mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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msg: generation and parsing scripts: add Python3 support
This commit is contained in:
TSC21
Nuno Marques
parent
4329de9e3b
commit
2be7ca08ba
@ -1,5 +1,4 @@
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#!/usr/bin/env python
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#!/usr/bin/env python3
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################################################################################
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#
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# Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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@ -69,69 +68,49 @@ def check_rtps_id_uniqueness(classifier):
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repeated_ids = dict()
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if sys.version_info[0] < 3:
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full_send_list = dict(list(msg for msg in classifier.msgs_to_send.items(
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)) + list(msg[0].items()[0] for msg in classifier.alias_msgs_to_send))
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full_receive_list = dict(list(msg for msg in classifier.msgs_to_receive.items(
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)) + list(msg[0].items()[0] for msg in classifier.alias_msgs_to_receive))
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full_ignore_list = dict(list(msg for msg in classifier.msgs_to_ignore.items(
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)) + list(msg[0].items()[0] for msg in classifier.alias_msgs_to_ignore))
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else:
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full_send_list = dict(list(msg for msg in classifier.msgs_to_send.items(
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)) + list(list(msg[0].items())[0] for msg in classifier.alias_msgs_to_send))
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full_receive_list = dict(list(msg for msg in classifier.msgs_to_receive.items(
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)) + list(list(msg[0].items())[0] for msg in classifier.alias_msgs_to_receive))
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full_ignore_list = dict(list(msg for msg in classifier.msgs_to_ignore.items(
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)) + list(list(msg[0].items())[0] for msg in classifier.alias_msgs_to_ignore))
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full_send_list = dict(list(msg for msg in list(classifier.msgs_to_send.items(
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))) + list(list(msg[0].items())[0] for msg in classifier.alias_msgs_to_send))
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full_receive_list = dict(list(msg for msg in list(classifier.msgs_to_receive.items(
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))) + list(list(msg[0].items())[0] for msg in classifier.alias_msgs_to_receive))
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full_ignore_list = dict(list(msg for msg in list(classifier.msgs_to_ignore.items(
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))) + list(list(msg[0].items())[0] for msg in classifier.alias_msgs_to_ignore))
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# check if there are repeated ID's on the messages to send
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for key, value in full_send_list.items():
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if sys.version_info[0] < 3:
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if full_send_list.values().count(value) > 1:
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repeated_ids.update({key: value})
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else:
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if list(full_send_list.values()).count(value) > 1:
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repeated_ids.update({key: value})
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for key, value in list(full_send_list.items()):
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if list(full_send_list.values()).count(value) > 1:
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repeated_ids.update({key: value})
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# check if there are repeated ID's on the messages to receive
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for key, value in full_receive_list.items():
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if sys.version_info[0] < 3:
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if full_receive_list.values().count(value) > 1:
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repeated_ids.update({key: value})
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else:
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if list(full_receive_list.values()).count(value) > 1:
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repeated_ids.update({key: value})
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for key, value in list(full_receive_list.items()):
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if list(full_receive_list.values()).count(value) > 1:
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repeated_ids.update({key: value})
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# check if there are repeated ID's on the messages to ignore
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for key, value in full_ignore_list.items():
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if sys.version_info[0] < 3:
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if full_ignore_list.values().count(value) > 1:
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repeated_ids.update({key: value})
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else:
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if list(full_ignore_list.values()).count(value) > 1:
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repeated_ids.update({key: value})
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for key, value in list(full_ignore_list.items()):
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if list(full_ignore_list.values()).count(value) > 1:
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repeated_ids.update({key: value})
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# check if there are repeated IDs between classified and unclassified msgs
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# check send and ignore lists
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send_ignore_common_ids = list(set(full_ignore_list.values(
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)).intersection(full_send_list.values()))
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for item in full_send_list.items():
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)).intersection(list(full_send_list.values())))
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for item in list(full_send_list.items()):
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for repeated in send_ignore_common_ids:
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if item[1] == repeated:
