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px_generate_uorb_topic_files.py: beautify

This commit is contained in:
TSC21 2018-09-11 17:28:47 +01:00 committed by Beat Küng
parent cafc2f5e61
commit 4137517d12
1 changed files with 324 additions and 291 deletions
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79
msg/tools/px_generate_uorb_topic_files.py
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@ -85,11 +85,13 @@ PACKAGE = 'px4'
TOPICS_TOKEN = '# TOPICS ' TOPICS_TOKEN = '# TOPICS '
IDL_TEMPLATE_FILE = 'msg.idl.template' IDL_TEMPLATE_FILE = 'msg.idl.template'
class MsgScope: class MsgScope:
NONE = 0 NONE = 0
SEND = 1 SEND = 1
RECEIVE = 2 RECEIVE = 2
def get_multi_topics(filename): def get_multi_topics(filename):
""" """
Get TOPICS names from a "# TOPICS" line Get TOPICS names from a "# TOPICS" line
@ -105,6 +107,7 @@ def get_multi_topics(filename):
ofile.close() ofile.close()
return result return result
def get_msgs_list(msgdir): def get_msgs_list(msgdir):
""" """
Makes list of msg files in the given directory Makes list of msg files in the given directory
@ -117,8 +120,10 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template
Converts a single .msg file to an uorb header/source file Converts a single .msg file to an uorb header/source file
""" """
msg_context = genmsg.msg_loader.MsgContext.create_default() msg_context = genmsg.msg_loader.MsgContext.create_default()
full_type_name = genmsg.gentools.compute_full_type_name(package, os.path.basename(filename)) full_type_name = genmsg.gentools.compute_full_type_name(
spec = genmsg.msg_loader.load_msg_from_file(msg_context, filename, full_type_name) package, os.path.basename(filename))
spec = genmsg.msg_loader.load_msg_from_file(
msg_context, filename, full_type_name)
field_name_and_type = {} field_name_and_type = {}
for field in spec.parsed_fields(): for field in spec.parsed_fields():
field_name_and_type.update({field.name: field.type}) field_name_and_type.update({field.name: field.type})
@ -126,13 +131,15 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template
try: try:
assert 'timestamp' in field_name_and_type assert 'timestamp' in field_name_and_type
except AssertionError: except AssertionError:
print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\tNo 'timestamp' field found in " + spec.short_name + " msg definition!") print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\tNo 'timestamp' field found in " +
spec.short_name + " msg definition!")
exit(1) exit(1)
# assert if the timestamp field is of type uint64 # assert if the timestamp field is of type uint64
try: try:
assert field_name_and_type.get('timestamp') == 'uint64' assert field_name_and_type.get('timestamp') == 'uint64'
except AssertionError: except AssertionError:
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') + "!") 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) exit(1)
topics = get_multi_topics(filename) topics = get_multi_topics(filename)
if includepath: if includepath:
@ -162,11 +169,13 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template
return generate_by_template(output_file, template_file, em_globals) return generate_by_template(output_file, template_file, em_globals)
def generate_idl_file(filename_msg, outputdir, templatedir, package, includepath): def generate_idl_file(filename_msg, outputdir, templatedir, package, includepath):
""" """
Generates an .idl from .msg file Generates an .idl from .msg file
""" """
em_globals = get_em_globals(filename_msg, package, includepath, MsgScope.NONE) em_globals = get_em_globals(
filename_msg, package, includepath, MsgScope.NONE)
spec_short_name = em_globals["spec"].short_name spec_short_name = em_globals["spec"].short_name
# Make sure output directory exists: # Make sure output directory exists:
@ -174,10 +183,12 @@ def generate_idl_file(filename_msg, outputdir, templatedir, package, includepath
os.makedirs(outputdir) os.makedirs(outputdir)
template_file = os.path.join(templatedir, IDL_TEMPLATE_FILE) template_file = os.path.join(templatedir, IDL_TEMPLATE_FILE)
output_file = os.path.join(outputdir, IDL_TEMPLATE_FILE.replace("msg.idl.template", str(spec_short_name + "_.idl"))) output_file = os.path.join(outputdir, IDL_TEMPLATE_FILE.replace(
"msg.idl.template", str(spec_short_name + "_.idl")))
return generate_by_template(output_file, template_file, em_globals) return generate_by_template(output_file, template_file, em_globals)
def generate_uRTPS_general(filename_send_msgs, filename_received_msgs, def generate_uRTPS_general(filename_send_msgs, filename_received_msgs,
outputdir, templatedir, package, includepath, template_name): outputdir, templatedir, package, includepath, template_name):
