forked from Archive/PX4-Autopilot
px_generate_uorb_topic_files.py: beautify
This commit is contained in:
TSC21
Beat Küng
parent
cafc2f5e61
commit
4137517d12
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@ -85,11 +85,13 @@ PACKAGE = 'px4'
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TOPICS_TOKEN = '# TOPICS '
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IDL_TEMPLATE_FILE = 'msg.idl.template'
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class MsgScope:
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NONE = 0
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SEND = 1
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RECEIVE = 2
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def get_multi_topics(filename):
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"""
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Get TOPICS names from a "# TOPICS" line
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@ -105,6 +107,7 @@ def get_multi_topics(filename):
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ofile.close()
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return result
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def get_msgs_list(msgdir):
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"""
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Makes list of msg files in the given directory
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@ -117,8 +120,10 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template
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Converts a single .msg file to an uorb header/source file
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"""
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msg_context = genmsg.msg_loader.MsgContext.create_default()
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full_type_name = genmsg.gentools.compute_full_type_name(package, os.path.basename(filename))
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spec = genmsg.msg_loader.load_msg_from_file(msg_context, filename, full_type_name)
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full_type_name = genmsg.gentools.compute_full_type_name(
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package, os.path.basename(filename))
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spec = genmsg.msg_loader.load_msg_from_file(
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msg_context, filename, full_type_name)
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field_name_and_type = {}
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for field in spec.parsed_fields():
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field_name_and_type.update({field.name: field.type})
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@ -126,13 +131,15 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template
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try:
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assert 'timestamp' in field_name_and_type
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except AssertionError:
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print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\tNo 'timestamp' field found in " + spec.short_name + " msg definition!")
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print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\tNo 'timestamp' field found in " +
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spec.short_name + " msg definition!")
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exit(1)
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# assert if the timestamp field is of type uint64
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try:
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assert field_name_and_type.get('timestamp') == 'uint64'
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except AssertionError:
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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') + "!")
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print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\t'timestamp' field in " + spec.short_name +
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" msg definition is not of type uint64 but rather of type " + field_name_and_type.get('timestamp') + "!")
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exit(1)
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topics = get_multi_topics(filename)
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if includepath:
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@ -162,11 +169,13 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template
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return generate_by_template(output_file, template_file, em_globals)
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def generate_idl_file(filename_msg, outputdir, templatedir, package, includepath):
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"""
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Generates an .idl from .msg file
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"""
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em_globals = get_em_globals(filename_msg, package, includepath, MsgScope.NONE)
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em_globals = get_em_globals(
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filename_msg, package, includepath, MsgScope.NONE)
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spec_short_name = em_globals["spec"].short_name
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# Make sure output directory exists:
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@ -174,10 +183,12 @@ def generate_idl_file(filename_msg, outputdir, templatedir, package, includepath
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os.makedirs(outputdir)
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template_file = os.path.join(templatedir, IDL_TEMPLATE_FILE)
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output_file = os.path.join(outputdir, IDL_TEMPLATE_FILE.replace("msg.idl.template", str(spec_short_name + "_.idl")))
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output_file = os.path.join(outputdir, IDL_TEMPLATE_FILE.replace(
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"msg.idl.template", str(spec_short_name + "_.idl")))
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return generate_by_template(output_file, template_file, em_globals)
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def generate_uRTPS_general(filename_send_msgs, filename_received_msgs,
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outputdir, templatedir, package, includepath, template_name):
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"""
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@ -185,10 +196,12 @@ def generate_uRTPS_general(filename_send_msgs, filename_received_msgs,
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"""
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em_globals_list = []
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if filename_send_msgs:
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em_globals_list.extend([get_em_globals(f, package, includepath, MsgScope.SEND) for f in filename_send_msgs])
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em_globals_list.extend([get_em_globals(
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f, package, includepath, MsgScope.SEND) for f in filename_send_msgs])
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if filename_received_msgs:
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em_globals_list.extend([get_em_globals(f, package, includepath, MsgScope.RECEIVE) for f in filename_received_msgs])
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em_globals_list.extend([get_em_globals(
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f, package, includepath, MsgScope.RECEIVE) for f in filename_received_msgs])
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merged_em_globals = merge_em_globals_list(em_globals_list)
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# Make sure output directory exists:
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@ -196,15 +209,18 @@ def generate_uRTPS_general(filename_send_msgs, filename_received_msgs,
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os.makedirs(outputdir)
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template_file = os.path.join(templatedir, template_name)
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output_file = os.path.join(outputdir, template_name.replace(".template", ""))
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output_file = os.path.join(
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outputdir, template_name.replace(".template", ""))
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return generate_by_template(output_file, template_file, merged_em_globals)
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def generate_topic_file(filename_msg, outputdir, templatedir, package, includepath, template_name):
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"""
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Generates an .idl from .msg file
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"""
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em_globals = get_em_globals(filename_msg, package, includepath, MsgScope.NONE)
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em_globals = get_em_globals(
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filename_msg, package, includepath, MsgScope.NONE)
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spec_short_name = em_globals["spec"].short_name
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# Make sure output directory exists:
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@ -212,17 +228,21 @@ def generate_topic_file(filename_msg, outputdir, templatedir, package, includepa
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os.makedirs(outputdir)
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template_file = os.path.join(templatedir, template_name)
