From d708c965eceae8db631ca9af9738091ed69c0f41 Mon Sep 17 00:00:00 2001 From: TSC21 Date: Tue, 11 Sep 2018 17:29:43 +0100 Subject: [PATCH] px_generate_uorb_topic_helper.py: beautify --- msg/tools/px_generate_uorb_topic_helper.py | 63 +++++++++++++--------- 1 file changed, 39 insertions(+), 24 deletions(-) diff --git a/msg/tools/px_generate_uorb_topic_helper.py b/msg/tools/px_generate_uorb_topic_helper.py index f413d34239..8445f6d940 100644 --- a/msg/tools/px_generate_uorb_topic_helper.py +++ b/msg/tools/px_generate_uorb_topic_helper.py @@ -44,7 +44,8 @@ import errno try: import yaml except ImportError: - raise ImportError("Failed to import yaml. You may need to install it with 'sudo pip install pyyaml") + raise ImportError( + "Failed to import yaml. You may need to install it with 'sudo pip install pyyaml") import genmsg.msgs import gencpp @@ -124,6 +125,7 @@ type_printf_map = { 'char': '%c', } + def bare_name(msg_type): """ Get bare_name from /[x] format @@ -143,15 +145,19 @@ def sizeof_field_type(field): bare_name_str = bare_name(field.type) if bare_name_str in msgtype_size_map: return msgtype_size_map[bare_name_str] - return 0 # this is for non-builtin types: sort them at the end + return 0 # this is for non-builtin types: sort them at the end + def get_children_fields(base_type, search_path): (package, name) = genmsg.names.package_resource_name(base_type) tmp_msg_context = genmsg.msg_loader.MsgContext.create_default() - spec_temp = genmsg.msg_loader.load_msg_by_type(tmp_msg_context, '%s/%s' %(package, name), search_path) - sorted_fields = sorted(spec_temp.parsed_fields(), key=sizeof_field_type, reverse=True) + spec_temp = genmsg.msg_loader.load_msg_by_type( + tmp_msg_context, '%s/%s' % (package, name), search_path) + sorted_fields = sorted(spec_temp.parsed_fields(), + key=sizeof_field_type, reverse=True) return sorted_fields + def add_padding_bytes(fields, search_path): """ Add padding fields before the embedded types, at the end and calculate the @@ -159,7 +165,7 @@ def add_padding_bytes(fields, search_path): returns a tuple with the struct size and padding at the end """ struct_size = 0 - align_to = 8 # this is always 8, because of the 64bit timestamp + align_to = 8 # this is always 8, because of the 64bit timestamp i = 0 padding_idx = 0 while i < len(fields): @@ -175,16 +181,17 @@ def add_padding_bytes(fields, search_path): # embedded type: may need to add padding num_padding_bytes = align_to - (struct_size % align_to) if num_padding_bytes != align_to: - padding_field = genmsg.Field('_padding'+str(padding_idx), - 'uint8['+str(num_padding_bytes)+']') + padding_field = genmsg.Field('_padding' + str(padding_idx), + 'uint8[' + str(num_padding_bytes) + ']') padding_idx += 1 padding_field.sizeof_field_type = 1 struct_size += num_padding_bytes fields.insert(i, padding_field) i += 1 - children_fields = get_children_fields(field.base_type, search_path) + children_fields = get_children_fields( + field.base_type, search_path) field.sizeof_field_type, unused = add_padding_bytes(children_fields, - search_path) + search_path) struct_size += field.sizeof_field_type * array_size i += 1 @@ -193,8 +200,8 @@ def add_padding_bytes(fields, search_path): if num_padding_bytes == align_to: num_padding_bytes = 0 else: - padding_field = genmsg.Field('_padding'+str(padding_idx), - 'uint8['+str(num_padding_bytes)+']') + padding_field = genmsg.Field('_padding' + str(padding_idx), + 