parse output from python script into readable cmake list to use; refactor RTPS scripts

msg/tools/generate_microRTPS_bridge.py

@@ -44,7 +44,7 @@ import argparse
 import shutil
 import px_generate_uorb_topic_files
 import px_generate_uorb_topic_helper
-import uorb_rtps_classifier
+from uorb_rtps_classifier import Classifier
 import subprocess
 import glob
 import errno
@@ -69,7 +69,7 @@ def check_rtps_id_uniqueness(classifier):
     used_ids.sort()
 
     repeated_keys = dict()
-    for key, value in msg_ids.items():
+    for key, value in msgs_to_use.items():
         if used_ids.count(value) > 1:
             repeated_keys.update({key: value})
 
@@ -196,20 +196,21 @@ if agent and os.path.isdir(os.path.join(agent_out_dir, "idl")):
 uorb_templates_dir = os.path.join(msg_folder, args.uorb_templates)
 urtps_templates_dir = os.path.join(msg_folder, args.urtps_templates)
 # parse yaml file into a map of ids
-classifier = Classifier(px_generate_uorb_topic_helper.parse_yaml_msg_id_file(os.path.join(msg_folder, args.yaml_file), msg_folder)
+classifier = Classifier(px_generate_uorb_topic_helper.parse_yaml_msg_id_file(
+    os.path.join(msg_folder, args.yaml_file)), msg_folder)
 # check if there are no ID's repeated
 check_rtps_id_uniqueness(classifier)
 
 
-uRTPS_CLIENT_TEMPL_FILE='microRTPS_client.cpp.template'
+uRTPS_CLIENT_TEMPL_FILE = 'microRTPS_client.cpp.template'
-uRTPS_AGENT_TOPICS_H_TEMPL_FILE='RtpsTopics.h.template'
+uRTPS_AGENT_TOPICS_H_TEMPL_FILE = 'RtpsTopics.h.template'
-uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE='RtpsTopics.cpp.template'
+uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE = 'RtpsTopics.cpp.template'
-uRTPS_AGENT_TEMPL_FILE='microRTPS_agent.cpp.template'
+uRTPS_AGENT_TEMPL_FILE = 'microRTPS_agent.cpp.template'
-uRTPS_AGENT_CMAKELISTS_TEMPL_FILE='microRTPS_agent_CMakeLists.txt.template'
+uRTPS_AGENT_CMAKELISTS_TEMPL_FILE = 'microRTPS_agent_CMakeLists.txt.template'
-uRTPS_PUBLISHER_SRC_TEMPL_FILE='Publisher.cpp.template'
+uRTPS_PUBLISHER_SRC_TEMPL_FILE = 'Publisher.cpp.template'
-uRTPS_PUBLISHER_H_TEMPL_FILE='Publisher.h.template'
+uRTPS_PUBLISHER_H_TEMPL_FILE = 'Publisher.h.template'
-uRTPS_SUBSCRIBER_SRC_TEMPL_FILE='Subscriber.cpp.template'
+uRTPS_SUBSCRIBER_SRC_TEMPL_FILE = 'Subscriber.cpp.template'
-uRTPS_SUBSCRIBER_H_TEMPL_FILE='Subscriber.h.template'
+uRTPS_SUBSCRIBER_H_TEMPL_FILE = 'Subscriber.h.template'
 
 
 def generate_agent(out_dir):
@@ -254,12 +255,12 @@ def generate_agent(out_dir):
 
     # Final steps to install agent
     mkdir_p(os.path.join(out_dir, "fastrtpsgen"))
-    prev_cwd_path=os.getcwd()
+    prev_cwd_path = os.getcwd()
     os.chdir(os.path.join(out_dir, "fastrtpsgen"))
     if not glob.glob(os.path.join(idl_dir, "*.idl")):
         raise Exception("No IDL files found in %s" % idl_dir)
     for idl_file in glob.glob(os.path.join(idl_dir, "*.idl")):
-        ret=subprocess.call(fastrtpsgen_path + " -d " + out_dir +
+        ret = subprocess.call(fastrtpsgen_path + " -d " + out_dir +
                               "/fastrtpsgen -example x64Linux2.6gcc " + fastrtpsgen_include + idl_file, shell=True)
         if ret:
             raise Exception(
@@ -308,13 +309,13 @@ def generate_client(out_dir):
 
     # Rename work in the default path
     if default_client_out != out_dir:
-        def_file=os.path.join(default_client_out, "microRTPS_client.cpp")
+        def_file = os.path.join(default_client_out, "microRTPS_client.cpp")
         if os.path.isfile(def_file):
             os.rename(def_file, def_file.replace(".cpp", ".cpp_"))
-        def_file=os.path.join(default_client_out, "microRTPS_transport.cpp")
+        def_file = os.path.join(default_client_out, "microRTPS_transport.cpp")
         if os.path.isfile(def_file):
             os.rename(def_file, def_file.replace(".cpp", ".cpp_"))
-        def_file=os.path.join(default_client_out, "microRTPS_transport.h")
+        def_file = os.path.join(default_client_out, "microRTPS_transport.h")
         if os.path.isfile(def_file):
             os.rename(def_file, def_file.replace(".h", ".h_"))
 

msg/tools/uorb_rtps_classifier.py

@@ -141,7 +141,7 @@ if __name__ == "__main__":
     # Parse arguments
     args = parser.parse_args()
 
