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generate_microRTPS_bridge: add the capability to receive absolute and…
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… relative paths
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@TSC21
TSC21 committed Jan 27, 2019
1 parent e81b2ed commit c3c9801
Showing 1 changed file with 42 additions and 54 deletions.
96 changes: 42 additions & 54 deletions msg/tools/generate_microRTPS_bridge.py
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Original file line number Diff line number Diff line change
Expand Up @@ -55,23 +55,6 @@
"Failed to import yaml. You may need to install it with 'sudo pip install pyyaml'")


def get_absolute_path(arg_parse_dir):
"""
Get absolute path from dir
"""
root_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))

if isinstance(arg_parse_dir, list):
dir = arg_parse_dir[0]
else:
dir = arg_parse_dir

if dir[0] != '/':
dir = root_path + "/" + dir

return dir


def check_rtps_id_uniqueness(classifier):
"""
Checks if there are no ID's for different msgs repeated on the map
Expand Down Expand Up @@ -106,7 +89,7 @@ def check_rtps_id_uniqueness(classifier):
if list(classifier.msgs_to_ignore.values()).count(value) > 1:
repeated_ids.update({key: value})

# check if there are repeated IDs between classfied and unclassified msgs
# check if there are repeated IDs between classified and unclassified msgs
# check send and ignore lists
send_ignore_common_ids = list(set(classifier.msgs_to_ignore.values(
)).intersection(classifier.msgs_to_send.values()))
Expand Down Expand Up @@ -149,10 +132,8 @@ def check_rtps_id_uniqueness(classifier):
", ".join('%d' % id for id in px_generate_uorb_topic_helper.check_available_ids(all_ids)))


default_client_out = get_absolute_path(
"src/modules/micrortps_bridge/micrortps_client")
default_agent_out = get_absolute_path(
"src/modules/micrortps_bridge/micrortps_agent")
default_client_out = "src/modules/micrortps_bridge/micrortps_client"
default_agent_out = "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"
Expand All @@ -173,22 +154,22 @@ def check_rtps_id_uniqueness(classifier):
parser.add_argument("-l", "--generate-cmakelists", dest='cmakelists',
action="store_true", help="Flag to generate a CMakeLists.txt file for the micro-RTPS agent")
parser.add_argument("-t", "--topic-msg-dir", dest='msgdir', type=str,
help="Topics message dir, by default msg/", default="msg")
help="Topics message, by default using relative path 'msg/'", default="msg")
parser.add_argument("-b", "--uorb-templates-dir", dest='uorb_templates', type=str,
help="uORB templates dir, by default msgdir/templates/uorb_microcdr", default=default_uorb_templates_dir)
help="uORB templates, by default using relative path to msgdir 'templates/uorb_microcdr'", default=default_uorb_templates_dir)
parser.add_argument("-q", "--urtps-templates-dir", dest='urtps_templates', type=str,
help="uRTPS templates abolsute path, by default use relative path to msg, templates/urtps", default=default_urtps_templates_dir)
help="uRTPS templates, by default using relative path to msgdir '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 absolute path, by default use relative path to msg, tools/uorb_rtps_message_ids.yaml", default=default_rtps_id_file)
help="RTPS msg IDs definition path, by default using relative path to msgdir '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,
help="Agent output dir, by default src/modules/micrortps_bridge/micrortps_agent", default=default_agent_out)
parser.add_argument("-u", "--client-outdir", dest='clientdir', type=str, nargs=1,
help="Client output dir, by default src/modules/micrortps_bridge/micrortps_client", default=default_client_out)
parser.add_argument("-f", "--fastrtpsgen-dir", dest='fastrtpsgen', type=str, nargs='?',
parser.add_argument("-o", "--agent-outdir", dest='agentdir', type=str,
help="Agent output dir, by default using relative path 'src/modules/micrortps_bridge/micrortps_agent'", default=default_agent_out)
parser.add_argument("-u", "--client-outdir", dest='clientdir', type=str,
help="Client output dir, by default using relative path 'src/modules/micrortps_bridge/micrortps_client'", default=default_client_out)
parser.add_argument("-f", "--fastrtpsgen-dir", dest='fastrtpsgen', type=str,
help="fastrtpsgen installation dir, only needed if fastrtpsgen is not in PATH, by default empty", default="")
parser.add_argument("-g", "--fastrtpsgen-include", dest='fastrtpsgen_include', type=str, nargs='?',
parser.add_argument("-g", "--fastrtpsgen-include", dest='fastrtpsgen_include', type=str,
help="directory(ies) to add to preprocessor include paths of fastrtpsgen, by default empty", default="")
parser.add_argument("--delete-tree", dest='del_tree',
action="store_true", help="Delete dir tree output dir(s)")
Expand All @@ -200,36 +181,43 @@ def check_rtps_id_uniqueness(classifier):

