px4-firmware/msg/tools/uorb_to_ros_rtps_ids.py

#!/usr/bin/env python
"""
Script to read an yaml file containing the RTPS message IDs and update the naming convention to PascalCase
"""

import os
import yaml
import sys
import argparse

__author__ = 'PX4 Development Team'
__copyright__ = \
    '''
     '
     '   Copyright (C) 2018-2019 PX4 Development Team. All rights reserved.
     '
     ' Redistribution and use in source and binary forms, or without
     ' modification, permitted provided that the following conditions
     ' are met:
     '
     ' 1. Redistributions of source code must retain the above copyright
     '    notice, list of conditions and the following disclaimer.
     ' 2. Redistributions in binary form must reproduce the above copyright
     '    notice, 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 self 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, NOT
     ' LIMITED TO, 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, CONSEQUENTIAL DAMAGES (INCLUDING,
     ' BUT NOT LIMITED TO, OF SUBSTITUTE GOODS OR SERVICES; LOSS
     ' OF USE, DATA, PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
     ' AND ON ANY THEORY OF LIABILITY, IN CONTRACT, STRICT
     ' LIABILITY, TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
     ' ANY WAY OUT OF THE USE OF THIS SOFTWARE, IF ADVISED OF THE
     ' POSSIBILITY OF SUCH DAMAGE.
     '
    '''
__credits__ = ['Nuno Marques <nuno.marques@dronesolution.io>']
__license__ = 'BSD-3-Clause'
__version__ = '0.1.0'
__maintainer__ = 'Nuno Marques'
__email__ = 'nuno.marques@dronesolution.io'
__status__ = 'Development'

list = []
in_file = ""
out_file = ""
verbose = True


class IndenterDumper(yaml.Dumper):
    """ Custom dumper for yaml files that apply the correct indentation """

    def increase_indent(self, flow=False, indentless=False):
        return super(IndenterDumper, self).increase_indent(flow, False)


def load_yaml_file(file):
    """
    Open yaml file and parse the data into a list of dict

    :param file: the yaml file to load
    :returns: the list of dictionaries that represent the message and respective RTPS IDs
    :raises IOError: raises and error when the file is not found
    """
    try:
        with open(file, 'r') as f:
            if verbose:
                print("--\t[Step 1] %s yaml file loaded!" % file)
            return yaml.safe_load(f)
    except OSError as e:
        if e.errno == errno.ENOENT:
            raise IOError(errno.ENOENT, os.strerror(errno.ENOENT), file)
        else:
            raise


def update_dict(list):
    """
    Update the message naming on the dictionary to fit the PascalCase convention

    :param file: the list of dicts to be updated
    """
    if verbose:
        num_of_msgs = 0
    for i, dictionary in enumerate(list["rtps"]):
        # implementation depends on the Python version being used
        if sys.version_info[0] < 3:
            dict = {k: v.title().replace('_', '') if isinstance(
                v, basestring) else v for k, v in dictionary.iteritems()}
        else:
            dict = {k: v.title().replace('_', '') if isinstance(
                v, str) else v for k, v in dictionary.items()}
        list["rtps"][i] = dict
        if verbose:
            num_of_msgs += 1
    if verbose:
        print("--\t[Step 2] List: %d msg names updated!" % num_of_msgs)


def update_yaml_file(list, file):
    """
    Open the yaml file to dump the new list of dict toself.

    .. note:: Since the the dump method automatically sorts the keys alphabetically,
    the 'id' fields will appear first than the 'msg' fields.

    :param list: the list of updated dicts
    :param file: the yaml file to load and write the new data
    :raises IOError: raises and error when the file is not found
    """
    try:
        with open(file, 'w') as f:
            yaml.dump(list, f, Dumper=IndenterDumper, default_flow_style=False)
            if verbose:
                if in_file == out_file:
                    print("--\t[Step 3] %s updated!" % in_file)
                else:
                    print("--\t[Step 3] %s created!" % out_file)

    except OSError as e:
        if e.errno == errno.ENOENT:
            raise IOError(errno.ENOENT, os.strerror(errno.ENOENT), file)
        else:
            raise


if __name__ == "__main__":
    parser = argparse.ArgumentParser(
        description='Read an yaml file containing the RTPS message IDs and update the naming convention to PascalCase')
    optional = parser._action_groups.pop()
    required = parser.add_argument_group('Required')
    required.add_argument("-i", "--input-file", dest="input_file",
                          help="Yaml file to read", metavar="INFILE")
    optional.add_argument("-o", "--output-file", dest="output_file",
                          help="Yaml file to dump. If not set, it is the same as the input",
                          metavar="OUTFILE", default="")
    optional.add_argument("-q", "--quiet", action="store_false", dest="verbose",
                          default=True, help="Don't print status messages to stdout")

    args = parser.parse_args()
    verbose = args.verbose
    in_file = args.input_file
    out_file = args.output_file if (args.output_file != in_file and args.output_file != "") else in_file

    if verbose:
        print("-- PX4 to ROS RTPS Ids --")

    list = load_yaml_file(in_file)
    update_dict(list)
    update_yaml_file(list, out_file)