mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-19 22:23:33 +08:00
Fixing rebase conflicts
This commit is contained in:
Vicente Monge
committed by
Lorenz Meier
Lorenz Meier
parent
d69c53827f
commit
c85039e413
@@ -0,0 +1,191 @@
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#!/usr/bin/env python
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################################################################################
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#
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# Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# 1. Redistributions of source code must retain the above copyright notice, this
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# list of conditions and the following disclaimer.
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#
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# 2. Redistributions in binary form must reproduce the above copyright notice,
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# this list of conditions and the following disclaimer in the documentation
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# and/or other materials provided with the distribution.
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#
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# 3. Neither the name of the copyright holder nor the names of its contributors
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# may be used to endorse or promote products derived from this software without
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# specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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################################################################################
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import sys, os, argparse, shutil
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import px_generate_uorb_topic_files
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import subprocess, glob
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def get_absolute_path(arg_parse_dir):
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root_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
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if isinstance(arg_parse_dir, list):
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dir = arg_parse_dir[0]
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else:
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dir = arg_parse_dir
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if dir[0] != '/':
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dir = root_path + "/" + dir
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return dir
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parser = argparse.ArgumentParser()
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parser.add_argument("-s", "--send", dest='send', metavar='*.msg', type=str, nargs='+', help="Topics to be sended")
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parser.add_argument("-r", "--receive", dest='receive', metavar='*.msg', type=str, nargs='+', help="Topics to be received")
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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")
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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")
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parser.add_argument("-t", "--topic-msg-dir", dest='msgdir', type=str, nargs=1, help="Topics message dir, by default msg/", default="msg")
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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="src/modules/micrortps_bridge/micrortps_agent")
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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="src/modules/micrortps_bridge/micrortps_client")
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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="")
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parser.add_argument("--delete-tree", dest='del_tree', action="store_true", help="Delete dir tree output dir(s)")
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if len(sys.argv) <= 1:
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parser.print_usage()
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exit(-1)
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# Parse arguments
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args = parser.parse_args()
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msg_folder = get_absolute_path(args.msgdir)
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msg_files_send = args.send
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msg_files_receive = args.receive
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agent = args.agent
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client = args.client
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del_tree = args.del_tree
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px_generate_uorb_topic_files.append_to_include_path({msg_folder}, px_generate_uorb_topic_files.INCL_DEFAULT)
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agent_out_dir = get_absolute_path(args.agentdir)
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client_out_dir = get_absolute_path(args.clientdir)
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if args.fastrtpsgen is None or args.fastrtpsgen == "":
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# Assume fastrtpsgen is in PATH
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fastrtpsgen_path = "fastrtpsgen"
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else:
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# Path to fastrtpsgen is explicitly specified
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fastrtpsgen_path = get_absolute_path(args.fastrtpsgen) + "/fastrtpsgen"
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# If nothing specified it's generated both
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if agent == False and client == False:
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agent = True
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client = True
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if del_tree:
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if agent:
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_continue = str(raw_input("\nFiles in " + agent_out_dir + " will be erased, continue?[Y/n]\n"))
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if _continue == "N" or _continue == "n":
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print("Aborting execution...")
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exit(-1)
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else:
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if agent and os.path.isdir(agent_out_dir):
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shutil.rmtree(agent_out_dir)
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if client:
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_continue = str(raw_input("\nFiles in " + client_out_dir + " will be erased, continue?[Y/n]\n"))
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if _continue == "N" or _continue == "n":
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print("Aborting execution...")
