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microRTPS: update RTPS message list naming from 'ids' to 'msgs'

master
TSC21 4 years ago committed by Nuno Marques
parent
0b23679f98
commit
e83a3a6cf7
3 changed files with 39 additions and 39 deletions
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  1. 48
      msg/tools/generate_microRTPS_bridge.py
  2. 26
      msg/tools/px_generate_uorb_topic_files.py
  3. 4
      msg/tools/uorb_rtps_classifier.py

48
msg/tools/generate_microRTPS_bridge.py
Unescape View File

@ -274,14 +274,14 @@ def generate_agent(out_dir): @@ -274,14 +274,14 @@ def generate_agent(out_dir):
if gen_idl:
if out_dir != agent_out_dir:
px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", os.path.join(out_dir, "/idl"), urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_id_map)
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_list)
else:
px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", idl_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_id_map)
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_list)
px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE)
if classifier.alias_msgs_to_send:
for msg_file in classifier.alias_msgs_to_send:
@ -290,28 +290,28 @@ def generate_agent(out_dir): @@ -290,28 +290,28 @@ def generate_agent(out_dir):
if gen_idl:
if out_dir != agent_out_dir:
px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, os.path.join(out_dir, "/idl"), urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_id_map)
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_list)
else:
px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, idl_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_id_map)
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_list)
px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE)
if classifier.msgs_to_receive:
for msg_file in classifier.msgs_to_receive:
if gen_idl:
if out_dir != agent_out_dir:
px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", os.path.join(out_dir, "/idl"), urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_id_map)
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_list)
else:
px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", idl_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_id_map)
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_list)
px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
if classifier.alias_msgs_to_receive:
for msg_file in classifier.alias_msgs_to_receive:
@ -320,28 +320,28 @@ def generate_agent(out_dir): @@ -320,28 +320,28 @@ def generate_agent(out_dir):
if gen_idl:
if out_dir != agent_out_dir:
px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, os.path.join(out_dir, "/idl"), urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_id_map)
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_list)
else:
px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, idl_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_id_map)
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_list)
px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir,
urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_AGENT_TEMPL_FILE)
urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_AGENT_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir,
urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_TIMESYNC_CPP_TEMPL_FILE)
urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_TIMESYNC_CPP_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir,
urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_TIMESYNC_H_TEMPL_FILE)
urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_TIMESYNC_H_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir,
urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir,
urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
if cmakelists:
px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, os.path.dirname(out_dir),
urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE)
urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE)
# Final steps to install agent
mkdir_p(os.path.join(out_dir, "fastrtpsgen"))
@ -361,7 +361,7 @@ def generate_agent(out_dir): @@ -361,7 +361,7 @@ def generate_agent(out_dir):
for idl_file in glob.glob(os.path.join(idl_dir, "*.idl")):
# Only run the generator for the topics that are actually marked to be
# used by the bridge
if os.path.splitext(os.path.basename(idl_file))[0] in classifier.msg_id_map:
if os.path.splitext(os.path.basename(idl_file))[0] in classifier.msg_list:
idl_files.append(idl_file)
try:
@ -426,7 +426,7 @@ def generate_client(out_dir): @@ -426,7 +426,7 @@ def generate_client(out_dir):
os.rename(def_file, def_file.replace(".h", ".h_"))
px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir,
out_dir, uorb_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_CLIENT_TEMPL_FILE)
out_dir, uorb_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_CLIENT_TEMPL_FILE)
# Final steps to install client
cp_wildcard(os.path.join(urtps_templates_dir,