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repeated_ids.update({item[0]: item[1]})
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for item in full_ignore_list.items():
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for item in list(full_ignore_list.items()):
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for repeated in send_ignore_common_ids:
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if item[1] == repeated:
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repeated_ids.update({item[0]: item[1]})
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# check receive and ignore lists
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receive_ignore_common_ids = list(set(full_ignore_list.values(
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)).intersection(full_receive_list.values()))
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for item in full_receive_list.items():
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)).intersection(list(full_receive_list.values())))
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for item in list(full_receive_list.items()):
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for repeated in receive_ignore_common_ids:
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if item[1] == repeated:
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repeated_ids.update({item[0]: item[1]})
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for item in full_ignore_list.items():
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for item in list(full_ignore_list.items()):
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for repeated in receive_ignore_common_ids:
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if item[1] == repeated:
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repeated_ids.update({item[0]: item[1]})
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@ -141,16 +120,13 @@ def check_rtps_id_uniqueness(classifier):
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all_msgs.update(full_receive_list)
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all_msgs.update(full_ignore_list)
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all_ids = list()
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if sys.version_info[0] < 3:
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all_ids = all_msgs.values()
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else:
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all_ids = list(all_msgs.values())
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all_ids = list(all_msgs.values())
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all_ids.sort()
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if not repeated_ids:
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print("All good. RTPS ID's are unique")
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else:
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raise AssertionError(", ".join('%s' % msgs for msgs in repeated_ids.keys()) +
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raise AssertionError(", ".join('%s' % msgs for msgs in list(repeated_ids.keys())) +
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" have their ID's repeated. Please choose from the following pool:\n" +
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", ".join('%d' % id for id in px_generate_uorb_topic_helper.check_available_ids(all_ids)))
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@ -298,7 +274,7 @@ if del_tree:
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if agent:
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_continue = str(input("\nFiles in " + agent_out_dir +
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" will be erased, continue?[Y/n]\n"))
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if _continue.strip() in ("N", "n"):
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if _continue == "N" or _continue == "n":
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print("Aborting execution...")
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exit(-1)
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else:
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@ -364,10 +340,7 @@ def generate_agent(out_dir):
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if classifier.alias_msgs_to_send:
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for msg_file in classifier.alias_msgs_to_send:
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if sys.version_info[0] < 3:
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msg_alias = msg_file[0].keys()[0]
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else:
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msg_alias = list(msg_file[0].keys())[0]
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msg_alias = list(msg_file[0].keys())[0]
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msg_name = msg_file[1]
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if gen_idl:
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if out_dir != agent_out_dir:
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@ -397,10 +370,7 @@ def generate_agent(out_dir):
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if classifier.alias_msgs_to_receive:
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for msg_file in classifier.alias_msgs_to_receive:
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if sys.version_info[0] < 3:
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msg_alias = msg_file[0].keys()[0]
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else:
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msg_alias = list(msg_file[0].keys())[0]
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msg_alias = list(msg_file[0].keys())[0]
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msg_name = msg_file[1]
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if gen_idl:
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if out_dir != agent_out_dir:
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@ -504,8 +474,8 @@ def generate_client(out_dir):
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if agent:
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generate_agent(agent_out_dir)
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print("\nAgent created in: " + agent_out_dir)
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print(("\nAgent created in: " + agent_out_dir))
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if client:
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generate_client(client_out_dir)
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print("\nClient created in: " + client_out_dir)
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print(("\nClient created in: " + client_out_dir))
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@ -1,4 +1,4 @@
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#!/usr/bin/env python
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#!/usr/bin/env python3
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#############################################################################
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#
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# Copyright (C) 2013-2018 PX4 Pro Development Team. All rights reserved.
