mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-18 23:39:06 +08:00
73014acf97
this lets a user select what msgs should be compiled for his project Care must be taken though, to compile all orb_topcis that are required by the Rest of the Code. Otherwise many compile errors will occur. This commits adds by default the ./msg include path to reference to other msgs. if an exisiting msg is used in another msg.
322 lines
13 KiB
Python
Executable File
322 lines
13 KiB
Python
Executable File
#!/usr/bin/env python
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#############################################################################
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#
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# Copyright (C) 2013-2016 PX4 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_topics.py
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Generates c/cpp header/source files for uorb topics from .msg (ROS syntax)
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message files
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"""
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from __future__ import print_function
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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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px4_msg_dir = os.path.join(px4_tools_dir,"../msg")
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try:
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import em
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import genmsg.template_tools
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except ImportError as e:
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print("python import error: ", e)
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print('''
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Required python packages not installed.
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On a Debian/Ubuntu system please run:
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sudo apt-get install python-empy
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sudo pip install catkin_pkg
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On MacOS please run:
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sudo pip install empy catkin_pkg
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On Windows please run:
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easy_install empy catkin_pkg
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''')
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exit(1)
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__author__ = "Sergey Belash, Thomas Gubler, Beat Kueng"
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__copyright__ = "Copyright (C) 2013-2016 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.template', 'msg.cpp.template']
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TOPICS_LIST_TEMPLATE_FILE = 'uORBTopics.cpp.template'
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OUTPUT_FILE_EXT = ['.h', '.cpp']
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INCL_DEFAULT = ['std_msgs:./msg/std_msgs','px4:%s'%(px4_msg_dir)]
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PACKAGE = 'px4'
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TOPICS_TOKEN = '# TOPICS '
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def get_multi_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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result.extend(topic_names_str.split(" "))
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ofile.close()
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return result
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def get_msgs_list(msgdir):
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"""
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Makes list of msg files in the given directory
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"""
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return [fn for fn in os.listdir(msgdir) if fn.endswith(".msg")]
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def generate_output_from_file(format_idx, filename, outputdir, 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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spec = genmsg.msg_loader.load_msg_from_file(msg_context, filename, full_type_name)
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topics = get_multi_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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md5sum = genmsg.gentools.compute_md5(msg_context, spec)
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if len(topics) == 0:
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topics.append(spec.short_name)
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em_globals = {
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"file_name_in": filename,
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"md5sum": md5sum,
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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, spec.short_name +
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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={em.RAW_OPT:True,em.BUFFERED_OPT:True})
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if not os.path.isfile(template_file):
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ofile.close()
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os.remove(output_file)
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raise RuntimeError("Template file %s not found" % (template_file))
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interpreter.file(open(template_file)) #todo try
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interpreter.shutdown()
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ofile.close()
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return True
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def convert_dir(format_idx, inputdir, outputdir, templatedir):
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"""
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Converts all .msg files in inputdir to uORB header/source files
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"""
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# Find the most recent modification time in input dir
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maxinputtime = 0
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for f in os.listdir(inputdir):
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fni = os.path.join(inputdir, f)
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if os.path.isfile(fni):
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it = os.path.getmtime(fni)
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if it > maxinputtime:
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maxinputtime = it
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# Find the most recent modification time in output dir
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maxouttime = 0
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if os.path.isdir(outputdir):
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for f in os.listdir(outputdir):
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fni = os.path.join(outputdir, f)
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if os.path.isfile(fni):
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it = os.path.getmtime(fni)
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if it > maxouttime:
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maxouttime = it
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# Do not generate if nothing changed on the input
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if (maxinputtime != 0 and maxouttime != 0 and maxinputtime < maxouttime):
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return False
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includepath = INCL_DEFAULT + [':'.join([PACKAGE, inputdir])]
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for f in os.listdir(inputdir):
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# Ignore hidden files
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if f.startswith("."):
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continue
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fn = os.path.join(inputdir, f)
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# Only look at actual files
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if not os.path.isfile(fn):
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continue
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if fn[-4:].lower() != '.msg':
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continue
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generate_output_from_file(format_idx, fn, outputdir, templatedir, includepath)
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return True
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def copy_changed(inputdir, outputdir, prefix='', quiet=False):
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"""
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Copies files from inputdir to outputdir if they don't exist in
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ouputdir or if their content changed
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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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for input_file in os.listdir(inputdir):
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fni = os.path.join(inputdir, input_file)
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if os.path.isfile(fni):
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# Check if input_file exists in outpoutdir, copy the file if not
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fno = os.path.join(outputdir, prefix + input_file)
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if not os.path.isfile(fno):
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shutil.copy(fni, fno)
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if not quiet:
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print("{0}: new header file".format(fno))
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continue
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if os.path.getmtime(fni) > os.path.getmtime(fno):
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# The file exists in inputdir and outputdir
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# only copy if contents do not match
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if not filecmp.cmp(fni, fno):
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shutil.copy(fni, fno)
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if not quiet:
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print("{0}: updated".format(input_file))
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continue
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if not quiet:
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print("{0}: unchanged".format(input_file))
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def convert_dir_save(format_idx, inputdir, outputdir, templatedir, temporarydir, prefix, quiet=False):
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"""
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Converts all .msg files in inputdir to uORB header files
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Unchanged existing files are not overwritten.
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"""
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# Create new headers in temporary output directory
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convert_dir(format_idx, inputdir, temporarydir, templatedir)
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if generate_idx == 1:
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generate_topics_list_file(inputdir, temporarydir, templatedir)
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# Copy changed headers from temporary dir to output dir
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copy_changed(temporarydir, outputdir, prefix, quiet)
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def generate_topics_list_file(msgdir, outputdir, templatedir):
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# generate cpp file with topics list
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tl_globals = {"msgs" : get_msgs_list(msgdir)}
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tl_template_file = os.path.join(templatedir, TOPICS_LIST_TEMPLATE_FILE)
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tl_out_file = os.path.join(outputdir, TOPICS_LIST_TEMPLATE_FILE.replace(".template", ""))
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generate_by_template(tl_out_file, tl_template_file, tl_globals)
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def generate_topics_list_file_from_files(files, outputdir, templatedir):
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# generate cpp file with topics list
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filenames = [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")]
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tl_globals = {"msgs" : filenames}
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tl_template_file = os.path.join(templatedir, TOPICS_LIST_TEMPLATE_FILE)
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tl_out_file = os.path.join(outputdir, TOPICS_LIST_TEMPLATE_FILE.replace(".template", ""))
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generate_by_template(tl_out_file, tl_template_file, tl_globals)
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if __name__ == "__main__":
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parser = argparse.ArgumentParser(
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description='Convert msg files to uorb headers/sources')
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parser.add_argument('--headers', help='Generate header files',
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action='store_true')
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parser.add_argument('--sources', help='Generate source files',
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action='store_true')
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parser.add_argument('-d', dest='dir', help='directory with msg files')
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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('-e', dest='templatedir',
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help='directory with template files',)
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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('-t', dest='temporarydir',
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help='temporary directory')
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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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parser.add_argument('-q', dest='quiet', default=False, action='store_true',
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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.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.temporarydir, args.templatedir, INCL_DEFAULT)
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if generate_idx == 1:
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generate_topics_list_file_from_files(args.file, args.outputdir, args.templatedir)
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copy_changed(args.temporarydir, args.outputdir, args.prefix, args.quiet)
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elif args.dir is not None:
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convert_dir_save(
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generate_idx,
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args.dir,
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args.outputdir,
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args.templatedir,
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args.temporarydir,
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args.prefix,
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args.quiet)
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