forked from Archive/PX4-Autopilot
330 lines
13 KiB
Python
Executable File
330 lines
13 KiB
Python
Executable File
#!/usr/bin/env python
|
|
#############################################################################
|
|
#
|
|
# Copyright (C) 2013-2016 PX4 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 PX4 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 OWNER 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.
|
|
#
|
|
#############################################################################
|
|
|
|
"""
|
|
px_generate_uorb_topics.py
|
|
Generates c/cpp header/source files for uorb topics from .msg (ROS syntax)
|
|
message files
|
|
"""
|
|
from __future__ import print_function
|
|
import os
|
|
import shutil
|
|
import filecmp
|
|
import argparse
|
|
|
|
import sys
|
|
px4_tools_dir = os.path.dirname(os.path.abspath(__file__))
|
|
sys.path.append(px4_tools_dir + "/genmsg/src")
|
|
sys.path.append(px4_tools_dir + "/gencpp/src")
|
|
px4_msg_dir = os.path.join(px4_tools_dir,"../msg")
|
|
|
|
try:
|
|
import em
|
|
import genmsg.template_tools
|
|
except ImportError as e:
|
|
print("python import error: ", e)
|
|
print('''
|
|
Required python packages not installed.
|
|
|
|
On a Debian/Ubuntu system please run:
|
|
|
|
sudo apt-get install python-empy
|
|
sudo pip install catkin_pkg
|
|
|
|
On MacOS please run:
|
|
sudo pip install empy catkin_pkg
|
|
|
|
On Windows please run:
|
|
easy_install empy catkin_pkg
|
|
''')
|
|
exit(1)
|
|
|
|
__author__ = "Sergey Belash, Thomas Gubler, Beat Kueng"
|
|
__copyright__ = "Copyright (C) 2013-2016 PX4 Development Team."
|
|
__license__ = "BSD"
|
|
__email__ = "thomasgubler@gmail.com"
|
|
|
|
|
|
TEMPLATE_FILE = ['msg.h.template', 'msg.cpp.template']
|
|
TOPICS_LIST_TEMPLATE_FILE = 'uORBTopics.cpp.template'
|
|
OUTPUT_FILE_EXT = ['.h', '.cpp']
|
|
INCL_DEFAULT = ['std_msgs:./msg/std_msgs','px4:%s'%(px4_msg_dir)]
|
|
PACKAGE = 'px4'
|
|
TOPICS_TOKEN = '# TOPICS '
|
|
|
|
|
|
def get_multi_topics(filename):
|
|
"""
|
|
Get TOPICS names from a "# TOPICS" line
|
|
"""
|
|
ofile = open(filename, 'r')
|
|
text = ofile.read()
|
|
result = []
|
|
for each_line in text.split('\n'):
|
|
if each_line.startswith (TOPICS_TOKEN):
|
|
topic_names_str = each_line.strip()
|
|
topic_names_str = topic_names_str.replace(TOPICS_TOKEN, "")
|
|
result.extend(topic_names_str.split(" "))
|
|
ofile.close()
|
|
return result
|
|
|
|
def get_msgs_list(msgdir):
|
|
"""
|
|
Makes list of msg files in the given directory
|
|
"""
|
|
return [fn for fn in os.listdir(msgdir) if fn.endswith(".msg")]
|
|
|
|
|
|
def generate_output_from_file(format_idx, filename, outputdir, templatedir, includepath):
|
|
"""
|
|
Converts a single .msg file to an uorb header/source file
|
|
"""
|
|
msg_context = genmsg.msg_loader.MsgContext.create_default()
|
|
full_type_name = genmsg.gentools.compute_full_type_name(PACKAGE, os.path.basename(filename))
|
|
spec = genmsg.msg_loader.load_msg_from_file(msg_context, filename, full_type_name)
|
|
topics = get_multi_topics(filename)
|
|
if includepath:
|
|
search_path = genmsg.command_line.includepath_to_dict(includepath)
|
|
else:
|
|
search_path = {}
|
|
genmsg.msg_loader.load_depends(msg_context, spec, search_path)
|
|
md5sum = genmsg.gentools.compute_md5(msg_context, spec)
|
|
if len(topics) == 0:
|
|
topics.append(spec.short_name)
|
|
em_globals = {
|
|
"file_name_in": filename,
|
|
"md5sum": md5sum,
|
|
"search_path": search_path,
|
|
"msg_context": msg_context,
|
|
"spec": spec,
|
|
"topics": topics
|
|
}
|
|
|
|
# Make sure output directory exists:
|
|
if not os.path.isdir(outputdir):
|
|
os.makedirs(outputdir)
