px4-firmware/Tools/px_generate_uorb_topic_file...

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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)