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

2026-10-06 12:38:52 +08:00 · 2019-01-28 14:00:21 +01:00
parent cced80edf9
commit 4b1053d212
5 changed files with 134 additions and 8 deletions
@@ -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
@@ -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
@@ -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)