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Topic_listener: allow multi-topic messages #8241

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merged 2 commits into from
Nov 9, 2017
Merged

Topic_listener: allow multi-topic messages #8241

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topic_listener: allow multi-topic messages
jlecoeur Nov 6, 2017
7d5a789
generate_listener.py: generate one function per topic to fit function…
jlecoeur Nov 6, 2017
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191 changes: 103 additions & 88 deletions src/systemcmds/topic_listener/generate_listener.py
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,7 @@

raw_messages = glob.glob(sys.argv[1]+"/msg/*.msg")
messages = []
topics = []
message_elements = []


Expand All @@ -20,6 +21,7 @@
temp_list_bool = []
if("pwm_input" not in m and "position_setpoint" not in m):
temp_list = []
topic_list = []
f = open(m,'r')
for line in f.readlines():
items = re.split('\s+', line.strip())
Expand Down Expand Up @@ -64,14 +66,22 @@
temp_list.append(("uint8",items[1]))
elif (items[0] == "int8") and len(line.split('=')) == 1:
temp_list.append(("int8",items[1]))
elif '# TOPICS' == ' '.join(items[:2]):
for topic in items[2:]:
topic_list.append(topic)

f.close()

(m_head, m_tail) = os.path.split(m)
message = m_tail.split('.')[0]
if message != "actuator_controls":

if len(topic_list) == 0:
topic_list.append(message)

for topic in topic_list:
messages.append(message)
topics.append(topic)
message_elements.append(temp_list)
#messages.append(m.split('/')[-1].split('.')[0])

num_messages = len(messages);

Expand Down Expand Up @@ -137,124 +147,129 @@
#define PRId64 "lld"
#endif

""")
for m in set(messages):
print("#include <uORB/topics/%s.h>" % m)

print("""
extern "C" __EXPORT int listener_main(int argc, char *argv[]);

static bool check_timeout(const hrt_abstime& time) {
if (hrt_elapsed_time(&time) > 2*1000*1000) {
printf("Waited for 2 seconds without a message. Giving up.\\n");
return true;
}
return false;
}

""")
for m in messages:
print("#include <uORB/topics/%s.h>" % m)

for index, (m, t) in enumerate(zip(messages, topics)):
print("void listen_%s(unsigned num_msgs, unsigned topic_instance);" % t)

print("""
extern "C" __EXPORT int listener_main(int argc, char *argv[]);

int listener_main(int argc, char *argv[]) {
int sub = -1;
orb_id_t ID;
print ("""
\nint listener_main(int argc, char *argv[]) {
if(argc < 2) {
printf("need at least two arguments: topic name. [optional number of messages to print] [optional instance]\\n");
return 1;
}
""")
print("\tunsigned num_msgs = (argc > 2) ? atoi(argv[2]) : 1;")
print("\tunsigned topic_instance = (argc > 3) ? atoi(argv[3]) : 0;")
print("\tif (strncmp(argv[1],\"%s\",50) == 0) {" % messages[0])
print("\t\tsub = orb_subscribe_multi(ORB_ID(%s), topic_instance);" % messages[0])
print("\t\tID = ORB_ID(%s);" % messages[0])
print("\t\tstruct %s_s container;" % messages[0])
print("\t\tmemset(&container, 0, sizeof(container));")
for index,m in enumerate(messages[1:]):
print("\t} else if (strncmp(argv[1],\"%s\",50) == 0) {" % m)
print("\t\tsub = orb_subscribe_multi(ORB_ID(%s), topic_instance);" % m)
print("\t\tID = ORB_ID(%s);" % m)
print("\t\tstruct %s_s container;" % m)
print("\t\tmemset(&container, 0, sizeof(container));")
print("\t\tbool updated;")
print("\t\tunsigned i = 0;")
print("\t\thrt_abstime start_time = hrt_absolute_time();")
print("\t\twhile(i < num_msgs) {")
print("\t\t\torb_check(sub,&updated);")
print("\t\t\tif (i == 0) { updated = true; } else { usleep(500); }")
print("\t\t\tif (updated) {")
print("\t\t\tstart_time = hrt_absolute_time();")
print("\t\t\ti++;")
print("\t\t\tprintf(\"\\nTOPIC: %s instance %%d #%%d\\n\", topic_instance, i);" % m)
print("\t\t\torb_copy(ID,sub,&container);")
print("\t\t\tprintf(\"timestamp: %\" PRIu64 \"\\n\", container.timestamp);")
for item in message_elements[index+1]:
print("\tunsigned topic_instance = (argc > 3) ? atoi(argv[3]) : 0;\n")
for index, (m, t) in enumerate(zip(messages, topics)):
if index == 0:
print("\tif (strncmp(argv[1],\"%s\",50) == 0) {" % t)
else:
print("\t} else if (strncmp(argv[1],\"%s\",50) == 0) {" % t)
print("\t\tlisten_%s(num_msgs, topic_instance);" % t)

