mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-21 06:43:34 +08:00
uorb autogeneration
This commit is contained in:
Daniel Agar
committed by
Lorenz Meier
Lorenz Meier
parent
3aa2297497
commit
76387b1693
@@ -49,6 +49,7 @@ sys.path.append(px4_tools_dir + "/genmsg/src")
|
||||
sys.path.append(px4_tools_dir + "/gencpp/src")
|
||||
|
||||
try:
|
||||
import em
|
||||
import genmsg.template_tools
|
||||
except ImportError as e:
|
||||
print("python import error: ", e)
|
||||
@@ -74,24 +75,75 @@ __license__ = "BSD"
|
||||
__email__ = "thomasgubler@gmail.com"
|
||||
|
||||
|
||||
msg_template_map = {'msg.h.template': '@NAME@.h'}
|
||||
srv_template_map = {}
|
||||
incl_default = ['std_msgs:./msg/std_msgs']
|
||||
package = 'px4'
|
||||
TEMPLATE_FILE = 'msg.h.template'
|
||||
OUTPUT_FILE_EXT = '.h'
|
||||
INCL_DEFAULT = ['std_msgs:./msg/std_msgs']
|
||||
PACKAGE = 'px4'
|
||||
TOPICS_TOKEN = '# TOPICS '
|
||||
|
||||
|
||||
def convert_file(filename, outputdir, templatedir, includepath):
|
||||
def get_multi_topics(filename):
|
||||
"""
|
||||
Converts a single .msg file to a uorb header
|
||||
Get TOPICS names from a "# TOPICS" line
|
||||
"""
|
||||
#print("Generating headers from {0}".format(filename))
|
||||
genmsg.template_tools.generate_from_file(filename,
|
||||
package,
|
||||
outputdir,
|
||||
templatedir,
|
||||
includepath,
|
||||
msg_template_map,
|
||||
srv_template_map)
|
||||
ofile = open(filename, 'r')
|
||||
text = ofile.read()
|
||||
result = []
|
||||
for each_line in text.split('\n'):
|
||||
if each_line.startswith (TOPICS_TOKEN):
|
||||
topic_names_str = each_line.strip()
|
||||
topic_names_str = topic_names_str.replace(TOPICS_TOKEN, "")
|
||||
result.extend(topic_names_str.split(" "))
|
||||
ofile.close()
|
||||
return result
|
||||
|
||||
|
||||
def generate_header_from_file(filename, outputdir, templatedir, includepath):
|
||||
"""
|
||||
Converts a single .msg file to a uorb header file
|
||||
"""
|
||||
msg_context = genmsg.msg_loader.MsgContext.create_default()
|
||||
full_type_name = genmsg.gentools.compute_full_type_name(PACKAGE, os.path.basename(filename))
|
||||
spec = genmsg.msg_loader.load_msg_from_file(msg_context, filename, full_type_name)
|
||||
topics = get_multi_topics(filename)
|
||||
if includepath:
|
||||
search_path = genmsg.command_line.includepath_to_dict(includepath)
|
||||
else:
|
||||
search_path = {}
|
||||
genmsg.msg_loader.load_depends(msg_context, spec, search_path)
|
||||
md5sum = genmsg.gentools.compute_md5(msg_context, spec)
|
||||
if len(topics) == 0:
|
||||
topics.append(spec.short_name)
|
||||
em_globals = {
|
||||
"file_name_in": filename,
|
||||
"md5sum": md5sum,
|
||||
"search_path": search_path,
|
||||
"msg_context": msg_context,
|
||||
"spec": spec,
|
||||
"topics": topics
|
||||
}
|
||||
|
||||
# Make sure output directory exists:
|
||||
if not os.path.isdir(outputdir):
|
||||
os.makedirs(outputdir)
|
||||
|
||||
template_file = os.path.join(templatedir, TEMPLATE_FILE)
|
||||
output_file = os.path.join(outputdir, spec.short_name + OUTPUT_FILE_EXT)
|
||||
|
||||
if os.path.isfile(output_file):
|
||||
return False
|
||||
|
||||
ofile = open(output_file, 'w')
|
||||