# Parse arguments
args = parser.parse_args()
msg_folder = get_absolute_path(args.msgdir)
package = args.package
agent = args.agent
client = args.client
mkdir_build = args.mkdir_build
cmakelists = args.cmakelists
del_tree = args.del_tree
px_generate_uorb_topic_files.append_to_include_path(
{msg_folder}, px_generate_uorb_topic_files.INCL_DEFAULT, package)
agent_out_dir = get_absolute_path(args.agentdir)
client_out_dir = get_absolute_path(
args.clientdir)
gen_idl = args.gen_idl
mkdir_build = args.mkdir_build
package = args.package

# Msg files path
msg_dir = os.path.abspath(args.msgdir)
px_generate_uorb_topic_files.append_to_include_path(
{msg_dir}, px_generate_uorb_topic_files.INCL_DEFAULT, package)

# Agent files output path
agent_out_dir = os.path.abspath(args.agentdir)

# Client files output path
client_out_dir = os.path.abspath(args.clientdir)

# IDL files path
idl_dir = args.idl_dir
if idl_dir != '':
idl_dir = get_absolute_path(args.idl_dir)
idl_dir = os.path.abspath(args.idl_dir)
else:
idl_dir = os.path.join(agent_out_dir, "idl")

if args.fastrtpsgen is None or args.fastrtpsgen == "":
if args.fastrtpsgen is None or args.fastrtpsgen == '':
# Assume fastrtpsgen is in PATH
fastrtpsgen_path = 'fastrtpsgen'
else:
# Path to fastrtpsgen is explicitly specified
fastrtpsgen_path = os.path.join(
get_absolute_path(args.fastrtpsgen), 'fastrtpsgen')
os.path.abspath(args.fastrtpsgen), 'fastrtpsgen')
fastrtpsgen_include = args.fastrtpsgen_include
if fastrtpsgen_include is not None and fastrtpsgen_include != '':
fastrtpsgen_include = "-I " + \
get_absolute_path(
os.path.abspath(
args.fastrtpsgen_include) + " "

# If nothing specified it's generated both
Expand Down Expand Up @@ -261,17 +249,17 @@ def check_rtps_id_uniqueness(classifier):
if agent and os.path.isdir(os.path.join(agent_out_dir, "idl")):
shutil.rmtree(os.path.join(agent_out_dir, "idl"))

uorb_templates_dir = os.path.join(msg_folder, args.uorb_templates)
if args.urtps_templates != default_urtps_templates_dir:
urtps_templates_dir = os.path.abspath(args.urtps_templates)
else:
urtps_templates_dir = os.path.join(msg_folder, args.urtps_templates)
# uORB templates path
uorb_templates_dir = (args.uorb_templates if os.path.isabs(args.uorb_templates) \
else os.path.join(msg_dir, args.uorb_templates))

# uRTPS templates path
urtps_templates_dir = (args.urtps_templates if os.path.isabs(args.urtps_templates) \
else os.path.join(msg_dir, args.urtps_templates))

# parse yaml file into a map of ids
if args.yaml_file != default_rtps_id_file:
classifier = Classifier(os.path.abspath(args.yaml_file), msg_folder)
else:
classifier = Classifier(os.path.join(
msg_folder, args.yaml_file), msg_folder)
classifier = (Classifier(os.path.abspath(args.yaml_file), msg_dir) if os.path.isabs(args.yaml_file) \
else Classifier(os.path.join(msg_dir, args.yaml_file), msg_dir))

# check if there are no ID's repeated
check_rtps_id_uniqueness(classifier)
Expand Down

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