microRTPS_bridge: structural change to make possible to generate pub/sub code for multi-topics/aliased msgs

msg/tools/px_generate_uorb_topic_files.py

@@ -170,13 +170,24 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template
     return generate_by_template(output_file, template_file, em_globals)
 
 
-def generate_idl_file(filename_msg, outputdir, templatedir, package, includepath, ids):
+def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, ids):
     """
     Generates an .idl from .msg file
     """
-    em_globals = get_em_globals(
-        filename_msg, package, includepath, ids, MsgScope.NONE)
-    spec_short_name = em_globals["spec"].short_name
+    # Make sure input msg directory exists:
+    if not os.path.isdir(msg_dir):
+        os.makedirs(msg_dir)
+
+    msg = os.path.join(msg_dir, filename_msg + ".msg")
+
+    if (alias != ""):
+        em_globals = get_em_globals(
+            msg, alias , package, includepath, ids, MsgScope.NONE)
+        spec_short_name = alias
+    else:
+        em_globals = get_em_globals(
+            msg, "", package, includepath, ids, MsgScope.NONE)
+        spec_short_name = em_globals["spec"].short_name
 
     # Make sure output directory exists:
     if not os.path.isdir(outputdir):
@@ -189,21 +200,39 @@ def generate_idl_file(filename_msg, outputdir, templatedir, package, includepath
     return generate_by_template(output_file, template_file, em_globals)
 
 
-def generate_uRTPS_general(filename_send_msgs, filename_received_msgs,
-                           outputdir, templatedir, package, includepath, ids, template_name):
+def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filename_receive_msgs, filename_alias_receive_msgs,
+                           msg_dir, outputdir, templatedir, package, includepath, ids, template_name):
     """
     Generates source file by msg content
     """
-    em_globals_list = []
-    if filename_send_msgs:
-        em_globals_list.extend([get_em_globals(
-            f, package, includepath, ids, MsgScope.SEND) for f in filename_send_msgs])
+    # Make sure input msg directory exists:
+    if not os.path.isdir(msg_dir):
+        os.makedirs(msg_dir)
 
-    if filename_received_msgs:
+    send_msgs = list(os.path.join(msg_dir, msg + ".msg") for msg in filename_send_msgs)
+    alias_send_msgs = list([os.path.join(msg_dir, msg[1] + ".msg"), msg[0].keys()[0]] for msg in filename_alias_send_msgs)
+    receive_msgs = list(os.path.join(msg_dir, msg + ".msg") for msg in filename_receive_msgs)
+    alias_receive_msgs = list([os.path.join(msg_dir, msg[1] + ".msg"), msg[0].keys()[0]] for msg in filename_alias_receive_msgs)
+
+    em_globals_list = []
+    if send_msgs:
         em_globals_list.extend([get_em_globals(
-            f, package, includepath, ids, MsgScope.RECEIVE) for f in filename_received_msgs])
+            f, "", package, includepath, ids, MsgScope.SEND) for f in send_msgs])
+
+    if alias_send_msgs:
+        em_globals_list.extend([get_em_globals(
+            f[0], f[1], package, includepath, ids, MsgScope.SEND) for f in alias_send_msgs])
+
+    if receive_msgs:
+        em_globals_list.extend([get_em_globals(
+            f, "", package, includepath, ids, MsgScope.RECEIVE) for f in receive_msgs])
+
+    if alias_receive_msgs:
+        em_globals_list.extend([get_em_globals(
+            f[0], f[1], package, includepath, ids, MsgScope.RECEIVE) for f in alias_receive_msgs])
 
     merged_em_globals = merge_em_globals_list(em_globals_list)
+
     # Make sure output directory exists:
     if not os.path.isdir(outputdir):
         os.makedirs(outputdir)
@@ -215,13 +244,24 @@ def generate_uRTPS_general(filename_send_msgs, filename_received_msgs,
     return generate_by_template(output_file, template_file, merged_em_globals)
 
 
-def generate_topic_file(filename_msg, outputdir, templatedir, package, includepath, ids, template_name):
+def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, ids, template_name):
     """
-    Generates an .idl from .msg file
+    Generates a sources and headers from .msg file
     """
-    em_globals = get_em_globals(
-        filename_msg, package, includepath, ids, MsgScope.NONE)
-    spec_short_name = em_globals["spec"].short_name
+    # Make sure input msg directory exists:
+    if not os.path.isdir(msg_dir):
+        os.makedirs(msg_dir)
+
+    msg = os.path.join(msg_dir, filename_msg + ".msg")
+
+    if (alias):
+        em_globals = get_em_globals(
+            msg, alias, package, includepath, ids, MsgScope.NONE)
+        spec_short_name = alias
+    else:
+        em_globals = get_em_globals(
+            msg, "", package, includepath, ids, MsgScope.NONE)
+        spec_short_name = em_globals["spec"].short_name
 
     # Make sure output directory exists:
     if not os.path.isdir(outputdir):
@@ -234,7 +274,7 @@ def generate_topic_file(filename_msg, outputdir, templatedir, package, includepa
     return generate_by_template(output_file, template_file, em_globals)
 
 
-def get_em_globals(filename_msg, package, includepath, ids, scope):
+def get_em_globals(filename_msg, alias, package, includepath, ids, scope):
     """
     Generates em globals dictionary
     """
@@ -261,7 +301,8 @@ def get_em_globals(filename_msg, package, includepath, ids, scope):
         "topics": topics,
         "ids": ids,
         "scope": scope,
-        "package": package
+        "package": package,
+        "alias": alias
     }
 
     return em_globals