px4-firmware/msg/tools/uorb_rtps_classifier.py

#!/usr/bin/env python

################################################################################
#
# Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
#           2018 PX4 Pro Development Team. All rights reserved.
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import sys
import os
import argparse
import px_generate_uorb_topic_helper


class Classifier():
    """
    Class to classify RTPS msgs as senders, receivers or to be ignored
    """

    def __init__(self, msg_id_map, msg_folder):
        self.msg_id_map = msg_id_map
        self.msg_folder = msg_folder
        self.msgs_to_send = {}
        self.msgs_to_receive = {}
        self.msgs_to_ignore = {}
        self.msg_files_send = []
        self.msg_files_receive = []
        self.msg_files_ignore = []

        # init class attributtes
        self.set_msgs_to_send()
        self.set_msgs_to_receive()
        self.set_msgs_to_ignore()
        self.set_msg_files_send()
        self.set_msg_files_receive()
        self.set_msg_files_ignore()

    # getters
    @property
    def msg_id_map(self):
        return self.__msg_id_map

    @property
    def msg_folder(self):
        return self.__msg_folder

    @property
    def msgs_to_send(self):
        return self.__msgs_to_send

    @property
    def msgs_to_receive(self):
        return self.__msgs_to_receive

    @property
    def msgs_to_ignore(self):
        return self.__msgs_to_ignore

    @property
    def msg_files_send(self):
        return self.__msg_files_send

    @property
    def msg_files_receive(self):
        return self.__msg_files_receive

    @property
    def msg_files_ignore(self):
        return self.__msg_files_ignore

    # setters (for class init)
    def set_msgs_to_send(self):
        for dict in self.msg_id_map['rtps']['send']:
            self.msgs_to_send.update({dict['msg']: dict['id']})

    def set_msgs_to_receive(self):
        for dict in self.msg_id_map['rtps']['receive']:
            self.msgs_to_receive.update({dict['msg']: dict['id']})

    def set_msgs_to_ignore(self):
        for dict in self.msg_id_map['rtps']['unclassified']:
            self.msgs_to_ignore.update({dict['msg']: dict['id']})

    def set_msg_files_send(self):
        self.msgs_files_send = [px_generate_uorb_topic_helper.get_absolute_path(os.path.join(self.msg_folder, msg + ".msg"))
                                for msg in self.msgs_to_send.keys()]

    def set_msg_files_receive(self):
        self.msgs_files_receive = [px_generate_uorb_topic_helper.get_absolute_path(os.path.join(self.msg_folder, msg + ".msg"))
                                   for msg in self.msgs_to_receive.keys()]

    def set_msg_files_ignore(self):
        self.msgs_files_ignore = [px_generate_uorb_topic_helper.get_absolute_path(os.path.join(self.msg_folder, msg + ".msg"))
                                  for msg in self.msgs_to_ignore.keys()]


if __name__ == "__main__":
    parser = argparse.ArgumentParser()

    parser.add_argument("-s", "--send", dest='send',
                        action="store_true", help="Get topics to be sended")
    parser.add_argument("-r", "--receive", dest='receive',
                        action="store_true", help="Get topics to be received")
    parser.add_argument("-i", "--ignore", dest='ignore',
                        action="store_true", help="Get topics to be ignored")
    parser.add_argument("-p", "--path", dest='path',
                        action="store_true", help="Get msgs and its paths")
    parser.add_argument("-m", "--topic-msg-dir", dest='msgdir', type=str,
                        help="Topics message dir, by default msg/", default="msg")
    parser.add_argument("-y", "--rtps-ids-file", dest='yaml_file', type=str,
                        help="RTPS msg IDs definition file, relative to the msg_dir, by default tools/uorb_rtps_message_ids.yaml",
                        default="tools/uorb_rtps_message_ids.yaml")

    # Parse arguments
    args = parser.parse_args()

    msg_folder = os.path.dirname(os.path.dirname(os.path.abspath(args.msgdir)))
    classifier = Classifier(px_generate_uorb_topic_helper.parse_yaml_msg_id_file(
        os.path.join(msg_folder, args.yaml_file)), msg_folder)

    if args.send:
        if args.path:
            print ('send files: ' + ', '.join(str(msg_file)
                                              for msg_file in classifier.msgs_files_send) + '\n')
        else:
            print ('send topics: ' + ', '.join(str(msg)
                                               for msg in classifier.msgs_to_send.keys()) + '\n')
    if args.receive:
        if args.path:
            print ('receive files: ' + ', '.join(str(msg_file)
                                                 for msg_file in classifier.msgs_files_receive) + '\n')
        else:
            print ('receive topics: ' + ', '.join(str(msg)
                                                  for msg in classifier.msgs_to_receive.keys()) + '\n')
    if args.ignore:
        if args.path:
            print ('ignore files: ' + ', '.join(str(msg_file)
                                                for msg_file in classifier.msgs_files_ignore) + '\n')
        else:
            print ('ignore topics: ' + ', '.join(str(msg)
                                                 for msg in classifier.msgs_to_ignore.keys()) + '\n')