bizhang_-obav/Tools/px_generate_uorb_topic_headers.py

#!/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)