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285 lines
13 KiB
285 lines
13 KiB
#!/usr/bin/env python |
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################################################################################ |
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# |
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# Copyright 2018 PX4 Pro 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 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 dict.keys(): |
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if 'alias' in 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 dict.keys(): |
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if 'alias' in 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 dict.keys()) and ('receive' not in dict.keys())): |
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if 'alias' in 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 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 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 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 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 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 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 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 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 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 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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if sys.version_info[0] < 3: |
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print (', '.join(str(msg) |
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for msg in classifier.msgs_to_send.keys()) + (' alias ' + ', '.join(str(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 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 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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if sys.version_info[0] < 3: |
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print (', '.join(str(msg) |
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for msg in classifier.msgs_to_receive.keys()) + (' alias ' + ', '.join(str(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 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 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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if sys.version_info[0] < 3: |
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print (', '.join(str(msg) |
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for msg in classifier.msgs_to_ignore.keys()) + (' alias ' + ', '.join(str(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 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 classifier.msgs_to_ignore.keys()))
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