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improve verification of RTPS ID's uniqueness

This commit is contained in:
TSC21 2018-10-06 15:58:26 +01:00 committed by Beat Küng
parent a7580b14ba
commit 1e29b00860
4 changed files with 366 additions and 288 deletions
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67
msg/tools/generate_microRTPS_bridge.py
View File

@ -57,28 +57,63 @@ except ImportError:
def check_rtps_id_uniqueness(classifier): def check_rtps_id_uniqueness(classifier):
""" """
Checks if: Checks if there are no ID's for different msgs repeated on the map
1. there are no ID's for different msgs repeated on the map
2. the same msg is set to be sent/received and unclassified at the same time
""" """
msgs_to_use = classifier.msgs_to_send
msgs_to_use.update(classifier.msgs_to_receive)
msgs_to_ignore = classifier.msgs_to_ignore
used_ids = msgs_to_use.values() repeated_ids = dict()
used_ids.sort()
repeated_keys = dict() # check if there are repeated ID's on the messages to send
for key, value in msgs_to_use.items(): for key, value in classifier.msgs_to_send.items():
if used_ids.count(value) > 1: if classifier.msgs_to_send.values().count(value) > 1:
repeated_keys.update({key: value}) repeated_ids.update({key: value})
if not repeated_keys: # check if there are repeated ID's on the messages to receive
for key, value in classifier.msgs_to_receive.items():
if classifier.msgs_to_receive.values().count(value) > 1:
repeated_ids.update({key: value})
# check if there are repeated ID's on the messages to ignore
for key, value in classifier.msgs_to_ignore.items():
if classifier.msgs_to_ignore.values().count(value) > 1:
repeated_ids.update({key: value})
# check if there are repeated IDs between classfied and unclassified msgs
# check send and ignore lists
send_ignore_common_ids = list(set(classifier.msgs_to_ignore.values(
)).intersection(classifier.msgs_to_send.values()))
for item in zip(classifier.msgs_to_send.items(), classifier.msgs_to_ignore.items()):
for repeated in send_ignore_common_ids:
if item[1] == repeated:
repeated_ids.update({item[0]: item[1]})
for item in classifier.msgs_to_ignore.items():
for repeated in send_ignore_common_ids:
if item[1] == repeated:
repeated_ids.update({item[0]: item[1]})
# check receive and ignore lists
receive_ignore_common_ids = list(set(classifier.msgs_to_ignore.values(
)).intersection(classifier.msgs_to_receive.values()))
for item in classifier.msgs_to_receive.items():
for repeated in receive_ignore_common_ids:
if item[1] == repeated:
repeated_ids.update({item[0]: item[1]})
for item in classifier.msgs_to_ignore.items():
for repeated in receive_ignore_common_ids:
if item[1] == repeated:
repeated_ids.update({item[0]: item[1]})
all_msgs = classifier.msgs_to_send
all_msgs.update(classifier.msgs_to_receive)
all_msgs.update(classifier.msgs_to_ignore)
all_ids = all_msgs.values()
all_ids.sort()
if not repeated_ids:
print("All good. RTPS ID's are unique") print("All good. RTPS ID's are unique")
else: else:
raise AssertionError(", ".join('%s' % msgs for msgs in repeated_keys.keys()) + raise AssertionError(", ".join('%s' % msgs for msgs in repeated_ids.keys()) +
" have their keys repeated. Please choose from the following pool:\n" + " have their ID's repeated. Please choose from the following pool:\n" +
", ".join('%d' % id for id in px_generate_uorb_topic_helper.check_available_ids(used_ids))) ", ".join('%d' % id for id in px_generate_uorb_topic_helper.check_available_ids(all_ids)))
default_client_out = px_generate_uorb_topic_helper.get_absolute_path( default_client_out = px_generate_uorb_topic_helper.get_absolute_path(

27
msg/tools/px_generate_uorb_topic_helper.py
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@ -377,18 +377,23 @@ def rtps_message_id(msg_id_map, message):
""" """
Get RTPS ID of uORB message Get RTPS ID of uORB message
""" """
error_msg = ""
# check if the message has an ID set
for dict in msg_id_map[0]['rtps']:
if message in dict['msg']:
if dict['id'] is not None:
return dict['id']
else:
error_msg = "ID is None!"
break
# create list of the available IDs if it fails to get an ID
used_ids = list() used_ids = list()
# check 'send' list for dict in msg_id_map[0]['rtps']:
for dict in msg_id_map[0]['rtps']['send']: if dict['id'] is not None:
used_ids.append(dict['id']) used_ids.append(dict['id'])
if message in dict['msg']:
return dict['id']
# check 'receive' list
for dict in msg_id_map[0]['rtps']['receive']:
used_ids.append(dict['id'])
if message in dict['msg']:
return dict['id']
raise AssertionError( raise AssertionError(
"%s does not have a RTPS ID set in the definition file. Please add an ID from the available pool:\n" % message + "%s %s Please add an ID from the available pool:\n" % (message, error_msg) +
", ".join('%d' % id for id in check_available_ids(used_ids))) ", ".join('%d' % id for id in check_available_ids(used_ids)))

