forked from Archive/PX4-Autopilot
124 lines
4.7 KiB
Plaintext
124 lines
4.7 KiB
Plaintext
@###############################################
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@#
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@# ROS message to IDL converter
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@#
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@# EmPy template for generating <msg>.idl files
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@#
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@################################################################################
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@#
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@# Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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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 are met:
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@#
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@# 1. Redistributions of source code must retain the above copyright notice, this
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@# list of conditions and the following disclaimer.
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@#
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@# 2. Redistributions in binary form must reproduce the above copyright notice,
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@# this list of conditions and the following disclaimer in the documentation
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@# and/or other materials provided with the distribution.
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@#
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@# 3. Neither the name of the copyright holder nor the names of its contributors
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@# may be used to endorse or promote products derived from this software without
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@# specific prior written permission.
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@#
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@# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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@# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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@# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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@# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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@# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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@# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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@# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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@# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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@# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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@# ARISING IN 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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import genmsg.msgs
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import gencpp
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from px_generate_uorb_topic_helper import * # this is in Tools/
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builtin_types = set()
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array_types = set()
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}@
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@#################################################
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@# Searching for serialize function per each field
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@#################################################
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@{
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def get_include_directives(spec):
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include_directives = set()
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for field in (spec.parsed_fields()):
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if genmsg.msgs.is_valid_constant_type(genmsg.msgs.bare_msg_type(field.type)):
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continue
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builtin_type = str(field.base_type).replace('px4/', '')
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include_directive = '#include "%s_.idl"' % builtin_type
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builtin_types.add(builtin_type)
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include_directives.add(include_directive)
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return sorted(include_directives)
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def get_idl_type_name(field_type):
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if field_type in type_idl_map:
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return type_idl_map[field_type]
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else:
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(package, name) = genmsg.names.package_resource_name(field_type)
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return name
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def add_msg_field(field):
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if (not field.is_header):
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if field.is_array:
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print(' {0}__{1}_array_{2} {3}_;'.format(spec.short_name, str(get_idl_type_name(field.base_type)).replace(" ", "_"), str(field.array_len), field.name))
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else:
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base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
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print(' {0} {1}_;'.format(base_type, field.name))
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def add_msg_fields():
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for field in spec.parsed_fields():
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add_msg_field(field)
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def add_array_typedefs():
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for field in spec.parsed_fields():
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if not field.is_header and field.is_array:
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base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
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array_type = 'typedef {0} {1}__{2}_array_{3}[{4}];'.format(base_type, spec.short_name, get_idl_type_name(field.base_type).replace(" ", "_"), field.array_len, field.array_len)
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if array_type not in array_types:
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array_types.add(array_type)
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for atype in array_types:
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print(atype)
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def add_msg_constants():
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sorted_constants = sorted(spec.constants,
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key=sizeof_field_type, reverse=True)
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for constant in sorted_constants:
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print('const {0} {1}__{2} = {3};'.format(get_idl_type_name(constant.type), spec.short_name, constant.name, constant.val))
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}
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#ifndef __@(spec.short_name)__idl__
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#define __@(spec.short_name)__idl__
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@#############################
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@# Include dependency messages
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@#############################
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@[for line in get_include_directives(spec)]
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@(line)
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@[end for]
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@# Constants
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@add_msg_constants()
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@# Array types
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@add_array_typedefs()
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struct @(spec.short_name)_
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{
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@add_msg_fields()
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}; // struct @(spec.short_name)_
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#pragma keylist @(spec.short_name)_
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#endif // __@(spec.short_name)__idl__
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