26
msg/tools/px_generate_uorb_topic_files.py
Unescape View File

@ -177,7 +177,7 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template @@ -177,7 +177,7 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template
return generate_by_template(output_file, template_file, em_globals)
def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, fastrtps_version, ros2_distro, ids):
def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, fastrtps_version, ros2_distro, msgs):
"""
Generates an .idl from .msg file
"""
@ -185,11 +185,11 @@ def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, pack @@ -185,11 +185,11 @@ def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, pack
if (alias != ""):
em_globals = get_em_globals(
msg, alias, package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.NONE)
msg, alias, package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.NONE)
spec_short_name = alias
else:
em_globals = get_em_globals(
msg, "", package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.NONE)
msg, "", package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.NONE)
spec_short_name = em_globals["spec"].short_name
# Make sure output directory exists:
@ -208,7 +208,7 @@ def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, pack @@ -208,7 +208,7 @@ def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, pack
def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filename_receive_msgs, filename_alias_receive_msgs,
msg_dir, outputdir, templatedir, package, includepath, ids, fastrtps_version, ros2_distro, template_name):
msg_dir, outputdir, templatedir, package, includepath, msgs, fastrtps_version, ros2_distro, template_name):
"""
Generates source file by msg content
"""
@ -226,19 +226,19 @@ def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filenam @@ -226,19 +226,19 @@ def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filenam
em_globals_list = []
if send_msgs:
em_globals_list.extend([get_em_globals(
f, "", package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.SEND) for f in send_msgs])
f, "", package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.SEND) for f in send_msgs])
if alias_send_msgs:
em_globals_list.extend([get_em_globals(
f[0], f[1], package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.SEND) for f in alias_send_msgs])
f[0], f[1], package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.SEND) for f in alias_send_msgs])
if receive_msgs:
em_globals_list.extend([get_em_globals(
f, "", package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.RECEIVE) for f in receive_msgs])
f, "", package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.RECEIVE) for f in receive_msgs])
if alias_receive_msgs:
em_globals_list.extend([get_em_globals(
f[0], f[1], package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.RECEIVE) for f in alias_receive_msgs])
f[0], f[1], package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.RECEIVE) for f in alias_receive_msgs])
merged_em_globals = merge_em_globals_list(em_globals_list)
@ -253,7 +253,7 @@ def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filenam @@ -253,7 +253,7 @@ def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filenam
return generate_by_template(output_file, template_file, merged_em_globals)
def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, ids, fastrtps_version, ros2_distro, template_name):
def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, msgs, fastrtps_version, ros2_distro, template_name):
"""
Generates a sources and headers from .msg file
"""
@ -261,11 +261,11 @@ def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, pa @@ -261,11 +261,11 @@ def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, pa
if (alias):
em_globals = get_em_globals(
msg, alias, package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.NONE)
msg, alias, package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.NONE)
spec_short_name = alias
else:
em_globals = get_em_globals(
msg, "", package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.NONE)
msg, "", package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.NONE)
spec_short_name = em_globals["spec"].short_name
# Make sure output directory exists:
@ -279,7 +279,7 @@ def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, pa @@ -279,7 +279,7 @@ def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, pa
return generate_by_template(output_file, template_file, em_globals)
def get_em_globals(filename_msg, alias, package, includepath, ids, fastrtps_version, ros2_distro, scope):
def get_em_globals(filename_msg, alias, package, includepath, msgs, fastrtps_version, ros2_distro, scope):
"""
Generates em globals dictionary
"""
@ -304,7 +304,7 @@ def get_em_globals(filename_msg, alias, package, includepath, ids, fastrtps_vers @@ -304,7 +304,7 @@ def get_em_globals(filename_msg, alias, package, includepath, ids, fastrtps_vers
"msg_context": msg_context,
"spec": spec,
"topics": topics,
"ids": ids,
"msgs": msgs,
"scope": scope,
"package": package,
"alias": alias,

4
msg/tools/uorb_rtps_classifier.py
Unescape View File

@ -54,7 +54,7 @@ class Classifier(): @@ -54,7 +54,7 @@ class Classifier():
self.msgs_to_receive: Dict[str, int] = dict()
self.alias_msgs_to_send: List[Tuple[str, str]] = []
self.alias_msgs_to_receive: List[Tuple[str, str]] = []
self.msg_id_map: List[str] = []
self.msg_list: List[str] = []
# Create message map
self.setup_msg_map()
@ -77,7 +77,7 @@ class Classifier(): @@ -77,7 +77,7 @@ class Classifier():
(topic['msg'], topic['base']))
else:
self.msgs_to_receive.update({topic['msg']: 0})
self.msg_id_map.append(topic['msg'])
self.msg_list.append(topic['msg'])
def set_msg_files_send(self) -> list:
"""

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