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output_file = os.path.join(outputdir, spec_short_name + "_" + template_name.replace(".template", ""))
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output_file = os.path.join(
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outputdir, spec_short_name + "_" + template_name.replace(".template", ""))
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return generate_by_template(output_file, template_file, em_globals)
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def get_em_globals(filename_msg, package, includepath, scope):
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"""
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Generates em globals dictionary
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"""
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msg_context = genmsg.msg_loader.MsgContext.create_default()
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full_type_name = genmsg.gentools.compute_full_type_name(package, os.path.basename(filename_msg))
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spec = genmsg.msg_loader.load_msg_from_file(msg_context, filename_msg, full_type_name)
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full_type_name = genmsg.gentools.compute_full_type_name(
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package, os.path.basename(filename_msg))
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spec = genmsg.msg_loader.load_msg_from_file(
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msg_context, filename_msg, full_type_name)
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topics = get_multi_topics(filename_msg)
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if includepath:
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search_path = genmsg.command_line.includepath_to_dict(includepath)
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@ -244,6 +264,7 @@ def get_em_globals(filename_msg, package, includepath, scope):
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return em_globals
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def merge_em_globals_list(em_globals_list):
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"""
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Merges a list of em_globals to a single dictionary where each attribute is a list
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@ -253,12 +274,12 @@ def merge_em_globals_list(em_globals_list):
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merged_em_globals = {}
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for name in em_globals_list[0]:
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merged_em_globals[name] = [em_globals[name] for em_globals in em_globals_list]
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merged_em_globals[name] = [em_globals[name]
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for em_globals in em_globals_list]
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return merged_em_globals
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def generate_by_template(output_file, template_file, em_globals):
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"""
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Invokes empy intepreter to geneate output_file by the
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@ -271,7 +292,8 @@ def generate_by_template(output_file, template_file, em_globals):
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ofile = open(output_file, 'w')
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# todo, reuse interpreter
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interpreter = em.Interpreter(output=ofile, globals=em_globals, options={em.RAW_OPT:True,em.BUFFERED_OPT:True})
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interpreter = em.Interpreter(output=ofile, globals=em_globals, options={
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em.RAW_OPT: True, em.BUFFERED_OPT: True})
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try:
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interpreter.file(open(template_file))
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except OSError as e:
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@ -325,7 +347,8 @@ def convert_dir(format_idx, inputdir, outputdir, package, templatedir):
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if fn[-4:].lower() != '.msg':
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continue
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generate_output_from_file(format_idx, fn, outputdir, package, templatedir, includepath)
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generate_output_from_file(
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format_idx, fn, outputdir, package, templatedir, includepath)
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return True
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@ -375,6 +398,7 @@ def convert_dir_save(format_idx, inputdir, outputdir, package, templatedir, temp
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# Copy changed headers from temporary dir to output dir
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copy_changed(temporarydir, outputdir, prefix, quiet)
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def generate_topics_list_file(msgdir, outputdir, templatedir):
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# generate cpp file with topics list
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msgs = get_msgs_list(msgdir)
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@ -384,24 +408,30 @@ def generate_topics_list_file(msgdir, outputdir, templatedir):
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multi_topics.extend(get_multi_topics(msg_filename))
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tl_globals = {"msgs": msgs, "multi_topics": multi_topics}
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tl_template_file = os.path.join(templatedir, TOPICS_LIST_TEMPLATE_FILE)
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tl_out_file = os.path.join(outputdir, TOPICS_LIST_TEMPLATE_FILE.replace(".template", ""))
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tl_out_file = os.path.join(
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outputdir, TOPICS_LIST_TEMPLATE_FILE.replace(".template", ""))
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generate_by_template(tl_out_file, tl_template_file, tl_globals)
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def generate_topics_list_file_from_files(files, outputdir, templatedir):
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# generate cpp file with topics list
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filenames = [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")]
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filenames = [os.path.basename(
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p) for p in files if os.path.basename(p).endswith(".msg")]
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multi_topics = []
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for msg_filename in files:
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multi_topics.extend(get_multi_topics(msg_filename))
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tl_globals = {"msgs": filenames, "multi_topics": multi_topics}
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tl_template_file = os.path.join(templatedir, TOPICS_LIST_TEMPLATE_FILE)
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tl_out_file = os.path.join(outputdir, TOPICS_LIST_TEMPLATE_FILE.replace(".template", ""))
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tl_out_file = os.path.join(
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outputdir, TOPICS_LIST_TEMPLATE_FILE.replace(".template", ""))
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generate_by_template(tl_out_file, tl_template_file, tl_globals)
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def append_to_include_path(path_to_append, curr_include, package):
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for p in path_to_append:
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curr_include.append('%s:%s' % (package, p))
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if __name__ == "__main__":
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parser = argparse.ArgumentParser(
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description='Convert msg files to uorb headers/sources')
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@ -444,10 +474,13 @@ if __name__ == "__main__":
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exit(-1)
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if args.file is not None:
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for f in args.file:
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generate_output_from_file(generate_idx, f, args.temporarydir, args.package, args.templatedir, INCL_DEFAULT)
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generate_output_from_file(
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generate_idx, f, args.temporarydir, args.package, args.templatedir, INCL_DEFAULT)
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if generate_idx == 1:
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generate_topics_list_file_from_files(args.file, args.outputdir, args.templatedir)
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copy_changed(args.temporarydir, args.outputdir, args.prefix, args.quiet)
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generate_topics_list_file_from_files(
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args.file, args.outputdir, args.templatedir)
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copy_changed(args.temporarydir, args.outputdir,
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args.prefix, args.quiet)
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elif args.dir is not None:
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convert_dir_save(
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generate_idx,
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