From e83a3a6cf7812f9a1b22abf24ccb6ad1c66afac5 Mon Sep 17 00:00:00 2001 From: TSC21 Date: Thu, 22 Jul 2021 10:22:29 +0200 Subject: [PATCH] microRTPS: update RTPS message list naming from 'ids' to 'msgs' --- msg/tools/generate_microRTPS_bridge.py | 48 +++++++++++------------ msg/tools/px_generate_uorb_topic_files.py | 26 ++++++------ msg/tools/uorb_rtps_classifier.py | 4 +- 3 files changed, 39 insertions(+), 39 deletions(-) diff --git a/msg/tools/generate_microRTPS_bridge.py b/msg/tools/generate_microRTPS_bridge.py index b6ea7ab529..3162d635d1 100644 --- a/msg/tools/generate_microRTPS_bridge.py +++ b/msg/tools/generate_microRTPS_bridge.py @@ -274,14 +274,14 @@ def generate_agent(out_dir): if gen_idl: if out_dir != agent_out_dir: px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", os.path.join(out_dir, "/idl"), urtps_templates_dir, - package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_id_map) + package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_list) else: px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", idl_dir, urtps_templates_dir, - package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_id_map) + package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_list) px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir, - package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_PUBLISHER_SRC_TEMPL_FILE) + package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_PUBLISHER_SRC_TEMPL_FILE) px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir, - package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE) + package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE) if classifier.alias_msgs_to_send: for msg_file in classifier.alias_msgs_to_send: @@ -290,28 +290,28 @@ def generate_agent(out_dir): if gen_idl: if out_dir != agent_out_dir: px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, os.path.join(out_dir, "/idl"), urtps_templates_dir, - package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_id_map) + package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_list) else: px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, idl_dir, urtps_templates_dir, - package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_id_map) + package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_list) px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir, - package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_PUBLISHER_SRC_TEMPL_FILE) + package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_PUBLISHER_SRC_TEMPL_FILE) px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir, - package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE) + package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE) if classifier.msgs_to_receive: for msg_file in classifier.msgs_to_receive: if gen_idl: if out_dir != agent_out_dir: px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", os.path.join(out_dir, "/idl"), urtps_templates_dir, - package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_id_map) + package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_list) else: px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", idl_dir, urtps_templates_dir, - package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_id_map) + package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_list) px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir, - package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE) + package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE) px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir, - package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_SUBSCRIBER_H_TEMPL_FILE) + package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_SUBSCRIBER_H_TEMPL_FILE) if classifier.alias_msgs_to_receive: for msg_file in classifier.alias_msgs_to_receive: @@ -320,28 +320,28 @@ def generate_agent(out_dir): if gen_idl: if out_dir != agent_out_dir: px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, os.path.join(out_dir, "/idl"), urtps_templates_dir, - package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_id_map) + package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_list) else: px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, idl_dir, urtps_templates_dir, - package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_id_map) + package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_list) px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir, - package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE) + package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE) px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir, - package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_SUBSCRIBER_H_TEMPL_FILE) + package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_SUBSCRIBER_H_TEMPL_FILE) px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir, - urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_AGENT_TEMPL_FILE) + urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_AGENT_TEMPL_FILE) px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir, - urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_TIMESYNC_CPP_TEMPL_FILE) + urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_TIMESYNC_CPP_TEMPL_FILE) px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir, - urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_TIMESYNC_H_TEMPL_FILE) + urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_TIMESYNC_H_TEMPL_FILE) px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir, - urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_AGENT_TOPICS_H_TEMPL_FILE) + urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_AGENT_TOPICS_H_TEMPL_FILE) px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir, - urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE) + urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE) if cmakelists: px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, os.path.dirname(out_dir), - urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE) + urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE) # Final steps to install agent