24
msg/tools/uorb_rtps_classifier.py
View File

@ -89,33 +89,36 @@ class Classifier():
# setters (for class init) # setters (for class init)
def set_msgs_to_send(self): def set_msgs_to_send(self):
send = {} send = {}
for dict in self.msg_id_map['rtps']['send']: for dict in self.msg_id_map['rtps']:
send.update({dict['msg']: dict['id']}) if 'send' in dict.keys():
send.update({dict['msg']: dict['id']})
return send return send
def set_msgs_to_receive(self): def set_msgs_to_receive(self):
receive = {} receive = {}
for dict in self.msg_id_map['rtps']['receive']: for dict in self.msg_id_map['rtps']:
receive.update({dict['msg']: dict['id']}) if 'receive' in dict.keys():
receive.update({dict['msg']: dict['id']})
return receive return receive
def set_msgs_to_ignore(self): def set_msgs_to_ignore(self):
ignore = {} ignore = {}
for dict in self.msg_id_map['rtps']['unclassified']: for dict in self.msg_id_map['rtps']:
ignore.update({dict['msg']: dict['id']}) if ('send' not in dict.keys()) and ('receive' not in dict.keys()):
ignore.update({dict['msg']: dict['id']})
return ignore return ignore
def set_msg_files_send(self): def set_msg_files_send(self):
return [os.path.join(self.msg_folder, msg + ".msg") return [os.path.join(self.msg_folder, msg + ".msg")
for msg in self.msgs_to_send.keys()] for msg in self.msgs_to_send.keys()]
def set_msg_files_receive(self): def set_msg_files_receive(self):
return [os.path.join(self.msg_folder, msg + ".msg") return [os.path.join(self.msg_folder, msg + ".msg")
for msg in self.msgs_to_receive.keys()] for msg in self.msgs_to_receive.keys()]
def set_msg_files_ignore(self): def set_msg_files_ignore(self):
return [os.path.join(self.msg_folder, msg + ".msg") return [os.path.join(self.msg_folder, msg + ".msg")
for msg in self.msgs_to_ignore.keys()] for msg in self.msgs_to_ignore.keys()]
@staticmethod @staticmethod
def parse_yaml_msg_id_file(yaml_file): def parse_yaml_msg_id_file(yaml_file):
@ -154,7 +157,8 @@ if __name__ == "__main__":
args = parser.parse_args() args = parser.parse_args()
msg_folder = os.path.dirname(os.path.dirname(os.path.abspath(__file__))) msg_folder = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
classifier = Classifier(os.path.join(msg_folder, args.yaml_file), msg_folder) classifier = Classifier(os.path.join(
msg_folder, args.yaml_file), msg_folder)
if args.send: if args.send:
if args.path: if args.path:

