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uorb_to_ros_urtps_topics: minor cleanup

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TSC21 2021-07-24 19:42:42 +02:00 committed by Nuno Marques
parent 74557c9071
commit 2a368b4db1
1 changed files with 29 additions and 25 deletions
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54
msg/tools/uorb_to_ros_urtps_topics.py
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@ -3,12 +3,12 @@
Script to read an yaml file containing the microRTPS topics and update the naming convention to PascalCase
"""
import errno
import os
import yaml
import sys
import argparse
import errno
from pathlib import Path
import os
import six
import yaml
__author__ = 'PX4 Development Team'
__copyright__ = \
@ -51,10 +51,7 @@ __maintainer__ = 'Nuno Marques'
__email__ = 'nuno.marques@dronesolution.io'
__status__ = 'Development'
list = []
in_file = ""
out_file = ""
verbose = True
verbose = False
class IndenterDumper(yaml.Dumper):
@ -75,7 +72,7 @@ def load_yaml_file(file):
try:
with open(file, 'r') as f:
if verbose:
print(("--\t[Step 1] %s yaml file loaded!" % file))
print(("--\t\t- '%s' file loaded" % file))
return yaml.safe_load(f)
except OSError as e:
if e.errno == errno.ENOENT:
@ -98,10 +95,10 @@ def update_dict(list):
if verbose:
num_of_msgs += 1
if verbose:
print(("--\t[Step 2] List: %d msg names updated!" % num_of_msgs))
print(("--\t\t- %d ROS message file names updated" % num_of_msgs))
def update_yaml_file(list, file):
def update_yaml_file(list, in_file, out_file):
"""
Open the yaml file to dump the new list of dict toself.
@ -110,7 +107,7 @@ def update_yaml_file(list, file):
:raises IOError: raises and error when the file is not found
"""
try:
with open(file, 'w') as f:
with open(out_file, 'w') as f:
f.write("# AUTOGENERATED-FILE! DO NOT MODIFY IT DIRECTLY.\n#"
" Edit instead the same file under PX4-Autopilot/msg/tools and"
" use the \n# PX4-Autopilot/msg/tools/uorb_to_ros_urtps_topics.py"
@ -118,18 +115,17 @@ def update_yaml_file(list, file):
yaml.dump(list, f, Dumper=IndenterDumper, default_flow_style=False)
if verbose:
if in_file == out_file:
print(("--\t[Step 3] %s updated!" % in_file))
print(("--\t\t- '%s' updated" % in_file))
else:
print(("--\t[Step 3] %s created!" % out_file))
print(("--\t\t- '%s' created" % out_file))
except OSError as e:
if e.errno == errno.ENOENT:
raise IOError(errno.ENOENT, os.strerror(errno.ENOENT), file)
else:
raise
except OSError as err:
if err.errno == errno.ENOENT:
raise IOError(errno.ENOENT, os.strerror(errno.ENOENT), out_file)
raise
if __name__ == "__main__":
def main():
parser = argparse.ArgumentParser(
description='Read an yaml file containing the microRTPS topics and update the naming convention to PascalCase')
optional = parser._action_groups.pop()
@ -143,14 +139,22 @@ if __name__ == "__main__":
default=True, help="Don't print status messages to stdout")
args = parser.parse_args()
global verbose
verbose = args.verbose
in_file = args.input_file
out_file = args.output_file if (
args.output_file != in_file and args.output_file != "") else in_file
in_file = Path(args.input_file)
out_file = Path(args.output_file) if (
Path(args.output_file) != in_file and Path(args.output_file) != "") else in_file
if verbose:
print("-- PX4 to ROS topics --")
print("---------------------- \033[1mmicroRTPS bridge yaml PX4 to ROS topics\033[0m ----------------------")
print("-------------------------------------------------------------------------------------------------------")
list = load_yaml_file(in_file)
update_dict(list)
update_yaml_file(list, out_file)
update_yaml_file(list, in_file, out_file)
if verbose:
print("-------------------------------------------------------------------------------------------------------")
if __name__ == "__main__":
main()