forked from Archive/PX4-Autopilot
load RTPS msg IDs from a JSON file and remove uorb_rtps_message_ids.py
This commit is contained in:
TSC21
Beat Küng
parent
943bfbf93f
commit
a323073456
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@ -9,11 +9,12 @@
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@# - msgs (List) list of all msg files
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@###############################################
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@{
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import os
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import genmsg.msgs
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import gencpp
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from px_generate_uorb_topic_helper import * # this is in Tools/
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from px_generate_uorb_topic_files import MsgScope # this is in Tools/
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from uorb_rtps_message_ids import * # this is in Tools/
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topic_names = [single_spec.short_name for single_spec in spec]
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send_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
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@ -88,7 +89,7 @@ void RtpsTopics::publish(uint8_t topic_ID, char data_buffer[], size_t len)
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switch (topic_ID)
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{
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@[for topic in send_topics]@
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case @(message_id(topic)): // @(topic)
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case @(rtps_message_id(os.path.abspath('uorb_rtps_message_ids.json'), topic)): // @(topic)
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{
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@(topic)_ st;
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eprosima::fastcdr::FastBuffer cdrbuffer(data_buffer, len);
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@ -116,7 +117,7 @@ bool RtpsTopics::hasMsg(uint8_t *topic_ID)
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switch (_sub_topics[_next_sub_idx])
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{
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@[for topic in recv_topics]@
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case @(message_id(topic)): if (_@(topic)_sub.hasMsg()) *topic_ID = @(message_id(topic)); break;
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case @(rtps_message_id(os.path.abspath('uorb_rtps_message_ids.json'), topic)): if (_@(topic)_sub.hasMsg()) *topic_ID = @(rtps_message_id(os.path.abspath('uorb_rtps_message_ids.json'), topic)); break;
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@[end for]@
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default:
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printf("Unexpected topic ID to check hasMsg\n");
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@ -140,7 +141,7 @@ bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr)
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switch (topic_ID)
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{
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@[for topic in recv_topics]@
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case @(message_id(topic)): // @(topic)
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case @(rtps_message_id(os.path.abspath('uorb_rtps_message_ids.json'), topic)): // @(topic)
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if (_@(topic)_sub.hasMsg())
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{
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@(topic)_ msg = _@(topic)_sub.getMsg();
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@ -9,11 +9,12 @@
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@# - msgs (List) list of all msg files
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@###############################################
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@{
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import os
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import genmsg.msgs
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import gencpp
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from px_generate_uorb_topic_helper import * # this is in Tools/
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from px_generate_uorb_topic_files import MsgScope # this is in Tools/
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from uorb_rtps_message_ids import * # this is in Tools/
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topic_names = [single_spec.short_name for single_spec in spec]
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send_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
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@ -88,7 +89,7 @@ private:
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unsigned _next_sub_idx = 0;
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char _sub_topics[@(len(recv_topics))] = {
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@[for topic in recv_topics]@
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@(message_id(topic)), // @(topic)
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@(rtps_message_id(os.path.abspath('uorb_rtps_message_ids.json'), topic)), // @(topic)
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@[end for]@
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};
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@[end if]@
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@ -14,7 +14,6 @@ import genmsg.msgs
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import gencpp
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from px_generate_uorb_topic_helper import * # this is in Tools/
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from px_generate_uorb_topic_files import MsgScope # this is in Tools/
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from uorb_rtps_message_ids import * # this is in Tools/
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topic_names = [single_spec.short_name for single_spec in spec]
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send_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
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@ -4,6 +4,7 @@
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# Another positive effect of having the code here, is that this file will get
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# precompiled and thus message generation will be much faster
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import json
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import genmsg.msgs
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import gencpp
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@ -296,3 +297,15 @@ def print_field_def(field):
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print('\t%s%s%s %s%s;%s'%(type_prefix, type_px4, type_appendix, field.name,
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array_size, comment))
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def rtps_message_id(json_file, message):
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"""
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Get RTPS ID of uORB message
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"""
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with open(json_file, 'r') as f:
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msg_id_map = json.load(f)
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for dict in msg_id_map["rtps"]:
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if message in dict["msg"]:
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return dict["id"]
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return 0
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@ -0,0 +1,352 @@
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{
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"rtps": [
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{
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"msg": "actuator_armed",
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"id": 1
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},
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{
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"msg": "actuator_controls",
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"id": 2
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},
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{
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"msg": "actuator_direct",
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"id": 3
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},
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{
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"msg": "actuator_outputs",
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"id": 4
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},
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{
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"msg": "adc_report",
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"id": 5
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},
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{
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"msg": "airspeed",
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"id": 6
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},
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{
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"msg": "att_pos_mocap",
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"id": 7
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},
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{
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"msg": "battery_status",
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"id": 8
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},
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{
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"msg": "camera_capture",
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"id": 9
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},
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{
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"msg": "camera_trigger",
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"id": 10
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},
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{
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"msg": "collision_report",
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"id": 11
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},
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{
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"msg": "commander_state",
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"id": 12
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},
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{
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"msg": "cpuload",
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"id": 14
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},
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{
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"msg": "debug_key_value",
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"id": 15
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},
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{
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"msg": "differential_pressure",
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"id": 16
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},
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{
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"msg": "distance_sensor",
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"id": 17
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},
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{
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"msg": "ekf2_innovations",
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"id": 18
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},
