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rtps: add uorb_rtps_classifier.py iot classify RTPS topics as "send", "receive" or "ignore"

This commit is contained in:
TSC21 2018-09-30 17:25:02 +01:00 committed by Beat Küng
parent 92a1594430
commit a9771f13d1
4 changed files with 518 additions and 346 deletions
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158
msg/tools/generate_microRTPS_bridge.py
View File

@ -44,6 +44,7 @@ import argparse
import shutil
import px_generate_uorb_topic_files
import px_generate_uorb_topic_helper
import uorb_rtps_classifier
import subprocess
import glob
import errno
@ -54,48 +55,17 @@ except ImportError:
"Failed to import yaml. You may need to install it with 'sudo pip install pyyaml'")
def get_absolute_path(arg_parse_dir):
root_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
if isinstance(arg_parse_dir, list):
dir = arg_parse_dir[0]
else:
dir = arg_parse_dir
if dir[0] != '/':
dir = root_path + "/" + dir
return dir
def parse_yaml_msg_id_file(yaml_file):
def check_rtps_id_uniqueness(classifier):
"""
Parses a yaml file into a dict
Checks if:
1. there are no ID's for different msgs repeated on the map
2. the same msg is set to be sent/received and unclassified at the same time
"""
try:
with open(yaml_file, 'r') as f:
return yaml.load(f)
except OSError as e:
if e.errno == errno.ENOENT:
raise IOError(errno.ENOENT, os.strerror(errno.ENOENT), yaml_file)
else:
raise
msgs_to_use = classifier.msgs_to_send
msgs_to_use.update(classifier.msgs_to_receive)
msgs_to_ignore = classifier.msgs_to_ignore
def get_used_rtps_ids(msg_id_map):
msg_ids = {}
for dict in msg_id_map['rtps']:
msg_ids.update({dict['msg']: dict['id']})
return msg_ids
def check_rtps_id_uniqueness(msg_id_map):
"""
Checks if there are no ID's repeated on the map
"""
msg_ids = get_used_rtps_ids(msg_id_map)
used_ids = msg_ids.values()
used_ids = msgs_to_use.values()
used_ids.sort()
repeated_keys = dict()
@ -111,9 +81,9 @@ def check_rtps_id_uniqueness(msg_id_map):
", ".join('%d' % id for id in px_generate_uorb_topic_helper.check_available_ids(used_ids)))
default_client_out = get_absolute_path(
default_client_out = px_generate_uorb_topic_helper.get_absolute_path(
"src/modules/micrortps_bridge/micrortps_client")
default_agent_out = get_absolute_path(
default_agent_out = px_generate_uorb_topic_helper.get_absolute_path(
"src/modules/micrortps_bridge/micrortps_agent")
default_uorb_templates_dir = "templates/uorb_microcdr"
default_urtps_templates_dir = "templates/urtps"
@ -122,10 +92,6 @@ default_package_name = px_generate_uorb_topic_files.PACKAGE
parser = argparse.ArgumentParser()
parser.add_argument("-s", "--send", dest='send', metavar='*.msg',
type=str, nargs='+', help="Topics to be sended")
parser.add_argument("-r", "--receive", dest='receive', metavar='*.msg',
type=str, nargs='+', help="Topics to be received")
parser.add_argument("-a", "--agent", dest='agent', action="store_true",
help="Flag for generate the agent, by default is true if -c is not specified")
parser.add_argument("-c", "--client", dest='client', action="store_true",
@ -141,11 +107,11 @@ parser.add_argument("-l", "--generate-cmakelists", dest='cmakelists',
parser.add_argument("-t", "--topic-msg-dir", dest='msgdir', type=str,
help="Topics message dir, by default msg/", default="msg")
parser.add_argument("-b", "--uorb-templates-dir", dest='uorb_templates', type=str,
help="uORB templates dir, by default msg_dir/templates/uorb_microcdr", default=default_uorb_templates_dir)
help="uORB templates dir, by default msgdir/templates/uorb_microcdr", default=default_uorb_templates_dir)
parser.add_argument("-q", "--urtps-templates-dir", dest='urtps_templates', type=str,
