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generalize scripts for usage outside the PX4 Firmware dir and with other templates/packages

sbg
TSC21 7 years ago committed by Beat Küng
parent
7f016b5fd4
commit
943bfbf93f
2 changed files with 60 additions and 39 deletions
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  1. 56
      msg/tools/generate_microRTPS_bridge.py
  2. 43
      msg/tools/px_generate_uorb_topic_files.py

56
msg/tools/generate_microRTPS_bridge.py
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@ -57,13 +57,21 @@ def get_absolute_path(arg_parse_dir): @@ -57,13 +57,21 @@ def get_absolute_path(arg_parse_dir):
default_client_out = get_absolute_path("src/modules/micrortps_bridge/micrortps_client")
default_agent_out = get_absolute_path("src/modules/micrortps_bridge/micrortps_agent")
default_uorb_templates_dir = "/templates/uorb_microcdr"
default_urtps_templates_dir = "/templates/urtps"
default_package_name = px_generate_uorb_topic_files.PACKAGE
parser = argparse.ArgumentParser()
parser.add_argument("-s", "--send", dest='send', metavar='*.msg', type=str, nargs='+', help="Topics to be sended")
parser.add_argument("-r", "--receive", dest='receive', metavar='*.msg', type=str, nargs='+', help="Topics to be received")
parser.add_argument("-a", "--agent", dest='agent', action="store_true", help="Flag for generate the agent, by default is true if -c is not specified")
parser.add_argument("-c", "--client", dest='client', action="store_true", help="Flag for generate the client, by default is true if -a is not specified")
parser.add_argument("-i", "--no-idl", dest='idl', action="store_false", help="Flag for generate idl files for each msg, by default is true if -i is not specified")
parser.add_argument("-t", "--topic-msg-dir", dest='msgdir', type=str, nargs=1, help="Topics message dir, by default msg/", default="msg")
parser.add_argument("-b", "--uorb-templates-dir", dest='uorb_templates', type=str, nargs=1, help="uORB templates dir, by default msg_dir/templates/uorb_microcdr", default=default_uorb_templates_dir)
parser.add_argument("-q", "--urtps-templates-dir", dest='urtps_templates', type=str, nargs=1, help="uRTPS templates dir, by default msg_dir/templates/urtps", default=default_urtps_templates_dir)
parser.add_argument("-p", "--package", dest='package', type=str, nargs=1, help="Msg package naming, by default px4", default=default_package_name)
parser.add_argument("-o", "--agent-outdir", dest='agentdir', type=str, nargs=1, help="Agent output dir, by default src/modules/micrortps_bridge/micrortps_agent", default=default_agent_out)
parser.add_argument("-u", "--client-outdir", dest='clientdir', type=str, nargs=1, help="Client output dir, by default src/modules/micrortps_bridge/micrortps_client", default=default_client_out)
parser.add_argument("-f", "--fastrtpsgen-dir", dest='fastrtpsgen', type=str, nargs='?', help="fastrtpsgen installation dir, only needed if fastrtpsgen is not in PATH, by default empty", default="")
@ -77,18 +85,26 @@ if len(sys.argv) <= 1: @@ -77,18 +85,26 @@ if len(sys.argv) <= 1:
args = parser.parse_args()
msg_folder = get_absolute_path(args.msgdir)
msg_files_send = []
msg_files_receive = []
if args.send:
msg_files_send = [get_absolute_path(msg) for msg in args.send]
else:
msg_files_send = []
if args.receive:
msg_files_receive = [get_absolute_path(msg) for msg in args.receive]
if args.package[0] != px_generate_uorb_topic_files.PACKAGE:
package = args.package[0]
else:
msg_files_receive = []
package = px_generate_uorb_topic_files.PACKAGE
agent = args.agent
client = args.client
# If not specified, auto generate the idl filename_send_msgs
if args.idl is None or args.idl == "":
idl = True
else:
idl = args.idl
del_tree = args.del_tree
px_generate_uorb_topic_files.append_to_include_path({msg_folder}, px_generate_uorb_topic_files.INCL_DEFAULT)
px_generate_uorb_topic_files.append_to_include_path({msg_folder}, px_generate_uorb_topic_files.INCL_DEFAULT, package)
agent_out_dir = get_absolute_path(args.agentdir)
client_out_dir = get_absolute_path(args.clientdir)
@ -126,8 +142,8 @@ if del_tree: @@ -126,8 +142,8 @@ if del_tree:
if agent and os.path.isdir(agent_out_dir + "/idl"):
shutil.rmtree(agent_out_dir + "/idl")
uorb_templates_dir = msg_folder + "/templates/uorb_microcdr"
urtps_templates_dir = msg_folder + "/templates/urtps"
uorb_templates_dir = msg_folder + get_absolute_path(args.uorb_templates)
urtps_templates_dir = msg_folder + get_absolute_path(args.urtps_templates)
uRTPS_CLIENT_TEMPL_FILE = 'microRTPS_client.cpp.template'
uRTPS_AGENT_TOPICS_H_TEMPL_FILE = 'RtpsTopics.h.template'
