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improve verification of RTPS ID's uniqueness

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This commit is contained in:
TSC21
2018-10-08 10:58:45 +02:00
committed by Beat Küng
parent a7580b14ba
commit 1e29b00860
4 changed files with 366 additions and 288 deletions
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msg/tools/generate_microRTPS_bridge.py
+51 -16
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@@ -57,28 +57,63 @@ except ImportError:
def check_rtps_id_uniqueness(classifier):
"""
Checks if:
1. there are no ID's for different msgs repeated on the map
2. the same msg is set to be sent/received and unclassified at the same time
Checks if there are no ID's for different msgs repeated on the map
"""
msgs_to_use = classifier.msgs_to_send
msgs_to_use.update(classifier.msgs_to_receive)
msgs_to_ignore = classifier.msgs_to_ignore
used_ids = msgs_to_use.values()
used_ids.sort()
repeated_ids = dict()
repeated_keys = dict()
for key, value in msgs_to_use.items():
if used_ids.count(value) > 1:
repeated_keys.update({key: value})
# check if there are repeated ID's on the messages to send
for key, value in classifier.msgs_to_send.items():
if classifier.msgs_to_send.values().count(value) > 1:
repeated_ids.update({key: value})
if not repeated_keys:
# check if there are repeated ID's on the messages to receive
for key, value in classifier.msgs_to_receive.items():
if classifier.msgs_to_receive.values().count(value) > 1:
repeated_ids.update({key: value})
# check if there are repeated ID's on the messages to ignore
for key, value in classifier.msgs_to_ignore.items():
if classifier.msgs_to_ignore.values().count(value) > 1:
repeated_ids.update({key: value})
# check if there are repeated IDs between classfied and unclassified msgs
# check send and ignore lists
send_ignore_common_ids = list(set(classifier.msgs_to_ignore.values(
)).intersection(classifier.msgs_to_send.values()))
for item in zip(classifier.msgs_to_send.items(), classifier.msgs_to_ignore.items()):
for repeated in send_ignore_common_ids:
if item[1] == repeated:
repeated_ids.update({item[0]: item[1]})
for item in classifier.msgs_to_ignore.items():
for repeated in send_ignore_common_ids:
if item[1] == repeated:
repeated_ids.update({item[0]: item[1]})
# check receive and ignore lists
receive_ignore_common_ids = list(set(classifier.msgs_to_ignore.values(
)).intersection(classifier.msgs_to_receive.values()))
for item in classifier.msgs_to_receive.items():
for repeated in receive_ignore_common_ids:
if item[1] == repeated:
repeated_ids.update({item[0]: item[1]})
for item in classifier.msgs_to_ignore.items():
for repeated in receive_ignore_common_ids:
if item[1] == repeated:
repeated_ids.update({item[0]: item[1]})
all_msgs = classifier.msgs_to_send
all_msgs.update(classifier.msgs_to_receive)
all_msgs.update(classifier.msgs_to_ignore)
all_ids = all_msgs.values()
all_ids.sort()
if not repeated_ids:
print("All good. RTPS ID's are unique")
else:
raise AssertionError(", ".join('%s' % msgs for msgs in repeated_keys.keys()) +
" have their keys repeated. Please choose from the following pool:\n" +
", ".join('%d' % id for id in px_generate_uorb_topic_helper.check_available_ids(used_ids)))
raise AssertionError(", ".join('%s' % msgs for msgs in repeated_ids.keys()) +
" 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)))
default_client_out = px_generate_uorb_topic_helper.get_absolute_path(