From 1eb3c5927769a823d850fd7e9b6f28944a431cbe Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 19 Oct 2020 13:08:34 -0400
Subject: [PATCH] systemcmds/topic_listener: use msg_files list from msg/

---
 msg/CMakeLists.txt                            |  3 +++
 src/systemcmds/topic_listener/CMakeLists.txt  |  8 +++---
 .../topic_listener/generate_listener.py       | 25 ++++++++++++-------
 3 files changed, 23 insertions(+), 13 deletions(-)

diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index 2df35df721..c017a78eea 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -231,6 +231,9 @@ if (px4_constrained_flash_build)
 	set(added_arguments --constrained-flash)
 endif()
 
+# set parent scope msg_files for other modules to consume (eg topic_listener)
+set(msg_files ${msg_files} PARENT_SCOPE)
+
 # Generate uORB headers
 add_custom_command(OUTPUT ${uorb_headers}
 	COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
diff --git a/src/systemcmds/topic_listener/CMakeLists.txt b/src/systemcmds/topic_listener/CMakeLists.txt
index 71824d11c4..c12972b95e 100644
--- a/src/systemcmds/topic_listener/CMakeLists.txt
+++ b/src/systemcmds/topic_listener/CMakeLists.txt
@@ -32,16 +32,16 @@
 ############################################################################
 
 add_custom_command(OUTPUT listener_generated.cpp
-                COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_listener.py ${PX4_SOURCE_DIR} ${EXTERNAL_MODULES_LOCATION} > listener_generated.cpp
-                DEPENDS generate_listener.py uorb_msgs
-                )
+	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_listener.py ${PX4_SOURCE_DIR} ${msg_files} > listener_generated.cpp
+	DEPENDS generate_listener.py uorb_msgs
+)
 
 add_custom_target(generate_topic_listener
 	DEPENDS
 		listener_generated.cpp
 		generate_listener.py
 		uorb_msgs
-	)
+)
 
 px4_add_module(
 	MODULE systemcmds__topic_listener
diff --git a/src/systemcmds/topic_listener/generate_listener.py b/src/systemcmds/topic_listener/generate_listener.py
index 402818cbb8..49a6a620b9 100755
--- a/src/systemcmds/topic_listener/generate_listener.py
+++ b/src/systemcmds/topic_listener/generate_listener.py
@@ -8,22 +8,29 @@ import re
 # This script is run from Build/<target>_default.build/$(PX4_BASE)/Firmware/src/systemcmds/topic_listener
 
 # argv[1] must be the full path of the top Firmware dir
-# argv[2] (optional) is the full path to the EXTERNAL_MODULES_LOCATION
+# argv[2] - argv[n] is the full list of msg files
 
-raw_messages = glob.glob(sys.argv[1]+"/msg/*.msg")
-if len(sys.argv) > 2:
-	external_raw_messages = glob.glob(sys.argv[2]+"/msg/*.msg")
-	raw_messages += external_raw_messages # Append the msgs defined in the EXTERNAL_MODULES_LOCATION to the normal msg list
-messages = []
-topics = []
-message_elements = []
+raw_messages = sys.argv[2:]
 
 # large and not worth printing
 raw_messages = [x for x in raw_messages if not any(exception in x for exception in ['qshell_req', 'ulog_stream', 'gps_inject_data', 'gps_dump'])]
 
+messages = []
+topics = []
+message_elements = []
+
 for index,m in enumerate(raw_messages):
 	topic_list = []
-	f = open(m,'r')
+
+	msg_path = sys.argv[1]+ '/msg/' + m
+
+	if os.path.isfile(msg_path):
+		# first try opening file in msg/ directory
+		f = open(msg_path,'r')
+	else:
+		# otherwise try opening directly (could be an external module msg)
+		f = open(m,'r')
+
 	for line in f.readlines():
 		items = re.split('\s+', line.strip())