|
|
|
|
template_file = os.path.join(templatedir, TEMPLATE_FILE[format_idx])
|
|
output_file = os.path.join(outputdir, spec.short_name +
|
|
OUTPUT_FILE_EXT[format_idx])
|
|
|
|
return generate_by_template(output_file, template_file, em_globals)
|
|
|
|
|
|
def generate_by_template(output_file, template_file, em_globals):
|
|
"""
|
|
Invokes empy intepreter to geneate output_file by the
|
|
given template_file and predefined em_globals dict
|
|
"""
|
|
# check if folder exists:
|
|
folder_name = os.path.dirname(output_file)
|
|
if not os.path.exists(folder_name):
|
|
os.makedirs(folder_name)
|
|
|
|
ofile = open(output_file, 'w')
|
|
# todo, reuse interpreter
|
|
interpreter = em.Interpreter(output=ofile, globals=em_globals, options={em.RAW_OPT:True,em.BUFFERED_OPT:True})
|
|
if not os.path.isfile(template_file):
|
|
ofile.close()
|
|
os.remove(output_file)
|
|
raise RuntimeError("Template file %s not found" % (template_file))
|
|
interpreter.file(open(template_file)) #todo try
|
|
interpreter.shutdown()
|
|
ofile.close()
|
|
return True
|
|
|
|
|
|
def convert_dir(format_idx, inputdir, outputdir, templatedir):
|
|
"""
|
|
Converts all .msg files in inputdir to uORB header/source files
|
|
"""
|
|
|
|
# Find the most recent modification time in input dir
|
|
maxinputtime = 0
|
|
for f in os.listdir(inputdir):
|
|
fni = os.path.join(inputdir, f)
|
|
if os.path.isfile(fni):
|
|
it = os.path.getmtime(fni)
|
|
if it > maxinputtime:
|
|
maxinputtime = it
|
|
|
|
# Find the most recent modification time in output dir
|
|
maxouttime = 0
|
|
if os.path.isdir(outputdir):
|
|
for f in os.listdir(outputdir):
|
|
fni = os.path.join(outputdir, f)
|
|
if os.path.isfile(fni):
|
|
it = os.path.getmtime(fni)
|
|
if it > maxouttime:
|
|
maxouttime = it
|
|
|
|
# Do not generate if nothing changed on the input
|
|
if (maxinputtime != 0 and maxouttime != 0 and maxinputtime < maxouttime):
|
|
return False
|
|
|
|
includepath = INCL_DEFAULT + [':'.join([PACKAGE, inputdir])]
|
|
for f in os.listdir(inputdir):
|
|
# Ignore hidden files
|
|
if f.startswith("."):
|
|
continue
|
|
|
|
fn = os.path.join(inputdir, f)
|
|
# Only look at actual files
|
|
if not os.path.isfile(fn):
|
|
continue
|
|
|
|
if fn[-4:].lower() != '.msg':
|
|
continue
|
|
|
|
generate_output_from_file(format_idx, fn, outputdir, templatedir, includepath)
|
|
return True
|
|
|
|
|
|
def copy_changed(inputdir, outputdir, prefix='', quiet=False):
|
|
"""
|
|
Copies files from inputdir to outputdir if they don't exist in
|
|
ouputdir or if their content changed
|
|
"""
|
|
|
|
# Make sure output directory exists:
|
|
if not os.path.isdir(outputdir):
|
|
os.makedirs(outputdir)
|
|
|
|
for input_file in os.listdir(inputdir):
|
|
fni = os.path.join(inputdir, input_file)
|
|
if os.path.isfile(fni):
|
|
# Check if input_file exists in outpoutdir, copy the file if not
|
|
fno = os.path.join(outputdir, prefix + input_file)
|
|
if not os.path.isfile(fno):
|
|
shutil.copy(fni, fno)
|
|
if not quiet:
|
|
print("{0}: new header file".format(fno))
|
|
continue
|
|
|
|
if os.path.getmtime(fni) > os.path.getmtime(fno):
|
|
# The file exists in inputdir and outputdir
|
|
# only copy if contents do not match
|
|
if not filecmp.cmp(fni, fno):
|
|
shutil.copy(fni, fno)
|
|
if not quiet:
|
|
print("{0}: updated".format(input_file))
|
|
continue
|
|
|
|
if not quiet:
|
|
print("{0}: unchanged".format(input_file))
|
|
|
|
|
|
def convert_dir_save(format_idx, inputdir, outputdir, templatedir, temporarydir, prefix, quiet=False):
|
|
"""
|
|
Converts all .msg files in inputdir to uORB header files
|
|
Unchanged existing files are not overwritten.
