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186 lines
8.3 KiB
186 lines
8.3 KiB
#!/usr/bin/env python3 |
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################################################################################ |
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# |
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# Copyright (c) 2018-2021 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 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 argparse |
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import difflib |
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import errno |
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import os |
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from typing import Dict, List, Tuple |
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import yaml |
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class Classifier(): |
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"""Class to classify RTPS msgs as to send, receive and set their IDs.""" |
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def __init__(self, yaml_file, msg_folder) -> None: |
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self.msg_folder = msg_folder |
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self.msg_map = self.parse_yaml_msgs_file(yaml_file) |
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# Check if base types are defined correctly |
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self.check_base_type() |
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# Get messages to send and to receive |
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self.msgs_to_send: Dict[str, int] = dict() |
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self.msgs_to_receive: Dict[str, int] = dict() |
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self.alias_msgs_to_send: List[Tuple[str, str]] = [] |
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self.alias_msgs_to_receive: List[Tuple[str, str]] = [] |
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self.msg_list: List[str] = [] |
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# Create message map |
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self.setup_msg_map() |
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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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def setup_msg_map(self) -> None: |
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"""Setup dictionary with an ID map for the messages.""" |
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for topic in self.msg_map['rtps']: |
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if 'send' in list(topic.keys()): |
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if 'base' in list(topic.keys()): |
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self.alias_msgs_to_send.append( |
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(topic['msg'], topic['base'])) |
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else: |
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self.msgs_to_send.update({topic['msg']: 0}) |
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if 'receive' in list(topic.keys()): |
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if 'base' in list(topic.keys()): |
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self.alias_msgs_to_receive.append( |
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(topic['msg'], topic['base'])) |
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else: |
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self.msgs_to_receive.update({topic['msg']: 0}) |
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self.msg_list.append(topic['msg']) |
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def set_msg_files_send(self) -> list: |
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""" |
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Append the path to the files which messages are marked to |
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be sent. |
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""" |
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return [os.path.join(self.msg_folder, msg + ".msg") |
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for msg in list(self.msgs_to_send.keys())] |
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def set_msg_files_receive(self) -> list: |
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""" |
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Append the path to the files which messages are marked to |
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be received. |
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""" |
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return [os.path.join(self.msg_folder, msg + ".msg") |
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for msg in list(self.msgs_to_receive.keys())] |
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def check_base_type(self) -> None: |
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"""Check if alias message has correct base type.""" |
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registered_alias_msgs = list( |
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topic['base'] for topic in self.msg_map['rtps'] if 'base' in list(topic.keys())) |
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base_types = [] |
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for topic in self.msg_map['rtps']: |
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if 'base' not in list(topic.keys()): |
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base_types.append(topic['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 list(base_types_suggestion.items())))) |
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@staticmethod |
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def parse_yaml_msgs_file(yaml_file) -> dict: |
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"""Parses a yaml file into a dict.""" |
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try: |
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with open(yaml_file, 'r') as file: |
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return yaml.safe_load(file) |
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except OSError as err: |
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if err.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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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/urtps_bridge_topics.yaml", |
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default='tools/urtps_bridge_topics.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.msg_files_send) + '\n')) |
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else: |
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if args.alias: |
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print((', '.join(str(msg) |
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for msg in sorted(classifier.msgs_to_send)) + (' alias ' + ', '.join(msg[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 sorted(classifier.msgs_to_send)))) |
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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.msg_files_receive) + '\n')) |
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else: |
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if args.alias: |
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print((', '.join(str(msg) |
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for msg in sorted(classifier.msgs_to_receive)) + (' alias ' + ', '.join(msg[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 sorted(classifier.msgs_to_receive))))
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