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exit(-1)
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else:
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if client and os.path.isdir(client_out_dir):
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shutil.rmtree(client_out_dir)
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if agent and os.path.isdir(agent_out_dir + "/idl"):
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shutil.rmtree(agent_out_dir + "/idl")
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uorb_templates_dir = msg_folder + "/templates/uorb"
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urtps_templates_dir = msg_folder + "/templates/urtps"
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uRTPS_CLIENT_TEMPL_FILE = 'microRTPS_client.cpp.template'
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uRTPS_AGENT_TOPICS_H_TEMPL_FILE = 'RtpsTopics.h.template'
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uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE = 'RtpsTopics.cxx.template'
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uRTPS_AGENT_TEMPL_FILE = 'microRTPS_agent.cxx.template'
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uRTPS_AGENT_CMAKELIST_TEMPL_FILE = 'microRTPS_agent_CMakeLists.txt.template'
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uRTPS_PUBLISHER_SRC_TEMPL_FILE = 'Publisher.cxx.template'
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uRTPS_PUBLISHER_H_TEMPL_FILE = 'Publisher.h.template'
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uRTPS_SUBSCRIBER_SRC_TEMPL_FILE = 'Subscriber.cxx.template'
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uRTPS_SUBSCRIBER_H_TEMPL_FILE = 'Subscriber.h.template'
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def generate_agent(out_dir):
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if msg_files_send:
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for msg_file in msg_files_send:
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px_generate_uorb_topic_files.generate_idl_file(msg_file, out_dir + "/idl", urtps_templates_dir,
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px_generate_uorb_topic_files.INCL_DEFAULT)
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px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
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px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
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px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_PUBLISHER_H_TEMPL_FILE)
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if msg_files_receive:
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for msg_file in msg_files_receive:
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px_generate_uorb_topic_files.generate_idl_file(msg_file, out_dir + "/idl", urtps_templates_dir,
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px_generate_uorb_topic_files.INCL_DEFAULT)
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px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
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px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
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px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
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px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
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px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
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px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
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px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_CMAKELIST_TEMPL_FILE)
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# Final steps to install agent
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os.system("mkdir -p " + agent_out_dir + "/fastrtpsgen")
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for idl_file in glob.glob( agent_out_dir + "/idl/*.idl"):
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ret = os.system("cd " + agent_out_dir + "/fastrtpsgen && " + fastrtpsgen_path + " -example x64Linux2.6gcc " + idl_file)
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if ret:
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raise Exception("fastrtpsgen not found. Specify the location of fastrtpsgen with the -f flag")
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os.system("rm " + agent_out_dir + "/fastrtpsgen/*PubSubMain.cxx "
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+ agent_out_dir + "/fastrtpsgen/makefile* "
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+ agent_out_dir + "/fastrtpsgen/*Publisher* "
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+ agent_out_dir + "/fastrtpsgen/*Subscriber*")
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os.system("cp " + agent_out_dir + "/fastrtpsgen/* " + agent_out_dir)
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os.system("rm -rf " + agent_out_dir + "/fastrtpsgen/")
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os.system("cp " + urtps_templates_dir + "/microRTPS_transport.* " + agent_out_dir)
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os.system("mv " + agent_out_dir + "/microRTPS_agent_CMakeLists.txt " + agent_out_dir + "/CMakeLists.txt")
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os.system("mkdir -p " + agent_out_dir + "/build")
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return 0
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def generate_client(out_dir):
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px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, uorb_templates_dir,
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px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_CLIENT_TEMPL_FILE)
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# Final steps to install client
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os.system("cp " + urtps_templates_dir + "/microRTPS_transport.* " + client_out_dir)
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return 0
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if agent:
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generate_agent(agent_out_dir)
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print("\nAgent created in: " + agent_out_dir)
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if client:
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generate_client(client_out_dir)
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print("\nClient created in: " + client_out_dir)
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@@ -0,0 +1,108 @@
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# Message identification constants
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msg_id_map = {
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'actuator_armed': 1,
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'actuator_controls': 2,
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'actuator_direct': 3,
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'actuator_outputs': 4,
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'adc_report': 5,
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'airspeed': 6,
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'att_pos_mocap': 7,
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'battery_status': 8,
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'camera_capture': 9,
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'camera_trigger': 10,
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'collision_report': 11,
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'commander_state': 12,
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'control_state': 13,
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'cpuload': 14,
