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Tools/px_generate_uorb_topic*: combine the src & header generators into one script

This commit is contained in:
Beat Küng 2016-05-06 16:42:35 +02:00 committed by Lorenz Meier
parent 093eece29b
commit 6e7c605279
4 changed files with 71 additions and 229 deletions
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83
Tools/px_generate_uorb_topic_headers.py → Tools/px_generate_uorb_topic_files.py
View File

@ -1,7 +1,7 @@
#!/usr/bin/env python
#############################################################################
#
# Copyright (C) 2013-2015 PX4 Development Team. All rights reserved.
# Copyright (C) 2013-2016 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
@ -33,8 +33,8 @@
#############################################################################
"""
px_generate_uorb_topic_headers.py
Generates c/cpp header files for uorb topics from .msg (ROS syntax)
px_generate_uorb_topics.py
Generates c/cpp header/source files for uorb topics from .msg (ROS syntax)
message files
"""
from __future__ import print_function
@ -69,14 +69,15 @@ On Windows please run:
''')
exit(1)
__author__ = "Thomas Gubler"
__copyright__ = "Copyright (C) 2013-2014 PX4 Development Team."
__author__ = "Sergey Belash, Thomas Gubler, Beat Kueng"
__copyright__ = "Copyright (C) 2013-2016 PX4 Development Team."
__license__ = "BSD"
__email__ = "thomasgubler@gmail.com"
TEMPLATE_FILE = 'msg.h.template'
OUTPUT_FILE_EXT = '.h'
TEMPLATE_FILE = ['msg.h.template', 'msg.cpp.template']
TOPICS_LIST_TEMPLATE_FILE = 'uORBTopics.cpp.template'
OUTPUT_FILE_EXT = ['.h', '.cpp']
INCL_DEFAULT = ['std_msgs:./msg/std_msgs']
PACKAGE = 'px4'
TOPICS_TOKEN = '# TOPICS '
@ -97,10 +98,16 @@ def get_multi_topics(filename):
ofile.close()
return result
def get_msgs_list(msgdir):
"""
Makes list of msg files in the given directory
"""
return [fn for fn in os.listdir(msgdir) if fn.endswith(".msg")]
def generate_header_from_file(filename, outputdir, templatedir, includepath):
def generate_output_from_file(format_idx, filename, outputdir, templatedir, includepath):
"""
Converts a single .msg file to a uorb header file
Converts a single .msg file to an uorb header/source file
"""
msg_context = genmsg.msg_loader.MsgContext.create_default()
full_type_name = genmsg.gentools.compute_full_type_name(PACKAGE, os.path.basename(filename))
@ -127,28 +134,34 @@ def generate_header_from_file(filename, outputdir, templatedir, includepath):
if not os.path.isdir(outputdir):
os.makedirs(outputdir)
template_file = os.path.join(templatedir, TEMPLATE_FILE)
output_file = os.path.join(outputdir, spec.short_name + OUTPUT_FILE_EXT)
template_file = os.path.join(templatedir, TEMPLATE_FILE[format_idx])
output_file = os.path.join(outputdir, spec.short_name +
OUTPUT_FILE_EXT[format_idx])
if os.path.isfile(output_file):
return False
return 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
given template_file and predefined em_globals dict
"""
ofile = open(output_file, 'w')
# todo, reuse interpreter
interpreter = em.Interpreter(output=ofile, globals=em_globals, options={em.RAW_OPT:True,em.BUFFERED_OPT:True})
if not os.path.isfile(template_file):
ofile.close()
os.remove(output_file)