'uint8[' + str(num_padding_bytes) + ']') padding_idx += 1 padding_field.sizeof_field_type = 1 struct_size += num_padding_bytes @@ -226,7 +233,8 @@ def print_field(field): """ # check if there are any upper case letters in the field name - assert not any(a.isupper() for a in field.name), "%r field contains uppercase letters" % field.name + assert not any(a.isupper() + for a in field.name), "%r field contains uppercase letters" % field.name # skip padding if field.name.startswith('_padding'): @@ -249,8 +257,10 @@ def print_field(field): else: for i in range(array_length): - print("PX4_INFO_RAW(\"\\t" + field.type + " " + field.name + "[" + str(i) + "]\");") - print(" print_message(message." + field.name + "[" + str(i) + "]);") + print("PX4_INFO_RAW(\"\\t" + field.type + + " " + field.name + "[" + str(i) + "]\");") + print(" print_message(message." + + field.name + "[" + str(i) + "]);") return for i in range(array_length): @@ -260,7 +270,8 @@ def print_field(field): field_name += ", " if "float32" in field.type: - field_name += "(double)message." + field.name + "[" + str(i) + "]" + field_name += "(double)message." + \ + field.name + "[" + str(i) + "]" else: field_name += "message." + field.name + "[" + str(i) + "]" @@ -284,19 +295,20 @@ def print_field(field): else: print("PX4_INFO_RAW(\"\\n\\t" + field.name + "\");") - print("\tprint_message(message."+ field.name + ");") + print("\tprint_message(message." + field.name + ");") return if field.name == 'timestamp': - print("if (message.timestamp != 0) {\n\t\tPX4_INFO_RAW(\"\\t" + field.name + \ - ": " + c_type + " (%.6f seconds ago)\\n\", " + field_name + \ - ", hrt_elapsed_time(&message.timestamp) / 1e6);\n\t} else {\n\t\tPX4_INFO_RAW(\"\\n\");\n\t}" ) + print("if (message.timestamp != 0) {\n\t\tPX4_INFO_RAW(\"\\t" + field.name + + ": " + c_type + " (%.6f seconds ago)\\n\", " + field_name + + ", hrt_elapsed_time(&message.timestamp) / 1e6);\n\t} else {\n\t\tPX4_INFO_RAW(\"\\n\");\n\t}") elif field.name == 'device_id': print("char device_id_buffer[80];") print("device::Device::device_id_print_buffer(device_id_buffer, sizeof(device_id_buffer), message.device_id);") - print("PX4_INFO_RAW(\"\\tdevice_id: %d (%s) \\n\", message.device_id, device_id_buffer);" ) + print("PX4_INFO_RAW(\"\\tdevice_id: %d (%s) \\n\", message.device_id, device_id_buffer);") else: - print("PX4_INFO_RAW(\"\\t" + field.name + ": " + c_type + "\\n\", " + field_name + ");" ) + print("PX4_INFO_RAW(\"\\t" + field.name + ": " + + c_type + "\\n\", " + field_name + ");") def print_field_def(field): @@ -305,7 +317,8 @@ def print_field_def(field): """ # check if there are any upper case letters in the field name - assert not any(a.isupper() for a in field.name), "%r field contains uppercase letters" % field.name + assert not any(a.isupper() + for a in field.name), "%r field contains uppercase letters" % field.name type_name = field.type # detect embedded types @@ -335,8 +348,9 @@ def print_field_def(field): if field.name.startswith('_padding'): comment = ' // required for logger' - print('\t%s%s%s %s%s;%s'%(type_prefix, type_px4, type_appendix, field.name, - array_size, comment)) + print('\t%s%s%s %s%s;%s' % (type_prefix, type_px4, type_appendix, field.name, + array_size, comment)) + def parse_yaml_msg_id_file(yaml_file): """ @@ -351,6 +365,7 @@ def parse_yaml_msg_id_file(yaml_file): else: raise + def rtps_message_id(msg_id_map, message): """ Get RTPS ID of uORB message