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'debug_key_value': 15,
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'differential_pressure': 16,
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'distance_sensor': 17,
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'ekf2_innovations': 18,
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'ekf2_replay': 19,
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'ekf2_timestamps': 20,
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'esc_report': 21,
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'esc_status': 22,
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'estimator_status': 23,
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'fence': 24,
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'fence_vertex': 25,
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'filtered_bottom_flow': 26,
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'follow_target': 27,
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'fw_pos_ctrl_status': 28,
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'geofence_result': 29,
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'gps_dump': 30,
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'gps_inject_data': 31,
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'hil_sensor': 32,
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'home_position': 33,
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'input_rc': 34,
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'led_control': 35,
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'log_message': 36,
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'manual_control_setpoint': 37,
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'mavlink_log': 38,
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'mc_att_ctrl_status': 39,
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'mission': 40,
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'mission_result': 41,
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'mount_orientation': 42,
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'multirotor_motor_limits': 43,
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'offboard_control_mode': 44,
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'optical_flow': 45,
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'output_pwm': 46,
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'parameter_update': 47,
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'position_setpoint': 48,
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'position_setpoint_triplet': 49,
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'pwm_input': 50,
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'qshell_req': 51,
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'rc_channels': 52,
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'rc_parameter_map': 53,
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'safety': 54,
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'satellite_info': 55,
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'sensor_accel': 56,
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'sensor_baro': 57,
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'sensor_combined': 58,
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'sensor_correction': 59,
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'sensor_gyro': 60,
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'sensor_mag': 61,
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'sensor_preflight': 62,
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'sensor_selection': 63,
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'servorail_status': 64,
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'subsystem_info': 65,
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'system_power': 66,
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'task_stack_info': 67,
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'tecs_status': 68,
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'telemetry_status': 69,
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'test_motor': 70,
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'time_offset': 71,
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'transponder_report': 72,
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'uavcan_parameter_request': 73,
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'uavcan_parameter_value': 74,
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'ulog_stream_ack': 75,
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'ulog_stream': 76,
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'vehicle_attitude': 77,
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'vehicle_attitude_setpoint': 78,
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'vehicle_command_ack': 79,
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'vehicle_command': 80,
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'vehicle_control_mode': 81,
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'vehicle_force_setpoint': 82,
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'vehicle_global_position': 83,
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'vehicle_global_velocity_setpoint': 84,
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'vehicle_gps_position': 85,
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'vehicle_land_detected': 86,
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'vehicle_local_position': 87,
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'vehicle_local_position_setpoint': 88,
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'vehicle_rates_setpoint': 89,
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'vehicle_roi': 90,
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'vehicle_status_flags': 91,
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'vehicle_status': 92,
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'vtol_vehicle_status': 93,
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'wind_estimate': 94,
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}
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def message_id(message):
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"""
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Get id of a message
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"""
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if message in msg_id_map:
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return msg_id_map[message]
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return 0
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@@ -42,8 +42,8 @@ import os
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import shutil
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import filecmp
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import argparse
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import sys
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px4_tools_dir = os.path.dirname(os.path.abspath(__file__))
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sys.path.append(px4_tools_dir + "/genmsg/src")
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sys.path.append(px4_tools_dir + "/gencpp/src")
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@@ -82,7 +82,12 @@ OUTPUT_FILE_EXT = ['.h', '.cpp']
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INCL_DEFAULT = ['std_msgs:./msg/std_msgs']
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PACKAGE = 'px4'
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TOPICS_TOKEN = '# TOPICS '
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IDL_TEMPLATE_FILE = 'msg.idl.template'
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class MsgScope:
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NONE = 0
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SEND = 1
