mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-11 10:01:36 +08:00
PX4 ROS2 msg conformity and explicit topics
- .msg files are PascalCase - topics are still either per msg or explicitly listed in TOPICS - compatible structs are still generated (eg struct msg_s), but ROS2 style px4::msg::Msg is also available
This commit is contained in:
Daniel Agar
@@ -34,7 +34,7 @@
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"""
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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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Generates c/cpp header/source files for uorb topics from .msg
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message files
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"""
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@@ -42,6 +42,7 @@ import os
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import shutil
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import filecmp
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import argparse
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import re
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import sys
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try:
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@@ -76,93 +77,54 @@ except ImportError as e:
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__author__ = "Sergey Belash, Thomas Gubler, Beat Kueng"
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__copyright__ = "Copyright (C) 2013-2016 PX4 Development Team."
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__copyright__ = "Copyright (C) 2013-2021 PX4 Development Team."
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__license__ = "BSD"
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__email__ = "thomasgubler@gmail.com"
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TEMPLATE_FILE = ['msg.h.em', 'msg.cpp.em']
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TOPICS_LIST_TEMPLATE_FILE = ['uORBTopics.hpp.em', 'uORBTopics.cpp.em']
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OUTPUT_FILE_EXT = ['.h', '.cpp']
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TEMPLATE_FILE = ['msg.h.em']
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OUTPUT_FILE_EXT = ['.h']
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INCL_DEFAULT = ['std_msgs:./msg/std_msgs']
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PACKAGE = 'px4'
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TOPICS_TOKEN = '# TOPICS '
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IDL_TEMPLATE_FILE = 'msg.idl.em'
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CONSTRAINED_FLASH = False
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class MsgScope:
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NONE = 0
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SEND = 1
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RECEIVE = 2
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def get_multi_topics(filename):
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"""
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Get TOPICS names from a "# TOPICS" line
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"""
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ofile = open(filename, 'r')
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text = ofile.read()
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result = []
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for each_line in text.split('\n'):
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if each_line.startswith(TOPICS_TOKEN):
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topic_names_str = each_line.strip()
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topic_names_str = topic_names_str.replace(TOPICS_TOKEN, "")
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result.extend(topic_names_str.split(" "))
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ofile.close()
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return result
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def get_msgs_list(msgdir):
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"""
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Makes list of msg files in the given directory
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"""
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return [fn for fn in os.listdir(msgdir) if fn.endswith(".msg")]
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def generate_output_from_file(format_idx, filename, outputdir, package, templatedir, includepath):
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def generate_output_from_file(filename, outputdir, package, templatedir, includepath):
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"""
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Converts a single .msg file to an uorb header/source file
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"""
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msg_context = genmsg.msg_loader.MsgContext.create_default()
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full_type_name = genmsg.gentools.compute_full_type_name(
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package, os.path.basename(filename))
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spec = genmsg.msg_loader.load_msg_from_file(
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msg_context, filename, full_type_name)
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full_type_name = genmsg.gentools.compute_full_type_name(package, os.path.basename(filename))
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file_base_name = os.path.basename(filename).replace(".msg", "")
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full_type_name_snake = re.sub(r'(?<!^)(?=[A-Z])', '_', file_base_name).lower()
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spec = genmsg.msg_loader.load_msg_from_file(msg_context, filename, full_type_name)
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field_name_and_type = {}
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for field in spec.parsed_fields():
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field_name_and_type.update({field.name: field.type})
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# assert if the timestamp field exists
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try:
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assert 'timestamp' in field_name_and_type
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except AssertionError:
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print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\tNo 'timestamp' field found in " +
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spec.short_name + " msg definition!")
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exit(1)
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# assert if the timestamp field is of type uint64
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try:
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assert field_name_and_type.get('timestamp') == 'uint64'
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except AssertionError:
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print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\t'timestamp' field in " + spec.short_name +
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" msg definition is not of type uint64 but rather of type " + field_name_and_type.get('timestamp') + "!")