help="uRTPS templates dir, by default msg_dir/templates/urtps", default=default_urtps_templates_dir)
help="uRTPS templates dir, by default msgdir/templates/urtps", default=default_urtps_templates_dir)
parser.add_argument("-y", "--rtps-ids-file", dest='yaml_file', type=str,
help="RTPS msg IDs definition file, relative to the msg_dir, by default tools/uorb_rtps_message_ids.yaml", default=default_rtps_id_file)
help="RTPS msg IDs definition file, relative to the msgdir, by default tools/uorb_rtps_message_ids.yaml", default=default_rtps_id_file)
parser.add_argument("-p", "--package", dest='package', type=str,
help="Msg package naming, by default px4", default=default_package_name)
parser.add_argument("-o", "--agent-outdir", dest='agentdir', type=str, nargs=1,
@ -166,13 +132,7 @@ if len(sys.argv) <= 1:
# Parse arguments
args = parser.parse_args()
msg_folder = get_absolute_path(args.msgdir)
msg_files_send = []
msg_files_receive = []
if args.send:
msg_files_send = [get_absolute_path(msg) for msg in args.send]
if args.receive:
msg_files_receive = [get_absolute_path(msg) for msg in args.receive]
msg_folder = px_generate_uorb_topic_helper.get_absolute_path(args.msgdir)
package = args.package
agent = args.agent
client = args.client
@ -181,12 +141,13 @@ cmakelists = args.cmakelists
del_tree = args.del_tree
px_generate_uorb_topic_files.append_to_include_path(
{msg_folder}, px_generate_uorb_topic_files.INCL_DEFAULT, package)
agent_out_dir = get_absolute_path(args.agentdir)
client_out_dir = get_absolute_path(args.clientdir)
agent_out_dir = px_generate_uorb_topic_helper.get_absolute_path(args.agentdir)
client_out_dir = px_generate_uorb_topic_helper.get_absolute_path(
args.clientdir)
gen_idl = args.gen_idl
idl_dir = args.idl_dir
if idl_dir != '':
idl_dir = get_absolute_path(args.idl_dir)
idl_dir = px_generate_uorb_topic_helper.get_absolute_path(args.idl_dir)
else:
idl_dir = os.path.join(agent_out_dir, "idl")
@ -196,11 +157,12 @@ if args.fastrtpsgen is None or args.fastrtpsgen == "":
else:
# Path to fastrtpsgen is explicitly specified
fastrtpsgen_path = os.path.join(
get_absolute_path(args.fastrtpsgen), "/fastrtpsgen")
px_generate_uorb_topic_helper.get_absolute_path(args.fastrtpsgen), "/fastrtpsgen")
fastrtpsgen_include = args.fastrtpsgen_include
if fastrtpsgen_include is not None and fastrtpsgen_include != '':
fastrtpsgen_include = "-I " + \
get_absolute_path(args.fastrtpsgen_include) + " "
px_generate_uorb_topic_helper.get_absolute_path(
args.fastrtpsgen_include) + " "
# If nothing specified it's generated both
if agent == False and client == False:
@ -234,70 +196,70 @@ if agent and os.path.isdir(os.path.join(agent_out_dir, "idl")):
uorb_templates_dir = os.path.join(msg_folder, args.uorb_templates)
urtps_templates_dir = os.path.join(msg_folder, args.urtps_templates)
# parse yaml file into a map of ids
rtps_ids = parse_yaml_msg_id_file(os.path.join(msg_folder, args.yaml_file))
classifier = Classifier(px_generate_uorb_topic_helper.parse_yaml_msg_id_file(os.path.join(msg_folder, args.yaml_file), msg_folder)
# check if there are no ID's repeated
check_rtps_id_uniqueness(rtps_ids)
check_rtps_id_uniqueness(classifier)
uRTPS_CLIENT_TEMPL_FILE = 'microRTPS_client.cpp.template'
uRTPS_AGENT_TOPICS_H_TEMPL_FILE = 'RtpsTopics.h.template'
uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE = 'RtpsTopics.cpp.template'
uRTPS_AGENT_TEMPL_FILE = 'microRTPS_agent.cpp.template'
uRTPS_AGENT_CMAKELISTS_TEMPL_FILE = 'microRTPS_agent_CMakeLists.txt.template'
uRTPS_PUBLISHER_SRC_TEMPL_FILE = 'Publisher.cpp.template'
uRTPS_PUBLISHER_H_TEMPL_FILE = 'Publisher.h.template'
uRTPS_SUBSCRIBER_SRC_TEMPL_FILE = 'Subscriber.cpp.template'
uRTPS_SUBSCRIBER_H_TEMPL_FILE = 'Subscriber.h.template'