@ -143,30 +159,32 @@ def generate_agent(out_dir): @@ -143,30 +159,32 @@ def generate_agent(out_dir):
if msg_files_send:
for msg_file in msg_files_send:
px_generate_uorb_topic_files.generate_idl_file(msg_file, out_dir + "/idl", urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT)
if idl:
px_generate_uorb_topic_files.generate_idl_file(msg_file, out_dir + "/idl", urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT)
px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_PUBLISHER_H_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_PUBLISHER_H_TEMPL_FILE)
if msg_files_receive:
for msg_file in msg_files_receive:
px_generate_uorb_topic_files.generate_idl_file(msg_file, out_dir + "/idl", urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT)
if idl:
px_generate_uorb_topic_files.generate_idl_file(msg_file, out_dir + "/idl", urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT)
px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_CMAKELIST_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_CMAKELIST_TEMPL_FILE)
# Final steps to install agent
mkdir_p(agent_out_dir + "/fastrtpsgen")
@ -221,7 +239,7 @@ def generate_client(out_dir): @@ -221,7 +239,7 @@ def generate_client(out_dir):
os.rename(def_file, def_file.replace(".h", ".h_"))
px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, uorb_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_CLIENT_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_CLIENT_TEMPL_FILE)
# Final steps to install client
cp_wildcard(urtps_templates_dir + "/microRTPS_transport.*", out_dir)

43
msg/tools/px_generate_uorb_topic_files.py
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@ -111,12 +111,12 @@ def get_msgs_list(msgdir): @@ -111,12 +111,12 @@ def get_msgs_list(msgdir):
return [fn for fn in os.listdir(msgdir) if fn.endswith(".msg")]
def generate_output_from_file(format_idx, filename, outputdir, templatedir, includepath):
def generate_output_from_file(format_idx, filename, outputdir, package, 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))
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)
field_name_and_type = {}
for field in spec.parsed_fields():
@ -161,11 +161,11 @@ def generate_output_from_file(format_idx, filename, outputdir, templatedir, incl @@ -161,11 +161,11 @@ def generate_output_from_file(format_idx, filename, outputdir, templatedir, incl
return generate_by_template(output_file, template_file, em_globals)
def generate_idl_file(filename_msg, outputdir, templatedir, includepath):
def generate_idl_file(filename_msg, outputdir, templatedir, package, includepath):
"""
Generates an .idl from .msg file
"""
em_globals = get_em_globals(filename_msg, includepath, MsgScope.NONE)
em_globals = get_em_globals(filename_msg, package, includepath, MsgScope.NONE)
spec_short_name = em_globals["spec"].short_name
# Make sure output directory exists:
@ -178,16 +178,16 @@ def generate_idl_file(filename_msg, outputdir, templatedir, includepath): @@ -178,16 +178,16 @@ def generate_idl_file(filename_msg, outputdir, templatedir, includepath):
return generate_by_template(output_file, template_file, em_globals)
def generate_uRTPS_general(filename_send_msgs, filename_received_msgs,
outputdir, templatedir, includepath, template_name):
outputdir, templatedir, package, includepath, template_name):
"""
Generates source file by msg content
"""
em_globals_list = []
if filename_send_msgs:
em_globals_list.extend([get_em_globals(f, includepath, MsgScope.SEND) for f in filename_send_msgs])
em_globals_list.extend([get_em_globals(f, package, includepath, MsgScope.SEND) for f in filename_send_msgs])
if filename_received_msgs:
em_globals_list.extend([get_em_globals(f, includepath, MsgScope.RECEIVE) for f in filename_received_msgs])
em_globals_list.extend([get_em_globals(f, package, includepath, MsgScope.RECEIVE) for f in filename_received_msgs])
merged_em_globals = merge_em_globals_list(em_globals_list)
# Make sure output directory exists:
@ -199,11 +199,11 @@ def generate_uRTPS_general(filename_send_msgs, filename_received_msgs, @@ -199,11 +199,11 @@ def generate_uRTPS_general(filename_send_msgs, filename_received_msgs,
return generate_by_template(output_file, template_file, merged_em_globals)
def generate_topic_file(filename_msg, outputdir, templatedir, includepath, template_name):
def generate_topic_file(filename_msg, outputdir, templatedir, package, includepath, template_name):
"""
Generates an .idl from .msg file
"""
em_globals = get_em_globals(filename_msg, includepath, MsgScope.NONE)
em_globals = get_em_globals(filename_msg, package, includepath, MsgScope.NONE)