print("\t} else {")
print("\t\t printf(\" Topic did not match any known topics\\n\");")
print("\t}")
print("\t return 0;")
print("}\n")

for index, (m, t) in enumerate(zip(messages, topics)):
print("void listen_%s(unsigned num_msgs, unsigned topic_instance) {" % t)
print("\tint sub = orb_subscribe_multi(ORB_ID(%s), topic_instance);" % t)
print("\torb_id_t ID = ORB_ID(%s);" % t)
print("\tstruct %s_s container;" % m)
print("\tmemset(&container, 0, sizeof(container));")
print("\tbool updated;")
print("\tunsigned i = 0;")
print("\thrt_abstime start_time = hrt_absolute_time();")
print("\twhile(i < num_msgs) {")
print("\t\torb_check(sub,&updated);")
print("\t\tif (i == 0) { updated = true; } else { usleep(500); }")
print("\t\tif (updated) {")
print("\t\tstart_time = hrt_absolute_time();")
print("\t\ti++;")
print("\t\tprintf(\"\\nTOPIC: %s instance %%d #%%d\\n\", topic_instance, i);" % t)
print("\t\torb_copy(ID,sub,&container);")
print("\t\tprintf(\"timestamp: %\" PRIu64 \"\\n\", container.timestamp);")
for item in message_elements[index]:
if item[0] == "float":
print("\t\t\tprintf(\"%s: %%8.4f\\n\",(double)container.%s);" % (item[1], item[1]))
print("\t\tprintf(\"%s: %%8.4f\\n\",(double)container.%s);" % (item[1], item[1]))
elif item[0] == "float_array":
print("\t\t\tprintf(\"%s: \");" % item[1])
print("\t\t\tfor (int j = 0; j < %d; j++) {" % item[2])
print("\t\t\t\tprintf(\"%%8.4f \",(double)container.%s[j]);" % item[1])
print("\t\t\t}")
print("\t\t\tprintf(\"\\n\");")
print("\t\tprintf(\"%s: \");" % item[1])
print("\t\tfor (int j = 0; j < %d; j++) {" % item[2])
print("\t\t\tprintf(\"%%8.4f \",(double)container.%s[j]);" % item[1])
print("\t\t}")
print("\t\tprintf(\"\\n\");")
elif item[0] == "double":
print("\t\t\tprintf(\"%s: %%8.4f\\n\",(double)container.%s);" % (item[1], item[1]))
print("\t\tprintf(\"%s: %%8.4f\\n\",(double)container.%s);" % (item[1], item[1]))
elif item[0] == "double_array":
print("\t\t\tprintf(\"%s: \");" % item[1])
print("\t\t\tfor (int j = 0; j < %d; j++) {" % item[2])
print("\t\t\t\tprintf(\"%%8.4f \",(double)container.%s[j]);" % item[1])
print("\t\t\t}")
print("\t\t\tprintf(\"\\n\");")
print("\t\tprintf(\"%s: \");" % item[1])
print("\t\tfor (int j = 0; j < %d; j++) {" % item[2])
print("\t\t\tprintf(\"%%8.4f \",(double)container.%s[j]);" % item[1])
print("\t\t}")
print("\t\tprintf(\"\\n\");")
elif item[0] == "uint64":
print("\t\t\tprintf(\"%s: %%\" PRIu64 \"\\n\",container.%s);" % (item[1], item[1]))
print("\t\tprintf(\"%s: %%\" PRIu64 \"\\n\",container.%s);" % (item[1], item[1]))
elif item[0] == "uint64_array":
print("\t\t\tprintf(\"%s: \");" % item[1])
print("\t\t\tfor (int j = 0; j < %d; j++) {" % item[2])
print("\t\t\t\tprintf(\"%%\" PRIu64 \" \",container.%s[j]);" % item[1])
print("\t\t\t}")
print("\t\t\tprintf(\"\\n\");")
print("\t\tprintf(\"%s: \");" % item[1])
print("\t\tfor (int j = 0; j < %d; j++) {" % item[2])
print("\t\t\tprintf(\"%%\" PRIu64 \" \",container.%s[j]);" % item[1])
print("\t\t}")
print("\t\tprintf(\"\\n\");")
elif item[0] == "uint16_array":
print("\t\t\tprintf(\"%s: \");" % item[1])
print("\t\t\tfor (int j = 0; j < %d; j++) {" % item[2])