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exit(1)
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topics = get_multi_topics(filename)
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if includepath:
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search_path = genmsg.command_line.includepath_to_dict(includepath)
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else:
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search_path = {}
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genmsg.msg_loader.load_depends(msg_context, spec, search_path)
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md5sum = genmsg.gentools.compute_md5(msg_context, spec)
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if len(topics) == 0:
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topics.append(spec.short_name)
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em_globals = {
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"name_snake_case": full_type_name_snake,
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"file_name_in": filename,
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"md5sum": md5sum,
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"search_path": search_path,
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"msg_context": msg_context,
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"spec": spec,
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"topics": topics,
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"constrained_flash": CONSTRAINED_FLASH
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}
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@@ -170,90 +132,12 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template
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if not os.path.isdir(outputdir):
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os.makedirs(outputdir)
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template_file = os.path.join(templatedir, TEMPLATE_FILE[format_idx])
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output_file = os.path.join(outputdir, spec.short_name +
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OUTPUT_FILE_EXT[format_idx])
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template_file = os.path.join(templatedir, TEMPLATE_FILE[0])
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output_file = os.path.join(outputdir, full_type_name_snake + OUTPUT_FILE_EXT[0])
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return generate_by_template(output_file, template_file, em_globals)
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def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, fastrtps_version, ros2_distro, msgs):
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"""
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Generates an .idl from .msg file
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"""
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msg = os.path.join(msg_dir, filename_msg + ".msg")
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if (alias != ""):
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em_globals = get_em_globals(
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msg, alias, package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.NONE)
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spec_short_name = alias
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else:
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em_globals = get_em_globals(
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msg, "", package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.NONE)
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spec_short_name = em_globals["spec"].short_name
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# Make sure output directory exists:
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if not os.path.isdir(outputdir):
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os.makedirs(outputdir)
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template_file = os.path.join(templatedir, IDL_TEMPLATE_FILE)
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if version.parse(fastrtps_version) <= version.parse('1.7.2'):
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output_file = os.path.join(outputdir, IDL_TEMPLATE_FILE.replace(
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"msg.idl.em", str(spec_short_name + "_.idl")))
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else:
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output_file = os.path.join(outputdir, IDL_TEMPLATE_FILE.replace(
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"msg.idl.em", str(spec_short_name + ".idl")))
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return generate_by_template(output_file, template_file, em_globals)
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def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filename_receive_msgs, filename_alias_receive_msgs,
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msg_dir, outputdir, templatedir, package, includepath, msgs, fastrtps_version, ros2_distro, template_name):
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"""
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Generates source file by msg content
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"""
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send_msgs = list(os.path.join(msg_dir, msg + ".msg")
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for msg in filename_send_msgs)
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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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alias_send_msgs = list([os.path.join(
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msg_dir, msg[1] + ".msg"), msg[0]] for msg in filename_alias_send_msgs)
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alias_receive_msgs = list([os.path.join(
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msg_dir, msg[1] + ".msg"), msg[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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em_globals_list.extend([get_em_globals(
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f, "", package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.SEND) for f in send_msgs])
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if alias_send_msgs:
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em_globals_list.extend([get_em_globals(
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f[0], f[1], package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.SEND) for f in alias_send_msgs])
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if receive_msgs:
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em_globals_list.extend([get_em_globals(
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f, "", package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.RECEIVE) for f in receive_msgs])
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if alias_receive_msgs:
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em_globals_list.extend([get_em_globals(
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f[0], f[1], package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.RECEIVE) for f in alias_receive_msgs])
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merged_em_globals = merge_em_globals_list(em_globals_list)
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# Make sure output directory exists:
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if not os.path.isdir(outputdir):
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os.makedirs(outputdir)
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template_file = os.path.join(templatedir, template_name)
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output_file = os.path.join(
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outputdir, template_name.replace(".em", ""))
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return generate_by_template(output_file, template_file, merged_em_globals)
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def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, msgs, fastrtps_version, ros2_distro, template_name):
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def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, msgs, template_name):
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"""
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Generates a sources and headers from .msg file
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"""
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@@ -261,11 +145,11 @@ def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, pa
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if (alias):
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em_globals = get_em_globals(
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msg, alias, package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.NONE)
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msg, alias, package, includepath, msgs, MsgScope.NONE)
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spec_short_name = alias
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else:
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em_globals = get_em_globals(
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msg, "", package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.NONE)
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msg, "", package, includepath, msgs, MsgScope.NONE)
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spec_short_name = em_globals["spec"].short_name
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# Make sure output directory exists:
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@@ -279,37 +163,34 @@ def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, pa
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return generate_by_template(output_file, template_file, em_globals)