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{
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"msg": "ekf2_timestamps",
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"id": 20
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},
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{
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"msg": "esc_report",
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"id": 21
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},
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{
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"msg": "esc_status",
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"id": 22
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},
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{
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"msg": "estimator_status",
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"id": 23
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},
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{
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"msg": "fence",
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"id": 24
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},
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{
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"msg": "fence_vertex",
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"id": 25
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},
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{
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"msg": "follow_target",
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"id": 27
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},
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{
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"msg": "fw_pos_ctrl_status",
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"id": 28
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},
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{
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"msg": "geofence_result",
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"id": 29
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},
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{
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"msg": "gps_dump",
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"id": 30
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},
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{
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"msg": "gps_inject_data",
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"id": 31
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},
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{
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"msg": "home_position",
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"id": 33
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},
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{
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"msg": "input_rc",
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"id": 34
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},
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{
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"msg": "led_control",
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"id": 35
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},
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{
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"msg": "log_message",
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"id": 36
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},
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{
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"msg": "manual_control_setpoint",
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"id": 37
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},
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{
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"msg": "mavlink_log",
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"id": 38
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},
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{
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"msg": "mc_att_ctrl_status",
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"id": 39
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},
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{
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"msg": "mission",
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"id": 40
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},
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{
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"msg": "mission_result",
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"id": 41
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},
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{
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"msg": "mount_orientation",
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"id": 42
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},
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{
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"msg": "multirotor_motor_limits",
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"id": 43
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},
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{
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"msg": "offboard_control_mode",
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"id": 44
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},
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{
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"msg": "optical_flow",
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"id": 45
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},
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{
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"msg": "parameter_update",
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"id": 47
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},
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{
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"msg": "position_setpoint",
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"id": 48
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},
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{
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"msg": "position_setpoint_triplet",
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"id": 49
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},
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{
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"msg": "pwm_input",
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"id": 40
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},
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{
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"msg": "qshell_req",
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"id": 51
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},
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{
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"msg": "rc_channels",
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"id": 52
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},
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{
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"msg": "rc_parameter_map",
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"id": 53
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},
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{
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"msg": "safety",
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"id": 54
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},
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{
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"msg": "satellite_info",
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"id": 55
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},
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{
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"msg": "sensor_accel",
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"id": 56
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},
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{
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"msg": "sensor_baro",
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"id": 57
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},
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{
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"msg": "sensor_combined",
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"id": 58
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},
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{
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"msg": "sensor_correction",
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"id": 59
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},
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{
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"msg": "sensor_gyro",
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"id": 60
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},
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{
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"msg": "sensor_mag",
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"id": 61
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},
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{
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"msg": "sensor_preflight",
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"id": 62
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},
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{
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"msg": "sensor_selection",
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"id": 63
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},
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{
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"msg": "servorail_status",
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"id": 64
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},
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{
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"msg": "subsystem_info",
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"id": 65
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},
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{
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"msg": "system_power",
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"id": 66
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},
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{
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"msg": "task_stack_info",
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"id": 67
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},
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{
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"msg": "tecs_status",
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"id": 68
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},
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{
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"msg": "telemetry_status",
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"id": 69
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},
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{
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"msg": "test_motor",
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"id": 70
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},
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{
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"msg": "time_offset",
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"id": 71
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},
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{
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"msg": "transponder_report",