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@ -37,7 +37,7 @@ px_generate_uorb_topic_files.py
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Generates c/cpp header/source files for uorb topics from .msg (ROS syntax)
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message files
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"""
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from __future__ import print_function
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import os
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import shutil
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import filecmp
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@ -208,19 +208,11 @@ def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filenam
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receive_msgs = list(os.path.join(msg_dir, msg + ".msg")
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for msg in filename_receive_msgs)
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if sys.version_info[0] < 3:
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alias_send_msgs = list([os.path.join(
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msg_dir, msg[1] + ".msg"), msg[0].keys()[0]] for msg in filename_alias_send_msgs)
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else:
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alias_send_msgs = list([os.path.join(msg_dir, msg[1] + ".msg"),
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list(msg[0].keys())[0]] for msg in filename_alias_send_msgs)
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alias_send_msgs = list([os.path.join(
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msg_dir, msg[1] + ".msg"), list(msg[0].keys())[0]] for msg in filename_alias_send_msgs)
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if sys.version_info[0] < 3:
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alias_receive_msgs = list([os.path.join(
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msg_dir, msg[1] + ".msg"), msg[0].keys()[0]] for msg in filename_alias_receive_msgs)
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else:
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alias_receive_msgs = list([os.path.join(
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msg_dir, msg[1] + ".msg"), list(msg[0].keys())[0]] for msg in filename_alias_receive_msgs)
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alias_receive_msgs = list([os.path.join(
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msg_dir, msg[1] + ".msg"), list(msg[0].keys())[0]] for msg in filename_alias_receive_msgs)
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em_globals_list = []
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if send_msgs:
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@ -1,4 +1,4 @@
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#!/usr/bin/env python
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#!/usr/bin/env python3
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#############################################################################
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#
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# Copyright (C) 2013-2019 PX4 Pro Development Team. All rights reserved.
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@ -254,10 +254,10 @@ def print_field(field):
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else:
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for i in range(array_length):
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print("PX4_INFO_RAW(\"\\t" + field.type +
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" " + field.name + "[" + str(i) + "]\");")
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print(" print_message(message." +
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field.name + "[" + str(i) + "]);")
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print(("PX4_INFO_RAW(\"\\t" + field.type +
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" " + field.name + "[" + str(i) + "]\");"))
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print((" print_message(message." +
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field.name + "[" + str(i) + "]);"))
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return
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for i in range(array_length):
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@ -291,23 +291,23 @@ def print_field(field):
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field_name = "(" + field_name + " ? \"True\" : \"False\")"
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else:
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print("PX4_INFO_RAW(\"\\n\\t" + field.name + "\");")
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print("\tprint_message(message." + field.name + ");")
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print(("PX4_INFO_RAW(\"\\n\\t" + field.name + "\");"))
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print(("\tprint_message(message." + field.name + ");"))
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return
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if field.name == 'timestamp':
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print("if (message.timestamp != 0) {\n\t\tPX4_INFO_RAW(\"\\t" + field.name +
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print(("if (message.timestamp != 0) {\n\t\tPX4_INFO_RAW(\"\\t" + field.name +
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": " + c_type + " (%.6f seconds ago)\\n\", " + field_name +
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", hrt_elapsed_time(&message.timestamp) / 1e6);\n\t} else {\n\t\tPX4_INFO_RAW(\"\\n\");\n\t}")
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", hrt_elapsed_time(&message.timestamp) / 1e6);\n\t} else {\n\t\tPX4_INFO_RAW(\"\\n\");\n\t}"))
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elif field.name == 'device_id':
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print("char device_id_buffer[80];")
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print("device::Device::device_id_print_buffer(device_id_buffer, sizeof(device_id_buffer), message.device_id);")
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print("PX4_INFO_RAW(\"\\tdevice_id: %d (%s) \\n\", message.device_id, device_id_buffer);")
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elif is_array and 'char' in field.type:
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print("PX4_INFO_RAW(\"\\t" + field.name + ": \\\"%." + str(array_length) + "s\\\" \\n\", message." + field.name + ");")
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print(("PX4_INFO_RAW(\"\\t" + field.name + ": \\\"%." + str(array_length) + "s\\\" \\n\", message." + field.name + ");"))
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else:
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print("PX4_INFO_RAW(\"\\t" + field.name + ": " +
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c_type + "\\n\", " + field_name + ");")
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print(("PX4_INFO_RAW(\"\\t" + field.name + ": " +
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c_type + "\\n\", " + field_name + ");"))
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def print_field_def(field):
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@ -347,8 +347,8 @@ def print_field_def(field):
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if field.name.startswith('_padding'):
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comment = ' // required for logger'
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print('\t%s%s%s %s%s;%s' % (type_prefix, type_px4, type_appendix, field.name,
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array_size, comment))
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print(('\t%s%s%s %s%s;%s' % (type_prefix, type_px4, type_appendix, field.name,
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array_size, comment)))
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def check_available_ids(used_msg_ids_list):
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@ -1,5 +1,4 @@
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#!/usr/bin/env python
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#!/usr/bin/env python3
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################################################################################
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#
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# Copyright (c) 2018-2019 PX4 Development Team. All rights reserved.
