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uorb: compress format definitions

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Reduces flash usage by ~16KB.

- compress formats at build-time into a single string with all formats
- then at runtime iteratively decompress using
  https://github.com/atomicobject/heatshrink
This commit is contained in:
Beat Küng
2023-11-08 00:31:26 -05:00
committed by Thomas Stastny
parent 142e44c418
commit 1ad5a9de08
27 changed files with 1736 additions and 252 deletions
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Tools/msg/px_generate_uorb_topic_files.py
+23 -21
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@@ -70,9 +70,8 @@ __license__ = "BSD"
__email__ = "thomasgubler@gmail.com"
TEMPLATE_FILE = ['msg.h.em', 'msg.cpp.em', 'uorb_idl_header.h.em']
TOPICS_LIST_TEMPLATE_FILE = ['uORBTopics.hpp.em', 'uORBTopics.cpp.em']
OUTPUT_FILE_EXT = ['.h', '.cpp', '.h']
TEMPLATE_FILE = ['msg.h.em', 'msg.cpp.em', 'uorb_idl_header.h.em', 'msg.json.em']
TOPICS_LIST_TEMPLATE_FILE = ['uORBTopics.hpp.em', 'uORBTopics.cpp.em', None, None]
INCL_DEFAULT = ['std_msgs:./msg/std_msgs']
PACKAGE = 'px4'
TOPICS_TOKEN = '# TOPICS '
@@ -105,7 +104,7 @@ def get_topics(filename):
return result
def generate_output_from_file(format_idx, filename, outputdir, package, templatedir, includepath):
def generate_output_from_file(format_idx, filename, outputdir, package, templatedir, includepath, all_topics):
"""
Converts a single .msg file to an uorb header/source file
"""
@@ -155,6 +154,7 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template
"msg_context": msg_context,
"spec": spec,
"topics": topics,
"all_topics": all_topics,
}
# Make sure output directory exists:
@@ -162,10 +162,11 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template
os.makedirs(outputdir)
template_file = os.path.join(templatedir, TEMPLATE_FILE[format_idx])
extension = os.path.splitext(os.path.splitext(TEMPLATE_FILE[format_idx])[0])[1]
if format_idx == 2:
output_file = os.path.join(outputdir, file_base_name + OUTPUT_FILE_EXT[format_idx])
output_file = os.path.join(outputdir, file_base_name + extension)
else:
output_file = os.path.join(outputdir, full_type_name_snake + OUTPUT_FILE_EXT[format_idx])
output_file = os.path.join(outputdir, full_type_name_snake + extension)
return generate_by_template(output_file, template_file, em_globals)
@@ -195,17 +196,13 @@ def generate_by_template(output_file, template_file, em_globals):
return True
def generate_topics_list_file_from_files(files, outputdir, template_filename, templatedir):
def generate_topics_list_file_from_files(files, outputdir, template_filename, templatedir, all_topics):
# generate cpp file with topics list
filenames = []
for filename in [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")]:
filenames.append(re.sub(r'(?<!^)(?=[A-Z])', '_', filename).lower())
topics = []
for msg_filename in files:
topics.extend(get_topics(msg_filename))
tl_globals = {"msgs": filenames, "topics": topics}
tl_globals = {"msgs": filenames, "all_topics": all_topics}
tl_template_file = os.path.join(templatedir, template_filename)
tl_out_file = os.path.join(outputdir, template_filename.replace(".em", ""))
@@ -222,8 +219,9 @@ if __name__ == "__main__":
parser.add_argument('--headers', help='Generate header files', action='store_true')
parser.add_argument('--sources', help='Generate source files', action='store_true')
parser.add_argument('--uorb-idl-header', help='Generate uORB compatible idl header', action='store_true')
parser.add_argument('--json', help='Generate json files', action='store_true')
parser.add_argument('-f', dest='file',
help="files to convert (use only without -d)",
help="files to convert",
nargs="+")
parser.add_argument('-i', dest="include_paths",
help='Additional Include Paths', nargs="*",
@@ -247,17 +245,21 @@ if __name__ == "__main__":
elif args.sources:
generate_idx = 1
elif args.uorb_idl_header:
for f in args.file:
print(f)
generate_output_from_file(2, f, args.outputdir, args.package, args.templatedir, INCL_DEFAULT)
exit(0)
generate_idx = 2
elif args.json:
generate_idx = 3
else:
print('Error: either --headers or --sources must be specified')
print('Error: either --headers, --sources or --json must be specified')
exit(-1)
if args.file is not None:
all_topics = []
for msg_filename in args.file:
all_topics.extend(get_topics(msg_filename))
all_topics.sort()
for f in args.file:
generate_output_from_file(generate_idx, f, args.outputdir, args.package, args.templatedir, INCL_DEFAULT)
generate_output_from_file(generate_idx, f, args.outputdir, args.package, args.templatedir, INCL_DEFAULT, all_topics)
# Generate topics list header and source file
if os.path.isfile(os.path.join(args.templatedir, TOPICS_LIST_TEMPLATE_FILE[generate_idx])):
generate_topics_list_file_from_files(args.file, args.outputdir, TOPICS_LIST_TEMPLATE_FILE[generate_idx], args.templatedir)
if TOPICS_LIST_TEMPLATE_FILE[generate_idx] is not None and os.path.isfile(os.path.join(args.templatedir, TOPICS_LIST_TEMPLATE_FILE[generate_idx])):
generate_topics_list_file_from_files(args.file, args.outputdir, TOPICS_LIST_TEMPLATE_FILE[generate_idx], args.templatedir, all_topics)