uRTPS_CLIENT_TEMPL_FILE='microRTPS_client.cpp.template'
uRTPS_AGENT_TOPICS_H_TEMPL_FILE='RtpsTopics.h.template'
uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE='RtpsTopics.cpp.template'
uRTPS_AGENT_TEMPL_FILE='microRTPS_agent.cpp.template'
uRTPS_AGENT_CMAKELISTS_TEMPL_FILE='microRTPS_agent_CMakeLists.txt.template'
uRTPS_PUBLISHER_SRC_TEMPL_FILE='Publisher.cpp.template'
uRTPS_PUBLISHER_H_TEMPL_FILE='Publisher.h.template'
uRTPS_SUBSCRIBER_SRC_TEMPL_FILE='Subscriber.cpp.template'
uRTPS_SUBSCRIBER_H_TEMPL_FILE='Subscriber.h.template'
def generate_agent(out_dir):
if msg_files_send:
for msg_file in msg_files_send:
if classifier.msg_files_send:
for msg_file in classifier.msg_files_send:
if gen_idl:
if out_dir != agent_out_dir:
px_generate_uorb_topic_files.generate_idl_file(msg_file, os.path.join(out_dir, "/idl"), urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids)
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
else:
px_generate_uorb_topic_files.generate_idl_file(msg_file, idl_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids)
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_PUBLISHER_H_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_PUBLISHER_H_TEMPL_FILE)
if msg_files_receive:
for msg_file in msg_files_receive:
if classifier.msg_files_receive:
for msg_file in classifier.msg_files_receive:
if gen_idl:
if out_dir != agent_out_dir:
px_generate_uorb_topic_files.generate_idl_file(msg_file, os.path.join(out_dir, "/idl"), urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids)
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
else:
px_generate_uorb_topic_files.generate_idl_file(msg_file, idl_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids)
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_AGENT_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msg_files_send, classifier.msg_files_receive, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_AGENT_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msg_files_send, classifier.msg_files_receive, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msg_files_send, classifier.msg_files_receive, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
if cmakelists:
px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msg_files_send, classifier.msg_files_receive, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE)
# Final steps to install agent
mkdir_p(os.path.join(out_dir, "fastrtpsgen"))
prev_cwd_path = os.getcwd()
prev_cwd_path=os.getcwd()
os.chdir(os.path.join(out_dir, "fastrtpsgen"))
if not glob.glob(os.path.join(idl_dir, "*.idl")):
raise Exception("No IDL files found in %s" % idl_dir)
for idl_file in glob.glob(os.path.join(idl_dir, "*.idl")):
ret = subprocess.call(fastrtpsgen_path + " -d " + out_dir +
ret=subprocess.call(fastrtpsgen_path + " -d " + out_dir +
"/fastrtpsgen -example x64Linux2.6gcc " + fastrtpsgen_include + idl_file, shell=True)
if ret:
raise Exception(
@ -346,18 +308,18 @@ def generate_client(out_dir):
# Rename work in the default path
if default_client_out != out_dir:
def_file = os.path.join(default_client_out, "microRTPS_client.cpp")
def_file=os.path.join(default_client_out, "microRTPS_client.cpp")
if os.path.isfile(def_file):
os.rename(def_file, def_file.replace(".cpp", ".cpp_"))
def_file = os.path.join(default_client_out, "microRTPS_transport.cpp")
def_file=os.path.join(default_client_out, "microRTPS_transport.cpp")
if os.path.isfile(def_file):
os.rename(def_file, def_file.replace(".cpp", ".cpp_"))
def_file = os.path.join(default_client_out, "microRTPS_transport.h")
def_file=os.path.join(default_client_out, "microRTPS_transport.h")
if os.path.isfile(def_file):
os.rename(def_file, def_file.replace(".h", ".h_"))
