From 14d7adc51910f9db8a3ec5a0e8c18455a1a9ef3b Mon Sep 17 00:00:00 2001
From: TSC21 <n.marques21@hotmail.com>
Date: Mon, 28 Jan 2019 15:28:40 +0000
Subject: [PATCH] Jenkins CI: PX4 ROS2: deploy required tools
---
Jenkinsfile | 35 ++++++-
msg/tools/uorb_to_ros_rtps_ids.py | 158 ++++++++++++++++++++++++++++++
2 files changed, 192 insertions(+), 1 deletion(-)
create mode 100644 msg/tools/uorb_to_ros_rtps_ids.py
diff --git a/Jenkinsfile b/Jenkinsfile
index 31042dff2e..2451ab2873 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -484,7 +484,40 @@ pipeline {
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git -b ${BRANCH_NAME}")
sh('python msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
- sh('cd px4_msgs; git push origin master || true')
+ sh('cd px4_msgs; git push origin ${BRANCH_NAME} || true')
+ sh('rm -rf px4_msgs')
+ }
+ }
+ when {
+ anyOf {
+ branch 'master'
+ branch 'pr-jenkins' // for testing
+ }
+ }
+ options {
+ skipDefaultCheckout()
+ }
+ }
+
+ stage('PX4 ROS2 bridge') {
+ agent {
+ docker { image 'px4io/px4-dev-base:2019-01-01' }
+ }
+ steps {
+ checkout(scm)
+ sh('export')
+ withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
+ sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
+ // deploy uORB RTPS ID map
+ sh('python msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml')
+ sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS ID map `date`" || true')
+ // deploy uORB RTPS required tools
+ sh('cp msg/tools/uorb_rtps_classifier.py px4_ros_com/scripts/uorb_rtps_classifier.py')
+ sh('cp msg/tools/generate_microRTPS_bridge.py px4_ros_com/scripts/generate_microRTPS_bridge.py')
+ sh('cp msg/tools/px_generate_uorb_topic_files.py px4_ros_com/scripts/px_generate_uorb_topic_files.py')
+ sh('cp msg/tools/px_generate_uorb_topic_helper.py px4_ros_com/scripts/px_generate_uorb_topic_helper.py')
+ sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS script tools `date`" || true')
+ sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
sh('rm -rf px4_msgs')
}
}
diff --git a/msg/tools/uorb_to_ros_rtps_ids.py b/msg/tools/uorb_to_ros_rtps_ids.py
new file mode 100644
index 0000000000..bdbfca788c
--- /dev/null
+++ b/msg/tools/uorb_to_ros_rtps_ids.py
@@ -0,0 +1,158 @@
+#!/usr/bin/env python
+"""
+Script to read an yaml file containing the RTPS message IDs and update the naming convention to PascalCase
+"""
+
+import os
+import yaml
+import sys
+import argparse
+
+__author__ = 'PX4 Development Team'
+__copyright__ = \
+ '''
+ '
+ ' Copyright (C) 2018-2019 PX4 Development Team. All rights reserved.
+ '
+ ' Redistribution and use in source and binary forms, or without
+ ' modification, permitted provided that the following conditions
+ ' are met:
+ '
+ ' 1. Redistributions of source code must retain the above copyright
+ ' notice, list of conditions and the following disclaimer.
+ ' 2. Redistributions in binary form must reproduce the above copyright
+ ' notice, list of conditions and the following disclaimer in
+ ' the documentation and/or other materials provided with the
+ ' distribution.
+ ' 3. Neither the name PX4 nor the names of its contributors may be
+ ' used to endorse or promote products derived from self 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, NOT
+ ' LIMITED TO, IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ ' FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ ' COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ ' INCIDENTAL, SPECIAL, EXEMPLARY, CONSEQUENTIAL DAMAGES (INCLUDING,
+ ' BUT NOT LIMITED TO, OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ ' OF USE, DATA, PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ ' AND ON ANY THEORY OF LIABILITY, IN CONTRACT, STRICT
+ ' LIABILITY, TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ' ANY WAY OUT OF THE USE OF THIS SOFTWARE, IF ADVISED OF THE
+ ' POSSIBILITY OF SUCH DAMAGE.