# todo, reuse interpreter
|
||||
interpreter = em.Interpreter(output=ofile, globals=em_globals, options={em.RAW_OPT:True,em.BUFFERED_OPT:True})
|
||||
if not os.path.isfile(template_file):
|
||||
ofile.close()
|
||||
os.remove(output_file)
|
||||
raise RuntimeError("Template file %s not found in template dir %s" % (template_file, templatedir))
|
||||
interpreter.file(open(template_file)) #todo try
|
||||
interpreter.shutdown()
|
||||
ofile.close()
|
||||
return True
|
||||
|
||||
|
||||
def convert_dir(inputdir, outputdir, templatedir):
|
||||
@@ -122,7 +174,7 @@ def convert_dir(inputdir, outputdir, templatedir):
|
||||
if (maxinputtime != 0 and maxouttime != 0 and maxinputtime < maxouttime):
|
||||
return False
|
||||
|
||||
includepath = incl_default + [':'.join([package, inputdir])]
|
||||
includepath = INCL_DEFAULT + [':'.join([PACKAGE, inputdir])]
|
||||
for f in os.listdir(inputdir):
|
||||
# Ignore hidden files
|
||||
if f.startswith("."):
|
||||
@@ -133,11 +185,7 @@ def convert_dir(inputdir, outputdir, templatedir):
|
||||
if not os.path.isfile(fn):
|
||||
continue
|
||||
|
||||
convert_file(fn,
|
||||
outputdir,
|
||||
templatedir,
|
||||
includepath)
|
||||
|
||||
generate_header_from_file(fn, outputdir, templatedir, includepath)
|
||||
return True
|
||||
|
||||
|
||||
@@ -151,15 +199,15 @@ def copy_changed(inputdir, outputdir, prefix='', quiet=False):
|
||||
if not os.path.isdir(outputdir):
|
||||
os.makedirs(outputdir)
|
||||
|
||||
for f in os.listdir(inputdir):
|
||||
fni = os.path.join(inputdir, f)
|
||||
for input_file in os.listdir(inputdir):
|
||||
fni = os.path.join(inputdir, input_file)
|
||||
if os.path.isfile(fni):
|
||||
# Check if f exists in outpoutdir, copy the file if not
|
||||
fno = os.path.join(outputdir, prefix + f)
|
||||
# Check if input_file exists in outpoutdir, copy the file if not
|
||||
fno = os.path.join(outputdir, prefix + input_file)
|
||||
if not os.path.isfile(fno):
|
||||
shutil.copy(fni, fno)
|
||||
if not quiet:
|
||||
print("{0}: new header file".format(f))
|
||||
print("{0}: new header file".format(fno))
|
||||
continue
|
||||
|
||||
if os.path.getmtime(fni) > os.path.getmtime(fno):
|
||||
@@ -168,11 +216,11 @@ def copy_changed(inputdir, outputdir, prefix='', quiet=False):
|
||||
if not filecmp.cmp(fni, fno):
|
||||
shutil.copy(fni, fno)
|
||||
if not quiet:
|
||||
print("{0}: updated".format(f))
|
||||
print("{0}: updated".format(input_file))
|
||||
continue
|
||||
|
||||
if not quiet:
|
||||
print("{0}: unchanged".format(f))
|
||||
print("{0}: unchanged".format(input_file))
|
||||
|
||||
|
||||
def convert_dir_save(inputdir, outputdir, templatedir, temporarydir, prefix, quiet=False):
|
||||
@@ -208,11 +256,7 @@ if __name__ == "__main__":
|
||||
|
||||
if args.file is not None:
|
||||
for f in args.file:
|
||||
convert_file(
|
||||
f,
|
||||
args.outputdir,
|
||||
args.templatedir,
|
||||
incl_default)
|
||||
generate_header_from_file(f, args.outputdir, args.templatedir, INCL_DEFAULT)
|
||||
elif args.dir is not None:
|
||||
convert_dir_save(
|
||||
args.dir,
|
||||
|
||||
Executable
+192
@@ -0,0 +1,192 @@
|
||||
#!/usr/bin/env python
|
||||
