rtps: add uorb_rtps_classifier.py iot classify RTPS topics as "send", "receive" or "ignore"

msg/tools/generate_microRTPS_bridge.py

@@ -44,6 +44,7 @@ import argparse
 import shutil
 import px_generate_uorb_topic_files
 import px_generate_uorb_topic_helper
+import uorb_rtps_classifier
 import subprocess
 import glob
 import errno
@@ -54,48 +55,17 @@ except ImportError:
         "Failed to import yaml. You may need to install it with 'sudo pip install pyyaml'")
 
 
-def get_absolute_path(arg_parse_dir):
-    root_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
-
-    if isinstance(arg_parse_dir, list):
-        dir = arg_parse_dir[0]
-    else:
-        dir = arg_parse_dir
-
-    if dir[0] != '/':
-        dir = root_path + "/" + dir
-
-    return dir
-
-
-def parse_yaml_msg_id_file(yaml_file):
+def check_rtps_id_uniqueness(classifier):
     """
-    Parses a yaml file into a dict
+    Checks if:
+    1. there are no ID's for different msgs repeated on the map
+    2. the same msg is set to be sent/received and unclassified at the same time
     """
-    try:
-        with open(yaml_file, 'r') as f:
-            return yaml.load(f)
-    except OSError as e:
-        if e.errno == errno.ENOENT:
-            raise IOError(errno.ENOENT, os.strerror(errno.ENOENT), yaml_file)
-        else:
-            raise
+    msgs_to_use = classifier.msgs_to_send
+    msgs_to_use.update(classifier.msgs_to_receive)
+    msgs_to_ignore = classifier.msgs_to_ignore
 
-
-def get_used_rtps_ids(msg_id_map):
-    msg_ids = {}
-    for dict in msg_id_map['rtps']:
-        msg_ids.update({dict['msg']: dict['id']})
-    return msg_ids
-
-
-def check_rtps_id_uniqueness(msg_id_map):
-    """
-    Checks if there are no ID's repeated on the map
-    """
-    msg_ids = get_used_rtps_ids(msg_id_map)
-
-    used_ids = msg_ids.values()
+    used_ids = msgs_to_use.values()
     used_ids.sort()
 
     repeated_keys = dict()
@@ -111,9 +81,9 @@ def check_rtps_id_uniqueness(msg_id_map):
                              ", ".join('%d' % id for id in px_generate_uorb_topic_helper.check_available_ids(used_ids)))
 
 
-default_client_out = get_absolute_path(
+default_client_out = px_generate_uorb_topic_helper.get_absolute_path(
     "src/modules/micrortps_bridge/micrortps_client")
-default_agent_out = get_absolute_path(
+default_agent_out = px_generate_uorb_topic_helper.get_absolute_path(
     "src/modules/micrortps_bridge/micrortps_agent")
 default_uorb_templates_dir = "templates/uorb_microcdr"
 default_urtps_templates_dir = "templates/urtps"
@@ -122,10 +92,6 @@ 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",
@@ -141,11 +107,11 @@ parser.add_argument("-l", "--generate-cmakelists", dest='cmakelists',
 parser.add_argument("-t", "--topic-msg-dir", dest='msgdir', type=str,
                     help="Topics message dir, by default msg/", default="msg")
 parser.add_argument("-b", "--uorb-templates-dir", dest='uorb_templates', type=str,
-                    help="uORB templates dir, by default msg_dir/templates/uorb_microcdr", default=default_uorb_templates_dir)
+                    help="uORB templates dir, by default msgdir/templates/uorb_microcdr", default=default_uorb_templates_dir)
 parser.add_argument("-q", "--urtps-templates-dir", dest='urtps_templates', type=str,
-                    help="uRTPS templates dir, by default msg_dir/templates/urtps", default=default_urtps_templates_dir)
+                    help="uRTPS templates dir, by default msgdir/templates/urtps", default=default_urtps_templates_dir)
 parser.add_argument("-y", "--rtps-ids-file", dest='yaml_file', type=str,
-                    help="RTPS msg IDs definition file, relative to the msg_dir, by default tools/uorb_rtps_message_ids.yaml", default=default_rtps_id_file)
+                    help="RTPS msg IDs definition file, relative to the msgdir, by default tools/uorb_rtps_message_ids.yaml", default=default_rtps_id_file)
 parser.add_argument("-p", "--package", dest='package', type=str,
                     help="Msg package naming, by default px4", default=default_package_name)
 parser.add_argument("-o", "--agent-outdir", dest='agentdir', type=str, nargs=1,
@@ -166,13 +132,7 @@ if len(sys.argv) <= 1:
 
