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microRTPS_bridge: structural change to make possible to generate pub/sub code for multi-topics/aliased msgs
This commit is contained in:
TSC21
@@ -3,7 +3,7 @@
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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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# 2018 PX4 Pro Development Team. All rights reserved.
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# 2018-2019 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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@@ -62,61 +62,66 @@ def check_rtps_id_uniqueness(classifier):
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repeated_ids = dict()
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full_send_list = dict(list(msg for msg in classifier.msgs_to_send.items()) + 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()) + 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()) + 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 classifier.msgs_to_send.items():
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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 classifier.msgs_to_send.values().count(value) > 1:
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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(classifier.msgs_to_send.values()).count(value) > 1:
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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 classifier.msgs_to_receive.items():
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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 classifier.msgs_to_receive.values().count(value) > 1:
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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(classifier.msgs_to_receive.values()).count(value) > 1:
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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 classifier.msgs_to_ignore.items():
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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 classifier.msgs_to_ignore.values().count(value) > 1:
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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(classifier.msgs_to_ignore.values()).count(value) > 1:
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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(classifier.msgs_to_ignore.values(
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)).intersection(classifier.msgs_to_send.values()))
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for item in zip(classifier.msgs_to_send.items(), classifier.msgs_to_ignore.items()):
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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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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 classifier.msgs_to_ignore.items():
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for item in 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(classifier.msgs_to_ignore.values(
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)).intersection(classifier.msgs_to_receive.values()))
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for item in classifier.msgs_to_receive.items():
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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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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 classifier.msgs_to_ignore.items():
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for item in 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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all_msgs = classifier.msgs_to_send
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all_msgs.update(classifier.msgs_to_receive)
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all_msgs.update(classifier.msgs_to_ignore)
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all_msgs = {}
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all_msgs.update(full_send_list)
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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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@@ -277,44 +282,76 @@ uRTPS_SUBSCRIBER_H_TEMPL_FILE = 'Subscriber.h.em'
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def generate_agent(out_dir):
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if classifier.msg_files_send:
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for msg_file in classifier.msg_files_send:
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# raise Exception(classifier.msgs_to_receive)
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if classifier.msgs_to_send:
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for msg_file in classifier.msgs_to_send:
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if gen_idl:
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if out_dir != agent_out_dir:
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px_generate_uorb_topic_files.generate_idl_file(msg_file, os.path.join(out_dir, "/idl"), urtps_templates_dir,
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px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", os.path.join(out_dir, "/idl"), urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
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else:
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px_generate_uorb_topic_files.generate_idl_file(msg_file, idl_dir, urtps_templates_dir,
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px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", idl_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
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px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
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px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
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px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_PUBLISHER_H_TEMPL_FILE)
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if classifier.msg_files_receive:
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for msg_file in classifier.msg_files_receive:
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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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msg_alias = 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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px_generate_uorb_topic_files.generate_idl_file(msg_file, os.path.join(out_dir, "/idl"), urtps_templates_dir,
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px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, os.path.join(out_dir, "/idl"), urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
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else:
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px_generate_uorb_topic_files.generate_idl_file(msg_file, idl_dir, urtps_templates_dir,
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px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, idl_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
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px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
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px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_PUBLISHER_H_TEMPL_FILE)
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if classifier.msgs_to_receive:
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for msg_file in classifier.msgs_to_receive:
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if gen_idl:
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if out_dir != agent_out_dir:
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px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", os.path.join(out_dir, "/idl"), urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
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else:
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px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", idl_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
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px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
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px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msg_files_send, classifier.msg_files_receive, out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_AGENT_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msg_files_send, classifier.msg_files_receive, out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msg_files_send, classifier.msg_files_receive, out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
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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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msg_alias = 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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px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, os.path.join(out_dir, "/idl"), urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
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else:
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px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, idl_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
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px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir,
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urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_AGENT_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir,
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urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir,
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urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
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if cmakelists:
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px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msg_files_send, classifier.msg_files_receive, out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir,
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urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE)
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# Final steps to install agent
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mkdir_p(os.path.join(out_dir, "fastrtpsgen"))
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@@ -387,8 +424,8 @@ def generate_client(out_dir):
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if os.path.isfile(def_file):
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os.rename(def_file, def_file.replace(".h", ".h_"))
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px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msg_files_send, classifier.msg_files_receive, out_dir, uorb_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_CLIENT_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir,
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out_dir, uorb_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_CLIENT_TEMPL_FILE)
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# Final steps to install client
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cp_wildcard(os.path.join(urtps_templates_dir,
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