msgs: move generator code

mavlink · Sep 9, 2023 · db34cf6 · db34cf6
1 parent d9e3d8b
commit db34cf6
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Showing 7 changed files with 97 additions and 118 deletions.
diff --git a/mavros/test/test_quaternion_utils.cpp b/mavros/test/test_quaternion_utils.cpp
@@ -15,9 +15,8 @@
 
 #include <rclcpp/rclcpp.hpp>
 #include <mavros/frame_tf.hpp>
-
-#include <tf2/LinearMath/Quaternion.h>
-#include <tf2/LinearMath/Matrix3x3.h>
+#include <tf2/LinearMath/Quaternion.hpp>
+#include <tf2/LinearMath/Matrix3x3.hpp>
 
 using namespace mavros;     // NOLINT
 

diff --git a/mavros_cog.py b/mavros_cog.py
@@ -1,10 +1,10 @@
-'''
+"""
 Module with common cog generators used several times.
 
 Install:
 
     ln -s $PWD/mavros_cog.py $HOME/.local/lib/python3.8/site-packages/
-'''
+"""
 
 try:
     import cog
@@ -17,25 +17,25 @@
 import re
 import typing
 import xml.etree.ElementTree as ET  # nosemgrep
+from collections import OrderedDict
 from xml.dom import minidom  # nosemgrep
 
 import attr
 from comment_parser import comment_parser
+from pymavlink.dialects.v20 import common
 
-CPP_MIME = 'text/x-c++'
-REGISTER_PLUGIN_RE = re.compile(
-    r'MAVROS_PLUGIN_REGISTER\((?P<klass>[a-zA-Z0-9_\:]+)\)')
-PLUGIN_NAME_RE = re.compile(r'@plugin\ (?P<name>[a-z0-9_]+)')
-PLUGIN_BRIEF_RE = re.compile(r'^@brief\ (?P<brief>.+)$')
+CPP_MIME = "text/x-c++"
+REGISTER_PLUGIN_RE = re.compile(r"MAVROS_PLUGIN_REGISTER\((?P<klass>[a-zA-Z0-9_\:]+)\)")
+PLUGIN_NAME_RE = re.compile(r"@plugin\ (?P<name>[a-z0-9_]+)")
+PLUGIN_BRIEF_RE = re.compile(r"^@brief\ (?P<brief>.+)$")
 
-plugins_without_macro = {
-    "mavros/src/plugins/mission_protocol_base.cpp"
-}
+plugins_without_macro = {"mavros/src/plugins/mission_protocol_base.cpp"}
 
 if _cog_present:
 
     def dbg(s):
         cog.msg(s)
+
 else:
 
     def dbg(s):
@@ -46,6 +46,7 @@ class NoPluginRegister(Exception):
     """
     That Exception returned if plugin registration not found
     """
+
     pass
 
 
@@ -54,6 +55,7 @@ class PluginInfo:
     """
     Info parsed from plugin source file
     """
+
     path: pathlib.Path
     klass: str
     name: str
@@ -66,11 +68,13 @@ def factory_klass(self) -> str:
 
     @property
     def as_xml(self) -> ET.Element:
-        ret = ET.Element('class',
-                         name=self.name,
-                         type=self.factory_klass,
-                         base_class_type='mavros::plugin::PluginFactory')
-        desc = ET.SubElement(ret, 'description')
+        ret = ET.Element(
+            "class",
+            name=self.name,
+            type=self.factory_klass,
+            base_class_type="mavros::plugin::PluginFactory",
+        )
+        desc = ET.SubElement(ret, "description")
         desc.text = self.description
 
         if not self.is_example:
@@ -83,35 +87,37 @@ def sort_key(self):
         return (not self.is_example, self.name)
 
