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Diffstat (limited to 'Tools/px_generate_uorb_topic_headers.py')
| -rwxr-xr-x | Tools/px_generate_uorb_topic_headers.py | 159 |
1 files changed, 159 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..3e24e66b2 --- /dev/null +++ b/Tools/px_generate_uorb_topic_headers.py @@ -0,0 +1,159 @@ +#!/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 +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 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) |