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microRTPS: simplify the attribution of the RTPS IDs by makiing it automatic

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1. The RTPS IDs are now automatically assigned to the topics
2. Only the topics that get defined to be sent or received in the urtps_bridge_topics.yaml (renamed, since now it doesn't contain IDs) receive the IDs
3. Any addition or removal on the urtps_bridge_topics.yaml file might update the topic IDs - this will require that the agent and the client ID list has to be in sync. This will further require a robustification of the way we check the IDs and the message definitions when starting the bridge.
This commit is contained in:
TSC21
2021-08-12 08:44:53 +02:00
committed by Nuno Marques
parent f557fbc99f
commit c478e2985a
19 changed files with 226 additions and 802 deletions
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msg/tools/generate_microRTPS_bridge.py
+6 -80
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@@ -2,7 +2,7 @@
################################################################################
#
# Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
# Copyright (c) 2018-2019 PX4 Development Team. All rights reserved.
# Copyright (c) 2018-2021 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
@@ -42,7 +42,6 @@ import os
import argparse
import shutil
import px_generate_uorb_topic_files
import px_generate_uorb_topic_helper
from uorb_rtps_classifier import Classifier
import subprocess
import glob
@@ -70,81 +69,11 @@ except ImportError as e:
sys.exit(1)
def check_rtps_id_uniqueness(classifier):
"""
Checks if there are no ID's for different msgs repeated on the map
"""
repeated_ids = dict()
full_send_list = dict(list(msg for msg in list(classifier.msgs_to_send.items(
))) + list(list(msg[0].items())[0] for msg in classifier.alias_msgs_to_send))
full_receive_list = dict(list(msg for msg in list(classifier.msgs_to_receive.items(
))) + list(list(msg[0].items())[0] for msg in classifier.alias_msgs_to_receive))
full_ignore_list = dict(list(msg for msg in list(classifier.msgs_to_ignore.items(
))) + list(list(msg[0].items())[0] for msg in classifier.alias_msgs_to_ignore))
# check if there are repeated ID's on the messages to send
for key, value in list(full_send_list.items()):
if list(full_send_list.values()).count(value) > 1:
repeated_ids.update({key: value})
# check if there are repeated ID's on the messages to receive
for key, value in list(full_receive_list.items()):
if list(full_receive_list.values()).count(value) > 1:
repeated_ids.update({key: value})
# check if there are repeated ID's on the messages to ignore
for key, value in list(full_ignore_list.items()):
if list(full_ignore_list.values()).count(value) > 1:
repeated_ids.update({key: value})
# check if there are repeated IDs between classified and unclassified msgs
# check send and ignore lists
send_ignore_common_ids = list(set(full_ignore_list.values(
)).intersection(list(full_send_list.values())))
for item in list(full_send_list.items()):
for repeated in send_ignore_common_ids:
if item[1] == repeated:
repeated_ids.update({item[0]: item[1]})
for item in list(full_ignore_list.items()):
for repeated in send_ignore_common_ids:
if item[1] == repeated:
repeated_ids.update({item[0]: item[1]})
# check receive and ignore lists
receive_ignore_common_ids = list(set(full_ignore_list.values(
)).intersection(list(full_receive_list.values())))
for item in list(full_receive_list.items()):
for repeated in receive_ignore_common_ids:
if item[1] == repeated:
repeated_ids.update({item[0]: item[1]})
for item in list(full_ignore_list.items()):
for repeated in receive_ignore_common_ids:
if item[1] == repeated:
repeated_ids.update({item[0]: item[1]})
all_msgs = {}
all_msgs.update(full_send_list)
all_msgs.update(full_receive_list)
all_msgs.update(full_ignore_list)
all_ids = list()
all_ids = list(all_msgs.values())
all_ids.sort()
if not repeated_ids:
print("All good. RTPS ID's are unique")
else:
raise AssertionError(", ".join('%s' % msgs for msgs in list(repeated_ids.keys())) +
" have their ID's repeated. Please choose from the following pool:\n" +
", ".join('%d' % id for id in px_generate_uorb_topic_helper.check_available_ids(all_ids)))
default_client_out = "src/modules/micrortps_bridge/micrortps_client"
default_agent_out = "src/modules/micrortps_bridge/micrortps_agent"
default_uorb_templates_dir = "templates/uorb_microcdr"
default_urtps_templates_dir = "templates/urtps"
default_rtps_id_file = "tools/uorb_rtps_message_ids.yaml"
default_urtps_topics_file = "tools/urtps_bridge_topics.yaml"
default_package_name = px_generate_uorb_topic_files.PACKAGE
parser = argparse.ArgumentParser()
@@ -168,7 +97,7 @@ parser.add_argument("-b", "--uorb-templates-dir", dest='uorb_templates', type=st
parser.add_argument("-q", "--urtps-templates-dir", dest='urtps_templates', type=str,
help="uRTPS templates, by default using relative path to 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 path, by default using relative path to msgdir 'tools/uorb_rtps_message_ids.yaml'", default=default_rtps_id_file)
help="Setup uRTPS bridge topics file path, by default using relative path to msgdir 'tools/urtps_bridge_topics.yaml'", default=default_urtps_topics_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,
@@ -319,13 +248,10 @@ uorb_templates_dir = (args.uorb_templates if os.path.isabs(args.uorb_templates)
urtps_templates_dir = (args.urtps_templates if os.path.isabs(args.urtps_templates)
else os.path.join(msg_dir, args.urtps_templates))
# parse yaml file into a map of ids
# parse yaml file into a map of ids and messages to send and receive
classifier = (Classifier(os.path.abspath(args.yaml_file), msg_dir) if os.path.isabs(args.yaml_file)
else Classifier(os.path.join(msg_dir, args.yaml_file), msg_dir))
# check if there are no ID's repeated
check_rtps_id_uniqueness(classifier)
uRTPS_CLIENT_TEMPL_FILE = 'microRTPS_client.cpp.em'
uRTPS_AGENT_TOPICS_H_TEMPL_FILE = 'RtpsTopics.h.em'
@@ -359,7 +285,7 @@ def generate_agent(out_dir):
if classifier.alias_msgs_to_send:
for msg_file in classifier.alias_msgs_to_send:
msg_alias = list(msg_file[0].keys())[0]
msg_alias = msg_file[0]
msg_name = msg_file[1]
if gen_idl:
if out_dir != agent_out_dir:
@@ -389,7 +315,7 @@ def generate_agent(out_dir):
if classifier.alias_msgs_to_receive:
for msg_file in classifier.alias_msgs_to_receive:
msg_alias = list(msg_file[0].keys())[0]
msg_alias = msg_file[0]
msg_name = msg_file[1]
if gen_idl:
if out_dir != agent_out_dir: