#!/usr/bin/env python3 ################################################################################ # # Copyright (c) 2018-2021 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 of the copyright holder 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 HOLDER 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. # ################################################################################ import argparse import difflib import errno import os from typing import Dict, List, Tuple import yaml class Classifier(): """Class to classify RTPS msgs as to send, receive and set their IDs.""" def __init__(self, yaml_file, msg_folder) -> None: self.msg_folder = msg_folder self.msg_map = self.parse_yaml_msgs_file(yaml_file) # Check if base types are defined correctly self.check_base_type() # Get messages to send and to receive self.msgs_to_send: Dict[str, int] = dict() 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_list: List[str] = [] # Create message map self.setup_msg_map() self.msg_files_send = self.set_msg_files_send() self.msg_files_receive = self.set_msg_files_receive() def setup_msg_map(self) -> None: """Setup dictionary with an ID map for the messages.""" for topic in self.msg_map['rtps']: if 'send' in list(topic.keys()): if 'base' in list(topic.keys()): self.alias_msgs_to_send.append( (topic['msg'], topic['base'])) else: self.msgs_to_send.update({topic['msg']: 0}) if 'receive' in list(topic.keys()): if 'base' in list(topic.keys()): self.alias_msgs_to_receive.append( (topic['msg'], topic['base'])) else: self.msgs_to_receive.update({topic['msg']: 0}) self.msg_list.append(topic['msg']) def set_msg_files_send(self) -> list: """ Append the path to the files which messages are marked to be sent. """ return [os.path.join(self.msg_folder, msg + ".msg") for msg in list(self.msgs_to_send.keys())] def set_msg_files_receive(self) -> list: """ Append the path to the files which messages are marked to be received. """ return [os.path.join(self.msg_folder, msg + ".msg") for msg in list(self.msgs_to_receive.keys())] def check_base_type(self) -> None: """Check if alias message has correct base type.""" registered_alias_msgs = list( topic['base'] for topic in self.msg_map['rtps'] if 'base' in list(topic.keys())) base_types = [] for topic in self.msg_map['rtps']: if 'base' not in list(topic.keys()): base_types.append(topic['msg']) incorrect_base_types = list( set(registered_alias_msgs) - set(base_types)) base_types_suggestion = {} for incorrect in incorrect_base_types: base_types_suggestion.update({incorrect: difflib.get_close_matches( incorrect, base_types, n=1, cutoff=0.6)}) if len(base_types_suggestion) > 0: raise AssertionError( ('\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())))) @staticmethod def parse_yaml_msgs_file(yaml_file) -> dict: """Parses a yaml file into a dict.""" try: with open(yaml_file, 'r') as file: return yaml.safe_load(file) except OSError as err: if err.errno == errno.ENOENT: raise IOError(errno.ENOENT, os.strerror( errno.ENOENT), yaml_file) raise if __name__ == "__main__": parser = argparse.ArgumentParser() parser.add_argument("-s", "--send", dest='send', action="store_true", help="Get topics to be sent") parser.add_argument("-a", "--alias", dest='alias', action="store_true", help="Get alias topics") parser.add_argument("-r", "--receive", dest='receive', action="store_true", help="Get topics to be received") parser.add_argument("-i", "--ignore", dest='ignore', action="store_true", help="Get topics to be ignored") parser.add_argument("-p", "--path", dest='path', action="store_true", help="Get msgs and its paths") parser.add_argument("-m", "--topic-msg-dir", dest='msgdir', type=str, help="Topics message dir, by default msg/", default="msg") parser.add_argument("-y", "--rtps-ids-file", dest='yaml_file', type=str, help="RTPS msg IDs definition file absolute path, by default use relative path to msg, tools/urtps_bridge_topics.yaml", default='tools/urtps_bridge_topics.yaml') # Parse arguments args = parser.parse_args() msg_dir = args.msgdir if args.msgdir == 'msg': msg_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__))) else: msg_dir = os.path.abspath(args.msgdir) classifier = (Classifier(os.path.abspath(args.yaml_file), msg_dir) if os.path.isabs(args.yaml_file) else Classifier(os.path.join(msg_dir, args.yaml_file), msg_dir)) if args.send: if args.path: print(('send files: ' + ', '.join(str(msg_file) for msg_file in classifier.msg_files_send) + '\n')) else: if args.alias: print((', '.join(str(msg) for msg in sorted(classifier.msgs_to_send)) + (' alias ' + ', '.join(msg[0] for msg in classifier.alias_msgs_to_send) if len(classifier.alias_msgs_to_send) > 0 else '') + '\n')) else: print((', '.join(str(msg) for msg in sorted(classifier.msgs_to_send)))) if args.receive: if args.path: print(('receive files: ' + ', '.join(str(msg_file) for msg_file in classifier.msg_files_receive) + '\n')) else: if args.alias: print((', '.join(str(msg) for msg in sorted(classifier.msgs_to_receive)) + (' alias ' + ', '.join(msg[0] for msg in classifier.alias_msgs_to_receive) if len(classifier.alias_msgs_to_receive) > 0 else '') + '\n')) else: print((', '.join(str(msg) for msg in sorted(classifier.msgs_to_receive))))