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@ -76,8 +75,8 @@ class Classifier():
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send = {}
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send_alias = []
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for dict in self.msg_id_map['rtps']:
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if 'send' in dict.keys():
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if 'alias' in dict.keys():
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if 'send' in list(dict.keys()):
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if 'alias' in list(dict.keys()):
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send_alias.append(
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({dict['msg']: dict['id']}, dict['alias']))
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else:
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@ -88,8 +87,8 @@ class Classifier():
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receive = {}
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receive_alias = []
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for dict in self.msg_id_map['rtps']:
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if 'receive' in dict.keys():
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if 'alias' in dict.keys():
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if 'receive' in list(dict.keys()):
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if 'alias' in list(dict.keys()):
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receive_alias.append(
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({dict['msg']: dict['id']}, dict['alias']))
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else:
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@ -100,8 +99,8 @@ class Classifier():
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ignore = {}
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ignore_alias = []
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for dict in self.msg_id_map['rtps']:
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if (('send' not in dict.keys()) and ('receive' not in dict.keys())):
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if 'alias' in dict.keys():
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if (('send' not in list(dict.keys())) and ('receive' not in list(dict.keys()))):
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if 'alias' in list(dict.keys()):
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ignore_alias.append(
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({dict['msg']: dict['id']}, dict['alias']))
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else:
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@ -110,15 +109,15 @@ class Classifier():
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def set_msg_files_send(self):
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return [os.path.join(self.msg_folder, msg + ".msg")
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for msg in self.msgs_to_send.keys()]
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for msg in list(self.msgs_to_send.keys())]
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def set_msg_files_receive(self):
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return [os.path.join(self.msg_folder, msg + ".msg")
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for msg in self.msgs_to_receive.keys()]
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for msg in list(self.msgs_to_receive.keys())]
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def set_msg_files_ignore(self):
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return [os.path.join(self.msg_folder, msg + ".msg")
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for msg in self.msgs_to_ignore.keys()]
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for msg in list(self.msgs_to_ignore.keys())]
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def check_if_listed(self, yaml_file):
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"""
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@ -148,11 +147,11 @@ class Classifier():
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Check if alias message has correct base type
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"""
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registered_alias_msgs = list(
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dict['alias'] for dict in self.msg_id_map['rtps'] if 'alias' in dict.keys())