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def get_em_globals(filename_msg, alias, package, includepath, msgs, fastrtps_version, ros2_distro, scope):
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def get_em_globals(filename_msg, alias, package, includepath, msgs, scope):
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"""
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Generates em globals dictionary
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"""
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msg_context = genmsg.msg_loader.MsgContext.create_default()
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full_type_name = genmsg.gentools.compute_full_type_name(
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package, os.path.basename(filename_msg))
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spec = genmsg.msg_loader.load_msg_from_file(
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msg_context, filename_msg, full_type_name)
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topics = get_multi_topics(filename_msg)
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full_type_name = genmsg.gentools.compute_full_type_name(package, os.path.basename(filename_msg))
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spec = genmsg.msg_loader.load_msg_from_file(msg_context, filename_msg, full_type_name)
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if includepath:
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search_path = genmsg.command_line.includepath_to_dict(includepath)
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else:
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search_path = {}
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genmsg.msg_loader.load_depends(msg_context, spec, search_path)
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md5sum = genmsg.gentools.compute_md5(msg_context, spec)
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if len(topics) == 0:
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topics.append(spec.short_name)
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em_globals = {
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"file_name_in": filename_msg,
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"md5sum": md5sum,
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"search_path": search_path,
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"msg_context": msg_context,
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"spec": spec,
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"topics": topics,
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"msgs": msgs,
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"scope": scope,
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"package": package,
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"alias": alias,
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"fastrtps_version": fastrtps_version,
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"ros2_distro": ros2_distro
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"package": package
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}
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return em_globals
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@@ -324,8 +205,7 @@ def merge_em_globals_list(em_globals_list):
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merged_em_globals = {}
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for name in em_globals_list[0]:
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merged_em_globals[name] = [em_globals[name]
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for em_globals in em_globals_list]
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merged_em_globals[name] = [em_globals[name] for em_globals in em_globals_list]
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return merged_em_globals
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@@ -354,140 +234,13 @@ def generate_by_template(output_file, template_file, em_globals):
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ofile.close()
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return True
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def convert_dir(format_idx, inputdir, outputdir, package, templatedir):
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"""
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Converts all .msg files in inputdir to uORB header/source files
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"""
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# Find the most recent modification time in input dir
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maxinputtime = 0
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for f in os.listdir(inputdir):
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fni = os.path.join(inputdir, f)
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if os.path.isfile(fni):
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it = os.path.getmtime(fni)
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if it > maxinputtime:
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maxinputtime = it
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# Find the most recent modification time in output dir
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maxouttime = 0
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if os.path.isdir(outputdir):
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for f in os.listdir(outputdir):
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fni = os.path.join(outputdir, f)
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if os.path.isfile(fni):
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it = os.path.getmtime(fni)
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if it > maxouttime:
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maxouttime = it
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# Do not generate if nothing changed on the input
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if (maxinputtime != 0 and maxouttime != 0 and maxinputtime < maxouttime):
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return False
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includepath = INCL_DEFAULT + [':'.join([package, inputdir])]
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for f in os.listdir(inputdir):
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# Ignore hidden files
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if f.startswith("."):
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continue
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fn = os.path.join(inputdir, f)
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# Only look at actual files
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if not os.path.isfile(fn):
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continue
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if fn[-4:].lower() != '.msg':
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continue
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generate_output_from_file(
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format_idx, fn, outputdir, package, templatedir, includepath)
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return True
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def copy_changed(inputdir, outputdir, prefix='', quiet=False):
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"""
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Copies files from inputdir to outputdir if they don't exist in
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ouputdir or if their content changed
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"""
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# Make sure output directory exists:
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if not os.path.isdir(outputdir):
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os.makedirs(outputdir)
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for input_file in os.listdir(inputdir):
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fni = os.path.join(inputdir, input_file)
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if os.path.isfile(fni):
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# Check if input_file exists in outpoutdir, copy the file if not
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fno = os.path.join(outputdir, prefix + input_file)
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if not os.path.isfile(fno):
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shutil.copy(fni, fno)
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if not quiet:
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print("{0}: new header file".format(fno))
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continue
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if os.path.getmtime(fni) > os.path.getmtime(fno):
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# The file exists in inputdir and outputdir
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# only copy if contents do not match
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if not filecmp.cmp(fni, fno):
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shutil.copy(fni, fno)
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if not quiet:
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print("{0}: updated".format(input_file))
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continue
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if not quiet:
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print("{0}: unchanged".format(input_file))
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def convert_dir_save(format_idx, inputdir, outputdir, package, templatedir, temporarydir, prefix, quiet=False):
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"""
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Converts all .msg files in inputdir to uORB header files
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Unchanged existing files are not overwritten.
