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microRTPS_bridge: structural change to make possible to generate pub/sub code for multi-topics/aliased msgs

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This commit is contained in:
TSC21
2019-06-02 16:12:50 +01:00
committed by Beat Küng
parent a747116eab
commit 3d9f83a4f2
23 changed files with 290 additions and 153 deletions
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63
msg/tools/uorb_rtps_classifier.py
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@@ -50,9 +50,9 @@ class Classifier():
self.msg_id_map = self.parse_yaml_msg_id_file(yaml_file)
self.check_if_listed(yaml_file)
self.msgs_to_send = self.set_msgs_to_send()
self.msgs_to_receive = self.set_msgs_to_receive()
self.msgs_to_ignore = self.set_msgs_to_ignore()
self.msgs_to_send, self.alias_msgs_to_send = self.set_msgs_to_send()
self.msgs_to_receive, self.alias_msgs_to_receive = self.set_msgs_to_receive()
self.msgs_to_ignore, self.alias_msgs_to_ignore = self.set_msgs_to_ignore()
self.msg_files_send = self.set_msg_files_send()
self.msg_files_receive = self.set_msg_files_receive()
self.msg_files_ignore = self.set_msg_files_ignore()
@@ -67,24 +67,36 @@ class Classifier():
def set_msgs_to_send(self):
send = {}
send_alias = []
for dict in self.msg_id_map['rtps']:
if 'send' in dict.keys():
send.update({dict['msg']: dict['id']})
return send
if 'alias' in dict.keys():
send_alias.append(({dict['msg']: dict['id']}, dict['alias']))
else:
send.update({dict['msg']: dict['id']})
return send, send_alias
def set_msgs_to_receive(self):
receive = {}
receive_alias = []
for dict in self.msg_id_map['rtps']:
if 'receive' in dict.keys():
receive.update({dict['msg']: dict['id']})
return receive
if 'alias' in dict.keys():
receive_alias.append(({dict['msg']: dict['id']}, dict['alias']))
else:
receive.update({dict['msg']: dict['id']})
return receive, receive_alias
def set_msgs_to_ignore(self):
ignore = {}
ignore_alias = []
for dict in self.msg_id_map['rtps']:
if ('send' not in dict.keys()) and ('receive' not in dict.keys()):
ignore.update({dict['msg']: dict['id']})
return ignore
if (('send' not in dict.keys()) and ('receive' not in dict.keys())):
if 'alias' in dict.keys():
ignore_alias.append(({dict['msg']: dict['id']}, dict['alias']))
else:
ignore.update({dict['msg']: dict['id']})
return ignore, ignore_alias
def set_msg_files_send(self):
return [os.path.join(self.msg_folder, msg + ".msg")
@@ -141,7 +153,9 @@ if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("-s", "--send", dest='send',
action="store_true", help="Get topics to be sended")
action="store_true", help="Get topics to be sent")
parser.add_argument("-a", "--alias", dest='alias',
action="store_true", help="Get alias topics")
parser.add_argument("-r", "--receive", dest='receive',
action="store_true", help="Get topics to be received")
parser.add_argument("-i", "--ignore", dest='ignore',
@@ -170,19 +184,34 @@ if __name__ == "__main__":
print ('send files: ' + ', '.join(str(msg_file)
for msg_file in classifier.msgs_files_send) + '\n')
else:
print (', '.join(str(msg)
for msg in classifier.msgs_to_send.keys()) + '\n')
if args.alias:
print (', '.join(str(msg)
for msg in classifier.msgs_to_send.keys()) + (' alias ' + ', '.join(str(msg[0].keys()[0])
for msg in classifier.alias_msgs_to_send) if len(classifier.alias_msgs_to_send) > 0 else '') + '\n')
else:
print (', '.join(str(msg)
for msg in classifier.msgs_to_send.keys()))
if args.receive:
if args.path:
print ('receive files: ' + ', '.join(str(msg_file)
for msg_file in classifier.msgs_files_receive) + '\n')
else:
print (', '.join(str(msg)
for msg in classifier.msgs_to_receive.keys()) + '\n')
if args.alias:
print (', '.join(str(msg)
for msg in classifier.msgs_to_receive.keys()) + (' alias ' + ', '.join(str(msg[0].keys()[0])
for msg in classifier.alias_msgs_to_receive) if len(classifier.alias_msgs_to_receive) > 0 else '') + '\n')
else:
print (', '.join(str(msg)
for msg in classifier.msgs_to_receive.keys()))
if args.ignore:
if args.path:
print ('ignore files: ' + ', '.join(str(msg_file)
for msg_file in classifier.msgs_files_ignore) + '\n')
else:
print (', '.join(str(msg)
for msg in classifier.msgs_to_ignore.keys()) + '\n')
if args.alias:
print (', '.join(str(msg)
for msg in classifier.msgs_to_ignore.keys()) + (' alias ' + ', '.join(str(msg[0].keys()[0])
for msg in classifier.alias_msgs_to_ignore) if len(classifier.alias_msgs_to_ignore) > 0 else '') + '\n')
else:
print (', '.join(str(msg)
for msg in classifier.msgs_to_ignore.keys()))