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generalize scripts for usage outside the PX4 Firmware dir and with other templates/packages

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This commit is contained in:
TSC21
2018-09-21 15:55:17 +02:00
committed by Beat Küng
parent 7f016b5fd4
commit 943bfbf93f
2 changed files with 60 additions and 39 deletions
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msg/tools/generate_microRTPS_bridge.py
+37 -19
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@@ -57,13 +57,21 @@ def get_absolute_path(arg_parse_dir):
default_client_out = get_absolute_path("src/modules/micrortps_bridge/micrortps_client")
default_agent_out = get_absolute_path("src/modules/micrortps_bridge/micrortps_agent")
default_uorb_templates_dir = "/templates/uorb_microcdr"
default_urtps_templates_dir = "/templates/urtps"
default_package_name = px_generate_uorb_topic_files.PACKAGE
parser = argparse.ArgumentParser()
parser.add_argument("-s", "--send", dest='send', metavar='*.msg', type=str, nargs='+', help="Topics to be sended")
parser.add_argument("-r", "--receive", dest='receive', metavar='*.msg', type=str, nargs='+', help="Topics to be received")
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")
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")
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")
parser.add_argument("-t", "--topic-msg-dir", dest='msgdir', type=str, nargs=1, help="Topics message dir, by default msg/", default="msg")
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)
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)
parser.add_argument("-p", "--package", dest='package', type=str, nargs=1, help="Msg package naming, by default px4", default=default_package_name)
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)
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)
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="")
@@ -77,18 +85,26 @@ if len(sys.argv) <= 1:
args = parser.parse_args()
msg_folder = get_absolute_path(args.msgdir)
msg_files_send = []
msg_files_receive = []
if args.send:
msg_files_send = [get_absolute_path(msg) for msg in args.send]
else:
msg_files_send = []
if args.receive:
msg_files_receive = [get_absolute_path(msg) for msg in args.receive]
if args.package[0] != px_generate_uorb_topic_files.PACKAGE:
package = args.package[0]
else:
msg_files_receive = []
package = px_generate_uorb_topic_files.PACKAGE
agent = args.agent
client = args.client
# If not specified, auto generate the idl filename_send_msgs
if args.idl is None or args.idl == "":
idl = True
else:
idl = args.idl
del_tree = args.del_tree
px_generate_uorb_topic_files.append_to_include_path({msg_folder}, px_generate_uorb_topic_files.INCL_DEFAULT)
px_generate_uorb_topic_files.append_to_include_path({msg_folder}, px_generate_uorb_topic_files.INCL_DEFAULT, package)
agent_out_dir = get_absolute_path(args.agentdir)
client_out_dir = get_absolute_path(args.clientdir)
@@ -126,8 +142,8 @@ if del_tree:
if agent and os.path.isdir(agent_out_dir + "/idl"):
shutil.rmtree(agent_out_dir + "/idl")
uorb_templates_dir = msg_folder + "/templates/uorb_microcdr"
urtps_templates_dir = msg_folder + "/templates/urtps"
uorb_templates_dir = msg_folder + get_absolute_path(args.uorb_templates)
urtps_templates_dir = msg_folder + get_absolute_path(args.urtps_templates)
uRTPS_CLIENT_TEMPL_FILE = 'microRTPS_client.cpp.template'
uRTPS_AGENT_TOPICS_H_TEMPL_FILE = 'RtpsTopics.h.template'
@@ -143,30 +159,32 @@ def generate_agent(out_dir):
if msg_files_send:
for msg_file in msg_files_send:
px_generate_uorb_topic_files.generate_idl_file(msg_file, out_dir + "/idl", urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT)
if idl:
px_generate_uorb_topic_files.generate_idl_file(msg_file, out_dir + "/idl", urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT)
px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_PUBLISHER_H_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_PUBLISHER_H_TEMPL_FILE)
if msg_files_receive:
for msg_file in msg_files_receive:
px_generate_uorb_topic_files.generate_idl_file(msg_file, out_dir + "/idl", urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT)
if idl:
px_generate_uorb_topic_files.generate_idl_file(msg_file, out_dir + "/idl", urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT)
px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_CMAKELIST_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_CMAKELIST_TEMPL_FILE)
# Final steps to install agent
mkdir_p(agent_out_dir + "/fastrtpsgen")
@@ -221,7 +239,7 @@ def generate_client(out_dir):
os.rename(def_file, def_file.replace(".h", ".h_"))
px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, uorb_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_CLIENT_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_CLIENT_TEMPL_FILE)
# Final steps to install client
cp_wildcard(urtps_templates_dir + "/microRTPS_transport.*", out_dir)