px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, uorb_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_CLIENT_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msg_files_send, classifier.msg_files_receive, out_dir, uorb_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_CLIENT_TEMPL_FILE)
# Final steps to install client
cp_wildcard(os.path.join(urtps_templates_dir,

40
msg/tools/px_generate_uorb_topic_helper.py
View File

@ -41,6 +41,7 @@ precompiled and thus message generation will be much faster
import os
import errno
import yaml
import genmsg.msgs
import gencpp
@ -347,6 +348,37 @@ def print_field_def(field):
array_size, comment))
def get_absolute_path(arg_parse_dir):
"""
Get absolute path from dir
"""
root_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
if isinstance(arg_parse_dir, list):
dir = arg_parse_dir[0]
else:
dir = arg_parse_dir
if dir[0] != '/':
dir = root_path + "/" + dir
return dir
def parse_yaml_msg_id_file(yaml_file):
"""
Parses a yaml file into a dict
"""
try:
with open(yaml_file, 'r') as f:
return yaml.load(f)
except OSError as e:
if e.errno == errno.ENOENT:
raise IOError(errno.ENOENT, os.strerror(errno.ENOENT), yaml_file)
else:
raise
def check_available_ids(used_msg_ids_list):
"""
Checks the available RTPS ID's
@ -359,7 +391,13 @@ def rtps_message_id(msg_id_map, message):
Get RTPS ID of uORB message
"""
used_ids = list()
for dict in msg_id_map[0]['rtps']:
# check 'send' list
for dict in msg_id_map[0]['rtps']['send']:
used_ids.append(dict['id'])
if message in dict['msg']:
return dict['id']
# check 'receive' list
for dict in msg_id_map[0]['rtps']['receive']:
used_ids.append(dict['id'])
if message in dict['msg']:
return dict['id']

168
msg/tools/uorb_rtps_classifier.py Normal file
View File

@ -0,0 +1,168 @@
#!/usr/bin/env python
################################################################################
#
# Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
# 2018 PX4 Pro 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 of the copyright holder 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 HOLDER 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.
#
################################################################################
import sys
import os
import argparse
import px_generate_uorb_topic_helper
class Classifier():
"""
Class to classify RTPS msgs as senders, receivers or to be ignored
"""
def __init__(self, msg_id_map, msg_folder):
self.msg_id_map = msg_id_map
self.msg_folder = msg_folder
self.msgs_to_send = {}
self.msgs_to_receive = {}
self.msgs_to_ignore = {}
self.msg_files_send = []
self.msg_files_receive = []
self.msg_files_ignore = []
# init class attributtes
self.set_msgs_to_send()
self.set_msgs_to_receive()
self.set_msgs_to_ignore()
self.set_msg_files_send()
self.set_msg_files_receive()
self.set_msg_files_ignore()
# getters
@property
def msg_id_map(self):
return self.__msg_id_map
@property
def msg_folder(self):
return self.__msg_folder
@property
def msgs_to_send(self):
return self.__msgs_to_send
@property
def msgs_to_receive(self):
return self.__msgs_to_receive
@property
def msgs_to_ignore(self):
return self.__msgs_to_ignore
@property
def msg_files_send(self):
return self.__msg_files_send
@property
def msg_files_receive(self):
return self.__msg_files_receive
@property
def msg_files_ignore(self):
return self.__msg_files_ignore
# setters (for class init)
def set_msgs_to_send(self):
for dict in self.msg_id_map['rtps']['send']:
self.msgs_to_send.update({dict['msg']: dict['id']})
def set_msgs_to_receive(self):
for dict in self.msg_id_map['rtps']['receive']:
self.msgs_to_receive.update({dict['msg']: dict['id']})
def set_msgs_to_ignore(self):
for dict in self.msg_id_map['rtps']['unclassified']:
