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Jenkins: set autobuild and deploy for generating px4_msgs repo ROS msg definitions files

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TSC21 2019-01-27 17:02:33 +00:00 committed by Lorenz Meier
parent cced80edf9
commit 4b1053d212
5 changed files with 134 additions and 8 deletions
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1
.gitignore vendored
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@ -59,6 +59,7 @@ posix-configs/SITL/init/test/*_generated
/parameters.md
/parameters.xml
/modules
/msg/ros/*.msg
*.gcov
.coverage

27
Jenkinsfile vendored
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@ -473,6 +473,33 @@ pipeline {
}
}
stage('Generate PX4 ROS msgs') {
agent {
docker { image 'px4io/px4-dev-base:2019-01-01' }
}
steps {
sh('export')
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git')
sh('python msg/tools/uorb_to_ros_msgs.py msg/ msg/ros/')
sh('cp -a msg/ros/. px4_msgs/msg')
sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
sh('cd px4_msgs; git push origin master || true')
sh('rm -rf px4_msgs')
sh('rm -rf msg/ros')
}
}
when {
anyOf {
branch 'master'
branch 'pr-jenkins' // for testing
}
}
options {
skipDefaultCheckout()
}
}
stage('S3') {
agent {
docker { image 'px4io/px4-dev-base:2019-01-26' }

4
msg/ros/actuator_controls_0.msg
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@ -1,4 +0,0 @@
uint8 NUM_ACTUATOR_CONTROLS = 8
uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
float32[8] control

4
msg/ros/actuator_controls_virtual_mc.msg
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@ -1,4 +0,0 @@
uint8 NUM_ACTUATOR_CONTROLS = 8
uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
float32[8] control

106
msg/tools/uorb_to_ros_msgs.py Normal file
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@ -0,0 +1,106 @@
#!/usr/bin/env python
"""
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
"""
import os
import sys
from shutil import copyfile
__author__ = 'PX4 Development Team'
__copyright__ = \
'''
'
' Copyright (C) 2018 PX4 Development Team. All rights reserved.
'
' Redistribution and use in source and binary forms, or without
' modification, permitted provided that the following conditions
' are met:
'
' 1. Redistributions of source code must retain the above copyright
' notice, list of conditions and the following disclaimer.
' 2. Redistributions in binary form must reproduce the above copyright
' notice, list of conditions and the following disclaimer in
' the documentation and/or other materials provided with the
' distribution.
' 3. Neither the name PX4 nor the names of its contributors may be
' used to endorse or promote products derived from self software
' without specific prior written permission.
'
' THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
' "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, NOT
' LIMITED TO, IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
' FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
' COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
' INCIDENTAL, SPECIAL, EXEMPLARY, CONSEQUENTIAL DAMAGES (INCLUDING,
' BUT NOT LIMITED TO, OF SUBSTITUTE GOODS OR SERVICES; LOSS
' OF USE, DATA, PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
' AND ON ANY THEORY OF LIABILITY, IN CONTRACT, STRICT
' LIABILITY, TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
' ANY WAY OUT OF THE USE OF THIS SOFTWARE, IF ADVISED OF THE
' POSSIBILITY OF SUCH DAMAGE.
'
'''
__credits__ = ['Nuno Marques <nuno.marques@dronesolution.io>']
__license__ = 'BSD-3-Clause'
__version__ = '0.1.0'
__maintainer__ = 'Nuno Marques'
__email__ = 'nuno.marques@dronesolution.io'
__status__ = 'Development'
input_dir = sys.argv[1]
output_dir = sys.argv[2]
os.mkdir(os.path.abspath(output_dir))
msg_list = list()
for filename in os.listdir(input_dir):
if '.msg' in filename:
msg_list.append(filename.rstrip('.msg'))
input_file = input_dir + filename
output_file = output_dir + \
filename.partition(".")[0].title().replace('_', '') + ".msg"
copyfile(input_file, output_file)
for filename in os.listdir(output_dir):
if '.msg' in filename:
input_file = output_dir + filename
fileUpdated = False
with open(input_file, 'r') as f:
lines = f.readlines()
newlines = []
alias_msgs = []
alias_msg_files = []
for line in lines:
for msg_type in msg_list:
if ('px4/' + msg_type + ' ') in line:
fileUpdated = True
line = line.replace(('px4/' + msg_type),
msg_type.partition(".")[0].title().replace('_', ''))
if ('' + msg_type + '[') in line.partition('#')[0] or ('' + msg_type + ' ') in line.partition('#')[0]:
fileUpdated = True
line = line.replace(msg_type,
msg_type.partition(".")[0].title().replace('_', ''))
if '# TOPICS' in line:
fileUpdated = True
alias_msgs += line.split()
alias_msgs.remove('#')
alias_msgs.remove('TOPICS')
line = line.replace(line, '')
newlines.append(line)
for msg_file in alias_msgs:
with open(output_dir + msg_file.partition(".")[0].title().replace('_', '') + ".msg", 'w+') as f:
for line in newlines:
f.write(line)
if fileUpdated:
with open(input_file, 'w+') as f:
for line in newlines:
f.write(line)