#############################################################################
|
||||
#
|
||||
# Copyright (C) 2013-2015 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this 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 this 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, BUT NOT
|
||||
# LIMITED TO, THE 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, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
#############################################################################
|
||||
|
||||
"""
|
||||
px_generate_uorb_topic_sources.py
|
||||
Generates cpp source files for uorb topics from .msg (ROS syntax)
|
||||
message files
|
||||
"""
|
||||
from __future__ import print_function
|
||||
import os
|
||||
import shutil
|
||||
import filecmp
|
||||
import argparse
|
||||
|
||||
import sys
|
||||
px4_tools_dir = os.path.dirname(os.path.abspath(__file__))
|
||||
sys.path.append(px4_tools_dir + "/genmsg/src")
|
||||
sys.path.append(px4_tools_dir + "/gencpp/src")
|
||||
|
||||
try:
|
||||
import em
|
||||
import genmsg.template_tools
|
||||
except ImportError as e:
|
||||
print("python import error: ", e)
|
||||
print('''
|
||||
Required python packages not installed.
|
||||
|
||||
On a Debian/Ubuntu system please run:
|
||||
|
||||
sudo apt-get install python-empy
|
||||
sudo pip install catkin_pkg
|
||||
|
||||
On MacOS please run:
|
||||
sudo pip install empy catkin_pkg
|
||||
|
||||
On Windows please run:
|
||||
easy_install empy catkin_pkg
|
||||
''')
|
||||
exit(1)
|
||||
|
||||
__author__ = "Sergey Belash, Thomas Gubler"
|
||||
__copyright__ = "Copyright (C) 2013-2014 PX4 Development Team."
|
||||
__license__ = "BSD"
|
||||
__email__ = "againagainst@gmail.com, thomasgubler@gmail.com"
|
||||
|
||||
TOPIC_TEMPLATE_FILE = 'msg.cpp.template'
|
||||
TOPICS_LIST_TEMPLATE_FILE = 'uORBTopics.cpp.template'
|
||||
OUTPUT_FILE_EXT = '.cpp'
|
||||
PACKAGE = 'px4'
|
||||
TOPICS_TOKEN = '# TOPICS '
|
||||
|
||||
|
||||
def get_multi_topics(filename):
|
||||
"""
|
||||
Get TOPICS names from a "# TOPICS" line
|
||||
"""
|
||||
ofile = open(filename, 'r')
|
||||
text = ofile.read()
|
||||
result = []
|
||||
for each_line in text.split('\n'):
|
||||
if each_line.startswith (TOPICS_TOKEN):
|
||||
topic_names_str = each_line.strip()
|
||||
topic_names_str = topic_names_str.replace(TOPICS_TOKEN, "")
|
||||
result.extend(topic_names_str.split(" "))
|
||||
ofile.close()
|
||||
return result
|
||||
|
||||
|
||||
def get_msgs_list(msgdir):
|
||||
"""
|
||||
Makes list of msg files in the given directory
|
||||
"""
|
||||
return [fn for fn in os.listdir(msgdir) if fn.endswith(".msg")]
|
||||
|
||||
|
||||
def generate_source_from_file(filename, outputdir, template_file, quiet=False):
|
||||
"""
|
||||
Converts a single .msg file to a uorb source file
|
||||
"""
|
||||
# print("Generating sources from {0}".format(filename))
|
||||
msg_context = genmsg.msg_loader.MsgContext.create_default()
|
||||
full_type_name = genmsg.gentools.compute_full_type_name(PACKAGE, os.path.basename(filename))
|
||||
spec = genmsg.msg_loader.load_msg_from_file(msg_context, filename, full_type_name)
|
||||
topics = get_multi_topics(filename)
|
||||
if len(topics) == 0:
|
||||