spec_short_name = em_globals["spec"].short_name
# Make sure output directory exists:
@ -215,12 +215,12 @@ def generate_topic_file(filename_msg, outputdir, templatedir, includepath, templ @@ -215,12 +215,12 @@ def generate_topic_file(filename_msg, outputdir, templatedir, includepath, templ
return generate_by_template(output_file, template_file, em_globals)
def get_em_globals(filename_msg, includepath, scope):
def get_em_globals(filename_msg, package, includepath, scope):
"""
Generates em globals dictionary
"""
msg_context = genmsg.msg_loader.MsgContext.create_default()
full_type_name = genmsg.gentools.compute_full_type_name(PACKAGE, os.path.basename(filename_msg))
full_type_name = genmsg.gentools.compute_full_type_name(package, os.path.basename(filename_msg))
spec = genmsg.msg_loader.load_msg_from_file(msg_context, filename_msg, full_type_name)
topics = get_multi_topics(filename_msg)
if includepath:
@ -281,7 +281,7 @@ def generate_by_template(output_file, template_file, em_globals): @@ -281,7 +281,7 @@ def generate_by_template(output_file, template_file, em_globals):
return True
def convert_dir(format_idx, inputdir, outputdir, templatedir):
def convert_dir(format_idx, inputdir, outputdir, package, templatedir):
"""
Converts all .msg files in inputdir to uORB header/source files
"""
@ -309,7 +309,7 @@ def convert_dir(format_idx, inputdir, outputdir, templatedir): @@ -309,7 +309,7 @@ def convert_dir(format_idx, inputdir, outputdir, templatedir):
if (maxinputtime != 0 and maxouttime != 0 and maxinputtime < maxouttime):
return False
includepath = INCL_DEFAULT + [':'.join([PACKAGE, inputdir])]
includepath = INCL_DEFAULT + [':'.join([package, inputdir])]
for f in os.listdir(inputdir):
# Ignore hidden files
if f.startswith("."):
@ -323,7 +323,7 @@ def convert_dir(format_idx, inputdir, outputdir, templatedir): @@ -323,7 +323,7 @@ def convert_dir(format_idx, inputdir, outputdir, templatedir):
if fn[-4:].lower() != '.msg':
continue
generate_output_from_file(format_idx, fn, outputdir, templatedir, includepath)
generate_output_from_file(format_idx, fn, outputdir, package, templatedir, includepath)
return True
@ -361,13 +361,13 @@ def copy_changed(inputdir, outputdir, prefix='', quiet=False): @@ -361,13 +361,13 @@ def copy_changed(inputdir, outputdir, prefix='', quiet=False):
print("{0}: unchanged".format(input_file))
def convert_dir_save(format_idx, inputdir, outputdir, templatedir, temporarydir, prefix, quiet=False):
def convert_dir_save(format_idx, inputdir, outputdir, package, 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)
convert_dir(format_idx, inputdir, temporarydir, package, templatedir)
if generate_idx == 1:
generate_topics_list_file(inputdir, temporarydir, templatedir)
# Copy changed headers from temporary dir to output dir
@ -396,9 +396,9 @@ def generate_topics_list_file_from_files(files, outputdir, templatedir): @@ -396,9 +396,9 @@ def generate_topics_list_file_from_files(files, outputdir, templatedir):
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 append_to_include_path(path_to_append, curr_include):
def append_to_include_path(path_to_append, curr_include, package):
for p in path_to_append:
curr_include.append("%s:%s" % (PACKAGE, p))
curr_include.append('%s:%s' % (package, p))
if __name__ == "__main__":
parser = argparse.ArgumentParser(
@ -416,6 +416,8 @@ if __name__ == "__main__": @@ -416,6 +416,8 @@ if __name__ == "__main__":
default=None)
parser.add_argument('-e', dest='templatedir',
help='directory with template files',)
parser.add_argument('-k', dest='package', default=PACKAGE,
help='package name')
parser.add_argument('-o', dest='outputdir',
help='output directory for header files')
parser.add_argument('-t', dest='temporarydir',
@ -429,7 +431,7 @@ if __name__ == "__main__": @@ -429,7 +431,7 @@ if __name__ == "__main__":
args = parser.parse_args()
if args.include_paths:
append_to_include_path(args.include_paths, INCL_DEFAULT)
append_to_include_path(args.include_paths, INCL_DEFAULT, args.package)
if args.headers:
generate_idx = 0
@ -440,7 +442,7 @@ if __name__ == "__main__": @@ -440,7 +442,7 @@ if __name__ == "__main__":
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)
generate_output_from_file(generate_idx, f, args.temporarydir, args.package, 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)
@ -449,6 +451,7 @@ if __name__ == "__main__": @@ -449,6 +451,7 @@ if __name__ == "__main__":
generate_idx,
args.dir,
args.outputdir,
args.package,
args.templatedir,
args.temporarydir,
args.prefix,

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