     @classmethod
-    def parse_file(cls, path: pathlib.Path) -> 'PluginInfo':
-        with path.open('r') as fd:
+    def parse_file(cls, path: pathlib.Path) -> "PluginInfo":
+        with path.open("r") as fd:
             source = fd.read()
 
         m = REGISTER_PLUGIN_RE.search(source)
         if m is None:
             raise NoPluginRegister(
-                f"plugin registration macro not found in file: {path}")
+                f"plugin registration macro not found in file: {path}"
+            )
 
-        klass = m.group('klass')
+        klass = m.group("klass")
         comments = comment_parser.extract_comments_from_str(source, CPP_MIME)
 
         # assume that only one plugin is allowed per file
-        comment = next(c.text() for c in comments if '@plugin' in c.text())
+        comment = next(c.text() for c in comments if "@plugin" in c.text())
 
         # clean comment from *
         def remove_prefix(line: str) -> str:
             line = line.strip()
-            if line.startswith('*'):
+            if line.startswith("*"):
                 line = line[1:]
             return line.strip()
 
-        comment = '\n'.join(
-            remove_prefix(line) for line in comment.splitlines()).strip()
+        comment = "\n".join(
+            remove_prefix(line) for line in comment.splitlines()
+        ).strip()
 
         m = PLUGIN_NAME_RE.search(comment)
-        name = m.group('name')
+        name = m.group("name")
 
-        is_example = '@example_plugin' in comment
+        is_example = "@example_plugin" in comment
 
         # TODO(vooon): reformat comment for description
 
@@ -125,7 +131,7 @@ def remove_prefix(line: str) -> str:
 
 
 def load_all_plugin_infos(dir: pathlib.Path) -> typing.Iterator[PluginInfo]:
-    for fl in dir.glob('*.cpp'):
+    for fl in dir.glob("*.cpp"):
         try:
             if str(fl) not in plugins_without_macro:
                 yield PluginInfo.parse_file(fl)
@@ -138,15 +144,15 @@ def load_all_plugin_infos(dir: pathlib.Path) -> typing.Iterator[PluginInfo]:
 def et_to_str(root: ET.Element) -> str:
     # XXX(vooon): pretty print
     xml_ = ET.tostring(root)
-    xml_ = minidom.parseString(xml_).toprettyxml(indent='  ')
-    return '\n'.join(xml_.splitlines()[1:])  # remove <? header ?>
+    xml_ = minidom.parseString(xml_).toprettyxml(indent="  ")
+    return "\n".join(xml_.splitlines()[1:])  # remove <? header ?>
 
 
 def cwd() -> pathlib.Path:
     if _cog_present:
         return pathlib.Path(cog.inFile).parent
     else:
-        return pathlib.Path('.')
+        return pathlib.Path(".")
 
 
 def outl(s: str):
@@ -157,8 +163,7 @@ def outl(s: str):
 
 
 def outl_plugins_xml(dir: str, lib_path: str):
-    plugins = sorted(load_all_plugin_infos(cwd() / dir),
-                     key=lambda p: p.sort_key)
+    plugins = sorted(load_all_plugin_infos(cwd() / dir), key=lambda p: p.sort_key)
 
