initial version of msg to uorb script

Standard and embedded types work, may need small refinements for some
types

1 files changed, 98 insertions, 0 deletions

diff --git a/Tools/px_generate_uorb_topic_headers.py b/Tools/px_generate_uorb_topic_headers.py
new file mode 100755
index 000000000..a738dcb7e
--- /dev/null
+++ b/Tools/px_generate_uorb_topic_headers.py
@@ -0,0 +1,98 @@
+#!/usr/bin/env python
+#############################################################################
+#
+#   Copyright (C) 2013-2014 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 argparse
+import genmsg.template_tools
+
+__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 uORB 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)
+
+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')
+    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(args.dir, args.outputdir, args.templatedir)