forked from Archive/PX4-Autopilot
340 lines
14 KiB
Python
Executable File
340 lines
14 KiB
Python
Executable File
#!/usr/bin/env python
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#############################################################################
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#
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# Copyright (C) 2013-2016 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_topics.py
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Generates c/cpp header/source 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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import sys
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px4_tools_dir = os.path.dirname(os.path.abspath(__file__))
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sys.path.append(px4_tools_dir + "/genmsg/src")
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sys.path.append(px4_tools_dir + "/gencpp/src")
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px4_msg_dir = os.path.join(px4_tools_dir,"../msg")
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try:
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import em
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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__ = "Sergey Belash, Thomas Gubler, Beat Kueng"
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__copyright__ = "Copyright (C) 2013-2016 PX4 Development Team."
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__license__ = "BSD"
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__email__ = "thomasgubler@gmail.com"
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TEMPLATE_FILE = ['msg.h.template', 'msg.cpp.template']
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TOPICS_LIST_TEMPLATE_FILE = 'uORBTopics.cpp.template'
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OUTPUT_FILE_EXT = ['.h', '.cpp']
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INCL_DEFAULT = ['std_msgs:./msg/std_msgs']
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PACKAGE = 'px4'
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TOPICS_TOKEN = '# TOPICS '
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def get_multi_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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result.extend(topic_names_str.split(" "))
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ofile.close()
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return result
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def get_msgs_list(msgdir):
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"""
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Makes list of msg files in the given directory
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"""
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return [fn for fn in os.listdir(msgdir) if fn.endswith(".msg")]
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def generate_output_from_file(format_idx, filename, outputdir, templatedir, includepath):
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"""
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Converts a single .msg file to an uorb header/source file
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"""
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msg_context = genmsg.msg_loader.MsgContext.create_default()
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full_type_name = genmsg.gentools.compute_full_type_name(PACKAGE, os.path.basename(filename))
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spec = genmsg.msg_loader.load_msg_from_file(msg_context, filename, full_type_name)
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topics = get_multi_topics(filename)
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if includepath:
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search_path = genmsg.command_line.includepath_to_dict(includepath)
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else:
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search_path = {}
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genmsg.msg_loader.load_depends(msg_context, spec, search_path)
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md5sum = genmsg.gentools.compute_md5(msg_context, spec)
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if len(topics) == 0:
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topics.append(spec.short_name)
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em_globals = {
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"file_name_in": filename,
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"md5sum": md5sum,
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"search_path": search_path,
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"msg_context": msg_context,
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"spec": spec,
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"topics": topics
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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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template_file = os.path.join(templatedir, TEMPLATE_FILE[format_idx])
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output_file = os.path.join(outputdir, spec.short_name +
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OUTPUT_FILE_EXT[format_idx])
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return generate_by_template(output_file, template_file, em_globals)
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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={em.RAW_OPT:True,em.BUFFERED_OPT:True})
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if not os.path.isfile(template_file):
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ofile.close()
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os.remove(output_file)
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raise RuntimeError("Template file %s not found" % (template_file))
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interpreter.file(open(template_file)) #todo try
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interpreter.shutdown()
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ofile.close()
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return True
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def convert_dir(format_idx, inputdir, outputdir, templatedir):
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"""
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Converts all .msg files in inputdir to uORB header/source 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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if fn[-4:].lower() != '.msg':
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continue
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generate_output_from_file(format_idx, fn, outputdir, templatedir, 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 input_file in os.listdir(inputdir):
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fni = os.path.join(inputdir, input_file)
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if os.path.isfile(fni):
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# Check if input_file exists in outpoutdir, copy the file if not
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fno = os.path.join(outputdir, prefix + input_file)
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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(fno))
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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(input_file))
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continue
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if not quiet:
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print("{0}: unchanged".format(input_file))
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def convert_dir_save(format_idx, 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(format_idx, inputdir, temporarydir, templatedir)
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if generate_idx == 1:
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generate_topics_list_file(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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def generate_topics_list_file(msgdir, outputdir, templatedir):
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# generate cpp file with topics list
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msgs = get_msgs_list(msgdir)
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multi_topics = []
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for msg in msgs:
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msg_filename = os.path.join(msgdir, msg)
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multi_topics.extend(get_multi_topics(msg_filename))
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tl_globals = {"msgs" : msgs, "multi_topics" : multi_topics}
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tl_template_file = os.path.join(templatedir, TOPICS_LIST_TEMPLATE_FILE)
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tl_out_file = os.path.join(outputdir, TOPICS_LIST_TEMPLATE_FILE.replace(".template", ""))
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generate_by_template(tl_out_file, tl_template_file, tl_globals)
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def generate_topics_list_file_from_files(files, outputdir, templatedir):
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# generate cpp file with topics list
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filenames = [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")]
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multi_topics = []
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for msg_filename in files:
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multi_topics.extend(get_multi_topics(msg_filename))
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tl_globals = {"msgs" : filenames, "multi_topics" : multi_topics}
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tl_template_file = os.path.join(templatedir, TOPICS_LIST_TEMPLATE_FILE)
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tl_out_file = os.path.join(outputdir, TOPICS_LIST_TEMPLATE_FILE.replace(".template", ""))
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generate_by_template(tl_out_file, tl_template_file, tl_globals)
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def append_to_include_path(path_to_append, curr_include):
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for p in path_to_append:
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curr_include.append("%s:%s" % (PACKAGE, p))
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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/sources')
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parser.add_argument('--headers', help='Generate header files',
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action='store_true')
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parser.add_argument('--sources', help='Generate source files',
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action='store_true')
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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('-i', dest="include_paths",
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help='Additional Include Paths', nargs="*",
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default=None)
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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.include_paths:
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append_to_include_path(args.include_paths, INCL_DEFAULT)
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if args.headers:
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generate_idx = 0
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elif args.sources:
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generate_idx = 1
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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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if args.file is not None:
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for f in args.file:
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generate_output_from_file(generate_idx, f, args.temporarydir, args.templatedir, INCL_DEFAULT)
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if generate_idx == 1:
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generate_topics_list_file_from_files(args.file, args.outputdir, args.templatedir)
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copy_changed(args.temporarydir, args.outputdir, args.prefix, args.quiet)
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elif args.dir is not None:
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convert_dir_save(
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generate_idx,
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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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