self.msgs_to_ignore.update({dict['msg']: dict['id']})
def set_msg_files_send(self):
self.msgs_files_send = [px_generate_uorb_topic_helper.get_absolute_path(os.path.join(self.msg_folder, msg + ".msg"))
for msg in self.msgs_to_send.keys()]
def set_msg_files_receive(self):
self.msgs_files_receive = [px_generate_uorb_topic_helper.get_absolute_path(os.path.join(self.msg_folder, msg + ".msg"))
for msg in self.msgs_to_receive.keys()]
def set_msg_files_ignore(self):
self.msgs_files_ignore = [px_generate_uorb_topic_helper.get_absolute_path(os.path.join(self.msg_folder, msg + ".msg"))
for msg in self.msgs_to_ignore.keys()]
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("-s", "--send", dest='send',
action="store_true", help="Get topics to be sended")
parser.add_argument("-r", "--receive", dest='receive',
action="store_true", help="Get topics to be received")
parser.add_argument("-i", "--ignore", dest='ignore',
action="store_true", help="Get topics to be ignored")
parser.add_argument("-p", "--path", dest='path',
action="store_true", help="Get msgs and its paths")
parser.add_argument("-m", "--topic-msg-dir", dest='msgdir', type=str,
help="Topics message dir, by default msg/", default="msg")
parser.add_argument("-y", "--rtps-ids-file", dest='yaml_file', type=str,
help="RTPS msg IDs definition file, relative to the msg_dir, by default tools/uorb_rtps_message_ids.yaml",
default="tools/uorb_rtps_message_ids.yaml")
# Parse arguments
args = parser.parse_args()
msg_folder = os.path.dirname(os.path.dirname(os.path.abspath(args.msgdir)))
classifier = Classifier(px_generate_uorb_topic_helper.parse_yaml_msg_id_file(
os.path.join(msg_folder, args.yaml_file)), msg_folder)
if args.send:
if args.path:
print ('send files: ' + ', '.join(str(msg_file)
for msg_file in classifier.msgs_files_send) + '\n')
else:
print ('send topics: ' + ', '.join(str(msg)
for msg in classifier.msgs_to_send.keys()) + '\n')
if args.receive:
if args.path:
print ('receive files: ' + ', '.join(str(msg_file)
for msg_file in classifier.msgs_files_receive) + '\n')
else:
print ('receive topics: ' + ', '.join(str(msg)
for msg in classifier.msgs_to_receive.keys()) + '\n')
if args.ignore:
if args.path:
print ('ignore files: ' + ', '.join(str(msg_file)
for msg_file in classifier.msgs_files_ignore) + '\n')
else:
print ('ignore topics: ' + ', '.join(str(msg)
for msg in classifier.msgs_to_ignore.keys()) + '\n')

256
msg/tools/uorb_rtps_message_ids.yaml
View File

@ -1,124 +1,21 @@
rtps:
- msg: actuator_armed
id: 0
- msg: actuator_control
id: 1
- msg: actuator_direct
id: 2
- msg: actuator_output
id: 3
- msg: adc_report
id: 4
send:
- msg: airspeed
id: 5
- msg: battery_status
id: 6
- msg: camera_capture
id: 7
- msg: camera_trigger
id: 8
- msg: collision_report
id: 9
- msg: commander_state
id: 10
- msg: cpuload
id: 11
- msg: debug_key_value
id: 12
- msg: debug_value
id: 13
- msg: debug_vect
id: 14
- msg: differential_pressure
id: 15
- msg: distance_sensor
id: 16
- msg: ekf2_innovations
id: 17
- msg: ekf2_timestamps
id: 18
- msg: ekf_gps_drift
id: 19
- msg: ekf_gps_position
id: 20
- msg: esc_report
id: 21
- msg: esc_status
id: 22
- msg: estimator_status
id: 23
- msg: follow_target
id: 24
- msg: geofence_result
id: 25
- msg: gps_dump
id: 26
- msg: gps_inject_data
id: 27
- msg: home_position
id: 28
- msg: input_rc
id: 29
- msg: iridiumsbd_status
id: 30
- msg: irlock_report
id: 31
- msg: landing_target_innovation
id: 32
- msg: landing_target_pose
id: 33
- msg: led_control
id: 34
- msg: log_message
id: 35
- msg: manual_control_setpoint
id: 36
- msg: mavlink_log
id: 37
- msg: mission
id: 38
- msg: mission_result
id: 39
- msg: mount_orientation
id: 40
- msg: multirotor_motor_limit
id: 41
