forked from Archive/PX4-Autopilot
271 lines
12 KiB
Python
271 lines
12 KiB
Python
#!/usr/bin/env python3
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################################################################################
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#
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# Copyright (c) 2018-2019 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 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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import sys
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import os
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import argparse
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import errno
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import yaml
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import re
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import difflib
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class Classifier():
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"""
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Class to classify RTPS msgs as senders, receivers or to be ignored
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"""
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def __init__(self, yaml_file, msg_folder):
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self.msg_folder = msg_folder
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self.all_msgs_list = self.set_all_msgs()
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self.msg_id_map = self.parse_yaml_msg_id_file(yaml_file)
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self.alias_space_init_id = 150
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# Checkers
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self.check_if_listed(yaml_file)
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self.check_base_type()
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self.check_id_space()
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self.msgs_to_send, self.alias_msgs_to_send = self.set_msgs_to_send()
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self.msgs_to_receive, self.alias_msgs_to_receive = self.set_msgs_to_receive()
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self.msgs_to_ignore, self.alias_msgs_to_ignore = self.set_msgs_to_ignore()
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self.msg_files_send = self.set_msg_files_send()
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self.msg_files_receive = self.set_msg_files_receive()
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self.msg_files_ignore = self.set_msg_files_ignore()
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# setters (for class init)
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def set_all_msgs(self):
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msg_list = []
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for filename in os.listdir(self.msg_folder):
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if '.msg' in filename:
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msg_list.append(re.sub(".msg", "", filename))
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return msg_list
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def set_msgs_to_send(self):
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send = {}
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send_alias = []
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for dict in self.msg_id_map['rtps']:
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if 'send' in list(dict.keys()):
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if 'alias' in list(dict.keys()):
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send_alias.append(
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({dict['msg']: dict['id']}, dict['alias']))
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else:
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send.update({dict['msg']: dict['id']})
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return send, send_alias
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def set_msgs_to_receive(self):
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receive = {}
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receive_alias = []
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for dict in self.msg_id_map['rtps']:
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if 'receive' in list(dict.keys()):
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if 'alias' in list(dict.keys()):
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receive_alias.append(
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({dict['msg']: dict['id']}, dict['alias']))
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else:
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receive.update({dict['msg']: dict['id']})
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return receive, receive_alias
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def set_msgs_to_ignore(self):
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ignore = {}
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ignore_alias = []
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for dict in self.msg_id_map['rtps']:
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if (('send' not in list(dict.keys())) and ('receive' not in list(dict.keys()))):
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if 'alias' in list(dict.keys()):
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ignore_alias.append(
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({dict['msg']: dict['id']}, dict['alias']))
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else:
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ignore.update({dict['msg']: dict['id']})
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return ignore, ignore_alias
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def set_msg_files_send(self):
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return [os.path.join(self.msg_folder, msg + ".msg")
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for msg in list(self.msgs_to_send.keys())]
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def set_msg_files_receive(self):
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return [os.path.join(self.msg_folder, msg + ".msg")
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for msg in list(self.msgs_to_receive.keys())]
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def set_msg_files_ignore(self):
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return [os.path.join(self.msg_folder, msg + ".msg")
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for msg in list(self.msgs_to_ignore.keys())]
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def check_if_listed(self, yaml_file):
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"""
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Checks if all msgs are listed under the RTPS ID yaml file
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"""
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none_listed_msgs = []
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for msg in self.all_msgs_list:
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result = not any(
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dict['msg'] == msg for dict in self.msg_id_map['rtps'])
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if result:
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none_listed_msgs.append(msg)
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if len(none_listed_msgs) > 0:
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if len(none_listed_msgs) == 1:
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error_msg = "The following message is not listen under "
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elif len(none_listed_msgs) > 1:
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error_msg = "The following messages are not listen under "
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raise AssertionError(
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"\n%s %s: " % (error_msg, yaml_file) + ", ".join('%s' % msg for msg in none_listed_msgs) +
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"\n\nPlease add them to the yaml file with the respective ID and, if applicable, mark them " +
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"to be sent or received by the micro-RTPS bridge.\n"
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"NOTE: If the message has multi-topics (#TOPICS), these should be added as well.\n")
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def check_base_type(self):
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"""
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Check if alias message has correct base type
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"""
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registered_alias_msgs = list(
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dict['alias'] for dict in self.msg_id_map['rtps'] if 'alias' in list(dict.keys()))
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base_types = []
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for dict in self.msg_id_map['rtps']:
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if 'alias' not in list(dict.keys()):
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base_types.append(dict['msg'])
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incorrect_base_types = list(
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set(registered_alias_msgs) - set(base_types))
