mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-23 15:17:35 +08:00
generalize scripts for usage outside the PX4 Firmware dir and with other templates/packages
This commit is contained in:
TSC21
@@ -57,13 +57,21 @@ def get_absolute_path(arg_parse_dir):
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default_client_out = get_absolute_path("src/modules/micrortps_bridge/micrortps_client")
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default_agent_out = get_absolute_path("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_package_name = px_generate_uorb_topic_files.PACKAGE
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parser = argparse.ArgumentParser()
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parser.add_argument("-s", "--send", dest='send', metavar='*.msg', type=str, nargs='+', help="Topics to be sended")
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parser.add_argument("-r", "--receive", dest='receive', metavar='*.msg', type=str, nargs='+', help="Topics to be received")
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parser.add_argument("-a", "--agent", dest='agent', action="store_true", help="Flag for generate the agent, by default is true if -c is not specified")
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parser.add_argument("-c", "--client", dest='client', action="store_true", help="Flag for generate the client, by default is true if -a is not specified")
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parser.add_argument("-i", "--no-idl", dest='idl', action="store_false", help="Flag for generate idl files for each msg, by default is true if -i is not specified")
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parser.add_argument("-t", "--topic-msg-dir", dest='msgdir', type=str, nargs=1, help="Topics message dir, by default msg/", default="msg")
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parser.add_argument("-b", "--uorb-templates-dir", dest='uorb_templates', type=str, nargs=1, help="uORB templates dir, by default msg_dir/templates/uorb_microcdr", default=default_uorb_templates_dir)
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parser.add_argument("-q", "--urtps-templates-dir", dest='urtps_templates', type=str, nargs=1, help="uRTPS templates dir, by default msg_dir/templates/urtps", default=default_urtps_templates_dir)
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parser.add_argument("-p", "--package", dest='package', type=str, nargs=1, 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, 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, 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='?', help="fastrtpsgen installation dir, only needed if fastrtpsgen is not in PATH, by default empty", default="")
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@@ -77,18 +85,26 @@ if len(sys.argv) <= 1:
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args = parser.parse_args()
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msg_folder = get_absolute_path(args.msgdir)
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msg_files_send = []
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msg_files_receive = []
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if args.send:
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msg_files_send = [get_absolute_path(msg) for msg in args.send]
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else:
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msg_files_send = []
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if args.receive:
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msg_files_receive = [get_absolute_path(msg) for msg in args.receive]
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if args.package[0] != px_generate_uorb_topic_files.PACKAGE:
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package = args.package[0]
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else:
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msg_files_receive = []
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package = px_generate_uorb_topic_files.PACKAGE
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agent = args.agent
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client = args.client
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# If not specified, auto generate the idl filename_send_msgs
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if args.idl is None or args.idl == "":
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idl = True
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else:
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idl = args.idl
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del_tree = args.del_tree
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px_generate_uorb_topic_files.append_to_include_path({msg_folder}, px_generate_uorb_topic_files.INCL_DEFAULT)
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px_generate_uorb_topic_files.append_to_include_path({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(args.clientdir)
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@@ -126,8 +142,8 @@ if del_tree:
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if agent and os.path.isdir(agent_out_dir + "/idl"):
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shutil.rmtree(agent_out_dir + "/idl")
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uorb_templates_dir = msg_folder + "/templates/uorb_microcdr"
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urtps_templates_dir = msg_folder + "/templates/urtps"
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uorb_templates_dir = msg_folder + get_absolute_path(args.uorb_templates)
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urtps_templates_dir = msg_folder + get_absolute_path(args.urtps_templates)
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uRTPS_CLIENT_TEMPL_FILE = 'microRTPS_client.cpp.template'
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uRTPS_AGENT_TOPICS_H_TEMPL_FILE = 'RtpsTopics.h.template'
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@@ -143,30 +159,32 @@ def generate_agent(out_dir):
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if msg_files_send:
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for msg_file in msg_files_send:
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px_generate_uorb_topic_files.generate_idl_file(msg_file, out_dir + "/idl", urtps_templates_dir,
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px_generate_uorb_topic_files.INCL_DEFAULT)
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if idl:
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px_generate_uorb_topic_files.generate_idl_file(msg_file, out_dir + "/idl", urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT)
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px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
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px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
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px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_PUBLISHER_H_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_PUBLISHER_H_TEMPL_FILE)
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if msg_files_receive:
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for msg_file in msg_files_receive:
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px_generate_uorb_topic_files.generate_idl_file(msg_file, out_dir + "/idl", urtps_templates_dir,
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px_generate_uorb_topic_files.INCL_DEFAULT)
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if idl:
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px_generate_uorb_topic_files.generate_idl_file(msg_file, out_dir + "/idl", urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT)
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px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
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px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
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px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
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px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
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px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
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px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
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px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_CMAKELIST_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_CMAKELIST_TEMPL_FILE)
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# Final steps to install agent
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mkdir_p(agent_out_dir + "/fastrtpsgen")
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@@ -221,7 +239,7 @@ def generate_client(out_dir):
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os.rename(def_file, def_file.replace(".h", ".h_"))
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px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, uorb_templates_dir,
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px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_CLIENT_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_CLIENT_TEMPL_FILE)
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# Final steps to install client
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cp_wildcard(urtps_templates_dir + "/microRTPS_transport.*", out_dir)
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@@ -111,12 +111,12 @@ def get_msgs_list(msgdir):
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return [fn for fn in os.listdir(msgdir) if fn.endswith(".msg")]
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def generate_output_from_file(format_idx, filename, outputdir, templatedir, includepath):
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def generate_output_from_file(format_idx, filename, outputdir, package, templatedir, includepath):
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"""
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Converts a single .msg file to an uorb header/source 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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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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field_name_and_type = {}
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for field in spec.parsed_fields():
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@@ -161,11 +161,11 @@ def generate_output_from_file(format_idx, filename, outputdir, templatedir, incl
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return generate_by_template(output_file, template_file, em_globals)
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def generate_idl_file(filename_msg, outputdir, templatedir, includepath):
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def generate_idl_file(filename_msg, outputdir, templatedir, package, includepath):
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"""
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Generates an .idl from .msg file
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"""
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em_globals = get_em_globals(filename_msg, includepath, MsgScope.NONE)
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em_globals = get_em_globals(filename_msg, package, includepath, MsgScope.NONE)
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spec_short_name = em_globals["spec"].short_name
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# Make sure output directory exists:
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@@ -178,16 +178,16 @@ def generate_idl_file(filename_msg, outputdir, templatedir, includepath):
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return generate_by_template(output_file, template_file, em_globals)
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def generate_uRTPS_general(filename_send_msgs, filename_received_msgs,
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outputdir, templatedir, includepath, template_name):
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outputdir, templatedir, package, includepath, template_name):
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"""
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Generates source file by msg content
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"""
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em_globals_list = []
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if filename_send_msgs:
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em_globals_list.extend([get_em_globals(f, includepath, MsgScope.SEND) for f in filename_send_msgs])
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em_globals_list.extend([get_em_globals(f, package, includepath, MsgScope.SEND) for f in filename_send_msgs])
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if filename_received_msgs:
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em_globals_list.extend([get_em_globals(f, includepath, MsgScope.RECEIVE) for f in filename_received_msgs])
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em_globals_list.extend([get_em_globals(f, package, includepath, MsgScope.RECEIVE) for f in filename_received_msgs])
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merged_em_globals = merge_em_globals_list(em_globals_list)
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# Make sure output directory exists:
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@@ -199,11 +199,11 @@ def generate_uRTPS_general(filename_send_msgs, filename_received_msgs,
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return generate_by_template(output_file, template_file, merged_em_globals)
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def generate_topic_file(filename_msg, outputdir, templatedir, includepath, template_name):
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def generate_topic_file(filename_msg, outputdir, templatedir, package, includepath, template_name):
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"""
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Generates an .idl from .msg file
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"""
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em_globals = get_em_globals(filename_msg, includepath, MsgScope.NONE)
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em_globals = get_em_globals(filename_msg, package, includepath, MsgScope.NONE)
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spec_short_name = em_globals["spec"].short_name
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# Make sure output directory exists:
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@@ -215,12 +215,12 @@ def generate_topic_file(filename_msg, outputdir, templatedir, includepath, templ
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return generate_by_template(output_file, template_file, em_globals)
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def get_em_globals(filename_msg, includepath, scope):
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def get_em_globals(filename_msg, package, includepath, scope):
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"""