     root = ET.Element("library", path=lib_path)
     for pl in plugins:
@@ -171,3 +176,51 @@ def outl_plugins_xml(dir: str, lib_path: str):
 def outl_glob_files(dir: str, glob: str = "*.cpp"):
     for f in sorted((cwd() / dir).glob(glob)):
         outl(str(f.relative_to(cwd())))
+
+
+def clear_desc(s):
+    return " ".join(v.strip() for v in s.splitlines() if v.strip())
+
+
+def idl_decl_enum_mav_cmd(ename="MAV_CMD"):
+    def wr_enum(enum, ename, pfx="", bsz=16):
+        cog.outl("# " + ename + "_" + pfx)
+        for k, e in enum:
+            # exclude also deprecated commands
+            if "MAV_CMD" + "_" + pfx in e.name and not re.search(
+                "deprecated", e.description, re.IGNORECASE
+            ):
+                sn = e.name[len("MAV_CMD") + 1 :]
+                l = "uint{bsz} {sn} = {k}".format(**locals())
+                if e.description:
+                    l += " " * (50 - len(l)) + " # " + clear_desc(e.description)
+                cog.outl(l)
+        cog.out("\n")
+
+    enum = sorted(common.enums[ename].items())
+    enum.pop()  # remove ENUM_END
+
+    enumt = []
+    # exception list of commands to not include
+    exlist = ["SPATIAL", "USER", "WAYPOINT"]
+    for k, e in enum:
+        enumt.extend(e.name[len(ename) + 1 :].split("_")[0:1])
+
+    enumt = sorted(set(enumt))
+    enumt = [word for word in enumt if word not in exlist]
+
+    for key in enumt:
+        wr_enum(enum, ename, key)
+
+
+def idl_decl_enum(ename, pfx="", bsz=8):
+    enum = sorted(common.enums[ename].items())
+    enum.pop()  # remove ENUM_END
+
+    cog.outl("# " + ename)
+    for k, e in enum:
+        sn = e.name[len(ename) + 1 :]
+        l = "uint{bsz} {pfx}{sn} = {k}".format(**locals())
+        if e.description:
+            l += " " * (40 - len(l)) + " # " + clear_desc(e.description)
+        cog.outl(l)
diff --git a/mavros_msgs/msg/ADSBVehicle.msg b/mavros_msgs/msg/ADSBVehicle.msg
@@ -3,23 +3,10 @@
 # https://mavlink.io/en/messages/common.html#ADSB_VEHICLE
 
 # [[[cog:
-# from pymavlink.dialects.v20 import common
-#
-# def decl_enum(ename, pfx='', bsz=8):
-#     enum = sorted(common.enums[ename].items())
-#     enum.pop() # remove ENUM_END
-#
-#     cog.outl("# " + ename)
-#     for k, e in enum:
-#         sn = e.name[len(ename) + 1:]
-#         l = "uint{bsz} {pfx}{sn} = {k}".format(**locals())
-#         if e.description:
-#             l += ' ' * (40 - len(l)) + ' # ' + e.description
-#         cog.outl(l)
-#
-# decl_enum('ADSB_ALTITUDE_TYPE', 'ALT_')
-# decl_enum('ADSB_EMITTER_TYPE', 'EMITTER_')
-# decl_enum('ADSB_FLAGS', 'FLAG_', 16)
+# import mavros_cog
+# mavros_cog.idl_decl_enum('ADSB_ALTITUDE_TYPE', 'ALT_')
+# mavros_cog.idl_decl_enum('ADSB_EMITTER_TYPE', 'EMITTER_')
+# mavros_cog.idl_decl_enum('ADSB_FLAGS', 'FLAG_', 16)
 # ]]]
 # ADSB_ALTITUDE_TYPE
 uint8 ALT_PRESSURE_QNH = 0               # Altitude reported from a Baro source using QNH reference

diff --git a/mavros_msgs/msg/CommandCode.msg b/mavros_msgs/msg/CommandCode.msg
@@ -3,42 +3,8 @@
 # https://mavlink.io/en/messages/common.html#MAV_CMD
 
 # [[[cog:
-# from pymavlink.dialects.v20 import common
-# from collections import OrderedDict
-# import re
-#
-# def clear_desc(s):
-#     return ' '.join(v.strip() for v in s.splitlines() if v.strip())
-#
-# def wr_enum(enum, ename, pfx='', bsz=16):
-#     cog.outl("# " + ename + "_" + pfx)
-#     for k, e in enum:
-#         # exclude also deprecated commands
-#         if 'MAV_CMD' + "_" + pfx in e.name and not re.search('deprecated', e.description, re.IGNORECASE):
-#             sn = e.name[len('MAV_CMD') + 1:]
-#             l = "uint{bsz} {sn} = {k}".format(**locals())
-#             if e.description:
-#                 l += ' ' * (50 - len(l)) + ' # ' + clear_desc(e.description)
-#             cog.outl(l)
-#     cog.out('\n')
-#
-# def decl_enum(ename):
-#     enum = sorted(common.enums[ename].items())
-#     enum.pop() # remove ENUM_END
-#
-#     enumt = []
-#     # exception list of commands to not include
-#     exlist = ['SPATIAL', 'USER', 'WAYPOINT']
-#     for k, e in enum:
-#         enumt.extend(e.name[len(ename) + 1:].split('_')[0:1])
-#
-#     enumt = sorted(set(enumt))
-#     enumt = [word for word in enumt if word not in exlist]
-#
-#     for key in enumt:
-#         wr_enum(enum, ename, key)
-#
-# decl_enum('MAV_CMD')
+# import mavros_cog
+# mavros_cog.idl_decl_enum_mav_cmd()
 # ]]]
 # MAV_CMD_AIRFRAME
 uint16 AIRFRAME_CONFIGURATION = 2520

