual_odometry
id: 133
- msg: optical_flow
id: 44
# multi topics TODO
# - msg: vehicle_mocap_odometry
# id: 132
# - msg: vehicle_visual_odometry
# id: 133
unclassified:
- msg: actuator_armed
id: 0
@@ -141,8 +143,6 @@ rtps:
id: 41
- msg: offboard_control_mode
id: 43
- msg: optical_flow
id: 44
- msg: parameter_update
id: 45
- msg: ping