536
msg/tools/uorb_rtps_message_ids.yaml
View File

@ -1,252 +1,286 @@
rtps: rtps:
send: - msg: actuator_armed
- msg: airspeed id: 0
id: 5 - msg: actuator_control
- msg: battery_status id: 1
id: 6 - msg: actuator_direct
- msg: differential_pressure id: 2
id: 15 - msg: actuator_output
- msg: esc_report id: 3
id: 21 - msg: adc_report
- msg: esc_status id: 4
id: 22 - msg: airspeed
- msg: estimator_status id: 5
id: 23 send: true
- msg: iridiumsbd_status - msg: battery_status
id: 30 id: 6
- msg: radio_status send: true
id: 55 - msg: camera_capture
- msg: rate_ctrl_status id: 7
id: 56 - msg: camera_trigger
- msg: satellite_info id: 8
id: 60 receive: true
- msg: sensor_accel - msg: collision_report
id: 61 id: 9
- msg: sensor_baro - msg: commander_state
id: 62 id: 10
- msg: sensor_bias - msg: cpuload
id: 63 id: 11
- msg: sensor_combined - msg: debug_key_value
id: 64 id: 12
- msg: sensor_correction receive: true
id: 65 - msg: debug_value
- msg: sensor_gyro id: 13
id: 66 receive: true
- msg: sensor_mag - msg: debug_vect
id: 67 id: 14
- msg: sensor_preflight receive: true
id: 68 - msg: differential_pressure
- msg: sensor_selection id: 15
id: 69 send: true
- msg: servorail_status - msg: distance_sensor
id: 70 id: 16
- msg: subsystem_info - msg: ekf2_innovations
id: 71 id: 17
- msg: tecs_status - msg: ekf2_timestamps
id: 74 id: 18
- msg: telemetry_status - msg: ekf_gps_drift
id: 75 id: 19
- msg: transponder_report - msg: ekf_gps_position
id: 79 id: 20
- msg: vehicle_global_position - msg: esc_report
id: 92 id: 21
- msg: vehicle_gps_position send: true
id: 93 - msg: esc_status
- msg: vehicle_land_detected id: 22
id: 94 send: true
- msg: vehicle_odometry - msg: estimator_status
id: 98 id: 23
- msg: vehicle_status send: true
id: 101 - msg: iridiumsbd_status
- msg: vtol_vehicle_status id: 30
id: 104 send: true
receive: - msg: follow_target
- msg: camera_trigger id: 24
id: 8 - msg: geofence_result
- msg: debug_key_value id: 25
id: 12 - msg: gps_dump
- msg: debug_value id: 26
id: 13 - msg: gps_inject_data
- msg: debug_vect id: 27
id: 14 - msg: home_position
- msg: obstacle_distance id: 28
id: 42 - msg: input_rc
- msg: optical_flow id: 29
id: 44 - msg: irlock_report
# multi topics TODO id: 31
# - msg: vehicle_mocap_odometry - msg: landing_target_innovation
# id: 132 id: 32
# - msg: vehicle_visual_odometry - msg: landing_target_pose
# id: 133 id: 33
unclassified: - msg: led_control
- msg: actuator_armed id: 34
id: 0 - msg: log_message
- msg: actuator_control id: 35
id: 1 - msg: manual_control_setpoint
- msg: actuator_direct id: 36
id: 2 - msg: mavlink_log
- msg: actuator_output id: 37
id: 3 - msg: mission
- msg: adc_report id: 38
id: 4 - msg: mission_result
- msg: camera_capture id: 39
id: 7 - msg: mount_orientation
- msg: collision_report id: 40
id: 9 - msg: multirotor_motor_limit
- msg: commander_state id: 41
id: 10 - msg: obstacle_distance
- msg: cpuload id: 42
id: 11 receive: true
- msg: distance_sensor - msg: offboard_control_mode
id: 16 id: 43
- msg: ekf2_innovations - msg: optical_flow
id: 17 id: 44
- msg: ekf2_timestamps receive: true
id: 18 - msg: parameter_update
- msg: ekf_gps_drift id: 45
id: 19 - msg: ping
- msg: ekf_gps_position id: 46
id: 20 - msg: position_controller_landing_status
- msg: follow_target id: 47
id: 24 - msg: position_controller_status
- msg: geofence_result id: 48
id: 25 - msg: position_setpoint
- msg: gps_dump id: 49
id: 26 - msg: position_setpoint_triplet
- msg: gps_inject_data id: 50
id: 27 - msg: power_button_state
- msg: home_position id: 51
id: 28 - msg: pwm_input
- msg: input_rc id: 52
id: 29 - msg: qshell_req
- msg: irlock_report id: 53
id: 31 - msg: qshell_retval
- msg: landing_target_innovation id: 54
id: 32 - msg: radio_status
- msg: landing_target_pose id: 55
id: 33 send: true
- msg: led_control - msg: rate_ctrl_status
id: 34 id: 56
- msg: log_message send: true
id: 35 - msg: rc_channels
- msg: manual_control_setpoint id: 57
id: 36 - msg: rc_parameter_map
- msg: mavlink_log id: 58
id: 37 - msg: safety
- msg: mission id: 59
id: 38 - msg: satellite_info
- msg: mission_result id: 60
id: 39 send: true
- msg: mount_orientation - msg: sensor_accel
id: 40 id: 61
- msg: multirotor_motor_limit send: true
id: 41 - msg: sensor_baro
- msg: offboard_control_mode id: 62
