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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/px_generate_uorb_topic_files.py
+23 -20
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@@ -111,12 +111,12 @@ def get_msgs_list(msgdir):
return [fn for fn in os.listdir(msgdir) if fn.endswith(".msg")]
def generate_output_from_file(format_idx, filename, outputdir, templatedir, includepath):
def generate_output_from_file(format_idx, filename, outputdir, package, templatedir, includepath):
"""
Converts a single .msg file to an uorb header/source file
"""
msg_context = genmsg.msg_loader.MsgContext.create_default()
full_type_name = genmsg.gentools.compute_full_type_name(PACKAGE, os.path.basename(filename))
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)
field_name_and_type = {}
for field in spec.parsed_fields():
@@ -161,11 +161,11 @@ def generate_output_from_file(format_idx, filename, outputdir, templatedir, incl
return generate_by_template(output_file, template_file, em_globals)
def generate_idl_file(filename_msg, outputdir, templatedir, includepath):
def generate_idl_file(filename_msg, outputdir, templatedir, package, includepath):
"""
Generates an .idl from .msg file
"""
em_globals = get_em_globals(filename_msg, includepath, MsgScope.NONE)
em_globals = get_em_globals(filename_msg, package, includepath, MsgScope.NONE)
spec_short_name = em_globals["spec"].short_name
# Make sure output directory exists:
@@ -178,16 +178,16 @@ def generate_idl_file(filename_msg, outputdir, templatedir, includepath):
return generate_by_template(output_file, template_file, em_globals)
def generate_uRTPS_general(filename_send_msgs, filename_received_msgs,
outputdir, templatedir, includepath, template_name):
outputdir, templatedir, package, includepath, template_name):
"""
Generates source file by msg content
"""
em_globals_list = []
if filename_send_msgs:
em_globals_list.extend([get_em_globals(f, includepath, MsgScope.SEND) for f in filename_send_msgs])
em_globals_list.extend([get_em_globals(f, package, includepath, MsgScope.SEND) for f in filename_send_msgs])
if filename_received_msgs:
em_globals_list.extend([get_em_globals(f, includepath, MsgScope.RECEIVE) for f in filename_received_msgs])
em_globals_list.extend([get_em_globals(f, package, includepath, MsgScope.RECEIVE) for f in filename_received_msgs])
merged_em_globals = merge_em_globals_list(em_globals_list)
# Make sure output directory exists:
@@ -199,11 +199,11 @@ def generate_uRTPS_general(filename_send_msgs, filename_received_msgs,
return generate_by_template(output_file, template_file, merged_em_globals)
def generate_topic_file(filename_msg, outputdir, templatedir, includepath, template_name):
def generate_topic_file(filename_msg, outputdir, templatedir, package, includepath, template_name):
"""
Generates an .idl from .msg file
"""
em_globals = get_em_globals(filename_msg, includepath, MsgScope.NONE)
em_globals = get_em_globals(filename_msg, package, includepath, MsgScope.NONE)
spec_short_name = em_globals["spec"].short_name
# Make sure output directory exists:
@@ -215,12 +215,12 @@ def generate_topic_file(filename_msg, outputdir, templatedir, includepath, templ
return generate_by_template(output_file, template_file, em_globals)
def get_em_globals(filename_msg, includepath, scope):
def get_em_globals(filename_msg, package, includepath, scope):
"""
Generates em globals dictionary
"""
msg_context = genmsg.msg_loader.MsgContext.create_default()
full_type_name = genmsg.gentools.compute_full_type_name(PACKAGE, os.path.basename(filename_msg))
full_type_name = genmsg.gentools.compute_full_type_name(package, os.path.basename(filename_msg))
spec = genmsg.msg_loader.load_msg_from_file(msg_context, filename_msg, full_type_name)
topics = get_multi_topics(filename_msg)
if includepath:
@@ -281,7 +281,7 @@ def generate_by_template(output_file, template_file, em_globals):
return True
def convert_dir(format_idx, inputdir, outputdir, templatedir):
def convert_dir(format_idx, inputdir, outputdir, package, templatedir):
"""
Converts all .msg files in inputdir to uORB header/source files
"""
@@ -309,7 +309,7 @@ def convert_dir(format_idx, 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("."):
@@ -323,7 +323,7 @@ def convert_dir(format_idx, inputdir, outputdir, templatedir):
if fn[-4:].lower() != '.msg':
continue
generate_output_from_file(format_idx, fn, outputdir, templatedir, includepath)
generate_output_from_file(format_idx, fn, outputdir, package, templatedir, includepath)
return True
@@ -361,13 +361,13 @@ def copy_changed(inputdir, outputdir, prefix='', quiet=False):
print("{0}: unchanged".format(input_file))
def convert_dir_save(format_idx, inputdir, outputdir, templatedir, temporarydir, prefix, quiet=False):
def convert_dir_save(format_idx, inputdir, outputdir, package, templatedir, temporarydir, prefix, quiet=False):
"""
Converts all .msg files in inputdir to uORB header files
Unchanged existing files are not overwritten.
"""
# Create new headers in temporary output directory
convert_dir(format_idx, inputdir, temporarydir, templatedir)
convert_dir(format_idx, inputdir, temporarydir, package, templatedir)
if generate_idx == 1:
generate_topics_list_file(inputdir, temporarydir, templatedir)
# Copy changed headers from temporary dir to output dir
@@ -396,9 +396,9 @@ def generate_topics_list_file_from_files(files, outputdir, templatedir):
tl_out_file = os.path.join(outputdir, TOPICS_LIST_TEMPLATE_FILE.replace(".template", ""))
generate_by_template(tl_out_file, tl_template_file, tl_globals)
def append_to_include_path(path_to_append, curr_include):
def append_to_include_path(path_to_append, curr_include, package):
for p in path_to_append:
curr_include.append("%s:%s" % (PACKAGE, p))
curr_include.append('%s:%s' % (package, p))
if __name__ == "__main__":
parser = argparse.ArgumentParser(
@@ -416,6 +416,8 @@ if __name__ == "__main__":
default=None)
parser.add_argument('-e', dest='templatedir',
help='directory with template files',)
parser.add_argument('-k', dest='package', default=PACKAGE,
help='package name')
parser.add_argument('-o', dest='outputdir',
help='output directory for header files')
parser.add_argument('-t', dest='temporarydir',
@@ -429,7 +431,7 @@ if __name__ == "__main__":
args = parser.parse_args()
if args.include_paths:
append_to_include_path(args.include_paths, INCL_DEFAULT)
append_to_include_path(args.include_paths, INCL_DEFAULT, args.package)
if args.headers:
generate_idx = 0
@@ -440,7 +442,7 @@ if __name__ == "__main__":
exit(-1)
if args.file is not None:
for f in args.file:
generate_output_from_file(generate_idx, f, args.temporarydir, args.templatedir, INCL_DEFAULT)
generate_output_from_file(generate_idx, f, args.temporarydir, args.package, args.templatedir, INCL_DEFAULT)
if generate_idx == 1:
generate_topics_list_file_from_files(args.file, args.outputdir, args.templatedir)
copy_changed(args.temporarydir, args.outputdir, args.prefix, args.quiet)
@@ -449,6 +451,7 @@ if __name__ == "__main__":
generate_idx,
args.dir,
args.outputdir,
args.package,
args.templatedir,
args.temporarydir,
args.prefix,