forked from Archive/PX4-Autopilot
use a yaml file description instead of json; minor improvements and cleanup
This commit is contained in:
TSC21
Beat Küng
parent
7d40c4f97e
commit
bb835382dd
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@ -10,16 +10,24 @@
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@# - multi_topics (List) list of all multi-topic names
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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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recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
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yaml_file = os.path.abspath('uorb_rtps_message_ids.yaml')
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try:
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msg_ids = parse_yaml_msg_id_file(yaml_file)
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except OSError as e:
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if e.errno == errno.ENOENT:
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raise IOError(errno.ENOENT, os.strerror(errno.ENOENT), yaml_file)
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else:
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raise
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}@
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/****************************************************************************
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*
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@ -112,7 +120,7 @@ void* send(void* /*unused*/)
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/* payload is shifted by header length to make room for header*/
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serialize_@(topic)(&MicroBufferWriter, &data, &data_buffer[header_length], &length);
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if (0 < (read = transport_node->write((char)@(message_id(topic)), data_buffer, length)))
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if (0 < (read = transport_node->write((char)@(rtps_message_id(msg_ids, topic)), data_buffer, length)))
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{
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total_sent += read;
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++sent;
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@ -187,7 +195,8 @@ void micrortps_start_topics(struct timespec &begin, int &total_read, uint32_t &r
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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)):
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case @(rtps_message_id(msg_ids, topic)):
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{
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deserialize_@(topic)(&MicroBufferReader, &@(topic)_data, data_buffer);
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if (!@(topic)_pub) {
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@ -19,6 +19,14 @@ from px_generate_uorb_topic_files import MsgScope # 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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recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
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yaml_file = os.path.abspath('uorb_rtps_message_ids.yaml')
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try:
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msg_ids = parse_yaml_msg_id_file(yaml_file)
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except OSError as e:
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if e.errno == errno.ENOENT:
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raise IOError(errno.ENOENT, os.strerror(errno.ENOENT), yaml_file)
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else:
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raise
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}@
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/****************************************************************************
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*
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@ -89,7 +97,7 @@ 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 @(rtps_message_id(os.path.abspath('uorb_rtps_message_ids.json'), topic)): // @(topic)
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case @(rtps_message_id(msg_ids, 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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@ -117,7 +125,7 @@ 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 @(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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case @(rtps_message_id(msg_ids, topic)): if (_@(topic)_sub.hasMsg()) *topic_ID = @(rtps_message_id(msg_ids, 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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@ -141,7 +149,7 @@ 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 @(rtps_message_id(os.path.abspath('uorb_rtps_message_ids.json'), topic)): // @(topic)