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RECEIVE = 2
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def get_multi_topics(filename):
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"""
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@@ -141,6 +146,102 @@ def generate_output_from_file(format_idx, filename, outputdir, templatedir, incl
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return generate_by_template(output_file, template_file, em_globals)
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def generate_idl_file(filename_msg, outputdir, templatedir, includepath):
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"""
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Generates an .idl from .msg file
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"""
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em_globals = get_em_globals(filename_msg, includepath, MsgScope.NONE)
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spec_short_name = em_globals["spec"].short_name
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# Make sure output directory exists:
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if not os.path.isdir(outputdir):
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os.makedirs(outputdir)
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template_file = os.path.join(templatedir, IDL_TEMPLATE_FILE)
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output_file = os.path.join(outputdir, IDL_TEMPLATE_FILE.replace("msg.idl.template", str(spec_short_name + "_.idl")))
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return generate_by_template(output_file, template_file, em_globals)
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def generate_uRTPS_general(filename_send_msgs, filename_received_msgs,
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outputdir, templatedir, includepath, template_name):
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"""
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Generates source file by UART msg content
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"""
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em_globals_list = []
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if filename_send_msgs:
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em_globals_list.extend([get_em_globals(f, includepath, MsgScope.SEND) for f in filename_send_msgs])
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if filename_received_msgs:
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em_globals_list.extend([get_em_globals(f, includepath, MsgScope.RECEIVE) for f in filename_received_msgs])
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merged_em_globals = merge_em_globals_list(em_globals_list)
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# Make sure output directory exists:
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if not os.path.isdir(outputdir):
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os.makedirs(outputdir)
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template_file = os.path.join(templatedir, template_name)
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output_file = os.path.join(outputdir, template_name.replace(".template", ""))
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return generate_by_template(output_file, template_file, merged_em_globals)
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def generate_topic_file(filename_msg, outputdir, templatedir, includepath, template_name):
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"""
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Generates an .idl from .msg file
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"""
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em_globals = get_em_globals(filename_msg, includepath, MsgScope.NONE)
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spec_short_name = em_globals["spec"].short_name
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# Make sure output directory exists:
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if not os.path.isdir(outputdir):
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os.makedirs(outputdir)
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template_file = os.path.join(templatedir, template_name)
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output_file = os.path.join(outputdir, spec_short_name + "_" + template_name.replace(".template", ""))
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return generate_by_template(output_file, template_file, em_globals)
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def get_em_globals(filename_msg, includepath, scope):
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"""
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Generates em globals dictionary
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"""
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msg_context = genmsg.msg_loader.MsgContext.create_default()
|
||||
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:
|
||||
search_path = genmsg.command_line.includepath_to_dict(includepath)
|
||||
else:
|
||||
search_path = {}
|
||||
genmsg.msg_loader.load_depends(msg_context, spec, search_path)
|
||||
md5sum = genmsg.gentools.compute_md5(msg_context, spec)
|
||||
if len(topics) == 0:
|
||||
topics.append(spec.short_name)
|
||||
em_globals = {
|
||||
"file_name_in": filename_msg,
|
||||
"md5sum": md5sum,
|
||||
"search_path": search_path,
|
||||
"msg_context": msg_context,
|
||||
"spec": spec,
|
||||
"topics": topics,
|
||||
"scope": scope
|
||||
}
|
||||
|
||||
return em_globals
|
||||
|
||||
def merge_em_globals_list(em_globals_list):
|
||||
"""
|
||||
Merges a list of em_globals to a single dictionary where each attribute is a list
|
||||
"""
|
||||
if len(em_globals_list) < 1:
|
||||
return {}
|
||||
|
||||
merged_em_globals = {}
|
||||
for name in em_globals_list[0]:
|
||||
merged_em_globals[name] = [em_globals[name] for em_globals in em_globals_list]
|
||||
|
||||
return merged_em_globals
|
||||
|
||||
|
||||
|
||||
def generate_by_template(output_file, template_file, em_globals):
|
||||
"""
|
||||
@@ -151,7 +252,7 @@ def generate_by_template(output_file, template_file, em_globals):
|
||||
folder_name = os.path.dirname(output_file)
|
||||
if not os.path.exists(folder_name):
|
||||
os.makedirs(folder_name)
|
||||
|
||||
|
||||
ofile = open(output_file, 'w')
|
||||
# todo, reuse interpreter
|
||||
interpreter = em.Interpreter(output=ofile, globals=em_globals, options={em.RAW_OPT:True,em.BUFFERED_OPT:True})
|
||||
@@ -268,7 +369,7 @@ def generate_topics_list_file(msgdir, outputdir, templatedir):
|
||||
tl_template_file = os.path.join(templatedir, TOPICS_LIST_TEMPLATE_FILE)
|
||||
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 generate_topics_list_file_from_files(files, outputdir, templatedir):
|
||||
# generate cpp file with topics list
|
||||
filenames = [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")]
|
||||
|
||||
@@ -23,6 +23,36 @@ type_map = {
|
||||
'char': 'char',
|
||||
}
|
||||
|
||||
type_serialize_map = {
|
||||
'int8': 'SignedChar',
|
||||
'int16': 'Short',
|
||||
'int32': 'Int',
|
||||
'int64': 'Long',
|
||||
'uint8': 'UnsignedChar',
|
||||
'uint16': 'UnsignedShort',
|
||||
'uint32': 'UnsignedInt',
|
||||
'uint64': 'UnsignedLong',
|
||||
'float32': 'Float',
|
||||
'float64': 'Double',
|
||||
'bool': 'Bool',
|
||||
'char': 'Char',
|
||||
}
|
||||
|
||||
type_idl_map = {
|
||||
'int8': 'octet',
|
||||
'int16': 'short',
|
||||
'int32': 'long',
|
||||
'int64': 'long long',
|
||||
'uint8': 'octet',
|
||||
'uint16': 'unsigned short',
|
||||
'uint32': 'unsigned long',
|
||||
'uint64': 'unsigned long long',
|
||||
'float32': 'float',
|
||||
'float64': 'double',
|
||||
'bool': 'boolean',
|
||||
'char': 'char',
|
||||
}
|
||||
|
||||
msgtype_size_map = {
|
||||
'int8': 1,
|
||||
'int16': 2,
|
||||
|
||||
Reference in New Issue
Block a user