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dict['alias'] for dict in self.msg_id_map['rtps'] if 'alias' in list(dict.keys()))
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base_types = []
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for dict in self.msg_id_map['rtps']:
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if 'alias' not in dict.keys():
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if 'alias' not in list(dict.keys()):
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base_types.append(dict['msg'])
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incorrect_base_types = list(
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@ -165,7 +164,7 @@ class Classifier():
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if len(base_types_suggestion) > 0:
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raise AssertionError(
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('\n' + '\n'.join('\t- The multi-topic message base type \'{}\' does not exist.{}'.format(k, (' Did you mean \'' + v[0] + '\'?' if v else '')) for k, v in base_types_suggestion.items())))
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('\n' + '\n'.join('\t- The multi-topic message base type \'{}\' does not exist.{}'.format(k, (' Did you mean \'' + v[0] + '\'?' if v else '')) for k, v in list(base_types_suggestion.items()))))
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def check_id_space(self):
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"""
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@ -174,18 +173,18 @@ class Classifier():
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incorrect_base_ids = {}
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incorrect_alias_ids = {}
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for dict in self.msg_id_map['rtps']:
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if 'alias' not in dict.keys() and dict['id'] >= self.alias_space_init_id:
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if 'alias' not in list(dict.keys()) and dict['id'] >= self.alias_space_init_id:
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incorrect_base_ids.update({dict['msg']: dict['id']})
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elif 'alias' in dict.keys() and dict['id'] < self.alias_space_init_id:
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elif 'alias' in list(dict.keys()) and dict['id'] < self.alias_space_init_id:
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incorrect_alias_ids.update({dict['msg']: dict['id']})
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if len(incorrect_base_ids) > 0:
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raise AssertionError(
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('\n' + '\n'.join('\t- The message \'{} with ID \'{}\' is in the wrong ID space. Please use any of the available IDs from 0 to 149'.format(k, v) for k, v in incorrect_base_ids.items())))
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('\n' + '\n'.join('\t- The message \'{} with ID \'{}\' is in the wrong ID space. Please use any of the available IDs from 0 to 149'.format(k, v) for k, v in list(incorrect_base_ids.items()))))
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if len(incorrect_alias_ids) > 0:
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raise AssertionError(
|
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('\n' + '\n'.join('\t- The alias message \'{}\' with ID \'{}\' is in the wrong ID space. Please use any of the available IDs from 149 to 255'.format(k, v) for k, v in incorrect_alias_ids.items())))
|
||||
('\n' + '\n'.join('\t- The alias message \'{}\' with ID \'{}\' is in the wrong ID space. Please use any of the available IDs from 149 to 255'.format(k, v) for k, v in list(incorrect_alias_ids.items()))))
|
||||
|
||||
@staticmethod
|
||||
def parse_yaml_msg_id_file(yaml_file):
|
||||
@ -235,52 +234,37 @@ if __name__ == "__main__":
|
||||
|
||||
if args.send:
|
||||
if args.path:
|
||||
print ('send files: ' + ', '.join(str(msg_file)
|
||||
for msg_file in classifier.msgs_files_send) + '\n')
|
||||
print(('send files: ' + ', '.join(str(msg_file)
|
||||
for msg_file in classifier.msgs_files_send) + '\n'))
|
||||
else:
|
||||
if args.alias:
|
||||
if sys.version_info[0] < 3:
|
||||
print (', '.join(str(msg)
|
||||
for msg in classifier.msgs_to_send.keys()) + (' alias ' + ', '.join(str(msg[0].keys()[0])
|
||||
for msg in classifier.alias_msgs_to_send) if len(classifier.alias_msgs_to_send) > 0 else '') + '\n')
|
||||
else:
|
||||
