#!/usr/bin/env python
#############################################################################
#
# Copyright (C) 2013-2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this 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 this 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, BUT NOT
# LIMITED TO, THE 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, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
#############################################################################
"""
px_generate_uorb_topic_headers.py
Generates c/cpp header files for uorb topics from .msg (ROS syntax)
message files
"""
from __future__ import print_function
import os
import shutil
import filecmp
import argparse
try:
import genmsg.template_tools
except ImportError as e:
print("python import error: ", e)
print('''
Required python packages not installed.
On a Debian/Ubuntu system please run:
sudo apt-get install python-empy
sudo pip install catkin_pkg
On MacOS please run:
sudo pip install empy catkin_pkg
On Windows please run:
easy_install empy catkin_pkg
''')
exit(1)
__author__ = "Thomas Gubler"
__copyright__ = "Copyright (C) 2013-2014 PX4 Development Team."
__license__ = "BSD"
__email__ = "thomasgubler@gmail.com"
msg_template_map = {'msg.h.template': '@NAME@.h'}
srv_template_map = {}
incl_default = ['std_msgs:./msg/std_msgs']
package = 'px4'
def convert_file(filename, outputdir, templatedir, includepath):
"""
Converts a single .msg file to a uorb header
"""
print("Generating headers from {0}".format(filename))
genmsg.template_tools.generate_from_file(filename,
package,
outputdir,
templatedir,
includepath,
msg_template_map,
srv_template_map)
def convert_dir(inputdir, outputdir, templatedir):
"""
Converts all .msg files in inputdir to uORB header files
"""
includepath = incl_default + [':'.join([package, inputdir])]
for f in os.listdir(inputdir):
fn = os.path.join(inputdir, f)
if os.path.isfile(fn):
convert_file(
fn,
outputdir,
templatedir,
includepath)
def copy_changed(inputdir, outputdir, prefix=''):
"""
Copies files from inputdir to outputdir if they don't exist in
ouputdir or if their content changed
"""
# Make sure output directory exists:
if not os.path.isdir(outputdir):
os.makedirs(outputdir)
for f in os.listdir(inputdir):
fni = os.path.join(inputdir, f)
if os.path.isfile(fni):
# Check if f exists in outpoutdir, copy the file if not
fno = os.path.join(outputdir, prefix + f)
if not os.path.isfile(fno):
shutil.copy(fni, fno)
print("{0}: new header file".format(f))
continue
# The file exists in inputdir and outputdir
# only copy if contents do not match
if not filecmp.cmp(fni, fno):
shutil.copy(fni, fno)
print("{0}: updated".format(f))
continue
print("{0}: unchanged".format(f))
def convert_dir_save(inputdir, outputdir, templatedir, temporarydir, prefix):
"""
Converts all .msg files in inputdir to uORB header files
Unchanged existing files are not overwritten.
"""
# Create new headers in temporary output directory
convert_dir(inputdir, temporarydir, templatedir)
# Copy changed headers from temporary dir to output dir
copy_changed(temporarydir, outputdir, prefix)
if __name__ == "__main__":
parser = argparse.ArgumentParser(
description='Convert msg files to uorb headers')
parser.add_argument('-d', dest='dir', help='directory with msg files')
parser.add_argument('-f', dest='file',
help="files to convert (use only without -d)",
nargs="+")
parser.add_argument('-e', dest='templatedir',
help='directory with template files',)
parser.add_argument('-o', dest='outputdir',
help='output directory for header files')
parser.add_argument('-t', dest='temporarydir',
help='temporary directory')
parser.add_argument('-p', dest='prefix', default='',
help='string added as prefix to the output file '
' name when converting directories')
args = parser.parse_args()
if args.file is not None:
for f in args.file:
convert_file(
f,
args.outputdir,
args.templatedir,
incl_default)
elif args.dir is not None:
convert_dir_save(
args.dir,
args.outputdir,
args.templatedir,
args.temporarydir,
args.prefix)