raise RuntimeError("Template file %s not found in template dir %s" % (template_file, templatedir))
raise RuntimeError("Template file %s not found" % (template_file))
interpreter.file(open(template_file)) #todo try
interpreter.shutdown()
ofile.close()
return True
def convert_dir(inputdir, outputdir, templatedir):
def convert_dir(format_idx, inputdir, outputdir, templatedir):
"""
Converts all .msg files in inputdir to uORB header files
Converts all .msg files in inputdir to uORB header/source files
"""
# Find the most recent modification time in input dir
@ -185,7 +198,7 @@ def convert_dir(inputdir, outputdir, templatedir):
if not os.path.isfile(fn):
continue
generate_header_from_file(fn, outputdir, templatedir, includepath)
generate_output_from_file(format_idx, fn, outputdir, templatedir, includepath)
return True
@ -223,19 +236,32 @@ def copy_changed(inputdir, outputdir, prefix='', quiet=False):
print("{0}: unchanged".format(input_file))
def convert_dir_save(inputdir, outputdir, templatedir, temporarydir, prefix, quiet=False):
def convert_dir_save(format_idx, inputdir, outputdir, templatedir, temporarydir, prefix, quiet=False):
"""
Converts all .msg files in inputdir to uORB header files
Unchanged existing files are not overwritten.
"""
# Create new headers in temporary output directory
convert_dir(inputdir, temporarydir, templatedir)
convert_dir(format_idx, inputdir, temporarydir, templatedir)
if generate_idx == 1:
generate_topics_list_file(inputdir, temporarydir, templatedir)
# Copy changed headers from temporary dir to output dir
copy_changed(temporarydir, outputdir, prefix, quiet)
def generate_topics_list_file(msgdir, outputdir, templatedir):
# generate cpp file with topics list
tl_globals = {"msgs" : get_msgs_list(msgdir)}
tl_template_file = os.path.join(templatedir, TOPICS_LIST_TEMPLATE_FILE)
tl_out_file = os.path.join(outputdir, TOPICS_LIST_TEMPLATE_FILE.replace(".template", ""))
generate_by_template(tl_out_file, tl_template_file, tl_globals)
if __name__ == "__main__":
parser = argparse.ArgumentParser(
description='Convert msg files to uorb headers')
description='Convert msg files to uorb headers/sources')
parser.add_argument('--headers', help='Generate header files',
action='store_true')
parser.add_argument('--sources', help='Generate source files',
action='store_true')
parser.add_argument('-d', dest='dir', help='directory with msg files')
parser.add_argument('-f', dest='file',
help="files to convert (use only without -d)",
@ -254,11 +280,22 @@ if __name__ == "__main__":
' name when converting directories')
args = parser.parse_args()
if args.headers:
generate_idx = 0
elif args.sources:
generate_idx = 1
else:
print('Error: either --headers or --sources must be specified')
exit(-1)
if args.file is not None:
for f in args.file:
generate_header_from_file(f, args.outputdir, args.templatedir, INCL_DEFAULT)
for f in args.file:
generate_output_from_file(generate_idx, f, args.outputdir, args.templatedir, INCL_DEFAULT)
if generate_idx == 1:
generate_topics_list_file(args.dir, args.outputdir, args.templatedir)
elif args.dir is not None:
convert_dir_save(
convert_dir_save(
generate_idx,
args.dir,
args.outputdir,
args.templatedir,

