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uORB : Don't automatically include message name as default topic name in uORBTopics source files, to handle case where user doesn't use default messgae name for multi topic definition in .msg file

This commit is contained in:
Junwoo Hwang 2022-04-12 15:58:11 +02:00 committed by Beat Küng
parent 4fc161192a
commit 35613df210
5 changed files with 52 additions and 35 deletions
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12
msg/templates/uorb/uORBTopics.cpp.em
View File

@ -8,7 +8,7 @@
@#
@# Context:
@# - msgs (List) list of all msg files
@# - multi_topics (List) list of all multi-topic names
@# - topics (List) list of all topic names
@###############################################
/****************************************************************************
*
@ -48,17 +48,17 @@
@{
msg_names = [mn.replace(".msg", "") for mn in msgs]
msgs_count = len(msg_names)
msg_names_all = list(set(msg_names + multi_topics)) # set() filters duplicates
msg_names_all.sort()
msgs_count_all = len(msg_names_all)
topics_all = topics
topics_all.sort()
topics_count_all = len(topics_all)
}@
@[for msg_name in msg_names]@
#include <uORB/topics/@(msg_name).h>
@[end for]
const constexpr struct orb_metadata *const uorb_topics_list[ORB_TOPICS_COUNT] = {
@[for idx, msg_name in enumerate(msg_names_all, 1)]@
ORB_ID(@(msg_name))@[if idx != msgs_count_all], @[end if]
@[for idx, topic_name in enumerate(topics_all, 1)]@
ORB_ID(@(topic_name))@[if idx != topics_count_all], @[end if]
@[end for]
};

12
msg/templates/uorb/uORBTopics.hpp.em
View File

@ -8,7 +8,7 @@
@#
@# Context:
@# - msgs (List) list of all msg files
@# - multi_topics (List) list of all multi-topic names
@# - topics (List) list of all topic names
@###############################################
/****************************************************************************
*
@ -46,9 +46,9 @@
@{
msg_names = [mn.replace(".msg", "") for mn in msgs]
msgs_count = len(msg_names)
msg_names_all = list(set(msg_names + multi_topics)) # set() filters duplicates
msg_names_all.sort()
msgs_count_all = len(msg_names_all)
topics_all = topics
topics_all.sort()
topics_count_all = len(topics_all)
}@
#pragma once
@ -57,7 +57,7 @@ msgs_count_all = len(msg_names_all)
#include <uORB/uORB.h>
static constexpr size_t ORB_TOPICS_COUNT{@(msgs_count_all)};
static constexpr size_t ORB_TOPICS_COUNT{@(topics_count_all)};
static constexpr size_t orb_topics_count() { return ORB_TOPICS_COUNT; }
/*
@ -66,7 +66,7 @@ static constexpr size_t orb_topics_count() { return ORB_TOPICS_COUNT; }
extern const struct orb_metadata *const *orb_get_topics() __EXPORT;
enum class ORB_ID : uint8_t {
@[for idx, msg_name in enumerate(msg_names_all)]@
@[for idx, msg_name in enumerate(topics_all)]@
@(msg_name) = @(idx),
@[end for]
INVALID

8
msg/templates/uorb_microcdr/dds_topics.h.em
View File

@ -7,7 +7,7 @@
@#
@# Context:
@# - msgs (List) list of all RTPS messages
@# - multi_topics (List) list of all multi-topic names
@# - topics (List) list of all topic names
@# - spec (msggen.MsgSpec) Parsed specification of the .msg file
@###############################################
@{
@ -43,11 +43,11 @@ struct SendTopicsSubs {
uORB::Subscription @(topic)_sub{ORB_ID(@(topic))};
uxrObjectId @(topic)_data_writer;
@[ end for]@
uxrSession* session;
uint32_t num_payload_sent{};
bool init(uxrSession* session_, uxrStreamId stream_id, uxrObjectId participant_id);
void update(uxrStreamId stream_id);
};
@ -140,7 +140,7 @@ struct RcvTopicsPubs {
uxrSession* session;
uint32_t num_payload_received{};
bool init(uxrSession* session_, uxrStreamId stream_id, uxrStreamId input_stream, uxrObjectId participant_id);
};

2
msg/templates/uorb_microcdr/microRTPS_client.cpp.em
View File

@ -7,7 +7,7 @@
@#
@# Context:
@# - msgs (List) list of all RTPS messages
@# - multi_topics (List) list of all multi-topic names
@# - topics (List) list of all topic names
@# - spec (msggen.MsgSpec) Parsed specification of the .msg file
@###############################################
@{

