forked from Archive/PX4-Autopilot
px_generate_uorb_topic_helper.py: beautify
This commit is contained in:
TSC21
Beat Küng
parent
4137517d12
commit
d708c965ec
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@ -44,7 +44,8 @@ import errno
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try:
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import yaml
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except ImportError:
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raise ImportError("Failed to import yaml. You may need to install it with 'sudo pip install pyyaml")
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raise ImportError(
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"Failed to import yaml. You may need to install it with 'sudo pip install pyyaml")
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import genmsg.msgs
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import gencpp
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@ -124,6 +125,7 @@ type_printf_map = {
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'char': '%c',
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}
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def bare_name(msg_type):
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"""
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Get bare_name from <dir>/<bare_name>[x] format
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@ -143,15 +145,19 @@ def sizeof_field_type(field):
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bare_name_str = bare_name(field.type)
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if bare_name_str in msgtype_size_map:
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return msgtype_size_map[bare_name_str]
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return 0 # this is for non-builtin types: sort them at the end
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return 0 # this is for non-builtin types: sort them at the end
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def get_children_fields(base_type, search_path):
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(package, name) = genmsg.names.package_resource_name(base_type)
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tmp_msg_context = genmsg.msg_loader.MsgContext.create_default()
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spec_temp = genmsg.msg_loader.load_msg_by_type(tmp_msg_context, '%s/%s' %(package, name), search_path)
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sorted_fields = sorted(spec_temp.parsed_fields(), key=sizeof_field_type, reverse=True)
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spec_temp = genmsg.msg_loader.load_msg_by_type(
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tmp_msg_context, '%s/%s' % (package, name), search_path)
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sorted_fields = sorted(spec_temp.parsed_fields(),
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key=sizeof_field_type, reverse=True)
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return sorted_fields
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def add_padding_bytes(fields, search_path):
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"""
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Add padding fields before the embedded types, at the end and calculate the
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@ -159,7 +165,7 @@ def add_padding_bytes(fields, search_path):
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returns a tuple with the struct size and padding at the end
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"""
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struct_size = 0
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align_to = 8 # this is always 8, because of the 64bit timestamp
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align_to = 8 # this is always 8, because of the 64bit timestamp
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i = 0
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padding_idx = 0
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while i < len(fields):
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@ -175,16 +181,17 @@ def add_padding_bytes(fields, search_path):
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# embedded type: may need to add padding
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num_padding_bytes = align_to - (struct_size % align_to)
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if num_padding_bytes != align_to:
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padding_field = genmsg.Field('_padding'+str(padding_idx),
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'uint8['+str(num_padding_bytes)+']')
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padding_field = genmsg.Field('_padding' + str(padding_idx),
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'uint8[' + str(num_padding_bytes) + ']')
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padding_idx += 1
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padding_field.sizeof_field_type = 1
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struct_size += num_padding_bytes
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fields.insert(i, padding_field)
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i += 1
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children_fields = get_children_fields(field.base_type, search_path)
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children_fields = get_children_fields(
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field.base_type, search_path)
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field.sizeof_field_type, unused = add_padding_bytes(children_fields,
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search_path)
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search_path)
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struct_size += field.sizeof_field_type * array_size
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i += 1
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@ -193,8 +200,8 @@ def add_padding_bytes(fields, search_path):
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if num_padding_bytes == align_to:
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num_padding_bytes = 0
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else:
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padding_field = genmsg.Field('_padding'+str(padding_idx),
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'uint8['+str(num_padding_bytes)+']')
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padding_field = genmsg.Field('_padding' + str(padding_idx),
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'uint8[' + str(num_padding_bytes) + ']')
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padding_idx += 1
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padding_field.sizeof_field_type = 1
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struct_size += num_padding_bytes
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@ -226,7 +233,8 @@ def print_field(field):
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"""
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# check if there are any upper case letters in the field name
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assert not any(a.isupper() for a in field.name), "%r field contains uppercase letters" % field.name
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assert not any(a.isupper()
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for a in field.name), "%r field contains uppercase letters" % field.name
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# skip padding
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if field.name.startswith('_padding'):
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@ -249,8 +257,10 @@ def print_field(field):
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else:
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for i in range(array_length):
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print("PX4_INFO_RAW(\"\\t" + field.type + " " + field.name + "[" + str(i) + "]\");")
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print(" print_message(message." + field.name + "[" + str(i) + "]);")
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print("PX4_INFO_RAW(\"\\t" + field.type +
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" " + field.name + "[" + str(i) + "]\");")
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print(" print_message(message." +
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field.name + "[" + str(i) + "]);")
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return
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for i in range(array_length):
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@ -260,7 +270,8 @@ def print_field(field):
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field_name += ", "
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if "float32" in field.type:
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field_name += "(double)message." + field.name + "[" + str(i) + "]"
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field_name += "(double)message." + \
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field.name + "[" + str(i) + "]"
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else:
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field_name += "message." + field.name + "[" + str(i) + "]"
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@ -284,19 +295,20 @@ def print_field(field):
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else:
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print("PX4_INFO_RAW(\"\\n\\t" + field.name + "\");")
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print("\tprint_message(message."+ field.name + ");")
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print("\tprint_message(message." + field.name + ");")
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return
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if field.name == 'timestamp':
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print("if (message.timestamp != 0) {\n\t\tPX4_INFO_RAW(\"\\t" + field.name + \
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": " + c_type + " (%.6f seconds ago)\\n\", " + field_name + \
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", hrt_elapsed_time(&message.timestamp) / 1e6);\n\t} else {\n\t\tPX4_INFO_RAW(\"\\n\");\n\t}" )
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print("if (message.timestamp != 0) {\n\t\tPX4_INFO_RAW(\"\\t" + field.name +
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": " + c_type + " (%.6f seconds ago)\\n\", " + field_name +
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", hrt_elapsed_time(&message.timestamp) / 1e6);\n\t} else {\n\t\tPX4_INFO_RAW(\"\\n\");\n\t}")
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elif field.name == 'device_id':
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print("char device_id_buffer[80];")
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print("device::Device::device_id_print_buffer(device_id_buffer, sizeof(device_id_buffer), message.device_id);")
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print("PX4_INFO_RAW(\"\\tdevice_id: %d (%s) \\n\", message.device_id, device_id_buffer);" )
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print("PX4_INFO_RAW(\"\\tdevice_id: %d (%s) \\n\", message.device_id, device_id_buffer);")
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else:
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print("PX4_INFO_RAW(\"\\t" + field.name + ": " + c_type + "\\n\", " + field_name + ");" )
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print("PX4_INFO_RAW(\"\\t" + field.name + ": " +
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c_type + "\\n\", " + field_name + ");")
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def print_field_def(field):
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@ -305,7 +317,8 @@ def print_field_def(field):
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"""
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# check if there are any upper case letters in the field name
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assert not any(a.isupper() for a in field.name), "%r field contains uppercase letters" % field.name
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assert not any(a.isupper()
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for a in field.name), "%r field contains uppercase letters" % field.name
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type_name = field.type
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# detect embedded types
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@ -335,8 +348,9 @@ def print_field_def(field):
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if field.name.startswith('_padding'):
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comment = ' // required for logger'
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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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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 parse_yaml_msg_id_file(yaml_file):
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"""
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@ -351,6 +365,7 @@ def parse_yaml_msg_id_file(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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