199
Tools/px_generate_uorb_topic_sources.py
View File

@ -1,199 +0,0 @@
#!/usr/bin/env python
#############################################################################
#
# Copyright (C) 2013-2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
#############################################################################
"""
px_generate_uorb_topic_sources.py
Generates cpp source files for uorb topics from .msg (ROS syntax)
message files
"""
from __future__ import print_function
import os
import shutil
import filecmp
import argparse
import sys
px4_tools_dir = os.path.dirname(os.path.abspath(__file__))
sys.path.append(px4_tools_dir + "/genmsg/src")
sys.path.append(px4_tools_dir + "/gencpp/src")
try:
import em
import genmsg.template_tools
except ImportError as e:
print("python import error: ", e)
print('''
Required python packages not installed.
On a Debian/Ubuntu system please run:
sudo apt-get install python-empy
sudo pip install catkin_pkg
On MacOS please run:
sudo pip install empy catkin_pkg
On Windows please run:
easy_install empy catkin_pkg
''')
exit(1)
__author__ = "Sergey Belash, Thomas Gubler"
__copyright__ = "Copyright (C) 2013-2014 PX4 Development Team."
__license__ = "BSD"
__email__ = "againagainst@gmail.com, thomasgubler@gmail.com"
TOPIC_TEMPLATE_FILE = 'msg.cpp.template'
TOPICS_LIST_TEMPLATE_FILE = 'uORBTopics.cpp.template'
OUTPUT_FILE_EXT = '.cpp'
INCL_DEFAULT = ['std_msgs:./msg/std_msgs']
PACKAGE = 'px4'
TOPICS_TOKEN = '# TOPICS '
def get_multi_topics(filename):
"""
Get TOPICS names from a "# TOPICS" line
"""
ofile = open(filename, 'r')
text = ofile.read()
result = []
for each_line in text.split('\n'):
if each_line.startswith (TOPICS_TOKEN):
topic_names_str = each_line.strip()
topic_names_str = topic_names_str.replace(TOPICS_TOKEN, "")
result.extend(topic_names_str.split(" "))
ofile.close()
return result
def get_msgs_list(msgdir):
"""
Makes list of msg files in the given directory
"""
return [fn for fn in os.listdir(msgdir) if fn.endswith(".msg")]
def generate_source_from_file(filename, outputdir, template_file, includepath, quiet=False):
"""
Converts a single .msg file to a uorb source file
"""
# print("Generating sources from {0}".format(filename))
msg_context = genmsg.msg_loader.MsgContext.create_default()
full_type_name = genmsg.gentools.compute_full_type_name(PACKAGE, os.path.basename(filename))
spec = genmsg.msg_loader.load_msg_from_file(msg_context, filename, full_type_name)
topics = get_multi_topics(filename)
if includepath:
search_path = genmsg.command_line.includepath_to_dict(includepath)
else:
search_path = {}
if len(topics) == 0:
topics.append(spec.short_name)
em_globals = {
"file_name_in": filename,
"search_path": search_path,
"spec": spec,
"topics": topics
}
output_file = os.path.join(outputdir, spec.short_name + OUTPUT_FILE_EXT)
if os.path.isfile(output_file):
return False
generate_by_template(output_file, template_file, em_globals)
if not quiet:
print("{0}: new source file".format(output_file))
return True
def generate_by_template(output_file, template_file, em_globals):
"""
Invokes empy intepreter to geneate output_file by the
given template_file and predefined em_globals dict
"""
ofile = open(output_file, 'w')
# todo, reuse interpreter
interpreter = em.Interpreter(output=ofile, globals=em_globals, options={em.RAW_OPT:True,em.BUFFERED_OPT:True})
if not os.path.isfile(template_file):
ofile.close()
os.remove(output_file)
raise RuntimeError("Template file %s not found" % (template_file))
interpreter.file(open(template_file)) #todo try
interpreter.shutdown()
ofile.close()
def convert_dir(msgdir, outputdir, templatedir, quiet=False):
"""
Converts all .msg files in msgdir to uORB sources
"""
# Make sure output directory exists:
if not os.path.isdir(outputdir):
os.makedirs(outputdir)
template_file = os.path.join(templatedir, TOPIC_TEMPLATE_FILE)
includepath = INCL_DEFAULT + [':'.join([PACKAGE, msgdir])]
for f in os.listdir(msgdir):
# Ignore hidden files
if f.startswith("."):
continue
fn = os.path.join(msgdir, f)
# Only look at actual files
if not os.path.isfile(fn):
continue
generate_source_from_file(fn, outputdir, template_file, includepath, quiet)
# generate cpp file with topics list
tl_globals = {"msgs" : get_msgs_list(msgdir)}
tl_template_file = os.path.join(templatedir, TOPICS_LIST_TEMPLATE_FILE)
tl_out_file = os.path.join(outputdir, TOPICS_LIST_TEMPLATE_FILE.replace(".template", ""))
generate_by_template(tl_out_file, tl_template_file, tl_globals)
return True
if __name__ == "__main__":
parser = argparse.ArgumentParser(description='Convert msg files to uorb sources')
parser.add_argument('-d', dest='dir', help='directory with msg files')
parser.add_argument('-f', dest='file', help="files to convert (use only without -d)", nargs="+")
parser.add_argument('-e', dest='templatedir', help='directory with template files',)
parser.add_argument('-o', dest='outputdir', help='output directory for source files')
parser.add_argument('-q', dest='quiet', default=False, action='store_true',
help='string added as prefix to the output file '
' name when converting directories')
args = parser.parse_args()
if args.file is not None:
for f in args.file:
generate_source_from_file(f, args.outputdir, args.templatedir, args.quiet)
elif args.dir is not None:
convert_dir(args.dir, args.outputdir, args.templatedir, args.quiet)