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case @(rtps_message_id(msg_ids, 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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@ -19,6 +19,14 @@ from px_generate_uorb_topic_files import MsgScope # 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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recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
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yaml_file = os.path.abspath('uorb_rtps_message_ids.yaml')
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try:
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msg_ids = parse_yaml_msg_id_file(yaml_file)
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except OSError as e:
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if e.errno == errno.ENOENT:
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raise IOError(errno.ENOENT, os.strerror(errno.ENOENT), yaml_file)
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else:
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raise
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}@
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/****************************************************************************
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*
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@ -89,7 +97,7 @@ 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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@(rtps_message_id(os.path.abspath('uorb_rtps_message_ids.json'), topic)), // @(topic)
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@(rtps_message_id(msg_ids, topic)), // @(topic)
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@[end for]@
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};
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@[end if]@
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@ -69,8 +69,8 @@ parser.add_argument("-a", "--agent", dest='agent', action="store_true", help="Fl
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parser.add_argument("-c", "--client", dest='client', action="store_true", help="Flag for generate the client, by default is true if -a is not specified")
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parser.add_argument("-i", "--no-idl", dest='idl', action="store_false", help="Flag for generate idl files for each msg, by default is true if -i is not specified")
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parser.add_argument("-t", "--topic-msg-dir", dest='msgdir', type=str, nargs=1, help="Topics message dir, by default msg/", default="msg")
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parser.add_argument("-b", "--uorb-templates-dir", dest='uorb_templates', type=str, nargs=1, help="uORB templates dir, by default msg_dir/templates/uorb_microcdr", default=default_uorb_templates_dir)
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parser.add_argument("-q", "--urtps-templates-dir", dest='urtps_templates', type=str, nargs=1, help="uRTPS templates dir, by default msg_dir/templates/urtps", default=default_urtps_templates_dir)
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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)
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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)
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parser.add_argument("-p", "--package", dest='package', type=str, nargs=1, help="Msg package naming, by default px4", default=default_package_name)
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parser.add_argument("-o", "--agent-outdir", dest='agentdir', type=str, nargs=1, help="Agent output dir, by default src/modules/micrortps_bridge/micrortps_agent", default=default_agent_out)
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parser.add_argument("-u", "--client-outdir", dest='clientdir', type=str, nargs=1, help="Client output dir, by default src/modules/micrortps_bridge/micrortps_client", default=default_client_out)
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@ -188,6 +188,7 @@ def generate_agent(out_dir):
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# Final steps to install agent
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mkdir_p(agent_out_dir + "/fastrtpsgen")
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prev_cwd_path = os.getcwd()
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os.chdir(agent_out_dir + "/fastrtpsgen")
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for idl_file in glob.glob(agent_out_dir + "/idl/*.idl"):
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ret = subprocess.call(fastrtpsgen_path + " -d " + agent_out_dir + "/fastrtpsgen -example x64Linux2.6gcc " + idl_file, shell=True)
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@ -205,6 +206,7 @@ def generate_agent(out_dir):
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cp_wildcard(urtps_templates_dir + "/microRTPS_transport.*", agent_out_dir)
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os.rename(agent_out_dir + "/microRTPS_agent_CMakeLists.txt", agent_out_dir + "/CMakeLists.txt")
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mkdir_p(agent_out_dir + "/build")
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os.chdir(prev_cwd_path)