- msg: obstacle_distance
id: 42
- msg: offboard_control_mode
id: 43
- msg: optical_flow
id: 44
- msg: parameter_update
id: 45
- msg: ping
id: 46
- msg: position_controller_landing_status
id: 47
- msg: position_controller_status
id: 48
- msg: position_setpoint
id: 49
- msg: position_setpoint_triplet
id: 50
- msg: power_button_state
id: 51
- msg: pwm_input
id: 52
- msg: qshell_req
id: 53
- msg: qshell_retval
id: 54
- msg: radio_status
id: 55
- msg: rate_ctrl_status
id: 56
- msg: rc_channels
id: 57
- msg: rc_parameter_map
id: 58
- msg: safety
id: 59
- msg: satellite_info
id: 60
- msg: sensor_accel
@ -143,22 +40,145 @@ rtps:
id: 70
- msg: subsystem_info
id: 71
- msg: system_power
id: 72
- msg: task_stack_info
id: 73
- msg: tecs_status
id: 74
- msg: telemetry_status
id: 75
- msg: transponder_report
id: 79
- msg: vehicle_global_position
id: 92
- msg: vehicle_gps_position
id: 93
- msg: vehicle_land_detected
id: 94
- msg: vehicle_odometry
id: 98
- msg: vehicle_status
id: 101
- msg: vtol_vehicle_status
id: 104
receive:
- msg: camera_trigger
id: 8
- msg: debug_key_value
id: 12
- msg: debug_value
id: 13
- msg: debug_vect
id: 14
- msg: obstacle_distance
id: 42
# multi topics
- msg: vehicle_mocap_odometry
id: 132
- msg: vehicle_visual_odometry
id: 133
unclassified:
- msg: actuator_armed
id: 0
- msg: actuator_control
id: 1
- msg: actuator_direct
id: 2
- msg: actuator_output
id: 3
- msg: adc_report
id: 4
- msg: camera_capture
id: 7
- msg: collision_report
id: 9
- msg: commander_state
id: 10
- msg: cpuload
id: 11
- msg: distance_sensor
id: 16
- msg: ekf2_innovations
id: 17
- msg: ekf2_timestamps
id: 18
- msg: ekf_gps_drift
id: 19
- msg: ekf_gps_position
id: 20
- msg: esc_report
id: 21
- msg: follow_target
id: 24
- msg: geofence_result
id: 25
- msg: gps_dump
id: 26
- msg: gps_inject_data
id: 27
- msg: home_position
id: 28
- msg: input_rc
id: 29
- msg: irlock_report
id: 31
- msg: landing_target_innovation
id: 32
- msg: landing_target_pose
id: 33
- msg: led_control
id: 34
- msg: log_message
id: 35
- msg: manual_control_setpoint
id: 36
- msg: mavlink_log
id: 37
- msg: mission
id: 38
- msg: mission_result
id: 39
- msg: mount_orientation
id: 40
- msg: multirotor_motor_limit
id: 41
- msg: offboard_control_mode
id: 43
- msg: optical_flow
id: 44
- msg: parameter_update
id: 45
- msg: ping
id: 46
- msg: position_controller_landing_status
id: 47
- msg: position_controller_status
id: 48
- msg: position_setpoint
id: 49
- msg: position_setpoint_triplet
id: 50
- msg: power_button_state
id: 51
- msg: pwm_input
id: 52
- msg: qshell_req
id: 53
- msg: qshell_retval
id: 54
- msg: rc_channels
id: 57
- msg: rc_parameter_map
id: 58
- msg: safety
id: 59
- msg: system_power
id: 72
- msg: task_stack_info
id: 73
- msg: test_motor
id: 76
- msg: timesync_status
id: 77
- msg: trajectory_waypoint
id: 78
- msg: transponder_report
id: 79
- msg: tune_control
id: 80
- msg: uavcan_parameter_request
@ -183,32 +203,20 @@ rtps:
id: 90
- msg: vehicle_control_mode
id: 91
- msg: vehicle_global_position
id: 92
- msg: vehicle_gps_position
id: 93
- msg: vehicle_land_detected
id: 94
- msg: vehicle_local_position
id: 95
- msg: vehicle_local_position_setpoint
id: 96
- msg: vehicle_magnetometer
id: 97
- msg: vehicle_odometry
id: 98
- msg: vehicle_rates_setpoint
id: 99
- msg: vehicle_roi
id: 100
- msg: vehicle_status
id: 101
- msg: vehicle_status_flags
id: 102
- msg: vehicle_trajectory_waypoint
id: 103
- msg: vtol_vehicle_status
id: 104
- msg: wind_estimate
id: 105
# multi topics
@ -236,10 +244,6 @@ rtps:
id: 130
- msg: vehicle_local_position_groundtruth
id: 131
- msg: vehicle_mocap_odometry
id: 132
- msg: vehicle_visual_odometry
id: 133
- msg: mc_virtual_rates_setpoint
id: 134
- msg: fw_virtual_rates_setpoint