""" """
@ -185,10 +196,12 @@ def generate_uRTPS_general(filename_send_msgs, filename_received_msgs,
""" """
em_globals_list = [] em_globals_list = []
if filename_send_msgs: if filename_send_msgs:
em_globals_list.extend([get_em_globals(f, package, includepath, MsgScope.SEND) for f in filename_send_msgs]) em_globals_list.extend([get_em_globals(
f, package, includepath, MsgScope.SEND) for f in filename_send_msgs])
if filename_received_msgs: if filename_received_msgs:
em_globals_list.extend([get_em_globals(f, package, includepath, MsgScope.RECEIVE) for f in filename_received_msgs]) em_globals_list.extend([get_em_globals(
f, package, includepath, MsgScope.RECEIVE) for f in filename_received_msgs])
merged_em_globals = merge_em_globals_list(em_globals_list) merged_em_globals = merge_em_globals_list(em_globals_list)
# Make sure output directory exists: # Make sure output directory exists:
@ -196,15 +209,18 @@ def generate_uRTPS_general(filename_send_msgs, filename_received_msgs,
os.makedirs(outputdir) os.makedirs(outputdir)
template_file = os.path.join(templatedir, template_name) template_file = os.path.join(templatedir, template_name)
output_file = os.path.join(outputdir, template_name.replace(".template", "")) output_file = os.path.join(
outputdir, template_name.replace(".template", ""))
return generate_by_template(output_file, template_file, merged_em_globals) return generate_by_template(output_file, template_file, merged_em_globals)
def generate_topic_file(filename_msg, outputdir, templatedir, package, includepath, template_name): def generate_topic_file(filename_msg, outputdir, templatedir, package, includepath, template_name):
""" """
Generates an .idl from .msg file Generates an .idl from .msg file
""" """
em_globals = get_em_globals(filename_msg, package, includepath, MsgScope.NONE) em_globals = get_em_globals(
filename_msg, package, includepath, MsgScope.NONE)
spec_short_name = em_globals["spec"].short_name spec_short_name = em_globals["spec"].short_name
# Make sure output directory exists: # Make sure output directory exists:
@ -212,17 +228,21 @@ def generate_topic_file(filename_msg, outputdir, templatedir, package, includepa
os.makedirs(outputdir) os.makedirs(outputdir)
template_file = os.path.join(templatedir, template_name) template_file = os.path.join(templatedir, template_name)
output_file = os.path.join(outputdir, spec_short_name + "_" + template_name.replace(".template", "")) output_file = os.path.join(
outputdir, spec_short_name + "_" + template_name.replace(".template", ""))
return generate_by_template(output_file, template_file, em_globals) return generate_by_template(output_file, template_file, em_globals)
def get_em_globals(filename_msg, package, includepath, scope): def get_em_globals(filename_msg, package, includepath, scope):
""" """
Generates em globals dictionary Generates em globals dictionary
""" """
msg_context = genmsg.msg_loader.MsgContext.create_default() msg_context = genmsg.msg_loader.MsgContext.create_default()
full_type_name = genmsg.gentools.compute_full_type_name(package, os.path.basename(filename_msg)) full_type_name = genmsg.gentools.compute_full_type_name(
spec = genmsg.msg_loader.load_msg_from_file(msg_context, filename_msg, full_type_name) 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) topics = get_multi_topics(filename_msg)
if includepath: if includepath:
search_path = genmsg.command_line.includepath_to_dict(includepath) search_path = genmsg.command_line.includepath_to_dict(includepath)
@ -244,6 +264,7 @@ def get_em_globals(filename_msg, package, includepath, scope):
return em_globals return em_globals
def merge_em_globals_list(em_globals_list): def merge_em_globals_list(em_globals_list):
""" """
Merges a list of em_globals to a single dictionary where each attribute is a list Merges a list of em_globals to a single dictionary where each attribute is a list
@ -253,12 +274,12 @@ def merge_em_globals_list(em_globals_list):
merged_em_globals = {} merged_em_globals = {}
for name in em_globals_list[0]: for name in em_globals_list[0]:
merged_em_globals[name] = [em_globals[name] for em_globals in em_globals_list] merged_em_globals[name] = [em_globals[name]
for em_globals in em_globals_list]
return merged_em_globals return merged_em_globals
def generate_by_template(output_file, template_file, em_globals): def generate_by_template(output_file, template_file, em_globals):
""" """
Invokes empy intepreter to geneate output_file by the Invokes empy intepreter to geneate output_file by the
@ -271,7 +292,8 @@ def generate_by_template(output_file, template_file, em_globals):
