Update cdrstream code generator including typehash

src/lib/cdrstream/idl2rihs01.py

@@ -0,0 +1,92 @@
+#!/usr/bin/env python3
+
+############################################################################
+#
+#   Copyright (C) 2023 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:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+import argparse
+import pathlib
+import sys
+import os
+import tempfile
+import json
+
+try:
+    from rosidl_generator_type_description import generate_type_hash
+except ImportError:
+    # modifying sys.path and importing the Python package with the same
+    # name as this script does not work on Windows
+    rosidl_generator_type_description_root = os.path.dirname(os.path.dirname(__file__))
+    rosidl_generator_type_description_module = os.path.join(
+        rosidl_generator_type_description_root, 'rosidl_generator_type_description', '__init__.py')
+    if not os.path.exists(rosidl_generator_type_description_module):
+        raise
+    from importlib.machinery import SourceFileLoader
+
+    loader = SourceFileLoader('rosidl_generator_type_description', rosidl_generator_type_description_module)
+    rosidl_generator_type_description = loader.load_module()
+    generate_type_hash = rosidl_generator_type_description.generate_type_hash
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser(
+        description=f'Convert px4 .idl files to rihs01')
+    parser.add_argument(
+        'interface_files', nargs='+',
+        help='The interface files to convert')
+    parser.add_argument(
+        '--output-dir', '-o',
+         help='The directory to save converted files (default: current directory)')
+    args = parser.parse_args(sys.argv[1:])
+
+    # So for some odd reason rosidl doesn't do proper cli arguments but believes
+    # that some magically crafted json is better
+
+    idl_files = []
+
+    type_hash_arguments = {}
+    type_hash_arguments['package_name'] = "px4_msgs"
+    type_hash_arguments['output_dir'] = args.output_dir
+    type_hash_arguments["idl_tuples"] = idl_files
+
+    for interface_file in args.interface_files:
+        # So file path need to be magically encoded with a : to let the parser do its thing
+
+        interface_file = str(pathlib.Path(interface_file)).replace("px4/msg", "px4:msg")
+        idl_files.append(interface_file)
+
+    json_file = tempfile.NamedTemporaryFile(mode="w+",delete=False)
+    json.dump(type_hash_arguments, json_file)
+    json_file.flush()
+
+    print(json_file.name)
+
+    generate_type_hash(json_file.name)

src/lib/cdrstream/msg2idl.py

@@ -52,6 +52,6 @@ if __name__ == '__main__':
         package_dir = interface_file.parent.absolute()
 
         convert_msg_to_idl(
-            package_dir, 'px4',
+            package_dir, 'px4_msgs',
             interface_file.absolute().relative_to(package_dir),
             interface_file.parent)