diff --git a/mavros_msgs/msg/GPSRAW.msg b/mavros_msgs/msg/GPSRAW.msg
@@ -1,5 +1,5 @@
 # FCU GPS RAW message for the gps_status plugin
-# A merge of <a href="https://mavlink.io/en/messages/common.html#GPS_RAW_INT">mavlink GPS_RAW_INT</a> and 
+# A merge of <a href="https://mavlink.io/en/messages/common.html#GPS_RAW_INT">mavlink GPS_RAW_INT</a> and
 # <a href="https://mavlink.io/en/messages/common.html#GPS2_RAW">mavlink GPS2_RAW</a> messages.
 
 std_msgs/Header header

diff --git a/mavros_msgs/msg/Tunnel.msg b/mavros_msgs/msg/Tunnel.msg
@@ -9,21 +9,8 @@ uint8 payload_length
 uint8[128] payload
 
 # [[[cog:
-# from pymavlink.dialects.v20 import common
-#
-# def decl_enum(ename, pfx='', bsz=8):
-#     enum = sorted(common.enums[ename].items())
-#     enum.pop() # remove ENUM_END
-#
-#     cog.outl("# " + ename)
-#     for k, e in enum:
-#         sn = e.name[len(ename) + 1:]
-#         l = "uint{bsz} {pfx}{sn} = {k}".format(**locals())
-#         if e.description:
-#             l += ' ' * (40 - len(l)) + ' # ' + e.description
-#         cog.outl(l)
-#
-# decl_enum('MAV_TUNNEL_PAYLOAD_TYPE', 'PAYLOAD_TYPE_', 16)
+# import mavros_cog
+# mavros_cog.idl_decl_enum('MAV_TUNNEL_PAYLOAD_TYPE', 'PAYLOAD_TYPE_', 16)
 # ]]]
 # MAV_TUNNEL_PAYLOAD_TYPE
 uint16 PAYLOAD_TYPE_UNKNOWN = 0          # Encoding of payload unknown.

diff --git a/mavros_msgs/srv/SetMavFrame.srv b/mavros_msgs/srv/SetMavFrame.srv
@@ -3,21 +3,8 @@
 # XXX DEPRECATED
 
 # [[[cog:
-# from pymavlink.dialects.v20 import common
-#
-# def decl_enum(ename, pfx='', bsz=8):
-#     enum = sorted(common.enums[ename].items())
-#     enum.pop() # remove ENUM_END
-#
-#     cog.outl("# " + ename)
-#     for k, e in enum:
-#         sn = e.name[len(ename) + 1:]
-#         l = "uint{bsz} {pfx}{sn} = {k}".format(**locals())
-#         if e.description:
-#             l += ' ' * (40 - len(l)) + ' # ' + e.description
-#         cog.outl(l)
-#
-# decl_enum('MAV_FRAME', 'FRAME_')
+# import mavros_cog
+# mavros_cog.idl_decl_enum('MAV_FRAME', 'FRAME_')
 # ]]]
 # MAV_FRAME
 uint8 FRAME_GLOBAL = 0                   # Global (WGS84) coordinate frame + MSL altitude. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL).