From 0227ea38357dad5325b75b1ba23f28d3763be7d8 Mon Sep 17 00:00:00 2001
From: TSC21 <n.marques21@hotmail.com>
Date: Sat, 22 Sep 2018 16:32:56 +0100
Subject: [PATCH] msg: RTPS: pass RTPS ID msg definition file as an EmPy global
var
---
.../microRTPS_client.cpp.template | 12 +-----
msg/templates/urtps/RtpsTopics.cpp.template | 14 ++-----
msg/templates/urtps/RtpsTopics.h.template | 10 +----
msg/tools/generate_microRTPS_bridge.py | 37 ++++++++++++-------
msg/tools/px_generate_uorb_topic_files.py | 17 +++++----
msg/tools/px_generate_uorb_topic_helper.py | 6 +--
.../micrortps_client/CMakeLists.txt | 5 ++-
7 files changed, 44 insertions(+), 57 deletions(-)
diff --git a/msg/templates/uorb_microcdr/microRTPS_client.cpp.template b/msg/templates/uorb_microcdr/microRTPS_client.cpp.template
index a722fb7354..001acb031f 100644
--- a/msg/templates/uorb_microcdr/microRTPS_client.cpp.template
+++ b/msg/templates/uorb_microcdr/microRTPS_client.cpp.template
@@ -20,14 +20,6 @@ from px_generate_uorb_topic_files import MsgScope # this is in Tools/
topic_names = [single_spec.short_name for single_spec in spec]
send_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
-yaml_file = os.path.abspath('uorb_rtps_message_ids.yaml')
-try:
- msg_ids = parse_yaml_msg_id_file(yaml_file)
-except OSError as e:
- if e.errno == errno.ENOENT:
- raise IOError(errno.ENOENT, os.strerror(errno.ENOENT), yaml_file)
- else:
- raise
}@
/****************************************************************************
*
@@ -120,7 +112,7 @@ void* send(void* /*unused*/)
/* payload is shifted by header length to make room for header*/
serialize_@(topic)(&MicroBufferWriter, &data, &data_buffer[header_length], &length);
- if (0 < (read = transport_node->write((char)@(rtps_message_id(msg_ids, topic)), data_buffer, length)))
+ if (0 < (read = transport_node->write((char)@(rtps_message_id(ids, topic)), data_buffer, length)))
{
total_sent += read;
++sent;
@@ -196,7 +188,7 @@ void micrortps_start_topics(struct timespec &begin, int &total_read, uint32_t &r
{
@[for topic in recv_topics]@
- case @(rtps_message_id(msg_ids, topic)):
+ case @(rtps_message_id(ids, topic)):
{
deserialize_@(topic)(&MicroBufferReader, &@(topic)_data, data_buffer);
if (!@(topic)_pub) {
diff --git a/msg/templates/urtps/RtpsTopics.cpp.template b/msg/templates/urtps/RtpsTopics.cpp.template
index d08c64dcb7..da6ca26996 100644
--- a/msg/templates/urtps/RtpsTopics.cpp.template
+++ b/msg/templates/urtps/RtpsTopics.cpp.template
@@ -19,14 +19,6 @@ from px_generate_uorb_topic_files import MsgScope # this is in Tools/
topic_names = [single_spec.short_name for single_spec in spec]
send_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
-yaml_file = os.path.abspath('uorb_rtps_message_ids.yaml')
-try:
- msg_ids = parse_yaml_msg_id_file(yaml_file)
-except OSError as e:
- if e.errno == errno.ENOENT:
- raise IOError(errno.ENOENT, os.strerror(errno.ENOENT), yaml_file)
- else:
- raise
}@
/****************************************************************************
*
@@ -97,7 +89,7 @@ void RtpsTopics::publish(uint8_t topic_ID, char data_buffer[], size_t len)
switch (topic_ID)
{
@[for topic in send_topics]@
- case @(rtps_message_id(msg_ids, topic)): // @(topic)
+ case @(rtps_message_id(ids, topic)): // @(topic)
{
@(topic)_ st;
eprosima::fastcdr::FastBuffer cdrbuffer(data_buffer, len);
@@ -125,7 +117,7 @@ bool RtpsTopics::hasMsg(uint8_t *topic_ID)
switch (_sub_topics[_next_sub_idx])
{
@[for topic in recv_topics]@
- case @(rtps_message_id(msg_ids, topic)): if (_@(topic)_sub.hasMsg()) *topic_ID = @(rtps_message_id(msg_ids, topic)); break;
+ case @(rtps_message_id(ids, topic)): if (_@(topic)_sub.hasMsg()) *topic_ID = @(rtps_message_id(ids, topic)); break;
@[end for]@
default:
printf("Unexpected topic ID to check hasMsg\n");
@@ -149,7 +141,7 @@ bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr)
switch (topic_ID)
{
@[for topic in recv_topics]@
- case @(rtps_message_id(msg_ids, topic)): // @(topic)
+ case @(rtps_message_id(ids, topic)): // @(topic)
if (_@(topic)_sub.hasMsg())
{
@(topic)_ msg = _@(topic)_sub.getMsg();
diff --git a/msg/templates/urtps/RtpsTopics.h.template b/msg/templates/urtps/RtpsTopics.h.template
index b92dd36575..ad7e5347fe 100644
--- a/msg/templates/urtps/RtpsTopics.h.template
+++ b/msg/templates/urtps/RtpsTopics.h.template
@@ -19,14 +19,6 @@ from px_generate_uorb_topic_files import MsgScope # this is in Tools/
topic_names = [single_spec.short_name for single_spec in spec]
send_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
-yaml_file = os.path.abspath('uorb_rtps_message_ids.yaml')
-try:
- msg_ids = parse_yaml_msg_id_file(yaml_file)
-except OSError as e:
- if e.errno == errno.ENOENT:
- raise IOError(errno.ENOENT, os.strerror(errno.ENOENT), yaml_file)
- else:
- raise
}@
/****************************************************************************
*
@@ -97,7 +89,7 @@ private:
unsigned _next_sub_idx = 0;
char _sub_topics[@(len(recv_topics))] = {
@[for topic in recv_topics]@
- @(rtps_message_id(msg_ids, topic)), // @(topic)
+ @(rtps_message_id(ids, topic)), // @(topic)
@[end for]@
};
@[end if]@
diff --git a/msg/tools/generate_microRTPS_bridge.py b/msg/tools/generate_microRTPS_bridge.py
index d2f9161967..d86db37913 100644
--- a/msg/tools/generate_microRTPS_bridge.py
+++ b/msg/tools/generate_microRTPS_bridge.py
@@ -43,6 +43,7 @@ import os
import argparse
import shutil
import px_generate_uorb_topic_files
+import px_generate_uorb_topic_helper
import subprocess
import glob
import errno
@@ -68,6 +69,7 @@ default_agent_out = get_absolute_path(
"src/modules/micrortps_bridge/micrortps_agent")
default_uorb_templates_dir = "templates/uorb_microcdr"
default_urtps_templates_dir = "templates/urtps"
+default_rtps_id_file = "tools/uorb_rtps_message_ids.yaml"
default_package_name = px_generate_uorb_topic_files.PACKAGE
parser = argparse.ArgumentParser()
@@ -94,6 +96,8 @@ parser.add_argument("-b", "--uorb-templates-dir", dest='uorb_templates', type=st
help="uORB templates dir, by default msg_dir/templates/uorb_microcdr", default=default_uorb_templates_dir)
parser.add_argument("-q", "--urtps-templates-dir", dest='urtps_templates', type=str,
help="uRTPS templates dir, by default msg_dir/templates/urtps", default=default_urtps_templates_dir)
+parser.add_argument("-y", "--rtps-ids-file", dest='yaml_file', type=str,
+ help="RTPS msg IDs definition file, by default tools/uorb_rtps_message_ids.yaml", default=default_rtps_id_file)
parser.add_argument("-p", "--package", dest='package', type=str,
help="Msg package naming, by default px4", default=default_package_name)
parser.add_argument("-o", "--agent-outdir", dest='agentdir', type=str, nargs=1,
@@ -147,7 +151,8 @@ else:
get_absolute_path(args.fastrtpsgen), "/fastrtpsgen")
fastrtpsgen_include = args.fastrtpsgen_include
if fastrtpsgen_include is not None and fastrtpsgen_include != '':
- fastrtpsgen_include = "-I " + get_absolute_path(args.fastrtpsgen_include) + " "
+ fastrtpsgen_include = "-I " + \
+ get_absolute_path(args.fastrtpsgen_include) + " "
# If nothing specified it's generated both
if agent == False and client == False:
@@ -180,6 +185,10 @@ if agent and os.path.isdir(os.path.join(agent_out_dir, "idl")):
uorb_templates_dir = os.path.join(msg_folder, args.uorb_templates)
urtps_templates_dir = os.path.join(msg_folder, args.urtps_templates)
+# parse yaml file into a map of ids
+rtps_ids = px_generate_uorb_topic_helper.parse_yaml_msg_id_file(
+ os.path.join(msg_folder, args.yaml_file))
+
uRTPS_CLIENT_TEMPL_FILE = 'microRTPS_client.cpp.template'
uRTPS_AGENT_TOPICS_H_TEMPL_FILE = 'RtpsTopics.h.template'
@@ -199,38 +208,38 @@ def generate_agent(out_dir):
if gen_idl:
if out_dir != agent_out_dir:
px_generate_uorb_topic_files.generate_idl_file(msg_file, os.path.join(out_dir, "/idl"), urtps_templates_dir,
- package, px_generate_uorb_topic_files.INCL_DEFAULT)
+ package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids)
else:
px_generate_uorb_topic_files.generate_idl_file(msg_file, idl_dir, urtps_templates_dir,
- package, px_generate_uorb_topic_files.INCL_DEFAULT)
+ package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids)
px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
- package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
+ package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
- package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_PUBLISHER_H_TEMPL_FILE)
+ package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_PUBLISHER_H_TEMPL_FILE)
if msg_files_receive:
for msg_file in msg_files_receive:
if gen_idl:
if out_dir != agent_out_dir:
px_generate_uorb_topic_files.generate_idl_file(msg_file, os.path.join(out_dir, "/idl"), urtps_templates_dir,
- package, px_generate_uorb_topic_files.INCL_DEFAULT)
+ package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids)
else:
px_generate_uorb_topic_files.generate_idl_file(msg_file, idl_dir, urtps_templates_dir,
- package, px_generate_uorb_topic_files.INCL_DEFAULT)
+ package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids)
px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
- package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
+ package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
- package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
+ package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
- package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TEMPL_FILE)
+ package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_AGENT_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
- package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
+ package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
- package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
+ package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
if cmakelists:
px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
- package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE)
+ package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE)
# Final steps to install agent
mkdir_p(os.path.join(out_dir, "fastrtpsgen"))
@@ -299,7 +308,7 @@ def generate_client(out_dir):
os.rename(def_file, def_file.replace(".h", ".h_"))
px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, uorb_templates_dir,
- package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_CLIENT_TEMPL_FILE)
+ package, px_generate_uorb_topic_files.INCL_DEFAULT, rtps_ids, uRTPS_CLIENT_TEMPL_FILE)
# Final steps to install client
cp_wildcard(os.path.join(urtps_templates_dir,
diff --git a/msg/tools/px_generate_uorb_topic_files.py b/msg/tools/px_generate_uorb_topic_files.py
index d623682084..a75d985b8a 100755
--- a/msg/tools/px_generate_uorb_topic_files.py
+++ b/msg/tools/px_generate_uorb_topic_files.py
@@ -170,12 +170,12 @@ 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, outputdir, templatedir, package, includepath):
+def generate_idl_file(filename_msg, outputdir, templatedir, package, includepath, ids):
"""
Generates an .idl from .msg file
"""
em_globals = get_em_globals(
- filename_msg, package, includepath, MsgScope.NONE)
+ filename_msg, package, includepath, ids, MsgScope.NONE)
spec_short_name = em_globals["spec"].short_name
# Make sure output directory exists:
@@ -190,18 +190,18 @@ def generate_idl_file(filename_msg, outputdir, templatedir, package, includepath
def generate_uRTPS_general(filename_send_msgs, filename_received_msgs,
- outputdir, templatedir, package, includepath, template_name):
+ outputdir, templatedir, package, includepath, ids, template_name):
"""
Generates source file by msg content
"""
em_globals_list = []
if filename_send_msgs:
em_globals_list.extend([get_em_globals(
- f, package, includepath, MsgScope.SEND) for f in filename_send_msgs])
+ f, package, includepath, ids, MsgScope.SEND) for f in filename_send_msgs])
if filename_received_msgs:
em_globals_list.extend([get_em_globals(
- f, package, includepath, MsgScope.RECEIVE) for f in filename_received_msgs])
+ f, package, includepath, ids, MsgScope.RECEIVE) for f in filename_received_msgs])
merged_em_globals = merge_em_globals_list(em_globals_list)
# Make sure output directory exists:
@@ -215,12 +215,12 @@ def generate_uRTPS_general(filename_send_msgs, filename_received_msgs,
return generate_by_template(output_file, template_file, merged_em_globals)
-def generate_topic_file(filename_msg, outputdir, templatedir, package, includepath, template_name):
+def generate_topic_file(filename_msg, outputdir, templatedir, package, includepath, ids, template_name):
"""
Generates an .idl from .msg file
"""
em_globals = get_em_globals(
- filename_msg, package, includepath, MsgScope.NONE)
+ filename_msg, package, includepath, ids, MsgScope.NONE)
spec_short_name = em_globals["spec"].short_name
# Make sure output directory exists:
@@ -234,7 +234,7 @@ def generate_topic_file(filename_msg, outputdir, templatedir, package, includepa
return generate_by_template(output_file, template_file, em_globals)
-def get_em_globals(filename_msg, package, includepath, scope):
+def get_em_globals(filename_msg, package, includepath, ids, scope):
"""
Generates em globals dictionary
"""
@@ -259,6 +259,7 @@ def get_em_globals(filename_msg, package, includepath, scope):
"msg_context": msg_context,
"spec": spec,
"topics": topics,
+ "ids": ids,
"scope": scope
}
diff --git a/msg/tools/px_generate_uorb_topic_helper.py b/msg/tools/px_generate_uorb_topic_helper.py
index 8445f6d940..c6b07e21b2 100644
--- a/msg/tools/px_generate_uorb_topic_helper.py
+++ b/msg/tools/px_generate_uorb_topic_helper.py
@@ -370,7 +370,7 @@ def rtps_message_id(msg_id_map, message):
"""
Get RTPS ID of uORB message
"""
- for dict in msg_id_map["rtps"]:
- if message in dict["msg"]:
- return dict["id"]
+ for dict in msg_id_map[0]['rtps']:
+ if message in dict['msg']:
+ return dict['id']
return 0
diff --git a/src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt b/src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt
index 6990e7c299..73a726a2e0 100644
--- a/src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt
+++ b/src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt
@@ -84,8 +84,9 @@ if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_t
--mkdir-build
--generate-cmakelists
--topic-msg-dir ${PX4_SOURCE_DIR}/msg
- --uorb-templates-dir "templates/uorb_microcdr"
- --urtps-templates-dir "templates/urtps"
+ --uorb-templates-dir templates/uorb_microcdr
+ --urtps-templates-dir templates/urtps
+ --rtps-ids-file tools/uorb_rtps_message_ids.yaml
--agent-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_agent
--client-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_client
--idl-dir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_agent/idl
--
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