forked from Archive/PX4-Autopilot
176 lines
6.7 KiB
Python
Executable File
176 lines
6.7 KiB
Python
Executable File
#!/usr/bin/env python3
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#############################################################################
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#
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# Copyright (C) 2013-2022 PX4 Pro Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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#############################################################################
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"""
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px_generate_zenoh_topic_files.py
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Generates c/cpp header/source files for use with zenoh
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message files
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"""
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import os
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import argparse
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import re
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import sys
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try:
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import em
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except ImportError as e:
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print("Failed to import em: " + str(e))
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print("")
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print("You may need to install it using:")
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print(" pip3 install --user empy")
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print("")
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sys.exit(1)
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try:
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import genmsg.template_tools
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except ImportError as e:
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print("Failed to import genmsg: " + str(e))
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print("")
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print("You may need to install it using:")
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print(" pip3 install --user pyros-genmsg")
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print("")
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sys.exit(1)
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__author__ = "Sergey Belash, Thomas Gubler, Beat Kueng"
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__copyright__ = "Copyright (C) 2013-2022 PX4 Development Team."
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__license__ = "BSD"
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__email__ = "thomasgubler@gmail.com"
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ZENOH_TEMPLATE_FILE = ['Kconfig.topics.em', 'uorb_pubsub_factory.hpp.em']
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TOPICS_TOKEN = '# TOPICS '
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def get_topics(filename):
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"""
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Get TOPICS names from a "# TOPICS" line
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"""
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ofile = open(filename, 'r')
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text = ofile.read()
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result = []
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for each_line in text.split('\n'):
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if each_line.startswith(TOPICS_TOKEN):
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topic_names_str = each_line.strip()
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topic_names_str = topic_names_str.replace(TOPICS_TOKEN, "")
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topic_names_list = topic_names_str.split(" ")
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for topic in topic_names_list:
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# topic name PascalCase (file name) to snake_case (topic name)
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topic_name = re.sub(r'(?<!^)(?=[A-Z])', '_', topic).lower()
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result.append(topic_name)
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ofile.close()
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if len(result) == 0:
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# topic name PascalCase (file name) to snake_case (topic name)
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file_base_name = os.path.basename(filename).replace(".msg", "")
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topic_name = re.sub(r'(?<!^)(?=[A-Z])', '_', file_base_name).lower()
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result.append(topic_name)
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return result
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def generate_by_template(output_file, template_file, em_globals):
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"""
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Invokes empy intepreter to geneate output_file by the
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given template_file and predefined em_globals dict
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"""
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# check if folder exists:
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folder_name = os.path.dirname(output_file)
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if not os.path.exists(folder_name):
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os.makedirs(folder_name)
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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={
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em.RAW_OPT: True, em.BUFFERED_OPT: True})
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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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def generate_topics_list_file_from_files(files, outputdir, template_filename, templatedir):
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# generate cpp file with topics list
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filenames = []
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for filename in [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")]:
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filenames.append(re.sub(r'(?<!^)(?=[A-Z])', '_', filename).lower())
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datatypes = []
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for filename in [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")]:
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datatypes.append(re.sub(r'(?<!^)(?=[A-Z])', '_', filename).lower().replace(".msg",""))
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full_base_names = []
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for filename in [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")]:
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full_base_names.append(filename.replace(".msg",""))
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topics = []
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for msg_filename in files:
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topics.extend(get_topics(msg_filename))
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tl_globals = {"msgs": filenames, "topics": topics, "datatypes": datatypes, "full_base_names": full_base_names}
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tl_template_file = os.path.join(templatedir, template_filename)
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tl_out_file = os.path.join(outputdir, template_filename.replace(".em", ""))
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generate_by_template(tl_out_file, tl_template_file, tl_globals)
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if __name__ == "__main__":
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parser = argparse.ArgumentParser(description='Convert msg files to uorb headers/sources')
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parser.add_argument('--zenoh-config', help='Generate Zenoh Kconfig file', action='store_true')
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parser.add_argument('--zenoh-pub-sub', help='Generate Zenoh Pubsub factory', action='store_true')
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parser.add_argument('-f', dest='file',
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help="files to convert (use only without -d)",
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nargs="+")
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parser.add_argument('-e', dest='templatedir',
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help='directory with template files',)
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parser.add_argument('-o', dest='outputdir',
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help='output directory for header files')
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parser.add_argument('-p', dest='prefix', default='',
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help='string added as prefix to the output file '
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' name when converting directories')
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args = parser.parse_args()
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if args.zenoh_config:
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generate_topics_list_file_from_files(args.file, args.outputdir, ZENOH_TEMPLATE_FILE[0], args.templatedir)
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exit(0)
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elif args.zenoh_pub_sub:
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generate_topics_list_file_from_files(args.file, args.outputdir, ZENOH_TEMPLATE_FILE[1], args.templatedir)
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exit(0)
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else:
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print('Error: either --headers or --sources must be specified')
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exit(-1)
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