|
|
"""
|
|
# Create new headers in temporary output directory
|
|
convert_dir(format_idx, inputdir, temporarydir, templatedir)
|
|
if generate_idx == 1:
|
|
generate_topics_list_file(inputdir, temporarydir, templatedir)
|
|
# Copy changed headers from temporary dir to output dir
|
|
copy_changed(temporarydir, outputdir, prefix, quiet)
|
|
|
|
def generate_topics_list_file(msgdir, outputdir, templatedir):
|
|
# generate cpp file with topics list
|
|
msgs = get_msgs_list(msgdir)
|
|
multi_topics = []
|
|
for msg in msgs:
|
|
msg_filename = os.path.join(msgdir, msg)
|
|
multi_topics.extend(get_multi_topics(msg_filename))
|
|
tl_globals = {"msgs" : msgs, "multi_topics" : multi_topics}
|
|
tl_template_file = os.path.join(templatedir, TOPICS_LIST_TEMPLATE_FILE)
|
|
tl_out_file = os.path.join(outputdir, TOPICS_LIST_TEMPLATE_FILE.replace(".template", ""))
|
|
generate_by_template(tl_out_file, tl_template_file, tl_globals)
|
|
|
|
def generate_topics_list_file_from_files(files, outputdir, templatedir):
|
|
# generate cpp file with topics list
|
|
filenames = [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")]
|
|
multi_topics = []
|
|
for msg_filename in files:
|
|
multi_topics.extend(get_multi_topics(msg_filename))
|
|
tl_globals = {"msgs" : filenames, "multi_topics" : multi_topics}
|
|
tl_template_file = os.path.join(templatedir, TOPICS_LIST_TEMPLATE_FILE)
|
|
tl_out_file = os.path.join(outputdir, TOPICS_LIST_TEMPLATE_FILE.replace(".template", ""))
|
|
generate_by_template(tl_out_file, tl_template_file, tl_globals)
|
|
|
|
if __name__ == "__main__":
|
|
parser = argparse.ArgumentParser(
|
|
description='Convert msg files to uorb headers/sources')
|
|
parser.add_argument('--headers', help='Generate header files',
|
|
action='store_true')
|
|
parser.add_argument('--sources', help='Generate source files',
|
|
action='store_true')
|
|
parser.add_argument('-d', dest='dir', help='directory with msg files')
|
|
parser.add_argument('-f', dest='file',
|
|
help="files to convert (use only without -d)",
|
|
nargs="+")
|
|
parser.add_argument('-e', dest='templatedir',
|
|
help='directory with template files',)
|
|
parser.add_argument('-o', dest='outputdir',
|
|
help='output directory for header files')
|
|
parser.add_argument('-t', dest='temporarydir',
|
|
help='temporary directory')
|
|
parser.add_argument('-p', dest='prefix', default='',
|
|
help='string added as prefix to the output file '
|
|
' name when converting directories')
|
|
parser.add_argument('-q', dest='quiet', default=False, action='store_true',
|
|
help='string added as prefix to the output file '
|
|
' name when converting directories')
|
|
args = parser.parse_args()
|
|
|
|
if args.headers:
|
|
generate_idx = 0
|
|
elif args.sources:
|
|
generate_idx = 1
|
|
else:
|
|
print('Error: either --headers or --sources must be specified')
|
|
exit(-1)
|
|
if args.file is not None:
|
|
for f in args.file:
|
|
generate_output_from_file(generate_idx, f, args.temporarydir, args.templatedir, INCL_DEFAULT)
|
|
if generate_idx == 1:
|
|
generate_topics_list_file_from_files(args.file, args.outputdir, args.templatedir)
|
|
copy_changed(args.temporarydir, args.outputdir, args.prefix, args.quiet)
|
|
elif args.dir is not None:
|
|
convert_dir_save(
|
|
generate_idx,
|
|
args.dir,
|
|
args.outputdir,
|
|
args.templatedir,
|
|
args.temporarydir,
|
|
args.prefix,
|
|
args.quiet)
|