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"""
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# Create new headers in temporary output directory
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convert_dir(format_idx, inputdir, temporarydir, package, templatedir)
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if generate_idx == 1:
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generate_topics_list_file(inputdir, temporarydir, TOPICS_LIST_TEMPLATE_FILE[1], templatedir)
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# Copy changed headers from temporary dir to output dir
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copy_changed(temporarydir, outputdir, prefix, quiet)
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def generate_topics_list_file(msgdir, outputdir, template_filename, templatedir):
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# generate cpp file with topics list
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msgs = get_msgs_list(msgdir)
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multi_topics = []
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for msg in msgs:
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msg_filename = os.path.join(msgdir, msg)
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multi_topics.extend(get_multi_topics(msg_filename))
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tl_globals = {"msgs": msgs, "multi_topics": multi_topics}
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tl_template_file = os.path.join(templatedir, template_filename)
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tl_out_file = os.path.join(outputdir, template_filename.replace(".em", ""))
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generate_by_template(tl_out_file, tl_template_file, tl_globals)
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def generate_topics_list_file_from_files(files, outputdir, template_filename, templatedir):
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# generate cpp file with topics list
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filenames = [os.path.basename(
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p) for p in files if os.path.basename(p).endswith(".msg")]
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multi_topics = []
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for msg_filename in files:
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multi_topics.extend(get_multi_topics(msg_filename))
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tl_globals = {"msgs": filenames, "multi_topics": multi_topics}
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tl_template_file = os.path.join(templatedir, template_filename)
|
||||
tl_out_file = os.path.join(outputdir, template_filename.replace(".em", ""))
|
||||
generate_by_template(tl_out_file, tl_template_file, tl_globals)
|
||||
|
||||
|
||||
def append_to_include_path(path_to_append, curr_include, package):
|
||||
for p in path_to_append:
|
||||
curr_include.append('%s:%s' % (package, p))
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
parser = argparse.ArgumentParser(
|
||||
description='Convert msg files to uorb headers/sources')
|
||||
parser.add_argument('--headers', help='Generate header files',
|
||||
action='store_true')
|
||||
parser.add_argument('--sources', help='Generate source files',
|
||||
action='store_true')
|
||||
parser.add_argument('-d', dest='dir', help='directory with msg files')
|
||||
parser = argparse.ArgumentParser(description='Convert msg files to uorb headers')
|
||||
parser.add_argument('-f', dest='file',
|
||||
help="files to convert (use only without -d)",
|
||||
nargs="+")
|
||||
@@ -500,14 +253,9 @@ if __name__ == "__main__":
|
||||
help='package name')
|
||||
parser.add_argument('-o', dest='outputdir',
|
||||
help='output directory for header files')
|
||||
parser.add_argument('-t', dest='temporarydir',
|
||||
help='temporary directory')
|
||||
parser.add_argument('-p', dest='prefix', default='',
|
||||
help='string added as prefix to the output file '
|
||||
' name when converting directories')
|
||||
parser.add_argument('-q', dest='quiet', default=False, action='store_true',
|
||||
help='string added as prefix to the output file '
|
||||
' name when converting directories')
|
||||
parser.add_argument('--constrained-flash', dest='constrained_flash', default=False, action='store_true',
|
||||
help='set to save flash space')
|
||||
args = parser.parse_args()
|
||||
@@ -517,27 +265,6 @@ if __name__ == "__main__":
|
||||
|
||||
CONSTRAINED_FLASH = args.constrained_flash
|
||||
|
||||
if args.headers:
|
||||
generate_idx = 0
|
||||
elif args.sources:
|
||||
generate_idx = 1
|
||||
else:
|
||||
print('Error: either --headers or --sources must be specified')
|
||||
exit(-1)
|
||||
if args.file is not None:
|
||||
for f in args.file:
|
||||
generate_output_from_file(
|
||||
generate_idx, f, args.temporarydir, args.package, args.templatedir, INCL_DEFAULT)
|
||||
|
||||
generate_topics_list_file_from_files(args.file, args.outputdir, TOPICS_LIST_TEMPLATE_FILE[generate_idx], args.templatedir)
|
||||
copy_changed(args.temporarydir, args.outputdir, args.prefix, args.quiet)
|
||||
elif args.dir is not None:
|
||||
convert_dir_save(
|
||||
generate_idx,
|
||||
args.dir,
|
||||
args.outputdir,
|
||||
args.package,
|
||||
args.templatedir,
|
||||
args.temporarydir,
|
||||
args.prefix,
|
||||
args.quiet)
|
||||
generate_output_from_file(f, args.outputdir, args.package, args.templatedir, INCL_DEFAULT)
|
||||
|
||||
@@ -41,6 +41,7 @@ precompiled and thus message generation will be much faster
|
||||
|
||||
import os
|
||||
import errno
|
||||
import re
|
||||
|
||||
import genmsg.msgs
|
||||
|
||||
@@ -257,6 +258,7 @@ def print_field_def(field):
|
||||
type_prefix = ''
|
||||
if (sl_pos >= 0):
|
||||
type_name = type_name[sl_pos + 1:]
|
||||
type_name = re.sub(r'(?<!^)(?=[A-Z])', '_', type_name).lower() # PascalCase to snake_case
|
||||
type_prefix = 'struct '
|
||||
type_appendix = '_s'
|
||||
|
||||
|
||||
Reference in New Issue
Block a user