print (', '.join(str(msg)
|
||||
for msg in classifier.msgs_to_send.keys()) + (' alias ' + ', '.join(str(list(msg[0].keys())[0])
|
||||
for msg in classifier.alias_msgs_to_send) if len(classifier.alias_msgs_to_send) > 0 else '') + '\n')
|
||||
print((', '.join(str(msg)
|
||||
for msg in list(classifier.msgs_to_send.keys())) + (' alias ' + ', '.join(str(list(msg[0].keys())[0])
|
||||
for msg in classifier.alias_msgs_to_send) if len(classifier.alias_msgs_to_send) > 0 else '') + '\n'))
|
||||
else:
|
||||
print (', '.join(str(msg)
|
||||
for msg in classifier.msgs_to_send.keys()))
|
||||
print((', '.join(str(msg)
|
||||
for msg in list(classifier.msgs_to_send.keys()))))
|
||||
if args.receive:
|
||||
if args.path:
|
||||
print ('receive files: ' + ', '.join(str(msg_file)
|
||||
for msg_file in classifier.msgs_files_receive) + '\n')
|
||||
print(('receive files: ' + ', '.join(str(msg_file)
|
||||
for msg_file in classifier.msgs_files_receive) + '\n'))
|
||||
else:
|
||||
if args.alias:
|
||||
if sys.version_info[0] < 3:
|
||||
print (', '.join(str(msg)
|
||||
for msg in classifier.msgs_to_receive.keys()) + (' alias ' + ', '.join(str(msg[0].keys()[0])
|
||||
for msg in classifier.alias_msgs_to_receive) if len(classifier.alias_msgs_to_receive) > 0 else '') + '\n')
|
||||
else:
|
||||
print (', '.join(str(msg)
|
||||
for msg in classifier.msgs_to_receive.keys()) + (' alias ' + ', '.join(str(list(msg[0].keys())[0])
|
||||
for msg in classifier.alias_msgs_to_receive) if len(classifier.alias_msgs_to_receive) > 0 else '') + '\n')
|
||||
print((', '.join(str(msg)
|
||||
for msg in list(classifier.msgs_to_receive.keys())) + (' alias ' + ', '.join(str(list(msg[0].keys())[0])
|
||||
for msg in classifier.alias_msgs_to_receive) if len(classifier.alias_msgs_to_receive) > 0 else '') + '\n'))
|
||||
else:
|
||||
print (', '.join(str(msg)
|
||||
for msg in classifier.msgs_to_receive.keys()))
|
||||
print((', '.join(str(msg)
|
||||
for msg in list(classifier.msgs_to_receive.keys()))))
|
||||
if args.ignore:
|
||||
if args.path:
|
||||
print ('ignore files: ' + ', '.join(str(msg_file)
|
||||
for msg_file in classifier.msgs_files_ignore) + '\n')
|
||||
print(('ignore files: ' + ', '.join(str(msg_file)
|
||||
for msg_file in classifier.msgs_files_ignore) + '\n'))
|
||||
else:
|
||||
if args.alias:
|
||||
if sys.version_info[0] < 3:
|
||||
print (', '.join(str(msg)
|
||||
for msg in classifier.msgs_to_ignore.keys()) + (' alias ' + ', '.join(str(msg[0].keys()[0])
|
||||
for msg in classifier.alias_msgs_to_ignore) if len(classifier.alias_msgs_to_ignore) > 0 else '') + '\n')
|
||||
else:
|
||||
print (', '.join(str(msg)
|
||||
for msg in classifier.msgs_to_ignore.keys()) + (' alias ' + ', '.join(str(list(msg[0].keys())[0])
|
||||
for msg in classifier.alias_msgs_to_ignore) if len(classifier.alias_msgs_to_ignore) > 0 else '') + '\n')
|
||||
print((', '.join(str(msg)
|
||||
for msg in list(classifier.msgs_to_ignore.keys())) + (' alias ' + ', '.join(str(list(msg[0].keys())[0])
|
||||
for msg in classifier.alias_msgs_to_ignore) if len(classifier.alias_msgs_to_ignore) > 0 else '') + '\n'))
|
||||
else:
|
||||
print (', '.join(str(msg)
|
||||
for msg in classifier.msgs_to_ignore.keys()))
|
||||
print((', '.join(str(msg)
|
||||
for msg in list(classifier.msgs_to_ignore.keys()))))
|
||||
|
||||
@ -1,4 +1,4 @@
|
||||
#!/usr/bin/env python
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
Script to parse uORB message format to ROS msg format
|
||||
Adapted from https://github.com/eProsima/px4_to_ros/blob/master/px4_to_ros2_PoC/px4_msgs/scripts/copy_and_rename.py
|
||||
|
||||
@ -1,4 +1,4 @@
|
||||
#!/usr/bin/env python
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
Script to read an yaml file containing the RTPS message IDs and update the naming convention to PascalCase
|
||||
"""
|
||||
@ -75,7 +75,7 @@ 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[Step 1] %s yaml file loaded!" % file))
|
||||
return yaml.safe_load(f)
|
||||
except OSError as e:
|
||||
if e.errno == errno.ENOENT:
|
||||
@ -98,7 +98,7 @@ 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[Step 2] List: %d msg names updated!" % num_of_msgs))
|
||||
|
||||
|
||||
def update_yaml_file(list, file):
|
||||
@ -117,9 +117,9 @@ 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[Step 3] %s updated!" % in_file))
|
||||
else:
|
||||
print("--\t[Step 3] %s created!" % out_file)
|
||||
print(("--\t[Step 3] %s created!" % out_file))
|
||||
|
||||
except OSError as e:
|
||||
if e.errno == errno.ENOENT:
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user