print("\t\t\t\tprintf(\"%%u \",container.%s[j]);" % item[1])
print("\t\t\t}")
print("\t\t\tprintf(\"\\n\");")
print("\t\tprintf(\"%s: \");" % item[1])
print("\t\tfor (int j = 0; j < %d; j++) {" % item[2])
print("\t\t\tprintf(\"%%u \",container.%s[j]);" % item[1])
print("\t\t}")
print("\t\tprintf(\"\\n\");")
elif item[0] == "int32_array":
print("\t\t\tprintf(\"%s: \");" % item[1])
print("\t\t\tfor (int j = 0; j < %d; j++) {" % item[2])
print("\t\t\t\tprintf(\"%%d \",container.%s[j]);" % item[1])
print("\t\t\t}")
print("\t\t\tprintf(\"\\n\");")
print("\t\tprintf(\"%s: \");" % item[1])
print("\t\tfor (int j = 0; j < %d; j++) {" % item[2])
print("\t\t\tprintf(\"%%d \",container.%s[j]);" % item[1])
print("\t\t}")
print("\t\tprintf(\"\\n\");")
elif item[0] == "int16_array":
print("\t\t\tprintf(\"%s: \");" % item[1])
print("\t\t\tfor (int j = 0; j < %d; j++) {" % item[2])
print("\t\t\t\tprintf(\"%%d \",container.%s[j]);" % item[1])
print("\t\t\t}")
print("\t\t\tprintf(\"\\n\");")
print("\t\tprintf(\"%s: \");" % item[1])
print("\t\tfor (int j = 0; j < %d; j++) {" % item[2])
print("\t\t\tprintf(\"%%d \",container.%s[j]);" % item[1])
print("\t\t}")
print("\t\tprintf(\"\\n\");")
elif item[0] == "int64":
print("\t\t\tprintf(\"%s: %%\" PRId64 \"\\n\",container.%s);" % (item[1], item[1]))
print("\t\tprintf(\"%s: %%\" PRId64 \"\\n\",container.%s);" % (item[1], item[1]))
elif item[0] == "int32":
print("\t\t\tprintf(\"%s: %%d\\n\",container.%s);" % (item[1], item[1]))
print("\t\tprintf(\"%s: %%d\\n\",container.%s);" % (item[1], item[1]))
elif item[0] == "uint32":
print("\t\t\tprintf(\"%s: %%u\\n\",container.%s);" % (item[1], item[1]))
print("\t\tprintf(\"%s: %%u\\n\",container.%s);" % (item[1], item[1]))
elif item[0] == "int16":
print("\t\t\tprintf(\"%s: %%d\\n\",(int)container.%s);" % (item[1], item[1]))
print("\t\tprintf(\"%s: %%d\\n\",(int)container.%s);" % (item[1], item[1]))
elif item[0] == "uint16":
print("\t\t\tprintf(\"%s: %%u\\n\",(unsigned)container.%s);" % (item[1], item[1]))
print("\t\tprintf(\"%s: %%u\\n\",(unsigned)container.%s);" % (item[1], item[1]))
elif item[0] == "int8":
print("\t\t\tprintf(\"%s: %%d\\n\",(int)container.%s);" % (item[1], item[1]))
print("\t\tprintf(\"%s: %%d\\n\",(int)container.%s);" % (item[1], item[1]))
elif item[0] == "uint8":
print("\t\t\tprintf(\"%s: %%u\\n\",(unsigned)container.%s);" % (item[1], item[1]))
print("\t\tprintf(\"%s: %%u\\n\",(unsigned)container.%s);" % (item[1], item[1]))
elif item[0] == "bool":
print("\t\t\tprintf(\"%s: %%s\\n\",container.%s ? \"True\" : \"False\");" % (item[1], item[1]))
print("\t\t\t} else {")
print("\t\t\t\tif (check_timeout(start_time)) {")
print("\t\t\t\t\tbreak;")
print("\t\t\t\t}")
print("\t\tprintf(\"%s: %%s\\n\",container.%s ? \"True\" : \"False\");" % (item[1], item[1]))
print("\t\t} else {")
print("\t\t\tif (check_timeout(start_time)) {")
print("\t\t\t\tbreak;")
print("\t\t\t}")
print("\t\t}")
print("\t} else {")
print("\t\t printf(\" Topic did not match any known topics\\n\");")
print("\t}")
print("\t\torb_unsubscribe(sub);")
print("\t return 0;")

print("}")
print("\t}")
print("\torb_unsubscribe(sub);")
print("}\n")