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generate_dds_topics.py: simplify repeated code (#22156)

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Serkan Mazlum 2023-10-10 09:12:55 +03:00 committed by GitHub
parent 5e986f6997
commit 585687b766
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1 changed files with 9 additions and 24 deletions
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src/modules/uxrce_dds_client/generate_dds_topics.py
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@ -85,43 +85,28 @@ with open(args.yaml_file, 'r') as file:
merged_em_globals = {}
all_type_includes = []
for p in msg_map['publications']:
def process_message_type(msg_type):
# eg TrajectoryWaypoint from px4_msgs::msg::TrajectoryWaypoint
simple_base_type = p['type'].split('::')[-1]
simple_base_type = msg_type['type'].split('::')[-1]
# eg TrajectoryWaypoint -> trajectory_waypoint
base_type_name_snake_case = re.sub(r'(?<!^)(?=[A-Z])', '_', simple_base_type).lower()
all_type_includes.append(base_type_name_snake_case)
# simple_base_type: eg vehicle_status
p['simple_base_type'] = base_type_name_snake_case
msg_type['simple_base_type'] = base_type_name_snake_case
# dds_type: eg px4_msgs::msg::dds_::VehicleStatus_
p['dds_type'] = p['type'].replace("::msg::", "::msg::dds_::") + "_"
msg_type['dds_type'] = msg_type['type'].replace("::msg::", "::msg::dds_::") + "_"
# topic_simple: eg vehicle_status
p['topic_simple'] = p['topic'].split('/')[-1]
msg_type['topic_simple'] = msg_type['topic'].split('/')[-1]
for p in msg_map['publications']:
process_message_type(p)
merged_em_globals['publications'] = msg_map['publications']
for s in msg_map['subscriptions']:
# eg TrajectoryWaypoint from px4_msgs::msg::TrajectoryWaypoint
simple_base_type = s['type'].split('::')[-1]
# eg TrajectoryWaypoint -> trajectory_waypoint
base_type_name_snake_case = re.sub(r'(?<!^)(?=[A-Z])', '_', simple_base_type).lower()
all_type_includes.append(base_type_name_snake_case)
# simple_base_type: eg vehicle_status
s['simple_base_type'] = base_type_name_snake_case
# dds_type: eg px4_msgs::msg::dds_::VehicleStatus_
s['dds_type'] = s['type'].replace("::msg::", "::msg::dds_::") + "_"
# topic_simple: eg vehicle_status
s['topic_simple'] = s['topic'].split('/')[-1]
process_message_type(s)
merged_em_globals['subscriptions'] = msg_map['subscriptions']