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base_types_suggestion = {}
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for incorrect in incorrect_base_types:
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base_types_suggestion.update({incorrect: difflib.get_close_matches(
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incorrect, base_types, n=1, cutoff=0.6)})
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if len(base_types_suggestion) > 0:
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raise AssertionError(
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('\n' + '\n'.join('\t- The multi-topic message base type \'{}\' does not exist.{}'.format(k, (' Did you mean \'' + v[0] + '\'?' if v else '')) for k, v in list(base_types_suggestion.items()))))
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def check_id_space(self):
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"""
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Check if msg ID is in the correct ID space
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"""
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incorrect_base_ids = {}
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incorrect_alias_ids = {}
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for dict in self.msg_id_map['rtps']:
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if 'alias' not in list(dict.keys()) and dict['id'] >= self.alias_space_init_id:
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incorrect_base_ids.update({dict['msg']: dict['id']})
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elif 'alias' in list(dict.keys()) and dict['id'] < self.alias_space_init_id:
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incorrect_alias_ids.update({dict['msg']: dict['id']})
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if len(incorrect_base_ids) > 0:
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raise AssertionError(
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('\n' + '\n'.join('\t- The message \'{} with ID \'{}\' is in the wrong ID space. Please use any of the available IDs from 0 to 149'.format(k, v) for k, v in list(incorrect_base_ids.items()))))
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if len(incorrect_alias_ids) > 0:
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raise AssertionError(
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('\n' + '\n'.join('\t- The alias message \'{}\' with ID \'{}\' is in the wrong ID space. Please use any of the available IDs from 149 to 255'.format(k, v) for k, v in list(incorrect_alias_ids.items()))))
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@staticmethod
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def parse_yaml_msg_id_file(yaml_file):
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"""
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Parses a yaml file into a dict
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"""
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try:
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with open(yaml_file, 'r') as f:
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return yaml.safe_load(f)
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except OSError as e:
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if e.errno == errno.ENOENT:
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raise IOError(errno.ENOENT, os.strerror(
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errno.ENOENT), yaml_file)
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else:
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raise
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if __name__ == "__main__":
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parser = argparse.ArgumentParser()
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parser.add_argument("-s", "--send", dest='send',
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action="store_true", help="Get topics to be sent")
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parser.add_argument("-a", "--alias", dest='alias',
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action="store_true", help="Get alias topics")
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parser.add_argument("-r", "--receive", dest='receive',
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action="store_true", help="Get topics to be received")
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parser.add_argument("-i", "--ignore", dest='ignore',
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action="store_true", help="Get topics to be ignored")
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parser.add_argument("-p", "--path", dest='path',
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action="store_true", help="Get msgs and its paths")
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parser.add_argument("-m", "--topic-msg-dir", dest='msgdir', type=str,
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help="Topics message dir, by default msg/", default="msg")
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parser.add_argument("-y", "--rtps-ids-file", dest='yaml_file', type=str,
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help="RTPS msg IDs definition file absolute path, by default use relative path to msg, tools/uorb_rtps_message_ids.yaml",
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default='tools/uorb_rtps_message_ids.yaml')
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# Parse arguments
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args = parser.parse_args()
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msg_dir = args.msgdir
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if args.msgdir == 'msg':
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msg_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
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else:
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msg_dir = os.path.abspath(args.msgdir)
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classifier = (Classifier(os.path.abspath(args.yaml_file), msg_dir) if os.path.isabs(args.yaml_file)
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else Classifier(os.path.join(msg_dir, args.yaml_file), msg_dir))
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if args.send:
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if args.path:
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print(('send files: ' + ', '.join(str(msg_file)
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for msg_file in classifier.msgs_files_send) + '\n'))
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else:
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if args.alias:
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print((', '.join(str(msg)
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for msg in list(classifier.msgs_to_send.keys())) + (' alias ' + ', '.join(str(list(msg[0].keys())[0])
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for msg in classifier.alias_msgs_to_send) if len(classifier.alias_msgs_to_send) > 0 else '') + '\n'))
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else:
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print((', '.join(str(msg)
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for msg in list(classifier.msgs_to_send.keys()))))
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if args.receive:
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if args.path:
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print(('receive files: ' + ', '.join(str(msg_file)
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for msg_file in classifier.msgs_files_receive) + '\n'))
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else:
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if args.alias:
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print((', '.join(str(msg)
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for msg in list(classifier.msgs_to_receive.keys())) + (' alias ' + ', '.join(str(list(msg[0].keys())[0])
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for msg in classifier.alias_msgs_to_receive) if len(classifier.alias_msgs_to_receive) > 0 else '') + '\n'))
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else:
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print((', '.join(str(msg)
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for msg in list(classifier.msgs_to_receive.keys()))))
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if args.ignore:
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if args.path:
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print(('ignore files: ' + ', '.join(str(msg_file)
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for msg_file in classifier.msgs_files_ignore) + '\n'))
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else:
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if args.alias:
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print((', '.join(str(msg)
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for msg in list(classifier.msgs_to_ignore.keys())) + (' alias ' + ', '.join(str(list(msg[0].keys())[0])
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for msg in classifier.alias_msgs_to_ignore) if len(classifier.alias_msgs_to_ignore) > 0 else '') + '\n'))
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else:
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print((', '.join(str(msg)
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for msg in list(classifier.msgs_to_ignore.keys()))))
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