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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
generate_microRTPS_bridge: add the capability to receive absolute and relative paths
This commit is contained in:
TSC21
Beat Küng
parent
4ec40049ce
commit
8da1ff4cff
@ -55,23 +55,6 @@ except ImportError:
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"Failed to import yaml. You may need to install it with 'sudo pip install pyyaml'")
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def get_absolute_path(arg_parse_dir):
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"""
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Get absolute path from dir
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"""
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root_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
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if isinstance(arg_parse_dir, list):
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dir = arg_parse_dir[0]
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else:
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dir = arg_parse_dir
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if dir[0] != '/':
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dir = root_path + "/" + dir
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return dir
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def check_rtps_id_uniqueness(classifier):
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"""
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Checks if there are no ID's for different msgs repeated on the map
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@ -106,7 +89,7 @@ def check_rtps_id_uniqueness(classifier):
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if list(classifier.msgs_to_ignore.values()).count(value) > 1:
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repeated_ids.update({key: value})
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# check if there are repeated IDs between classfied and unclassified msgs
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# check if there are repeated IDs between classified and unclassified msgs
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# check send and ignore lists
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send_ignore_common_ids = list(set(classifier.msgs_to_ignore.values(
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)).intersection(classifier.msgs_to_send.values()))
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@ -149,10 +132,8 @@ def check_rtps_id_uniqueness(classifier):
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", ".join('%d' % id for id in px_generate_uorb_topic_helper.check_available_ids(all_ids)))
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default_client_out = get_absolute_path(
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"src/modules/micrortps_bridge/micrortps_client")
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default_agent_out = get_absolute_path(
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"src/modules/micrortps_bridge/micrortps_agent")
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default_client_out = "src/modules/micrortps_bridge/micrortps_client"
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default_agent_out = "src/modules/micrortps_bridge/micrortps_agent"
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default_uorb_templates_dir = "templates/uorb_microcdr"
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default_urtps_templates_dir = "templates/urtps"
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default_rtps_id_file = "tools/uorb_rtps_message_ids.yaml"
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@ -173,22 +154,22 @@ parser.add_argument("-m", "--mkdir-build", dest='mkdir_build',
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parser.add_argument("-l", "--generate-cmakelists", dest='cmakelists',
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action="store_true", help="Flag to generate a CMakeLists.txt file for the micro-RTPS agent")
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parser.add_argument("-t", "--topic-msg-dir", dest='msgdir', type=str,
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help="Topics message dir, by default msg/", default="msg")
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help="Topics message, by default using relative path 'msg/'", default="msg")
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parser.add_argument("-b", "--uorb-templates-dir", dest='uorb_templates', type=str,
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help="uORB templates dir, by default msgdir/templates/uorb_microcdr", default=default_uorb_templates_dir)
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help="uORB templates, by default using relative path to msgdir 'templates/uorb_microcdr'", default=default_uorb_templates_dir)
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parser.add_argument("-q", "--urtps-templates-dir", dest='urtps_templates', type=str,
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help="uRTPS templates abolsute path, by default use relative path to msg, templates/urtps", default=default_urtps_templates_dir)
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help="uRTPS templates, by default using relative path to msgdir 'templates/urtps'", default=default_urtps_templates_dir)
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parser.add_argument("-y", "--rtps-ids-file", dest='yaml_file', type=str,
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help="RTPS msg IDs definition file absolute path, by default use relative path to msg, tools/uorb_rtps_message_ids.yaml", default=default_rtps_id_file)
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help="RTPS msg IDs definition path, by default using relative path to msgdir 'tools/uorb_rtps_message_ids.yaml'", default=default_rtps_id_file)
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parser.add_argument("-p", "--package", dest='package', type=str,
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help="Msg package naming, by default px4", default=default_package_name)
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parser.add_argument("-o", "--agent-outdir", dest='agentdir', type=str, nargs=1,
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help="Agent output dir, by default src/modules/micrortps_bridge/micrortps_agent", default=default_agent_out)
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parser.add_argument("-u", "--client-outdir", dest='clientdir', type=str, nargs=1,
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help="Client output dir, by default src/modules/micrortps_bridge/micrortps_client", default=default_client_out)
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parser.add_argument("-f", "--fastrtpsgen-dir", dest='fastrtpsgen', type=str, nargs='?',
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parser.add_argument("-o", "--agent-outdir", dest='agentdir', type=str,
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help="Agent output dir, by default using relative path 'src/modules/micrortps_bridge/micrortps_agent'", default=default_agent_out)
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parser.add_argument("-u", "--client-outdir", dest='clientdir', type=str,
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help="Client output dir, by default using relative path 'src/modules/micrortps_bridge/micrortps_client'", default=default_client_out)
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parser.add_argument("-f", "--fastrtpsgen-dir", dest='fastrtpsgen', type=str,