-    msg_folder = os.path.dirname(os.path.dirname(os.path.abspath(args.msgdir)))
+    msg_folder = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
     classifier = Classifier(px_generate_uorb_topic_helper.parse_yaml_msg_id_file(
         os.path.join(msg_folder, args.yaml_file)), msg_folder)
 
@@ -150,19 +150,19 @@ if __name__ == "__main__":
             print ('send files: ' + ', '.join(str(msg_file)
                                               for msg_file in classifier.msgs_files_send) + '\n')
         else:
-            print ('send topics: ' + ', '.join(str(msg)
+            print (', '.join(str(msg)
-                                               for msg in classifier.msgs_to_send.keys()) + '\n')
+                             for msg in classifier.msgs_to_send.keys()) + '\n')
     if args.receive:
         if args.path:
             print ('receive files: ' + ', '.join(str(msg_file)
                                                  for msg_file in classifier.msgs_files_receive) + '\n')
         else:
-            print ('receive topics: ' + ', '.join(str(msg)
+            print (', '.join(str(msg)
-                                                  for msg in classifier.msgs_to_receive.keys()) + '\n')
+                             for msg in classifier.msgs_to_receive.keys()) + '\n')
     if args.ignore:
         if args.path:
             print ('ignore files: ' + ', '.join(str(msg_file)
                                                 for msg_file in classifier.msgs_files_ignore) + '\n')
         else:
-            print ('ignore topics: ' + ', '.join(str(msg)
+            print (', '.join(str(msg)
-                                                 for msg in classifier.msgs_to_ignore.keys()) + '\n')
+                             for msg in classifier.msgs_to_ignore.keys()) + '\n')

msg/tools/uorb_rtps_message_ids.yaml

@@ -69,11 +69,13 @@ rtps:
       id: 14
     - msg: obstacle_distance
       id: 42
-    # multi topics
+    - msg: optical_flow
-    - msg: vehicle_mocap_odometry
+      id: 44
-      id: 132
+    # multi topics TODO
-    - msg: vehicle_visual_odometry
+    # - msg: vehicle_mocap_odometry
-      id: 133
+    #   id: 132
+    # - msg: vehicle_visual_odometry
+    #   id: 133
   unclassified:
     - msg: actuator_armed
       id: 0
@@ -141,8 +143,6 @@ rtps:
       id: 41
     - msg: offboard_control_mode
       id: 43
-    - msg: optical_flow
-      id: 44
     - msg: parameter_update
       id: 45
     - msg: ping

src/modules/micrortps_bridge/CMakeLists.txt

@@ -40,20 +40,27 @@ if(NOT FASTRTPSGEN)
 	message(FATAL_ERROR "Unable to find fastrtpsgen")
 endif()
 
-set(config_rtps_send_topics
+if (EXISTS "${PX4_SOURCE_DIR}/msg/tools/uorb_rtps_message_ids.yaml")
-	sensor_combined
-	sensor_baro
-	sensor_selection
-	vehicle_gps_position
-	airspeed
-	vehicle_land_detected
-	vehicle_status
-   )
 
-set(config_rtps_receive_topics
+  set(config_rtps_send_topics)
-   sensor_baro
+	execute_process(
-   optical_flow
+		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/msg/tools/uorb_rtps_classifier.py -s
-   )
+		OUTPUT_VARIABLE config_rtps_send_topics
+	)
+
+	STRING(REGEX REPLACE ", " ";" config_rtps_send_topics "${config_rtps_send_topics}")
+	STRING(REGEX REPLACE "\n" "" config_rtps_send_topics "${config_rtps_send_topics}")
+
+	set(config_rtps_receive_topics)
+	execute_process(
+		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/msg/tools/uorb_rtps_classifier.py -r
+		OUTPUT_VARIABLE config_rtps_receive_topics
+	)
+
+	STRING(REGEX REPLACE ", " ";" config_rtps_receive_topics "${config_rtps_receive_topics}")
+	STRING(REGEX REPLACE "\n" "" config_rtps_receive_topics "${config_rtps_receive_topics}")
+
+endif()
 
 if (FASTRTPSGEN AND (config_rtps_send_topics OR config_rtps_receive_topics))
 	option(GENERATE_RTPS_BRIDGE "enable RTPS and microCDR" ON)
@@ -89,6 +96,7 @@ if (GENERATE_RTPS_BRIDGE)
 	endforeach()
 
 	# receive topic files
+	message(STATUS "RTPS receive: ${config_rtps_receive_topics}")
 	set(receive_topic_files)
 	foreach(topic ${config_rtps_receive_topics})
 		list(APPEND receive_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)

src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt

@@ -71,15 +71,9 @@ if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_t
 		${msg_out_path}/micrortps_client/microRTPS_transport.h
 		)
 
-	# Copy yaml file to the bin dir to be used by empy on the file generation
-	configure_file("${PX4_SOURCE_DIR}/msg/tools/uorb_rtps_message_ids.yaml"
-	     "${CMAKE_CURRENT_BINARY_DIR}/uorb_rtps_message_ids.yaml" COPYONLY)
-
 	add_custom_command(OUTPUT ${topic_bridge_files_out}
 		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/msg/tools/generate_microRTPS_bridge.py
 			--fastrtpsgen-dir $ENV{FASTRTPSGEN_DIR}
-			${send_topic_opt} ${send_topic_files}
-			${receive_topic_opt} ${receive_topic_files}
 			--generate-idl
 			--mkdir-build
 			--generate-cmakelists