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Generates em globals dictionary
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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_msg))
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full_type_name = genmsg.gentools.compute_full_type_name(package, os.path.basename(filename_msg))
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spec = genmsg.msg_loader.load_msg_from_file(msg_context, filename_msg, full_type_name)
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topics = get_multi_topics(filename_msg)
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if includepath:
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@@ -281,7 +281,7 @@ def generate_by_template(output_file, template_file, em_globals):
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return True
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def convert_dir(format_idx, inputdir, outputdir, templatedir):
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def convert_dir(format_idx, inputdir, outputdir, package, templatedir):
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"""
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Converts all .msg files in inputdir to uORB header/source files
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"""
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@@ -309,7 +309,7 @@ def convert_dir(format_idx, 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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@@ -323,7 +323,7 @@ def convert_dir(format_idx, inputdir, outputdir, templatedir):
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if fn[-4:].lower() != '.msg':
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continue
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generate_output_from_file(format_idx, fn, outputdir, templatedir, includepath)
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generate_output_from_file(format_idx, fn, outputdir, package, templatedir, includepath)
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return True
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@@ -361,13 +361,13 @@ def copy_changed(inputdir, outputdir, prefix='', quiet=False):
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print("{0}: unchanged".format(input_file))
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def convert_dir_save(format_idx, inputdir, outputdir, templatedir, temporarydir, prefix, quiet=False):
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def convert_dir_save(format_idx, inputdir, outputdir, package, templatedir, temporarydir, prefix, quiet=False):
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"""
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Converts all .msg files in inputdir to uORB header files
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Unchanged existing files are not overwritten.
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"""
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# Create new headers in temporary output directory
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convert_dir(format_idx, inputdir, temporarydir, templatedir)
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convert_dir(format_idx, inputdir, temporarydir, package, templatedir)
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if generate_idx == 1:
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generate_topics_list_file(inputdir, temporarydir, templatedir)
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# Copy changed headers from temporary dir to output dir
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@@ -396,9 +396,9 @@ def generate_topics_list_file_from_files(files, outputdir, templatedir):
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tl_out_file = os.path.join(outputdir, TOPICS_LIST_TEMPLATE_FILE.replace(".template", ""))
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generate_by_template(tl_out_file, tl_template_file, tl_globals)
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def append_to_include_path(path_to_append, curr_include):
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def append_to_include_path(path_to_append, curr_include, package):
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for p in path_to_append:
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curr_include.append("%s:%s" % (PACKAGE, p))
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curr_include.append('%s:%s' % (package, p))
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if __name__ == "__main__":
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parser = argparse.ArgumentParser(
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@@ -416,6 +416,8 @@ if __name__ == "__main__":
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default=None)
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parser.add_argument('-e', dest='templatedir',
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help='directory with template files',)
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parser.add_argument('-k', dest='package', default=PACKAGE,
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help='package name')
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parser.add_argument('-o', dest='outputdir',
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help='output directory for header files')
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parser.add_argument('-t', dest='temporarydir',
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@@ -429,7 +431,7 @@ if __name__ == "__main__":
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args = parser.parse_args()
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if args.include_paths:
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append_to_include_path(args.include_paths, INCL_DEFAULT)
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append_to_include_path(args.include_paths, INCL_DEFAULT, args.package)
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if args.headers:
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generate_idx = 0
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@@ -440,7 +442,7 @@ if __name__ == "__main__":
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exit(-1)
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if args.file is not None:
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for f in args.file:
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generate_output_from_file(generate_idx, f, args.temporarydir, args.templatedir, INCL_DEFAULT)
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generate_output_from_file(generate_idx, f, args.temporarydir, args.package, args.templatedir, INCL_DEFAULT)
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if generate_idx == 1:
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generate_topics_list_file_from_files(args.file, args.outputdir, args.templatedir)
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copy_changed(args.temporarydir, args.outputdir, args.prefix, args.quiet)
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@@ -449,6 +451,7 @@ if __name__ == "__main__":
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generate_idx,
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args.dir,
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args.outputdir,
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args.package,
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args.templatedir,
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args.temporarydir,
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args.prefix,
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