2019-11-23 14:21:58 -04:00
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#!/usr/bin/env python3
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2019-01-27 13:02:33 -04:00
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"""
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Script to parse uORB message format to ROS msg format
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Adapted from https://github.com/eProsima/px4_to_ros/blob/master/px4_to_ros2_PoC/px4_msgs/scripts/copy_and_rename.py
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"""
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import os
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2021-01-11 14:21:39 -04:00
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import re
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2019-01-27 13:02:33 -04:00
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import sys
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from shutil import copyfile
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__author__ = 'PX4 Development Team'
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__copyright__ = \
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'''
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'
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2019-11-25 07:15:52 -04:00
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' Copyright (c) 2018 PX4 Development Team. All rights reserved.
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2019-01-27 13:02:33 -04:00
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'
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' Redistribution and use in source and binary forms, or without
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' modification, 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, 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, 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 self 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, NOT
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' LIMITED TO, 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, CONSEQUENTIAL DAMAGES (INCLUDING,
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' BUT NOT LIMITED TO, OF SUBSTITUTE GOODS OR SERVICES; LOSS
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' OF USE, DATA, PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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' AND ON ANY THEORY OF LIABILITY, IN CONTRACT, STRICT
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' LIABILITY, TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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' ANY WAY OUT OF THE USE OF THIS SOFTWARE, IF ADVISED OF THE
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' POSSIBILITY OF SUCH DAMAGE.
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'
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'''
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__credits__ = ['Nuno Marques <nuno.marques@dronesolution.io>']
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__license__ = 'BSD-3-Clause'
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__version__ = '0.1.0'
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__maintainer__ = 'Nuno Marques'
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__email__ = 'nuno.marques@dronesolution.io'
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__status__ = 'Development'
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input_dir = sys.argv[1]
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output_dir = sys.argv[2]
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2021-07-24 14:42:23 -03:00
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def main():
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print("----------------------- \033[1mmicroRTPS bridge uORB to ROS messages\033[0m -----------------------")
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print("-------------------------------------------------------------------------------------------------------")
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if not os.path.exists(os.path.abspath(output_dir)):
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os.mkdir(os.path.abspath(output_dir))
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else:
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ros_msg_dir = os.path.abspath(output_dir)
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msg_files = os.listdir(ros_msg_dir)
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for msg in msg_files:
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if msg.endswith(".msg"):
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os.remove(os.path.join(ros_msg_dir, msg))
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msg_list = list()
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for filename in os.listdir(input_dir):
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if '.msg' in filename:
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msg_list.append(filename.rstrip('.msg'))
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input_file = input_dir + filename
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output_file = output_dir + \
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filename.partition(".")[0].title().replace('_', '') + ".msg"
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copyfile(input_file, output_file)
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for filename in os.listdir(output_dir):
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if '.msg' in filename:
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input_file = output_dir + filename
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fileUpdated = False
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with open(input_file, 'r') as f:
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lines = f.readlines()
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newlines = []
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alias_msgs = []
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alias_msg_files = []
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for line in lines:
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for msg_type in msg_list:
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if ('px4/' + msg_type + ' ') in line:
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fileUpdated = True
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line = line.replace(('px4/' + msg_type),
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msg_type.partition(".")[0].title().replace('_', ''))
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if re.findall('^' + msg_type + '[\s\[]', line.partition('#')[0]):
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fileUpdated = True
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line = line.replace(msg_type,
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msg_type.partition(".")[0].title().replace('_', ''))
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if '# TOPICS' in line:
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fileUpdated = True
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alias_msgs += line.split()
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alias_msgs.remove('#')
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alias_msgs.remove('TOPICS')
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line = line.replace(line, '')
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newlines.append(line)
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for msg_file in alias_msgs:
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with open(output_dir + msg_file.partition(".")[0].title().replace('_', '') + ".msg", 'w+') as f:
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for line in newlines:
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f.write(line)
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if fileUpdated:
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with open(input_file, 'w+') as f:
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for line in newlines:
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f.write(line)
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print("--\t\t- Generated {} ROS message files in '{}'".format(len(os.listdir(output_dir)), os.path.abspath(output_dir)))
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print("-------------------------------------------------------------------------------------------------------")
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if __name__ == '__main__':
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main()
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