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"id": 72
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},
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{
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"msg": "uavcan_parameter_request",
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"id": 73
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},
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{
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"msg": "uavcan_parameter_value",
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"id": 74
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},
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{
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"msg": "ulog_stream_ack",
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"id": 75
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},
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{
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"msg": "ulog_stream",
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"id": 76
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},
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{
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"msg": "vehicle_attitude",
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"id": 77
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},
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{
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"msg": "vehicle_attitude_setpoint",
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"id": 78
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},
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{
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"msg": "vehicle_command_ack",
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"id": 79
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},
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{
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"msg": "vehicle_command",
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"id": 80
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},
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{
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"msg": "vehicle_control_mode",
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"id": 81
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},
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{
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"msg": "vehicle_global_position",
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"id": 83
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},
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{
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"msg": "vehicle_gps_position",
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"id": 85
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},
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{
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"msg": "vehicle_land_detected",
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"id": 86
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},
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{
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"msg": "vehicle_local_position",
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"id": 87
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},
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{
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"msg": "vehicle_local_position_setpoint",
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"id": 88
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},
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{
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"msg": "vehicle_rates_setpoint",
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"id": 89
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},
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{
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"msg": "vehicle_roi",
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"id": 90
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},
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{
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"msg": "vehicle_status_flags",
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"id": 91
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},
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{
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"msg": "vehicle_status",
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"id": 92
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},
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{
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"msg": "vtol_vehicle_status",
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"id": 93
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},
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{
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"msg": "wind_estimate",
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"id": 94
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}
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]
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}
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@ -1,108 +0,0 @@
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# Message identification constants
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msg_id_map = {
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'actuator_armed': 1,
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'actuator_controls': 2,
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'actuator_direct': 3,
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'actuator_outputs': 4,
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'adc_report': 5,
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'airspeed': 6,
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'att_pos_mocap': 7,
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'battery_status': 8,
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'camera_capture': 9,
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'camera_trigger': 10,
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'collision_report': 11,
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'commander_state': 12,
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'cpuload': 14,
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'debug_key_value': 15,
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'differential_pressure': 16,
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'distance_sensor': 17,
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'ekf2_innovations': 18,
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'ekf2_timestamps': 20,
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'esc_report': 21,
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'esc_status': 22,
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'estimator_status': 23,
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'fence': 24,
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'fence_vertex': 25,
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'follow_target': 27,
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'fw_pos_ctrl_status': 28,
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'geofence_result': 29,
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'gps_dump': 30,
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'gps_inject_data': 31,
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'home_position': 33,
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'input_rc': 34,
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'led_control': 35,
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'log_message': 36,
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'manual_control_setpoint': 37,
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'mavlink_log': 38,
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'mc_att_ctrl_status': 39,
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'mission': 40,
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'mission_result': 41,
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'mount_orientation': 42,
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'multirotor_motor_limits': 43,
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'offboard_control_mode': 44,
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'optical_flow': 45,
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'parameter_update': 47,
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'position_setpoint': 48,
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'position_setpoint_triplet': 49,
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'pwm_input': 50,
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'qshell_req': 51,
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'rc_channels': 52,
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'rc_parameter_map': 53,
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'safety': 54,
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'satellite_info': 55,
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'sensor_accel': 56,
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'sensor_baro': 57,
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'sensor_combined': 58,
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'sensor_correction': 59,
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'sensor_gyro': 60,
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'sensor_mag': 61,
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'sensor_preflight': 62,
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'sensor_selection': 63,
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'servorail_status': 64,
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'subsystem_info': 65,
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'system_power': 66,
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'task_stack_info': 67,
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'tecs_status': 68,
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'telemetry_status': 69,
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'test_motor': 70,
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'time_offset': 71,
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'transponder_report': 72,
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'uavcan_parameter_request': 73,
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'uavcan_parameter_value': 74,
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'ulog_stream_ack': 75,
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'ulog_stream': 76,
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'vehicle_attitude': 77,
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'vehicle_attitude_setpoint': 78,
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'vehicle_command_ack': 79,
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'vehicle_command': 80,
|
||||
'vehicle_control_mode': 81,
|
||||
|
||||
'vehicle_global_position': 83,
|
||||
|
||||
'vehicle_gps_position': 85,
|
||||
'vehicle_land_detected': 86,
|
||||
'vehicle_local_position': 87,
|
||||
'vehicle_local_position_setpoint': 88,
|
||||
'vehicle_rates_setpoint': 89,
|
||||
'vehicle_roi': 90,
|
||||
'vehicle_status_flags': 91,
|
||||
'vehicle_status': 92,
|
||||
'vtol_vehicle_status': 93,
|
||||
'wind_estimate': 94,
|
||||
}
|
||||
|
||||
def message_id(message):
|
||||
"""
|
||||
Get id of a message
|
||||
"""
|
||||
if message in msg_id_map:
|
||||
return msg_id_map[message]
|
||||
return 0
|
||||
|
|
@ -71,6 +71,10 @@ if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_t
|
|||
${msg_out_path}/micrortps_client/microRTPS_transport.h
|
||||
)
|
||||
|
||||
# Copy json file to the bin dir to be used by empy on the file generation
|
||||
configure_file("${PX4_SOURCE_DIR}/msg/tools/uorb_rtps_message_ids.json"
|
||||
"${CMAKE_CURRENT_BINARY_DIR}/uorb_rtps_message_ids.json" COPYONLY)
|
||||
|
||||
add_custom_command(OUTPUT ${topic_bridge_files_out}
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/msg/tools/generate_microRTPS_bridge.py
|
||||
--fastrtpsgen-dir $ENV{FASTRTPSGEN_DIR}
|
||||
|
|
|
|||
Loading…
Reference in New Issue