jinja_gen.py
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#!/usr/bin/env python3
import jinja2
import argparse
import os
import shutil
import fnmatch
import numpy as np
def get_file_contents(filepath):
with open(filepath, 'rb') as f:
return f.read()
def str2bool(v):
if v.lower() in ('yes', 'true', 't', 'y', '1'):
return True
elif v.lower() in ('no', 'false', 'f', 'n', '0'):
return False
else:
raise argparse.ArgumentTypeError('Boolean value expected.')
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument('filename', help="file that the sdf file should be generated from")
parser.add_argument('env_dir')
parser.add_argument('--mavlink_tcp_port', default=4560, help="TCP port for PX4 SITL")
parser.add_argument('--mavlink_udp_port', default=14560, help="Mavlink UDP port for mavlink access")
parser.add_argument('--serial_enabled', default=0, help="Enable Serial device for HITL")
parser.add_argument('--serial_device', default="/dev/ttyACM0", help="Serial device for FMU")
parser.add_argument('--serial_baudrate', default=921600, help="Baudrate of Serial device for FMU")
parser.add_argument('--hil_mode', default=0, help="Enable HIL mode for HITL simulation")
parser.add_argument('--output-file', help="sdf output file")
parser.add_argument('--stdout', action='store_true', default=False, help="dump to stdout instead of file")
parser.add_argument('--mavlink_id', default=1, help="Mavlink system ID")
parser.add_argument('--cam_component_id', default=100, help="Mavlink camera component ID")
parser.add_argument('--gst_udp_port', default=5600, help="Gstreamer UDP port for SITL")
parser.add_argument('--video_uri', default=5600, help="Mavlink camera URI for SITL")
parser.add_argument('--mavlink_cam_udp_port', default=14530, help="Mavlink camera UDP port for SITL")
parser.add_argument('--generate_ros_models', default=False, dest='generate_ros_models', type=str2bool,
help="required if generating the agent for usage with ROS nodes, by default false")
args = parser.parse_args()
env = jinja2.Environment(loader=jinja2.FileSystemLoader(args.env_dir))
template = env.get_template(os.path.relpath(args.filename, args.env_dir))
# get ROS version, if generate_ros_models is true.
ros_version = 0
if args.generate_ros_models:
ros_version = os.environ.get('ROS_VERSION')
# create dictionary with useful modules etc.
try:
import rospkg
rospack = rospkg.RosPack()
except ImportError:
pass
rospack = None
d = {'np': np, 'rospack': rospack, \
'mavlink_tcp_port': args.mavlink_tcp_port, \
'mavlink_udp_port': args.mavlink_udp_port, \
'serial_enabled': args.serial_enabled, \
'serial_device': args.serial_device, \
'serial_baudrate': args.serial_baudrate, \
'mavlink_id': args.mavlink_id, \
'cam_component_id': args.cam_component_id, \
'gst_udp_port': args.gst_udp_port, \
'video_uri': args.video_uri, \
'mavlink_cam_udp_port': args.mavlink_cam_udp_port, \
'hil_mode': args.hil_mode, \
'ros_version': ros_version}
result = template.render(d)
if args.stdout:
print(result)
else:
if args.output_file:
filename_out = args.output_file
else:
if not args.filename.endswith('.sdf.jinja'):
raise Exception("ERROR: Output file can only be determined automatically for " + \
"input files with the .sdf.jinja extension")
filename_out = args.filename.replace('.sdf.jinja', '.sdf')
assert filename_out != args.filename, "Not allowed to overwrite template"
# Overwrite protection mechanism: after generation, the file will be copied to a "last_generated" file.
# In the next run, we can check whether the target file is still unmodified.
filename_out_last_generated = filename_out + '.last_generated'
if os.path.exists(filename_out) and os.path.exists(filename_out_last_generated):
# Check whether the target file is still unmodified.
if get_file_contents(filename_out).strip() != get_file_contents(filename_out_last_generated).strip():
raise Exception("ERROR: generation would overwrite changes to `{}`. ".format(filename_out) + \
"Changes should only be made to the template file `{}`. ".format(args.filename) + \
"Remove `{}` ".format(os.path.basename(filename_out)) + \
"(after extracting your changes) to disable this overwrite protection.")
with open(filename_out, 'w') as f_out:
print(('{:s} -> {:s}'.format(args.filename, filename_out)))
f_out.write(result)
# Copy the contents to a "last_generated" file for overwrite protection check next time.
shutil.copy(filename_out, filename_out_last_generated)