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223 lines
8.6 KiB
223 lines
8.6 KiB
#!/usr/bin/env python |
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############################################################################# |
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# |
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# Copyright (C) 2013-2015 PX4 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 |
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# are met: |
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# |
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# 1. Redistributions of source code must retain the above copyright |
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# notice, this list of conditions and the following disclaimer. |
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# 2. Redistributions in binary form must reproduce the above copyright |
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# notice, this list of conditions and the following disclaimer in |
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# the documentation and/or other materials provided with the |
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# distribution. |
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# 3. Neither the name PX4 nor the names of its contributors may be |
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# used to endorse or promote products derived from this software |
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# without specific prior written permission. |
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# |
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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# 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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""" |
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px_generate_uorb_topic_headers.py |
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Generates c/cpp header files for uorb topics from .msg (ROS syntax) |
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message files |
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""" |
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from __future__ import print_function |
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import os |
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import shutil |
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import filecmp |
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import argparse |
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import sys |
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px4_tools_dir = os.path.dirname(os.path.abspath(__file__)) |
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sys.path.append(px4_tools_dir + "/genmsg/src") |
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sys.path.append(px4_tools_dir + "/gencpp/src") |
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try: |
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import genmsg.template_tools |
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except ImportError as e: |
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print("python import error: ", e) |
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print(''' |
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Required python packages not installed. |
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On a Debian/Ubuntu system please run: |
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sudo apt-get install python-empy |
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sudo pip install catkin_pkg |
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On MacOS please run: |
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sudo pip install empy catkin_pkg |
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On Windows please run: |
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easy_install empy catkin_pkg |
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''') |
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exit(1) |
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__author__ = "Thomas Gubler" |
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__copyright__ = "Copyright (C) 2013-2014 PX4 Development Team." |
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__license__ = "BSD" |
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__email__ = "thomasgubler@gmail.com" |
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msg_template_map = {'msg.h.template': '@NAME@.h'} |
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srv_template_map = {} |
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incl_default = ['std_msgs:./msg/std_msgs'] |
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package = 'px4' |
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def convert_file(filename, outputdir, templatedir, includepath): |
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""" |
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Converts a single .msg file to a uorb header |
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""" |
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#print("Generating headers from {0}".format(filename)) |
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genmsg.template_tools.generate_from_file(filename, |
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package, |
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outputdir, |
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templatedir, |
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includepath, |
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msg_template_map, |
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srv_template_map) |
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def convert_dir(inputdir, outputdir, templatedir): |
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""" |
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Converts all .msg files in inputdir to uORB header files |
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""" |
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# Find the most recent modification time in input dir |
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maxinputtime = 0 |
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for f in os.listdir(inputdir): |
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fni = os.path.join(inputdir, f) |
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if os.path.isfile(fni): |
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it = os.path.getmtime(fni) |
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if it > maxinputtime: |
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maxinputtime = it; |
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# Find the most recent modification time in output dir |
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maxouttime = 0 |
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if os.path.isdir(outputdir): |
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for f in os.listdir(outputdir): |
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fni = os.path.join(outputdir, f) |
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if os.path.isfile(fni): |
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it = os.path.getmtime(fni) |
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if it > maxouttime: |
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maxouttime = it; |
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# Do not generate if nothing changed on the input |
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if (maxinputtime != 0 and maxouttime != 0 and maxinputtime < maxouttime): |
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return False |
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includepath = incl_default + [':'.join([package, inputdir])] |
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for f in os.listdir(inputdir): |
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# Ignore hidden files |
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if f.startswith("."): |
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continue |
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fn = os.path.join(inputdir, f) |
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# Only look at actual files |
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if not os.path.isfile(fn): |
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continue |
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convert_file(fn, |
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outputdir, |
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templatedir, |
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includepath) |
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return True |
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def copy_changed(inputdir, outputdir, prefix='', quiet=False): |
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""" |
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Copies files from inputdir to outputdir if they don't exist in |
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ouputdir or if their content changed |
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""" |
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# Make sure output directory exists: |
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if not os.path.isdir(outputdir): |
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os.makedirs(outputdir) |
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for f in os.listdir(inputdir): |
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fni = os.path.join(inputdir, f) |
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if os.path.isfile(fni): |
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# Check if f exists in outpoutdir, copy the file if not |
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fno = os.path.join(outputdir, prefix + f) |
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if not os.path.isfile(fno): |
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shutil.copy(fni, fno) |
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if not quiet: |
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print("{0}: new header file".format(f)) |
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continue |
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if os.path.getmtime(fni) > os.path.getmtime(fno): |
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# The file exists in inputdir and outputdir |
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# only copy if contents do not match |
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if not filecmp.cmp(fni, fno): |
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shutil.copy(fni, fno) |
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if not quiet: |
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print("{0}: updated".format(f)) |
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continue |
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if not quiet: |
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print("{0}: unchanged".format(f)) |
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def convert_dir_save(inputdir, outputdir, templatedir, temporarydir, prefix, quiet=False): |
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""" |
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Converts all .msg files in inputdir to uORB header files |
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Unchanged existing files are not overwritten. |
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""" |
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# Create new headers in temporary output directory |
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convert_dir(inputdir, temporarydir, templatedir) |
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# Copy changed headers from temporary dir to output dir |
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copy_changed(temporarydir, outputdir, prefix, quiet) |
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if __name__ == "__main__": |
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parser = argparse.ArgumentParser( |
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description='Convert msg files to uorb headers') |
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parser.add_argument('-d', dest='dir', help='directory with msg files') |
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parser.add_argument('-f', dest='file', |
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help="files to convert (use only without -d)", |
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nargs="+") |
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parser.add_argument('-e', dest='templatedir', |
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help='directory with template files',) |
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parser.add_argument('-o', dest='outputdir', |
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help='output directory for header files') |
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parser.add_argument('-t', dest='temporarydir', |
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help='temporary directory') |
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parser.add_argument('-p', dest='prefix', default='', |
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help='string added as prefix to the output file ' |
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' name when converting directories') |
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parser.add_argument('-q', dest='quiet', default=False, action='store_true', |
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help='string added as prefix to the output file ' |
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' name when converting directories') |
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args = parser.parse_args() |
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if args.file is not None: |
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for f in args.file: |
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convert_file( |
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f, |
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args.outputdir, |
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args.templatedir, |
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incl_default) |
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elif args.dir is not None: |
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convert_dir_save( |
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args.dir, |
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args.outputdir, |
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args.templatedir, |
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args.temporarydir, |
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args.prefix, |
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args.quiet)
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