topics.append(spec.short_name)
|
||||
em_globals = {
|
||||
"file_name_in": filename,
|
||||
"spec": spec,
|
||||
"topics": topics
|
||||
}
|
||||
|
||||
output_file = os.path.join(outputdir, spec.short_name + OUTPUT_FILE_EXT)
|
||||
if os.path.isfile(output_file):
|
||||
return False
|
||||
generate_by_template(output_file, template_file, em_globals)
|
||||
if not quiet:
|
||||
print("{0}: new source file".format(output_file))
|
||||
return True
|
||||
|
||||
|
||||
def generate_by_template(output_file, template_file, em_globals):
|
||||
"""
|
||||
Invokes empy intepreter to geneate output_file by the
|
||||
given template_file and predefined em_globals dict
|
||||
"""
|
||||
ofile = open(output_file, 'w')
|
||||
# todo, reuse interpreter
|
||||
interpreter = em.Interpreter(output=ofile, globals=em_globals, options={em.RAW_OPT:True,em.BUFFERED_OPT:True})
|
||||
if not os.path.isfile(template_file):
|
||||
ofile.close()
|
||||
os.remove(output_file)
|
||||
raise RuntimeError("Template file %s not found" % (template_file))
|
||||
interpreter.file(open(template_file)) #todo try
|
||||
interpreter.shutdown()
|
||||
ofile.close()
|
||||
|
||||
|
||||
def convert_dir(msgdir, outputdir, templatedir, quiet=False):
|
||||
"""
|
||||
Converts all .msg files in msgdir to uORB sources
|
||||
"""
|
||||
# Make sure output directory exists:
|
||||
if not os.path.isdir(outputdir):
|
||||
os.makedirs(outputdir)
|
||||
template_file = os.path.join(templatedir, TOPIC_TEMPLATE_FILE)
|
||||
|
||||
for f in os.listdir(msgdir):
|
||||
# Ignore hidden files
|
||||
if f.startswith("."):
|
||||
continue
|
||||
fn = os.path.join(msgdir, f)
|
||||
# Only look at actual files
|
||||
if not os.path.isfile(fn):
|
||||
continue
|
||||
generate_source_from_file(fn, outputdir, template_file, quiet)
|
||||
|
||||
# generate cpp file with topics list
|
||||
tl_globals = {"msgs" : get_msgs_list(msgdir)}
|
||||
tl_template_file = os.path.join(templatedir, TOPICS_LIST_TEMPLATE_FILE)
|
||||
tl_out_file = os.path.join(outputdir, TOPICS_LIST_TEMPLATE_FILE.replace(".template", ""))
|
||||
generate_by_template(tl_out_file, tl_template_file, tl_globals)
|
||||
return True
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
parser = argparse.ArgumentParser(description='Convert msg files to uorb sources')
|
||||
parser.add_argument('-d', dest='dir', help='directory with msg files')
|
||||
parser.add_argument('-f', dest='file', help="files to convert (use only without -d)", nargs="+")
|
||||
parser.add_argument('-e', dest='templatedir', help='directory with template files',)
|
||||
parser.add_argument('-o', dest='outputdir', help='output directory for source files')
|
||||
parser.add_argument('-q', dest='quiet', default=False, action='store_true',
|
||||
help='string added as prefix to the output file '
|
||||
' name when converting directories')
|
||||
args = parser.parse_args()
|
||||
|
||||
if args.file is not None:
|
||||
for f in args.file:
|
||||
generate_source_from_file(f, args.outputdir, args.templatedir, args.quiet)
|
||||
elif args.dir is not None:
|
||||
convert_dir(args.dir, args.outputdir, args.templatedir, args.quiet)
|
||||
Reference in New Issue
Block a user