 # Parse arguments
 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]
-if args.receive:
-    msg_files_receive = [get_absolute_path(msg) for msg in args.receive]
+msg_folder = px_generate_uorb_topic_helper.get_absolute_path(args.msgdir)
 package = args.package
 agent = args.agent
 client = args.client
@@ -181,12 +141,13 @@ cmakelists = args.cmakelists
 del_tree = args.del_tree
 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)
+agent_out_dir = px_generate_uorb_topic_helper.get_absolute_path(args.agentdir)
+client_out_dir = px_generate_uorb_topic_helper.get_absolute_path(
+    args.clientdir)
 gen_idl = args.gen_idl
 idl_dir = args.idl_dir
 if idl_dir != '':
-    idl_dir = get_absolute_path(args.idl_dir)
+    idl_dir = px_generate_uorb_topic_helper.get_absolute_path(args.idl_dir)
 else:
     idl_dir = os.path.join(agent_out_dir, "idl")
 
@@ -196,11 +157,12 @@ if args.fastrtpsgen is None or args.fastrtpsgen == "":
 else:
     # Path to fastrtpsgen is explicitly specified
     fastrtpsgen_path = os.path.join(
-        get_absolute_path(args.fastrtpsgen), "/fastrtpsgen")
+        px_generate_uorb_topic_helper.get_absolute_path(args.fastrtpsgen), "/fastrtpsgen")
 fastrtpsgen_include = args.fastrtpsgen_include
 if fastrtpsgen_include is not None and fastrtpsgen_include != '':
     fastrtpsgen_include = "-I " + \
-        get_absolute_path(args.fastrtpsgen_include) + " "
+        px_generate_uorb_topic_helper.get_absolute_path(
+            args.fastrtpsgen_include) + " "
 
 # If nothing specified it's generated both
 if agent == False and client == False:
@@ -234,70 +196,70 @@ if agent and os.path.isdir(os.path.join(agent_out_dir, "idl")):
 uorb_templates_dir = os.path.join(msg_folder, args.uorb_templates)
 urtps_templates_dir = os.path.join(msg_folder, args.urtps_templates)
 # parse yaml file into a map of ids
-rtps_ids = parse_yaml_msg_id_file(os.path.join(msg_folder, args.yaml_file))
+classifier = Classifier(px_generate_uorb_topic_helper.parse_yaml_msg_id_file(os.path.join(msg_folder, args.yaml_file), msg_folder)
 # check if there are no ID's repeated
-check_rtps_id_uniqueness(rtps_ids)
+check_rtps_id_uniqueness(classifier)
 
 
-uRTPS_CLIENT_TEMPL_FILE = 'microRTPS_client.cpp.template'
-uRTPS_AGENT_TOPICS_H_TEMPL_FILE = 'RtpsTopics.h.template'
-uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE = 'RtpsTopics.cpp.template'
-uRTPS_AGENT_TEMPL_FILE = 'microRTPS_agent.cpp.template'
-uRTPS_AGENT_CMAKELISTS_TEMPL_FILE = 'microRTPS_agent_CMakeLists.txt.template'
-uRTPS_PUBLISHER_SRC_TEMPL_FILE = 'Publisher.cpp.template'
-uRTPS_PUBLISHER_H_TEMPL_FILE = 'Publisher.h.template'
-uRTPS_SUBSCRIBER_SRC_TEMPL_FILE = 'Subscriber.cpp.template'
-uRTPS_SUBSCRIBER_H_TEMPL_FILE = 'Subscriber.h.template'
+uRTPS_CLIENT_TEMPL_FILE='microRTPS_client.cpp.template'
+uRTPS_AGENT_TOPICS_H_TEMPL_FILE='RtpsTopics.h.template'
+uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE='RtpsTopics.cpp.template'
+uRTPS_AGENT_TEMPL_FILE='microRTPS_agent.cpp.template'
+uRTPS_AGENT_CMAKELISTS_TEMPL_FILE='microRTPS_agent_CMakeLists.txt.template'
+uRTPS_PUBLISHER_SRC_TEMPL_FILE='Publisher.cpp.template'
+uRTPS_PUBLISHER_H_TEMPL_FILE='Publisher.h.template'
+uRTPS_SUBSCRIBER_SRC_TEMPL_FILE='Subscriber.cpp.template'
+uRTPS_SUBSCRIBER_H_TEMPL_FILE='Subscriber.h.template'
 
 
 def generate_agent(out_dir):
 