+ '
+ '''
+__credits__ = ['Nuno Marques <nuno.marques@dronesolution.io>']
+__license__ = 'BSD-3-Clause'
+__version__ = '0.1.0'
+__maintainer__ = 'Nuno Marques'
+__email__ = 'nuno.marques@dronesolution.io'
+__status__ = 'Development'
+
+list = []
+in_file = ""
+out_file = ""
+verbose = True
+
+
+class IndenterDumper(yaml.Dumper):
+ """ Custom dumper for yaml files that apply the correct indentation """
+
+ def increase_indent(self, flow=False, indentless=False):
+ return super(IndenterDumper, self).increase_indent(flow, False)
+
+
+def load_yaml_file(file):
+ """
+ Open yaml file and parse the data into a list of dict
+
+ :param file: the yaml file to load
+ :returns: the list of dictionaries that represent the message and respective RTPS IDs
+ :raises IOError: raises and error when the file is not found
+ """
+ try:
+ with open(file, 'r') as f:
+ if verbose:
+ print("--\t[Step 1] %s yaml file loaded!" % file)
+ return yaml.load(f)
+ except OSError as e:
+ if e.errno == errno.ENOENT:
+ raise IOError(errno.ENOENT, os.strerror(errno.ENOENT), file)
+ else:
+ raise
+
+
+def update_dict(list):
+ """
+ Update the message naming on the dictionary to fit the PascalCase convention
+
+ :param file: the list of dicts to be updated
+ """
+ if verbose:
+ num_of_msgs = 0
+ for i, dictionary in enumerate(list["rtps"]):
+ # implementation depends on the Python version being used
+ if sys.version_info[0] < 3:
+ dict = {k: v.title().replace('_', '') if isinstance(
+ v, basestring) else v for k, v in dictionary.iteritems()}
+ else:
+ dict = {k: v.title().replace('_', '') if isinstance(
+ v, str) else v for k, v in dictionary.items()}
+ list["rtps"][i] = dict
+ if verbose:
+ num_of_msgs += 1
+ if verbose:
+ print("--\t[Step 2] List: %d msg names updated!" % num_of_msgs)
+
+
+def update_yaml_file(list, file):
+ """
+ Open the yaml file to dump the new list of dict toself.
+
+ .. note:: Since the the dump method automatically sorts the keys alphabetically,
+ the 'id' fields will appear first than the 'msg' fields.
+
+ :param list: the list of updated dicts
+ :param file: the yaml file to load and write the new data
+ :raises IOError: raises and error when the file is not found
+ """
+ try:
+ with open(file, 'w') as f:
+ yaml.dump(list, f, Dumper=IndenterDumper, default_flow_style=False)
+ if verbose:
+ if in_file == out_file:
+ print("--\t[Step 3] %s updated!" % in_file)
+ else:
+ print("--\t[Step 3] %s created!" % out_file)
+
+ except OSError as e:
+ if e.errno == errno.ENOENT:
+ raise IOError(errno.ENOENT, os.strerror(errno.ENOENT), file)
+ else:
+ raise
+
+
+if __name__ == "__main__":
+ parser = argparse.ArgumentParser(
+ description='Read an yaml file containing the RTPS message IDs and update the naming convention to PascalCase')
+ optional = parser._action_groups.pop()
+ required = parser.add_argument_group('Required')
+ required.add_argument("-i", "--input-file", dest="input_file",
+ help="Yaml file to read", metavar="INFILE")
+ optional.add_argument("-o", "--output-file", dest="output_file",
+ help="Yaml file to dump. If not set, it is the same as the input",
+ metavar="OUTFILE", default="")
+ optional.add_argument("-q", "--quiet", action="store_false", dest="verbose",
+ default=True, help="Don't print status messages to stdout")
+
+ args = parser.parse_args()
+ verbose = args.verbose
+ in_file = args.input_file
+ out_file = args.output_file if (args.output_file != in_file and args.output_file != "") else in_file
+
+ if verbose:
+ print("-- PX4 to ROS RTPS Ids --")
+
+ list = load_yaml_file(in_file)
+ update_dict(list)
+ update_yaml_file(list, out_file)
--
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