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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,10 +1,21 @@ | ||
| #!/bin/bash | ||
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| # present working directory | ||
| PWD=$(pwd) | ||
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| # Clone c_library_v2 commit matching with current px4-firmware mavlink commit | ||
| # => mavlink/c_library_v2:fbdb7c29 is built from mavlink/mavlink:08112084 | ||
| git clone -q https://github.com/mavlink/c_library_v2.git ${PWD}/mavlink && \ | ||
| cd ${PWD}/mavlink && git checkout -q fbdb7c29e47902d44eeaa58b4395678a9b78f3ae && \ | ||
| rm -rf ${PWD}/mavlink/.git && cd ${PWD} | ||
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| export _MAVLINK_INCLUDE_DIR=${PWD}/mavlink | ||
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| if [ ! -e build ]; then | ||
| mkdir build | ||
| fi | ||
| cd build | ||
| cmake .. | ||
| make | ||
| cpack -G DEB | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,87 @@ | ||
| #!/usr/bin/env python3 | ||
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| import jinja2 | ||
| import argparse | ||
| import os | ||
| import shutil | ||
| import fnmatch | ||
| import numpy as np | ||
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| def get_file_contents(filepath): | ||
| with open(filepath, 'rb') as f: | ||
| return f.read() | ||
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| 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.') | ||
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| 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('--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('--vehicle_name', default="ssrc_fog_x", help="Name of the vehicle") | ||
| parser.add_argument('--mavlink_addr', default="127.0.0.1", help='Address of PX4 mavlink receiver') | ||
| parser.add_argument('--mavlink_udp_local_port', default="14540", help='listening UDP port of mavlink plugin') | ||
| parser.add_argument('--mavlink_udp_remote_port', default="14541", help='UDP port of PX4 mavlink receiver') | ||
| parser.add_argument('--mavlink_tcp_port', default="4560", help='TCP port of PX4 mavlink receiver') | ||
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| 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)) | ||
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| # create dictionary with useful modules etc. | ||
| try: | ||
| import rospkg | ||
| rospack = rospkg.RosPack() | ||
| except ImportError: | ||
| pass | ||
| rospack = None | ||
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| d = {'np': np, 'rospack': rospack, \ | ||
| 'vehicle_name': args.vehicle_name, \ | ||
| 'mavlink_addr': args.mavlink_addr, \ | ||
| 'mavlink_udp_local_port': args.mavlink_udp_local_port, \ | ||
| 'mavlink_udp_remote_port': args.mavlink_udp_remote_port, \ | ||
| 'mavlink_tcp_port': args.mavlink_tcp_port} | ||
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| result = template.render(d) | ||
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| if args.stdout: | ||
| print(result) | ||
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| 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" | ||
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| # 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' | ||
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| 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.") | ||
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| with open(filename_out, 'w') as f_out: | ||
| print(('{:s} -> {:s}'.format(args.filename, filename_out))) | ||
| f_out.write(result) | ||
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| # Copy the contents to a "last_generated" file for overwrite protection check next time. | ||
| shutil.copy(filename_out, filename_out_last_generated) |
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