forked from Archive/PX4-Autopilot
219 lines
8.4 KiB
Python
Executable File
219 lines
8.4 KiB
Python
Executable File
#!/usr/bin/env python
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#############################################################################
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#
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# Copyright (C) 2013-2015 PX4 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_uorb_topic_headers.py
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Generates c/cpp header files for uorb topics from .msg (ROS syntax)
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message files
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"""
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from __future__ import print_function
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import os
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import shutil
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import filecmp
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import argparse
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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("python import error: ", e)
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print('''
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Required python packages not installed.
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On a Debian/Ubuntu system please run:
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sudo apt-get install python-empy
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sudo pip install catkin_pkg
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On MacOS please run:
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sudo pip install empy catkin_pkg
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On Windows please run:
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easy_install empy catkin_pkg
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''')
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exit(1)
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__author__ = "Thomas Gubler"
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__copyright__ = "Copyright (C) 2013-2014 PX4 Development Team."
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__license__ = "BSD"
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__email__ = "thomasgubler@gmail.com"
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msg_template_map = {'msg.h.template': '@NAME@.h'}
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srv_template_map = {}
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incl_default = ['std_msgs:./msg/std_msgs']
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package = 'px4'
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def convert_file(filename, outputdir, templatedir, includepath):
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"""
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Converts a single .msg file to a uorb header
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"""
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#print("Generating headers from {0}".format(filename))
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genmsg.template_tools.generate_from_file(filename,
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package,
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outputdir,
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templatedir,
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includepath,
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msg_template_map,
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srv_template_map)
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def convert_dir(inputdir, outputdir, templatedir):
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"""
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Converts all .msg files in inputdir to uORB header files
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"""
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# Find the most recent modification time in input dir
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maxinputtime = 0
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for f in os.listdir(inputdir):
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fni = os.path.join(inputdir, f)
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if os.path.isfile(fni):
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it = os.path.getmtime(fni)
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if it > maxinputtime:
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maxinputtime = it;
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# Find the most recent modification time in output dir
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maxouttime = 0
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if os.path.isdir(outputdir):
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for f in os.listdir(outputdir):
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fni = os.path.join(outputdir, f)
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if os.path.isfile(fni):
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it = os.path.getmtime(fni)
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if it > maxouttime:
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maxouttime = it;
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# Do not generate if nothing changed on the input
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if (maxinputtime != 0 and maxouttime != 0 and maxinputtime < maxouttime):
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return False
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includepath = incl_default + [':'.join([package, inputdir])]
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for f in os.listdir(inputdir):
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# Ignore hidden files
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if f.startswith("."):
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continue
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fn = os.path.join(inputdir, f)
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# Only look at actual files
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if not os.path.isfile(fn):
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continue
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convert_file(fn,
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outputdir,
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templatedir,
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includepath)
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return True
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def copy_changed(inputdir, outputdir, prefix='', quiet=False):
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"""
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Copies files from inputdir to outputdir if they don't exist in
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ouputdir or if their content changed
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"""
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# Make sure output directory exists:
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if not os.path.isdir(outputdir):
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os.makedirs(outputdir)
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for f in os.listdir(inputdir):
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fni = os.path.join(inputdir, f)
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if os.path.isfile(fni):
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# Check if f exists in outpoutdir, copy the file if not
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fno = os.path.join(outputdir, prefix + f)
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if not os.path.isfile(fno):
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shutil.copy(fni, fno)
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if not quiet:
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print("{0}: new header file".format(f))
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continue
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if os.path.getmtime(fni) > os.path.getmtime(fno):
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# The file exists in inputdir and outputdir
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# only copy if contents do not match
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if not filecmp.cmp(fni, fno):
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shutil.copy(fni, fno)
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if not quiet:
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print("{0}: updated".format(f))
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continue
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if not quiet:
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print("{0}: unchanged".format(f))
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def convert_dir_save(inputdir, outputdir, templatedir, temporarydir, prefix, quiet=False):
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"""
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Converts all .msg files in inputdir to uORB header files
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Unchanged existing files are not overwritten.
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"""
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# Create new headers in temporary output directory
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convert_dir(inputdir, temporarydir, templatedir)
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# Copy changed headers from temporary dir to output dir
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copy_changed(temporarydir, outputdir, prefix, quiet)
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if __name__ == "__main__":
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parser = argparse.ArgumentParser(
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description='Convert msg files to uorb headers')
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parser.add_argument('-d', dest='dir', help='directory with msg files')
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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('-t', dest='temporarydir',
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help='temporary directory')
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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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parser.add_argument('-q', dest='quiet', default=False, action='store_true',
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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.file is not None:
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for f in args.file:
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convert_file(
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f,
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args.outputdir,
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args.templatedir,
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incl_default)
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elif args.dir is not None:
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convert_dir_save(
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args.dir,
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args.outputdir,
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args.templatedir,
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args.temporarydir,
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args.prefix,
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args.quiet)
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