mkdir_p(os.path.join(out_dir, "fastrtpsgen")) @@ -361,7 +361,7 @@ def generate_agent(out_dir): for idl_file in glob.glob(os.path.join(idl_dir, "*.idl")): # Only run the generator for the topics that are actually marked to be # used by the bridge - if os.path.splitext(os.path.basename(idl_file))[0] in classifier.msg_id_map: + if os.path.splitext(os.path.basename(idl_file))[0] in classifier.msg_list: idl_files.append(idl_file) try: @@ -426,7 +426,7 @@ def generate_client(out_dir): os.rename(def_file, def_file.replace(".h", ".h_")) px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, - out_dir, uorb_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_CLIENT_TEMPL_FILE) + out_dir, uorb_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_CLIENT_TEMPL_FILE) # Final steps to install client cp_wildcard(os.path.join(urtps_templates_dir, diff --git a/msg/tools/px_generate_uorb_topic_files.py b/msg/tools/px_generate_uorb_topic_files.py index d78d8a93c9..1872539fac 100755 --- a/msg/tools/px_generate_uorb_topic_files.py +++ b/msg/tools/px_generate_uorb_topic_files.py @@ -177,7 +177,7 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template return generate_by_template(output_file, template_file, em_globals) -def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, fastrtps_version, ros2_distro, ids): +def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, fastrtps_version, ros2_distro, msgs): """ Generates an .idl from .msg file """ @@ -185,11 +185,11 @@ def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, pack if (alias != ""): em_globals = get_em_globals( - msg, alias, package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.NONE) + msg, alias, package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.NONE) spec_short_name = alias else: em_globals = get_em_globals( - msg, "", package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.NONE) + msg, "", package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.NONE) spec_short_name = em_globals["spec"].short_name # Make sure output directory exists: @@ -208,7 +208,7 @@ def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, pack def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filename_receive_msgs, filename_alias_receive_msgs, - msg_dir, outputdir, templatedir, package, includepath, ids, fastrtps_version, ros2_distro, template_name): + msg_dir, outputdir, templatedir, package, includepath, msgs, fastrtps_version, ros2_distro, template_name): """ Generates source file by msg content """ @@ -226,19 +226,19 @@ def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filenam em_globals_list = [] if send_msgs: em_globals_list.extend([get_em_globals( - f, "", package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.SEND) for f in send_msgs]) + f, "", package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.SEND) for f in send_msgs]) if alias_send_msgs: em_globals_list.extend([get_em_globals( - f[0], f[1], package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.SEND) for f in alias_send_msgs]) + f[0], f[1], package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.SEND) for f in alias_send_msgs]) if receive_msgs: em_globals_list.extend([get_em_globals( - f, "", package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.RECEIVE) for f in receive_msgs]) + f, "", package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.RECEIVE) for f in receive_msgs]) if alias_receive_msgs: em_globals_list.extend([get_em_globals( - f[0], f[1], package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.RECEIVE) for f in alias_receive_msgs]) + f[0], f[1], package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.RECEIVE) for f in alias_receive_msgs]) merged_em_globals = merge_em_globals_list(em_globals_list) @@ -253,7 +253,7 @@ def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filenam return generate_by_template(output_file, template_file, merged_em_globals) -def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, ids, fastrtps_version, ros2_distro, template_name): +def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, msgs, fastrtps_version, ros2_distro, template_name): """ Generates a sources and headers from .msg file """ @@ -261,11 +261,11 @@ def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, pa if (alias): em_globals = get_em_globals( - msg, alias, package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.NONE) + msg, alias, package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.NONE) spec_short_name = alias else: em_globals = get_em_globals( - msg, "", package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.NONE) + msg, "", package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.NONE) spec_short_name = em_globals["spec"].short_name # Make sure output directory exists: @@ -279,7 +279,7 @@ def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, pa return generate_by_template(output_file, template_file, em_globals) -def get_em_globals(filename_msg, alias, package, includepath, ids, fastrtps_version, ros2_distro, scope): +def get_em_globals(filename_msg, alias, package, includepath, msgs, fastrtps_version, ros2_distro, scope): """ Generates em globals dictionary """ @@ -304,7 +304,7 @@ def get_em_globals(filename_msg, alias, package, includepath, ids, fastrtps_vers "msg_context": msg_context, "spec": spec, "topics": topics, - "ids": ids, + "msgs": msgs, "scope": scope, "package": package, "alias": alias, diff --git a/msg/tools/uorb_rtps_classifier.py b/msg/tools/uorb_rtps_classifier.py index 5233ba660e..13a79ffa32 100644 --- a/msg/tools/uorb_rtps_classifier.py +++ b/msg/tools/uorb_rtps_classifier.py @@ -54,7 +54,7 @@ class Classifier(): self.msgs_to_receive: Dict[str, int] = dict() self.alias_msgs_to_send: List[Tuple[str, str]] = [] self.alias_msgs_to_receive: List[Tuple[str, str]] = [] - self.msg_id_map: List[str] = [] + self.msg_list: List[str] = [] # Create message map self.setup_msg_map() @@ -77,7 +77,7 @@ class Classifier(): (topic['msg'], topic['base'])) else: self.msgs_to_receive.update({topic['msg']: 0}) - self.msg_id_map.append(topic['msg']) + self.msg_list.append(topic['msg']) def set_msg_files_send(self) -> list: """