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return 0
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def rm_wildcard(pattern):
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@ -43,6 +43,7 @@ import shutil
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import filecmp
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import argparse
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import sys
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import errno
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px4_tools_dir = os.path.dirname(os.path.abspath(__file__))
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sys.path.append(px4_tools_dir + "/genmsg/src")
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@ -271,11 +272,12 @@ 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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if not os.path.isfile(template_file):
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ofile.close()
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os.remove(output_file)
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raise RuntimeError("Template file %s not found" % (template_file))
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interpreter.file(open(template_file)) #todo try
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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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ofile.close()
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os.remove(output_file)
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raise
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interpreter.shutdown()
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ofile.close()
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return True
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@ -4,7 +4,8 @@
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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 os
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import yaml
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import genmsg.msgs
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import gencpp
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@ -298,13 +299,23 @@ 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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def parse_yaml_msg_id_file(yaml_file):
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"""
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Parses a yaml file into a dict
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"""
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try:
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with open(yaml_file, 'r') as f:
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return yaml.load(f)
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except OSError as e:
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if e.errno == errno.ENOENT:
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raise IOError(errno.ENOENT, os.strerror(errno.ENOENT), yaml_file)
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else:
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raise
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def rtps_message_id(msg_id_map, 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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@ -1,352 +0,0 @@
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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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||||
},
|
||||
{
|
||||
"msg": "task_stack_info",
|
||||
"id": 67
|
||||
},
|
||||
{
|
||||
"msg": "tecs_status",
|
||||
"id": 68
|
||||
},
|
||||
{
|
||||
"msg": "telemetry_status",
|
||||
"id": 69
|
||||
},
|
||||
{
|
||||
"msg": "test_motor",
|
||||
"id": 70
|
||||
},
|
||||
{
|
||||
"msg": "time_offset",
|
||||
"id": 71
|
||||
},
|
||||
{
|
||||
"msg": "transponder_report",
|
||||
"id": 72
|
||||
},
|
||||
{
|
||||
"msg": "uavcan_parameter_request",
|
||||
"id": 73
|
||||
},
|
||||
{
|
||||
"msg": "uavcan_parameter_value",
|
||||
"id": 74
|
||||
},
|
||||
{
|
||||
"msg": "ulog_stream_ack",
|
||||
"id": 75
|
||||
},
|
||||
{
|
||||
"msg": "ulog_stream",
|
||||
"id": 76
|
||||
},
|
||||
{
|
||||
"msg": "vehicle_attitude",
|
||||
"id": 77
|
||||
},
|
||||
{
|
||||
"msg": "vehicle_attitude_setpoint",
|
||||
"id": 78
|
||||
},
|
||||
{
|
||||
"msg": "vehicle_command_ack",
|
||||
"id": 79
|
||||
},
|
||||
{
|
||||
"msg": "vehicle_command",
|
||||
"id": 80
|
||||
},
|
||||
{
|
||||
"msg": "vehicle_control_mode",
|
||||
"id": 81
|
||||
},
|
||||
{
|
||||
"msg": "vehicle_global_position",
|
||||
"id": 83
|
||||
},
|
||||
{
|
||||
"msg": "vehicle_gps_position",
|
||||
"id": 85
|
||||
},
|
||||
{
|
||||
"msg": "vehicle_land_detected",
|
||||
"id": 86
|
||||
},
|
||||
{
|
||||
"msg": "vehicle_local_position",
|
||||
"id": 87
|
||||
},
|
||||
{
|
||||
"msg": "vehicle_local_position_setpoint",
|
||||
"id": 88
|
||||
},
|
||||
{
|
||||
"msg": "vehicle_rates_setpoint",
|
||||
"id": 89
|
||||
},
|
||||
{
|
||||
"msg": "vehicle_roi",
|
||||
"id": 90
|
||||
},
|
||||
{
|
||||
"msg": "vehicle_status_flags",
|