14
cmake/common/px4_base.cmake
View File

@ -380,12 +380,13 @@ function(px4_generate_messages)
endforeach()
add_custom_command(OUTPUT ${msg_files_out}
COMMAND ${PYTHON_EXECUTABLE}
Tools/px_generate_uorb_topic_headers.py
Tools/px_generate_uorb_topic_files.py
--headers
${QUIET}
-d msg
-o ${msg_out_path}
-e msg/templates/uorb
-t ${CMAKE_BINARY_DIR}/topics_temporary
-t ${CMAKE_BINARY_DIR}/topics_temporary_header
DEPENDS ${DEPENDS} ${MSG_FILES}
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
COMMENT "Generating uORB topic headers"
@ -400,11 +401,13 @@ function(px4_generate_messages)
endforeach()
add_custom_command(OUTPUT ${msg_source_files_out}
COMMAND ${PYTHON_EXECUTABLE}
Tools/px_generate_uorb_topic_sources.py
Tools/px_generate_uorb_topic_files.py
--sources
${QUIET}
-d msg
-e msg/templates/uorb
-o ${msg_source_out_path}
-e msg/templates/uorb
-t ${CMAKE_BINARY_DIR}/topics_temporary_sources
DEPENDS ${DEPENDS} ${MSG_FILES}
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
COMMENT "Generating uORB topic sources"
@ -421,7 +424,8 @@ function(px4_generate_messages)
endforeach()
add_custom_command(OUTPUT ${msg_multi_files_out}
COMMAND ${PYTHON_EXECUTABLE}
Tools/px_generate_uorb_topic_headers.py
Tools/px_generate_uorb_topic_files.py
--headers
${QUIET}
-d msg
-o ${msg_multi_out_path}

4
cmake/ros-CMakeLists.txt
View File

@ -147,8 +147,8 @@ set(MULTIPLATFORM_HEADER_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/platforms/ros/px4_m
set(MULTIPLATFORM_TEMPLATE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/msg/templates/px4/ros)
set(TOPICHEADER_TEMP_DIR ${CMAKE_BINARY_DIR}/topics_temporary)
set(MULTIPLATFORM_PREFIX px4_)
add_custom_target(multiplatform_message_headers ALL ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/Tools/px_generate_uorb_topic_headers.py
-d ${CMAKE_CURRENT_SOURCE_DIR}/msg -o ${MULTIPLATFORM_HEADER_DIR} -e ${MULTIPLATFORM_TEMPLATE_DIR}
add_custom_target(multiplatform_message_headers ALL ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/Tools/px_generate_uorb_topic_files.py
--headers -d ${CMAKE_CURRENT_SOURCE_DIR}/msg -o ${MULTIPLATFORM_HEADER_DIR} -e ${MULTIPLATFORM_TEMPLATE_DIR}
-t ${TOPICHEADER_TEMP_DIR} -p ${MULTIPLATFORM_PREFIX})
## Declare a cpp library