mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-28 15:43:34 +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")
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sys.path.append(px4_tools_dir + "/gencpp/src")
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try:
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import em
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import genmsg.template_tools
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except ImportError as e:
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print("python import error: ", e)
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@@ -74,24 +75,75 @@ __license__ = "BSD"
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__email__ = "thomasgubler@gmail.com"
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msg_template_map = {'msg.h.template': '@NAME@.h'}
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srv_template_map = {}
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incl_default = ['std_msgs:./msg/std_msgs']
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package = 'px4'
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TEMPLATE_FILE = 'msg.h.template'
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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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def convert_file(filename, outputdir, templatedir, includepath):
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def get_multi_topics(filename):
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"""
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Converts a single .msg file to a uorb header
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Get TOPICS names from a "# TOPICS" line
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"""
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#print("Generating headers from {0}".format(filename))
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genmsg.template_tools.generate_from_file(filename,
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package,
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outputdir,
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templatedir,
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includepath,
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msg_template_map,
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srv_template_map)
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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 generate_header_from_file(filename, outputdir, templatedir, includepath):
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"""
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Converts a single .msg file to a uorb header 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(PACKAGE, os.path.basename(filename))
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spec = genmsg.msg_loader.load_msg_from_file(msg_context, filename, full_type_name)
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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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"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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}
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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_FILE)
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output_file = os.path.join(outputdir, spec.short_name + OUTPUT_FILE_EXT)
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if os.path.isfile(output_file):
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return False
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ofile = open(output_file, 'w')
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# todo, reuse interpreter
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interpreter = em.Interpreter(output=ofile, globals=em_globals, options={em.RAW_OPT:True,em.BUFFERED_OPT:True})
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if not os.path.isfile(template_file):
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ofile.close()
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os.remove(output_file)
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raise RuntimeError("Template file %s not found in template dir %s" % (template_file, templatedir))
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interpreter.file(open(template_file)) #todo try
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interpreter.shutdown()
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ofile.close()
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return True
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def convert_dir(inputdir, outputdir, templatedir):
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@@ -122,7 +174,7 @@ def convert_dir(inputdir, outputdir, templatedir):
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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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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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@@ -133,11 +185,7 @@ def convert_dir(inputdir, outputdir, templatedir):
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if not os.path.isfile(fn):
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continue
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convert_file(fn,
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outputdir,
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templatedir,
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includepath)
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generate_header_from_file(fn, outputdir, templatedir, includepath)
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return True
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@@ -151,15 +199,15 @@ def copy_changed(inputdir, outputdir, prefix='', quiet=False):
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if not os.path.isdir(outputdir):
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os.makedirs(outputdir)
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for f in os.listdir(inputdir):
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fni = os.path.join(inputdir, f)
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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 f exists in outpoutdir, copy the file if not
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fno = os.path.join(outputdir, prefix + f)
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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(f))
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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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@@ -168,11 +216,11 @@ def copy_changed(inputdir, outputdir, prefix='', quiet=False):
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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(f))
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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(f))
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print("{0}: unchanged".format(input_file))
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def convert_dir_save(inputdir, outputdir, templatedir, temporarydir, prefix, quiet=False):
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@@ -208,11 +256,7 @@ if __name__ == "__main__":
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if args.file is not None:
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for f in args.file:
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convert_file(
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f,
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args.outputdir,
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args.templatedir,
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incl_default)
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generate_header_from_file(f, args.outputdir, args.templatedir, INCL_DEFAULT)
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elif args.dir is not None:
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convert_dir_save(
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args.dir,
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