ofile = open(output_file, 'w') ofile = open(output_file, 'w')
# todo, reuse interpreter # todo, reuse interpreter
interpreter = em.Interpreter(output=ofile, globals=em_globals, options={em.RAW_OPT:True,em.BUFFERED_OPT:True}) interpreter = em.Interpreter(output=ofile, globals=em_globals, options={
em.RAW_OPT: True, em.BUFFERED_OPT: True})
try: try:
interpreter.file(open(template_file)) interpreter.file(open(template_file))
except OSError as e: except OSError as e:
@ -325,7 +347,8 @@ def convert_dir(format_idx, inputdir, outputdir, package, templatedir):
if fn[-4:].lower() != '.msg': if fn[-4:].lower() != '.msg':
continue continue
generate_output_from_file(format_idx, fn, outputdir, package, templatedir, includepath) generate_output_from_file(
format_idx, fn, outputdir, package, templatedir, includepath)
return True return True
@ -375,6 +398,7 @@ def convert_dir_save(format_idx, inputdir, outputdir, package, templatedir, temp
# Copy changed headers from temporary dir to output dir # Copy changed headers from temporary dir to output dir
copy_changed(temporarydir, outputdir, prefix, quiet) copy_changed(temporarydir, outputdir, prefix, quiet)
def generate_topics_list_file(msgdir, outputdir, templatedir): def generate_topics_list_file(msgdir, outputdir, templatedir):
# generate cpp file with topics list # generate cpp file with topics list
msgs = get_msgs_list(msgdir) msgs = get_msgs_list(msgdir)
@ -384,24 +408,30 @@ def generate_topics_list_file(msgdir, outputdir, templatedir):
multi_topics.extend(get_multi_topics(msg_filename)) multi_topics.extend(get_multi_topics(msg_filename))
tl_globals = {"msgs": msgs, "multi_topics": multi_topics} tl_globals = {"msgs": msgs, "multi_topics": multi_topics}
tl_template_file = os.path.join(templatedir, TOPICS_LIST_TEMPLATE_FILE) tl_template_file = os.path.join(templatedir, TOPICS_LIST_TEMPLATE_FILE)
tl_out_file = os.path.join(outputdir, TOPICS_LIST_TEMPLATE_FILE.replace(".template", "")) tl_out_file = os.path.join(
outputdir, TOPICS_LIST_TEMPLATE_FILE.replace(".template", ""))
generate_by_template(tl_out_file, tl_template_file, tl_globals) generate_by_template(tl_out_file, tl_template_file, tl_globals)
def generate_topics_list_file_from_files(files, outputdir, templatedir): def generate_topics_list_file_from_files(files, outputdir, templatedir):
# generate cpp file with topics list # generate cpp file with topics list
filenames = [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")] filenames = [os.path.basename(
p) for p in files if os.path.basename(p).endswith(".msg")]
multi_topics = [] multi_topics = []
for msg_filename in files: for msg_filename in files:
multi_topics.extend(get_multi_topics(msg_filename)) multi_topics.extend(get_multi_topics(msg_filename))
tl_globals = {"msgs": filenames, "multi_topics": multi_topics} tl_globals = {"msgs": filenames, "multi_topics": multi_topics}
tl_template_file = os.path.join(templatedir, TOPICS_LIST_TEMPLATE_FILE) tl_template_file = os.path.join(templatedir, TOPICS_LIST_TEMPLATE_FILE)
tl_out_file = os.path.join(outputdir, TOPICS_LIST_TEMPLATE_FILE.replace(".template", "")) tl_out_file = os.path.join(
outputdir, TOPICS_LIST_TEMPLATE_FILE.replace(".template", ""))
generate_by_template(tl_out_file, tl_template_file, tl_globals) generate_by_template(tl_out_file, tl_template_file, tl_globals)
def append_to_include_path(path_to_append, curr_include, package): def append_to_include_path(path_to_append, curr_include, package):
for p in path_to_append: for p in path_to_append:
curr_include.append('%s:%s' % (package, p)) curr_include.append('%s:%s' % (package, p))
if __name__ == "__main__": if __name__ == "__main__":
parser = argparse.ArgumentParser( parser = argparse.ArgumentParser(
description='Convert msg files to uorb headers/sources') description='Convert msg files to uorb headers/sources')
@ -444,10 +474,13 @@ if __name__ == "__main__":
exit(-1) exit(-1)
if args.file is not None: if args.file is not None:
for f in args.file: for f in args.file:
generate_output_from_file(generate_idx, f, args.temporarydir, args.package, args.templatedir, INCL_DEFAULT) generate_output_from_file(
generate_idx, f, args.temporarydir, args.package, args.templatedir, INCL_DEFAULT)
if generate_idx == 1: if generate_idx == 1:
generate_topics_list_file_from_files(args.file, args.outputdir, args.templatedir) generate_topics_list_file_from_files(
copy_changed(args.temporarydir, args.outputdir, args.prefix, args.quiet) args.file, args.outputdir, args.templatedir)
copy_changed(args.temporarydir, args.outputdir,
args.prefix, args.quiet)
elif args.dir is not None: elif args.dir is not None:
convert_dir_save( convert_dir_save(
generate_idx, generate_idx,