id: 43 send: true
- msg: parameter_update - msg: sensor_bias
id: 45 id: 63
- msg: ping send: true
id: 46 - msg: sensor_combined
- msg: position_controller_landing_status id: 64
id: 47 send: true
- msg: position_controller_status - msg: sensor_correction
id: 48 id: 65
- msg: position_setpoint send: true
id: 49 - msg: sensor_gyro
- msg: position_setpoint_triplet id: 66
id: 50 send: true
- msg: power_button_state - msg: sensor_mag
id: 51 id: 67
- msg: pwm_input send: true
id: 52 - msg: sensor_preflight
- msg: qshell_req id: 68
id: 53 send: true
- msg: qshell_retval - msg: sensor_selection
id: 54 id: 69
- msg: rc_channels send: true
id: 57 - msg: servorail_status
- msg: rc_parameter_map id: 70
id: 58 send: true
- msg: safety - msg: subsystem_info
id: 59 id: 71
- msg: system_power send: true
id: 72 - msg: system_power
- msg: task_stack_info id: 72
id: 73 - msg: task_stack_info
- msg: test_motor id: 73
id: 76 - msg: tecs_status
- msg: timesync_status id: 74
id: 77 send: true
- msg: trajectory_waypoint - msg: telemetry_status
id: 78 id: 75
- msg: tune_control send: true
id: 80 - msg: test_motor
- msg: uavcan_parameter_request id: 76
id: 81 - msg: timesync_status
- msg: uavcan_parameter_value id: 77
id: 82 - msg: trajectory_waypoint
- msg: ulog_stream id: 78
id: 83 - msg: transponder_report
- msg: ulog_stream_ack id: 79
id: 84 send: true
- msg: vehicle_air_data - msg: tune_control
id: 85 id: 80
- msg: vehicle_attitude - msg: uavcan_parameter_request
id: 86 id: 81
- msg: vehicle_attitude_setpoint - msg: uavcan_parameter_value
id: 87 id: 82
- msg: vehicle_command - msg: ulog_stream
id: 88 id: 83
- msg: vehicle_command_ack - msg: ulog_stream_ack
id: 89 id: 84
- msg: vehicle_constraint - msg: vehicle_air_data
id: 90 id: 85
- msg: vehicle_control_mode - msg: vehicle_attitude
id: 91 id: 86
- msg: vehicle_local_position - msg: vehicle_attitude_setpoint
id: 95 id: 87
- msg: vehicle_local_position_setpoint - msg: vehicle_command
id: 96 id: 88
- msg: vehicle_magnetometer - msg: vehicle_command_ack
id: 97 id: 89
- msg: vehicle_rates_setpoint - msg: vehicle_constraint
id: 99 id: 90
- msg: vehicle_roi - msg: vehicle_control_mode
id: 100 id: 91
- msg: vehicle_status_flags - msg: vehicle_global_position
id: 102 id: 92
- msg: vehicle_trajectory_waypoint send: true
id: 103 - msg: vehicle_gps_position
- msg: wind_estimate id: 93
id: 105 send: true
# multi topics - msg: vehicle_land_detected
- msg: actuator_control0 id: 94
id: 120 send: true
- msg: actuator_control1 - msg: vehicle_local_position
id: 121 id: 95
- msg: actuator_control2 - msg: vehicle_local_position_setpoint
id: 122 id: 96
- msg: actuator_control3 - msg: vehicle_magnetometer
id: 123 id: 97
- msg: actuator_controls_virtual_fw - msg: vehicle_odometry
id: 124 id: 98
- msg: actuator_controls_virtual_mc send: true
id: 125 - msg: vehicle_rates_setpoint
- msg: mc_virtual_attitude_setpoint id: 99
id: 126 - msg: vehicle_roi
- msg: fw_virtual_attitude_setpoint id: 100
id: 127 - msg: vehicle_status
- msg: vehicle_attitude_groundtruth id: 101
id: 128 send: true
- msg: vehicle_vision_attitude - msg: vehicle_status_flags
id: 129 id: 102
- msg: vehicle_global_position_groundtruth - msg: vehicle_trajectory_waypoint
id: 130 id: 103
- msg: vehicle_local_position_groundtruth - msg: vtol_vehicle_status
id: 131 id: 104
- msg: mc_virtual_rates_setpoint send: true
id: 134 - msg: wind_estimate
- msg: fw_virtual_rates_setpoint id: 105
id: 135 # multi topics
- msg: vehicle_trajectory_waypoint_desired - msg: actuator_control0
id: 136 id: 120
- msg: actuator_control1
id: 121
- msg: actuator_control2
id: 122
- msg: actuator_control3
id: 123
- msg: actuator_controls_virtual_fw
id: 124
- msg: actuator_controls_virtual_mc
id: 125
- msg: mc_virtual_attitude_setpoint
id: 126
- msg: fw_virtual_attitude_setpoint
id: 127
- msg: vehicle_attitude_groundtruth
id: 128
- msg: vehicle_vision_attitude
id: 129
- msg: vehicle_global_position_groundtruth
id: 130
- msg: vehicle_local_position_groundtruth
id: 131
# - msg: vehicle_mocap_odometry
# id: 132
# receive: true
# - msg: vehicle_visual_odometry
# id: 133
# receive: true
- msg: mc_virtual_rates_setpoint
id: 134
- msg: fw_virtual_rates_setpoint
id: 135
- msg: vehicle_trajectory_waypoint_desired
id: 136