mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-02 05:04:08 +08:00
5247db7647
- parameter backend is now running in a wq and accessible over pub/sub - parameters library can call into backend directly (with locking), but operations will gradually start moving to pub/sub - majority of parameters migrated as is, only small changes to parameter autosave and parameter notification that are now performed from the WQ thread
246 lines
9.1 KiB
Python
Executable File
246 lines
9.1 KiB
Python
Executable File
#!/usr/bin/env python3
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#############################################################################
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#
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# Copyright (C) 2013-2022 PX4 Pro Development Team. All rights reserved.
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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
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# 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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"""
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px_generate_uorb_topic_files.py
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Generates c/cpp header/source files for uorb topics from .msg
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message files
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"""
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import os
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import argparse
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import re
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import sys
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try:
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import em
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except ImportError as e:
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print("Failed to import em: " + str(e))
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print("")
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print("You may need to install it using:")
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print(" pip3 install --user empy")
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print("")
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sys.exit(1)
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try:
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import genmsg.template_tools
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except ImportError as e:
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print("Failed to import genmsg: " + str(e))
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print("")
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print("You may need to install it using:")
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print(" pip3 install --user pyros-genmsg")
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print("")
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sys.exit(1)
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__author__ = "Sergey Belash, Thomas Gubler, Beat Kueng"
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__copyright__ = "Copyright (C) 2013-2022 PX4 Development Team."
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__license__ = "BSD"
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__email__ = "thomasgubler@gmail.com"
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TEMPLATE_FILE = ['msg.h.em', 'msg.cpp.em']
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TOPICS_LIST_TEMPLATE_FILE = ['uORBTopics.hpp.em', 'uORBTopics.cpp.em']
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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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def get_topics(filename):
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"""
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Get TOPICS names from a "# TOPICS" line
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"""
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ofile = open(filename, 'r')
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text = ofile.read()
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result = []
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for each_line in text.split('\n'):
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if each_line.startswith(TOPICS_TOKEN):
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topic_names_str = each_line.strip()
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topic_names_str = topic_names_str.replace(TOPICS_TOKEN, "")
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topic_names_list = topic_names_str.split(" ")
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for topic in topic_names_list:
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# topic name PascalCase (file name) to snake_case (topic name)
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topic_name = re.sub(r'(?<!^)(?=[A-Z])', '_', topic).lower()
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result.append(topic_name)
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ofile.close()
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if len(result) == 0:
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# topic name PascalCase (file name) to snake_case (topic name)
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file_base_name = os.path.basename(filename).replace(".msg", "")
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topic_name = re.sub(r'(?<!^)(?=[A-Z])', '_', file_base_name).lower()
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result.append(topic_name)
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return result
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def generate_output_from_file(format_idx, filename, outputdir, package, templatedir, includepath):
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"""
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Converts a single .msg file to an uorb header/source file
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"""
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msg_context = genmsg.msg_loader.MsgContext.create_default()
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full_type_name = genmsg.gentools.compute_full_type_name(package, os.path.basename(filename))
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file_base_name = os.path.basename(filename).replace(".msg", "")
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full_type_name_snake = re.sub(r'(?<!^)(?=[A-Z])', '_', file_base_name).lower()
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spec = genmsg.msg_loader.load_msg_from_file(msg_context, filename, full_type_name)
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field_name_and_type = {}
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for field in spec.parsed_fields():
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field_name_and_type.update({field.name: field.type})
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# assert if the timestamp field is of type uint64
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# try:
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# assert field_name_and_type.get('timestamp') == 'uint64'
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# except AssertionError:
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# print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\t'timestamp' field in " + spec.short_name +
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# " msg definition is not of type uint64 but rather of type " + field_name_and_type.get('timestamp') + "!")
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# exit(1)
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topics = get_topics(filename)
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if includepath:
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search_path = genmsg.command_line.includepath_to_dict(includepath)
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else:
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search_path = {}
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genmsg.msg_loader.load_depends(msg_context, spec, search_path)
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em_globals = {
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"name_snake_case": full_type_name_snake,
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"file_name_in": filename,
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"search_path": search_path,
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"msg_context": msg_context,
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"spec": spec,
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"topics": topics,
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}
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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_FILE[format_idx])
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output_file = os.path.join(outputdir, full_type_name_snake + OUTPUT_FILE_EXT[format_idx])
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return generate_by_template(output_file, template_file, em_globals)
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def generate_by_template(output_file, template_file, em_globals):
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"""
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Invokes empy intepreter to geneate output_file by the
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given template_file and predefined em_globals dict
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"""
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# check if folder exists:
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folder_name = os.path.dirname(output_file)
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if not os.path.exists(folder_name):
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os.makedirs(folder_name)
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ofile = open(output_file, 'w')
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# todo, reuse interpreter
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interpreter = em.Interpreter(output=ofile, globals=em_globals, options={
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em.RAW_OPT: True, em.BUFFERED_OPT: True})
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try:
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interpreter.file(open(template_file))
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except OSError as e:
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ofile.close()
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os.remove(output_file)
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raise
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interpreter.shutdown()
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ofile.close()
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return True
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def generate_topics_list_file_from_files(files, outputdir, template_filename, templatedir):
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# generate cpp file with topics list
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filenames = []
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for filename in [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")]:
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filenames.append(re.sub(r'(?<!^)(?=[A-Z])', '_', filename).lower())
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topics = []
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for msg_filename in files:
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topics.extend(get_topics(msg_filename))
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tl_globals = {"msgs": filenames, "topics": topics}
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tl_template_file = os.path.join(templatedir, template_filename)
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tl_out_file = os.path.join(outputdir, template_filename.replace(".em", ""))
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generate_by_template(tl_out_file, tl_template_file, tl_globals)
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def append_to_include_path(path_to_append, curr_include, package):
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for p in path_to_append:
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curr_include.append('%s:%s' % (package, p))
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if __name__ == "__main__":
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parser = argparse.ArgumentParser(description='Convert msg files to uorb headers/sources')
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parser.add_argument('--headers', help='Generate header files', action='store_true')
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parser.add_argument('--sources', help='Generate source files', action='store_true')
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parser.add_argument('-f', dest='file',
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help="files to convert (use only without -d)",
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nargs="+")
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parser.add_argument('-i', dest="include_paths",
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help='Additional Include Paths', nargs="*",
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default=None)
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parser.add_argument('-e', dest='templatedir',
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help='directory with template files',)
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parser.add_argument('-k', dest='package', default=PACKAGE,
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help='package name')
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parser.add_argument('-o', dest='outputdir',
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help='output directory for header files')
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parser.add_argument('-p', dest='prefix', default='',
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help='string added as prefix to the output file '
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' name when converting directories')
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args = parser.parse_args()
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if args.include_paths:
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append_to_include_path(args.include_paths, INCL_DEFAULT, args.package)
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if args.headers:
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generate_idx = 0
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elif args.sources:
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generate_idx = 1
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else:
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print('Error: either --headers or --sources must be specified')
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exit(-1)
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if args.file is not None:
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for f in args.file:
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generate_output_from_file(generate_idx, f, args.outputdir, args.package, args.templatedir, INCL_DEFAULT)
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# Generate topics list header and source file
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if os.path.isfile(os.path.join(args.templatedir, TOPICS_LIST_TEMPLATE_FILE[generate_idx])):
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generate_topics_list_file_from_files(args.file, args.outputdir, TOPICS_LIST_TEMPLATE_FILE[generate_idx], args.templatedir)
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