use a yaml file description instead of json; minor improvements and cleanup

msg/templates/uorb_microcdr/microRTPS_client.cpp.template

@@ -10,16 +10,24 @@
 @#  - multi_topics (List) list of all multi-topic names
 @###############################################
 @{
+import os
+
 import genmsg.msgs
 import gencpp
 from px_generate_uorb_topic_helper import * # this is in Tools/
 from px_generate_uorb_topic_files import MsgScope # this is in Tools/
-from uorb_rtps_message_ids import * # this is in Tools/
 
 topic_names = [single_spec.short_name for single_spec in spec]
 send_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
 recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
-
+yaml_file = os.path.abspath('uorb_rtps_message_ids.yaml')
+try:
+    msg_ids = parse_yaml_msg_id_file(yaml_file)
+except OSError as e:
+    if e.errno == errno.ENOENT:
+        raise IOError(errno.ENOENT, os.strerror(errno.ENOENT), yaml_file)
+    else:
+        raise
 }@
 /****************************************************************************
  *
@@ -112,7 +120,7 @@ void* send(void* /*unused*/)
                 /* payload is shifted by header length to make room for header*/
                 serialize_@(topic)(&MicroBufferWriter, &data, &data_buffer[header_length], &length);
 
-                if (0 < (read = transport_node->write((char)@(message_id(topic)), data_buffer, length)))
+                if (0 < (read = transport_node->write((char)@(rtps_message_id(msg_ids, topic)), data_buffer, length)))
                 {
                     total_sent += read;
                     ++sent;
@@ -187,7 +195,8 @@ void micrortps_start_topics(struct timespec &begin, int &total_read, uint32_t &r
             switch (topic_ID)
             {
 @[for topic in recv_topics]@
-                case @(message_id(topic)):
+
+                case @(rtps_message_id(msg_ids, topic)):
                 {
                     deserialize_@(topic)(&MicroBufferReader, &@(topic)_data, data_buffer);
                     if (!@(topic)_pub) {

msg/templates/urtps/RtpsTopics.cpp.template

@@ -19,6 +19,14 @@ from px_generate_uorb_topic_files import MsgScope # this is in Tools/
 topic_names = [single_spec.short_name for single_spec in spec]
 send_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
 recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
+yaml_file = os.path.abspath('uorb_rtps_message_ids.yaml')
+try:
+    msg_ids = parse_yaml_msg_id_file(yaml_file)
+except OSError as e:
+    if e.errno == errno.ENOENT:
+        raise IOError(errno.ENOENT, os.strerror(errno.ENOENT), yaml_file)
+    else:
+        raise
 }@
 /****************************************************************************
  *
@@ -89,7 +97,7 @@ void RtpsTopics::publish(uint8_t topic_ID, char data_buffer[], size_t len)
     switch (topic_ID)
     {
 @[for topic in send_topics]@
-        case @(rtps_message_id(os.path.abspath('uorb_rtps_message_ids.json'), topic)): // @(topic)
+        case @(rtps_message_id(msg_ids, topic)): // @(topic)
         {
             @(topic)_ st;
             eprosima::fastcdr::FastBuffer cdrbuffer(data_buffer, len);
@@ -117,7 +125,7 @@ bool RtpsTopics::hasMsg(uint8_t *topic_ID)
         switch (_sub_topics[_next_sub_idx])
         {
 @[for topic in recv_topics]@
-            case @(rtps_message_id(os.path.abspath('uorb_rtps_message_ids.json'), topic)): if (_@(topic)_sub.hasMsg()) *topic_ID = @(rtps_message_id(os.path.abspath('uorb_rtps_message_ids.json'), topic)); break;
+            case @(rtps_message_id(msg_ids, topic)): if (_@(topic)_sub.hasMsg()) *topic_ID = @(rtps_message_id(msg_ids, topic)); break;
 @[end for]@
             default:
                 printf("Unexpected topic ID to check hasMsg\n");
@@ -141,7 +149,7 @@ bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr)
     switch (topic_ID)
     {
 @[for topic in recv_topics]@
-        case @(rtps_message_id(os.path.abspath('uorb_rtps_message_ids.json'), topic)): // @(topic)
+        case @(rtps_message_id(msg_ids, topic)): // @(topic)
             if (_@(topic)_sub.hasMsg())
             {
                 @(topic)_ msg = _@(topic)_sub.getMsg();

msg/templates/urtps/RtpsTopics.h.template

@@ -19,6 +19,14 @@ from px_generate_uorb_topic_files import MsgScope # this is in Tools/
 topic_names = [single_spec.short_name for single_spec in spec]
 send_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
 recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
+yaml_file = os.path.abspath('uorb_rtps_message_ids.yaml')
+try:
+    msg_ids = parse_yaml_msg_id_file(yaml_file)
+except OSError as e:
+    if e.errno == errno.ENOENT:
+        raise IOError(errno.ENOENT, os.strerror(errno.ENOENT), yaml_file)
+    else:
+        raise
 }@
 /****************************************************************************
  *
@@ -89,7 +97,7 @@ private:
     unsigned _next_sub_idx = 0;
     char _sub_topics[@(len(recv_topics))] = {
 @[for topic in recv_topics]@
-        @(rtps_message_id(os.path.abspath('uorb_rtps_message_ids.json'), topic)), // @(topic)
+        @(rtps_message_id(msg_ids, topic)), // @(topic)
 @[end for]@
     };
 @[end if]@