||||
"id": 91
|
||||
},
|
||||
{
|
||||
"msg": "vehicle_status",
|
||||
"id": 92
|
||||
},
|
||||
{
|
||||
"msg": "vtol_vehicle_status",
|
||||
"id": 93
|
||||
},
|
||||
{
|
||||
"msg": "wind_estimate",
|
||||
"id": 94
|
||||
}
|
||||
]
|
||||
}
|
||||
|
|
@ -0,0 +1,175 @@
|
|||
rtps:
|
||||
- msg: actuator_armed
|
||||
id: 1
|
||||
- msg: actuator_controls
|
||||
id: 2
|
||||
- msg: actuator_direct
|
||||
id: 3
|
||||
- msg: actuator_outputs
|
||||
id: 4
|
||||
- msg: adc_report
|
||||
id: 5
|
||||
- msg: airspeed
|
||||
id: 6
|
||||
- msg: att_pos_mocap
|
||||
id: 7
|
||||
- msg: battery_status
|
||||
id: 8
|
||||
- msg: camera_capture
|
||||
id: 9
|
||||
- msg: camera_trigger
|
||||
id: 10
|
||||
- msg: collision_report
|
||||
id: 11
|
||||
- msg: commander_state
|
||||
id: 12
|
||||
- msg: cpuload
|
||||
id: 14
|
||||
- msg: debug_key_value
|
||||
id: 15
|
||||
- msg: differential_pressure
|
||||
id: 16
|
||||
- msg: distance_sensor
|
||||
id: 17
|
||||
- msg: ekf2_innovations
|
||||
id: 18
|
||||
- msg: ekf2_timestamps
|
||||
id: 20
|
||||
- msg: esc_report
|
||||
id: 21
|
||||
- msg: esc_status
|
||||
id: 22
|
||||
- msg: estimator_status
|
||||
id: 23
|
||||
- msg: fence
|
||||
id: 24
|
||||
- msg: fence_vertex
|
||||
id: 25
|
||||
- msg: follow_target
|
||||
id: 27
|
||||
- msg: fw_pos_ctrl_status
|
||||
id: 28
|
||||
- msg: geofence_result
|
||||
id: 29
|
||||
- msg: gps_dump
|
||||
id: 30
|
||||
- msg: gps_inject_data
|
||||
id: 31
|
||||
- msg: home_position
|
||||
id: 33
|
||||
- msg: input_rc
|
||||
id: 34
|
||||
- msg: led_control
|
||||
id: 35
|
||||
- msg: log_message
|
||||
id: 36
|
||||
- msg: manual_control_setpoint
|
||||
id: 37
|
||||
- msg: mavlink_log
|
||||
id: 38
|
||||
- msg: mc_att_ctrl_status
|
||||
id: 39
|
||||
- msg: mission
|
||||
id: 40
|
||||
- msg: mission_result
|
||||
id: 41
|
||||
- msg: mount_orientation
|
||||
id: 42
|
||||
- msg: multirotor_motor_limits
|
||||
id: 43
|
||||
- msg: offboard_control_mode
|
||||
id: 44
|
||||
- msg: optical_flow
|
||||
id: 45
|
||||
- msg: parameter_update
|
||||
id: 47
|
||||
- msg: position_setpoint
|
||||
id: 48
|
||||
- msg: position_setpoint_triplet
|
||||
id: 49
|
||||
- msg: pwm_input
|
||||
id: 40
|
||||
- msg: qshell_req
|
||||
id: 51
|
||||
- msg: rc_channels
|
||||
id: 52
|
||||
- msg: rc_parameter_map
|
||||
id: 53
|
||||
- msg: safety
|
||||
id: 54
|
||||
- msg: satellite_info
|
||||
id: 55
|
||||
- msg: sensor_accel
|
||||
id: 56
|
||||
- msg: sensor_baro
|
||||
id: 57
|
||||
- msg: sensor_combined
|
||||
id: 58
|
||||
- msg: sensor_correction
|
||||
id: 59
|
||||
- msg: sensor_gyro
|
||||
id: 60
|
||||
- msg: sensor_mag
|
||||
id: 61
|
||||
- msg: sensor_preflight
|
||||
id: 62
|
||||
- msg: sensor_selection
|
||||
id: 63
|
||||
- msg: servorail_status
|
||||
id: 64
|
||||
- msg: subsystem_info
|
||||
id: 65
|
||||
- msg: system_power
|
||||
id: 66
|
||||
- msg: task_stack_info
|
||||
id: 67
|
||||
- msg: tecs_status
|
||||
id: 68
|
||||
- msg: telemetry_status
|
||||
id: 69
|
||||
- msg: test_motor
|
||||
id: 70
|
||||
- msg: time_offset
|
||||
id: 71
|
||||
- msg: transponder_report
|
||||
id: 72
|
||||
- msg: uavcan_parameter_request
|
||||
id: 73
|
||||
- msg: uavcan_parameter_value
|
||||
id: 74
|
||||
- msg: ulog_stream_ack
|
||||
id: 75
|
||||
- msg: ulog_stream
|
||||
id: 76
|
||||
- msg: vehicle_attitude
|
||||
id: 77
|
||||
- msg: vehicle_attitude_setpoint
|
||||
id: 78
|
||||
- msg: vehicle_command_ack
|
||||
id: 79
|
||||
- msg: vehicle_command
|
||||
id: 80
|
||||
- msg: vehicle_control_mode
|
||||
id: 81
|
||||
- msg: vehicle_global_position
|
||||
id: 83
|
||||
- msg: vehicle_gps_position
|
||||
id: 85
|
||||
- msg: vehicle_land_detected
|
||||
id: 86
|
||||
- msg: vehicle_local_position
|
||||
id: 87
|
||||
- msg: vehicle_local_position_setpoint
|
||||
id: 88
|
||||
- msg: vehicle_rates_setpoint
|
||||
id: 89
|
||||
- msg: vehicle_roi
|
||||
id: 90
|
||||
- msg: vehicle_status_flags
|
||||
id: 91
|
||||
- msg: vehicle_status
|
||||
id: 92
|
||||
- msg: vtol_vehicle_status
|
||||
id: 93
|
||||
- msg: wind_estimate
|
||||
id: 94
|
||||
|
|
@ -72,8 +72,8 @@ if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_t
|
|||
)
|
||||
|
||||
# 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)
|
||||
configure_file("${PX4_SOURCE_DIR}/msg/tools/uorb_rtps_message_ids.yaml"
|
||||
"${CMAKE_CURRENT_BINARY_DIR}/uorb_rtps_message_ids.yaml" COPYONLY)
|
||||
|
||||
add_custom_command(OUTPUT ${topic_bridge_files_out}
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/msg/tools/generate_microRTPS_bridge.py
|
||||
|
|
@ -81,6 +81,8 @@ if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_t
|
|||
${send_topic_opt} ${send_topic_files}
|
||||
${receive_topic_opt} ${receive_topic_files}
|
||||
--topic-msg-dir ${PX4_SOURCE_DIR}/msg
|
||||
--uorb-templates-dir "/templates/uorb_microcdr"
|
||||
--urtps-templates-dir "/templates/urtps"
|
||||
--agent-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_agent
|
||||
--client-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_client
|
||||
>micrortps_bridge.log 2>&1 || cat micrortps_bridge.log # quiet successful build output
|
||||
|
|
|
|||
Loading…
Reference in New Issue