53
msg/tools/px_generate_uorb_topic_files.py
View File

@ -98,9 +98,11 @@ class MsgScope:
RECEIVE = 2
def get_multi_topics(filename):
def get_topics(filename, msg_name):
"""
Get TOPICS names from a "# TOPICS" line
Get TOPICS names from a "# TOPICS" line. If there are no multi topics defined,
set topic name same as the message name, since the user doesn't expect any new
custom topic names.
"""
ofile = open(filename, 'r')
text = ofile.read()
@ -111,6 +113,10 @@ def get_multi_topics(filename):
topic_names_str = topic_names_str.replace(TOPICS_TOKEN, "")
result.extend(topic_names_str.split(" "))
ofile.close()
if len(result) == 0:
result.append(msg_name)
return result
@ -147,15 +153,16 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template
print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\t'timestamp' field in " + spec.short_name +
" msg definition is not of type uint64 but rather of type " + field_name_and_type.get('timestamp') + "!")
exit(1)
topics = get_multi_topics(filename)
# Get topics used for the message
topics = get_topics(filename, spec.short_name)
if includepath:
search_path = genmsg.command_line.includepath_to_dict(includepath)
else:
search_path = {}
genmsg.msg_loader.load_depends(msg_context, spec, search_path)
md5sum = genmsg.gentools.compute_md5(msg_context, spec)
if len(topics) == 0:
topics.append(spec.short_name)
em_globals = {
"file_name_in": filename,
"md5sum": md5sum,
@ -288,15 +295,16 @@ def get_em_globals(filename_msg, alias, package, includepath, msgs, fastrtps_ver
package, os.path.basename(filename_msg))
spec = genmsg.msg_loader.load_msg_from_file(
msg_context, filename_msg, full_type_name)
topics = get_multi_topics(filename_msg)
# Get topics used for the message
topics = get_topics(filename_msg, spec.short_name)
if includepath:
search_path = genmsg.command_line.includepath_to_dict(includepath)
else:
search_path = {}
genmsg.msg_loader.load_depends(msg_context, spec, search_path)
md5sum = genmsg.gentools.compute_md5(msg_context, spec)
if len(topics) == 0:
topics.append(spec.short_name)
em_globals = {
"file_name_in": filename_msg,
"md5sum": md5sum,
@ -452,24 +460,31 @@ def convert_dir_save(format_idx, inputdir, outputdir, package, templatedir, temp
def generate_topics_list_file(msgdir, outputdir, template_filename, templatedir):
# generate cpp file with topics list
msgs = get_msgs_list(msgdir)
multi_topics = []
topics = []
for msg in msgs:
msg_filename = os.path.join(msgdir, msg)
multi_topics.extend(get_multi_topics(msg_filename))
tl_globals = {"msgs": msgs, "multi_topics": multi_topics}
topics.extend(get_topics(msg_filename, msg))
tl_globals = {"msgs": msgs, "topics": topics}
tl_template_file = os.path.join(templatedir, template_filename)
tl_out_file = os.path.join(outputdir, template_filename.replace(".em", ""))
generate_by_template(tl_out_file, tl_template_file, tl_globals)
def generate_topics_list_file_from_files(files, outputdir, template_filename, templatedir):
# generate cpp file with topics list
filenames = [os.path.basename(
p) for p in files if os.path.basename(p).endswith(".msg")]
multi_topics = []
for msg_filename in files:
multi_topics.extend(get_multi_topics(msg_filename))
tl_globals = {"msgs": filenames, "multi_topics": multi_topics}
# Get message file names ending with .msg only
msg_filenames = [p for p in files if os.path.basename(p).endswith(".msg")]
# Get topics used in messages
topics = []
for msg_filename in msg_filenames:
msg_name = os.path.basename(msg_filename).replace('.msg', '')
topics.extend(get_topics(msg_filename, msg_name))
# Get only the message file name for "msgs" component
msg_basenames = [os.path.basename(p) for p in msg_filenames]
# Set the Template dictionary settings
tl_globals = {"msgs": msg_basenames, "topics": topics}
tl_template_file = os.path.join(templatedir, template_filename)
tl_out_file = os.path.join(outputdir, template_filename.replace(".em", ""))
generate_by_template(tl_out_file, tl_template_file, tl_globals)
@ -529,8 +544,10 @@ if __name__ == "__main__":
generate_output_from_file(
generate_idx, f, args.temporarydir, args.package, args.templatedir, INCL_DEFAULT)
# Generate topics list header and source file
if os.path.isfile(os.path.join(args.templatedir, TOPICS_LIST_TEMPLATE_FILE[generate_idx])):
generate_topics_list_file_from_files(args.file, args.outputdir, TOPICS_LIST_TEMPLATE_FILE[generate_idx], args.templatedir)
copy_changed(args.temporarydir, args.outputdir, args.prefix, args.quiet)
elif args.dir is not None:
convert_dir_save(