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help="fastrtpsgen installation dir, only needed if fastrtpsgen is not in PATH, by default empty", default="")
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parser.add_argument("-g", "--fastrtpsgen-include", dest='fastrtpsgen_include', type=str, nargs='?',
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parser.add_argument("-g", "--fastrtpsgen-include", dest='fastrtpsgen_include', type=str,
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help="directory(ies) to add to preprocessor include paths of fastrtpsgen, by default empty", default="")
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parser.add_argument("--delete-tree", dest='del_tree',
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action="store_true", help="Delete dir tree output dir(s)")
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@ -200,36 +181,43 @@ if len(sys.argv) <= 1:
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# Parse arguments
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args = parser.parse_args()
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msg_folder = get_absolute_path(args.msgdir)
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package = args.package
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agent = args.agent
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client = args.client
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mkdir_build = args.mkdir_build
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cmakelists = args.cmakelists
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del_tree = args.del_tree
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px_generate_uorb_topic_files.append_to_include_path(
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{msg_folder}, px_generate_uorb_topic_files.INCL_DEFAULT, package)
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agent_out_dir = get_absolute_path(args.agentdir)
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client_out_dir = get_absolute_path(
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args.clientdir)
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gen_idl = args.gen_idl
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mkdir_build = args.mkdir_build
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package = args.package
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# Msg files path
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msg_dir = os.path.abspath(args.msgdir)
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px_generate_uorb_topic_files.append_to_include_path(
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{msg_dir}, px_generate_uorb_topic_files.INCL_DEFAULT, package)
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# Agent files output path
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agent_out_dir = os.path.abspath(args.agentdir)
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# Client files output path
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client_out_dir = os.path.abspath(args.clientdir)
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# IDL files path
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idl_dir = args.idl_dir
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if idl_dir != '':
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idl_dir = get_absolute_path(args.idl_dir)
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idl_dir = os.path.abspath(args.idl_dir)
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else:
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idl_dir = os.path.join(agent_out_dir, "idl")
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if args.fastrtpsgen is None or args.fastrtpsgen == "":
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if args.fastrtpsgen is None or args.fastrtpsgen == '':
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# Assume fastrtpsgen is in PATH
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fastrtpsgen_path = 'fastrtpsgen'
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else:
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# Path to fastrtpsgen is explicitly specified
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fastrtpsgen_path = os.path.join(
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get_absolute_path(args.fastrtpsgen), 'fastrtpsgen')
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os.path.abspath(args.fastrtpsgen), 'fastrtpsgen')
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fastrtpsgen_include = args.fastrtpsgen_include
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if fastrtpsgen_include is not None and fastrtpsgen_include != '':
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fastrtpsgen_include = "-I " + \
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get_absolute_path(
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os.path.abspath(
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args.fastrtpsgen_include) + " "
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# If nothing specified it's generated both
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@ -261,17 +249,17 @@ if del_tree:
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if agent and os.path.isdir(os.path.join(agent_out_dir, "idl")):
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shutil.rmtree(os.path.join(agent_out_dir, "idl"))
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uorb_templates_dir = os.path.join(msg_folder, args.uorb_templates)
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if args.urtps_templates != default_urtps_templates_dir:
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urtps_templates_dir = os.path.abspath(args.urtps_templates)
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else:
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urtps_templates_dir = os.path.join(msg_folder, args.urtps_templates)
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# uORB templates path
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uorb_templates_dir = (args.uorb_templates if os.path.isabs(args.uorb_templates) \
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else os.path.join(msg_dir, args.uorb_templates))
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# uRTPS templates path
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urtps_templates_dir = (args.urtps_templates if os.path.isabs(args.urtps_templates) \
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else os.path.join(msg_dir, args.urtps_templates))
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# parse yaml file into a map of ids
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if args.yaml_file != default_rtps_id_file:
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classifier = Classifier(os.path.abspath(args.yaml_file), msg_folder)
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else:
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classifier = Classifier(os.path.join(
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msg_folder, args.yaml_file), msg_folder)
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classifier = (Classifier(os.path.abspath(args.yaml_file), msg_dir) if os.path.isabs(args.yaml_file) \
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else Classifier(os.path.join(msg_dir, args.yaml_file), msg_dir))
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# check if there are no ID's repeated
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check_rtps_id_uniqueness(classifier)
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