-    if msg_files_send:
-        for msg_file in msg_files_send:
+    if classifier.msg_files_send:
+        for msg_file in classifier.msg_files_send:
             if gen_idl:
                 if out_dir != agent_out_dir:
                     px_generate_uorb_topic_files.generate_idl_file(msg_file, os.path.join(out_dir, "/idl"), urtps_templates_dir,
-                                                                   package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids)
+                                                                   package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
                 else:
                     px_generate_uorb_topic_files.generate_idl_file(msg_file, idl_dir, urtps_templates_dir,
-                                                                   package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids)
+                                                                   package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
             px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
-                                                             package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
+                                                             package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
             px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
-                                                             package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_PUBLISHER_H_TEMPL_FILE)
+                                                             package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_PUBLISHER_H_TEMPL_FILE)
 
-    if msg_files_receive:
-        for msg_file in msg_files_receive:
+    if classifier.msg_files_receive:
+        for msg_file in classifier.msg_files_receive:
             if gen_idl:
                 if out_dir != agent_out_dir:
                     px_generate_uorb_topic_files.generate_idl_file(msg_file, os.path.join(out_dir, "/idl"), urtps_templates_dir,
-                                                                   package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids)
+                                                                   package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
                 else:
                     px_generate_uorb_topic_files.generate_idl_file(msg_file, idl_dir, urtps_templates_dir,
-                                                                   package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids)
+                                                                   package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
             px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
-                                                             package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
+                                                             package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
             px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
-                                                             package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
+                                                             package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
 
-    px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
-                                                        package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_AGENT_TEMPL_FILE)
-    px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
-                                                        package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, 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,
-                                                        package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
+    px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msg_files_send, classifier.msg_files_receive, out_dir, urtps_templates_dir,
+                                                        package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_AGENT_TEMPL_FILE)
+    px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msg_files_send, classifier.msg_files_receive, out_dir, urtps_templates_dir,
+                                                        package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
+    px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msg_files_send, classifier.msg_files_receive, out_dir, urtps_templates_dir,
+                                                        package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
     if cmakelists:
-        px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
-                                                            package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE)
+        px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msg_files_send, classifier.msg_files_receive, out_dir, urtps_templates_dir,
+                                                            package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE)
 
     # Final steps to install agent
     mkdir_p(os.path.join(out_dir, "fastrtpsgen"))
-    prev_cwd_path = os.getcwd()
+    prev_cwd_path=os.getcwd()
     os.chdir(os.path.join(out_dir, "fastrtpsgen"))
     if not glob.glob(os.path.join(idl_dir, "*.idl")):
         raise Exception("No IDL files found in %s" % idl_dir)
     for idl_file in glob.glob(os.path.join(idl_dir, "*.idl")):
-        ret = subprocess.call(fastrtpsgen_path + " -d " + out_dir +
+        ret=subprocess.call(fastrtpsgen_path + " -d " + out_dir +
                               "/fastrtpsgen -example x64Linux2.6gcc " + fastrtpsgen_include + idl_file, shell=True)
         if ret:
             raise Exception(
@@ -346,18 +308,18 @@ def generate_client(out_dir):
 
     # Rename work in the default path
     if default_client_out != out_dir:
-        def_file = os.path.join(default_client_out, "microRTPS_client.cpp")
+        def_file=os.path.join(default_client_out, "microRTPS_client.cpp")
         if os.path.isfile(def_file):
             os.rename(def_file, def_file.replace(".cpp", ".cpp_"))
-        def_file = os.path.join(default_client_out, "microRTPS_transport.cpp")
+        def_file=os.path.join(default_client_out, "microRTPS_transport.cpp")
         if os.path.isfile(def_file):
             os.rename(def_file, def_file.replace(".cpp", ".cpp_"))
-        def_file = os.path.join(default_client_out, "microRTPS_transport.h")
+        def_file=os.path.join(default_client_out, "microRTPS_transport.h")
         if os.path.isfile(def_file):
             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,
-                                                        package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_CLIENT_TEMPL_FILE)
+    px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msg_files_send, classifier.msg_files_receive, out_dir, uorb_templates_dir,
+                                                        package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_CLIENT_TEMPL_FILE)
 
     # Final steps to install client
     cp_wildcard(os.path.join(urtps_templates_dir,