mapping.py

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#! /usr/bin/env python
# -*- coding: utf-8 -*-
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#            ROBOTICS™
#
#
#  Copyright © 2012 Clearpath Robotics, Inc. 
#  All Rights Reserved
#  
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#     * Redistributions of source code must retain the above copyright
#       notice, this list of conditions and the following disclaimer.
#     * Redistributions in binary form must reproduce the above copyright
#       notice, this list of conditions and the following disclaimer in the
#       documentation and/or other materials provided with the distribution.
#     * Neither the name of Clearpath Robotics, Inc. nor the
#       names of its contributors may be used to endorse or promote products
#       derived from this software without specific prior written permission.
# 
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY
# DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
# (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
# ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#
# Please send comments, questions, or patches to skynet@clearpathrobotics.com
#

# applanix group number : ( topic name, ROS message class, [opts] )
groups = {
      1: ("nav", "NavigationSolution"),
      2: ("status/perf", "NavigationPerformance"),
      3: ("status/gnss/primary", "GNSSStatus"),
      4: ("imu", "IMUData"),
      5: ("events/1", "Event"),
      6: ("events/2", "Event"),
      7: ("status/pps", "PPSStatus"),
      8: ("status/logging", "LoggingStatus"),
      9: ("gams", "GAMS"),
      10: ("status/general", "GeneralStatus"),
      11: ("status/gnss/secondary", "GNSSStatus"),
      12: ("status/gnss/aux_1", "GNSSAuxStatus"),
      13: ("status/gnss/aux_2", "GNSSAuxStatus"),
      14: ("status/installation", "CalibratedInstallationParameters"),
      15: ("dmi", "DMIData"),
      17: ("status/user_time", "UserTimeStatus"),
      20: ("status/iin", "IINSolutionStatus"),
      21: ("status/base_gnss/1/modem", "BaseGNSSModemStatus"),
      22: ("status/base_gnss/2/modem", "BaseGNSSModemStatus"),
      23: ("raw/gnss/aux_1_display", "RawData"),
      24: ("raw/gnss/aux_2_display", "RawData"),
      25: ("status/dgps", "GNSSDGPSStatus"),
      26: ("status/dgps_stations", "GNSSDGPSStationDatabase"),
      30: ("events/3", "Event"),
      31: ("events/4", "Event"),
      32: ("events/5", "Event"),
      33: ("events/6", "Event"),
      99: ("status/version", "Version"),
      10001: ("raw/gnss/primary", "RawData"),
      10002: ("raw/imu", "RawData"),
      10003: ("raw/pps", "RawPPS"),
      10004: ("events/1", "Event"),
      10005: ("events/2", "Event"),
      10006: ("raw/dmi", "RawDMI"),
      10007: ("raw/gnss/aux_1", "RawData"),
      10008: ("raw/gnss/aux_2", "RawData"),
      10009: ("raw/gnss/secondary", "RawData"),
      10011: ("raw/base_gnss/1", "RawData"),
      10012: ("raw/base_gnss/2", "RawData"),
      }

msgs = {
      0: ("ack", "Ack", False),
      20: ("general", "GeneralParams", True),
      21: ("gams", "GAMSParams", True),
      22: ("aiding_sensors", "AidingSensorParams", True),
      24: ("user_accuracy", "UserAccuracySpecs", True),
      30: ("primary_gnss_setup", "GNSSSetup", True),
      31: ("secondary_gnss_setup", "GNSSSetup", True),
      32: ("ip_address", "IPAddress", True),
      33: ("event_setup", "EventSetup", True),
      34: ("com_port_setup", "COMPortSetup", True),
      35: ("nmea_message_select", "NMEAMessageSelect", True),
      36: ("binary_message_select", "BinaryMessageSelect", True),
      37: ("base_gnss_1_setup", "BaseGNSSSetup", True),
      38: ("base_gnss_2_setup", "BaseGNSSSetup", True),
      40: ("precise_gravity", "PreciseGravitySpecs", True),
      41: ("primary_dgps_source", "DGPSSourceControl", True),
      50: ("nav_mode", "NavModeControl", True),
      51: ("display_port", "PortControl", True),
      52: ("primary_data_port", "PortControl", True),
      53: ("logging_port", "LoggingControl", True),
      54: ("save_restore", "SaveRestoreControl", False),
      55: ("time_sync", "TimeSyncControl", True),
      57: ("installation_calibration", "InstallationCalibrationControl", False),
      58: ("gams_calibration", "GAMSCalibrationControl", False),
      61: ("secondary_data_port", "PortControl", True),
      90: ("program", "ProgramControl", False),
      91: ("gnss", "GNSSControl", False),
      92: ("integration_diagnostics", "IntegrationDiagnosticsControl", True),
      93: ("aiding_sensor_integration", "AidingSensorIntegrationControl", True),
    }

if __name__ == '__main__':
  import sys
  # by default, print out all of the messages that correspond to services
  if len(sys.argv) <= 1 or sys.argv[1] == "-s":
    srvs = []
    for name, msg, in_all_msgs in msgs.values():
      if name != "ack" and msg not in srvs:
        srvs += [msg]

    print ";".join(srvs)

  elif sys.argv[1] == "-a":
    print "time last_changed"
    print "time last_sent"
    for name, msg, in_all_msgs in msgs.values():
      if in_all_msgs:
        print "applanix_msgs/%s %s" % (msg, name)

  elif sys.argv[1] == "-g":
    msg_name = sys.argv[2]
    print "applanix_msgs/" + msg_name + " request"
    print "---"
    print "applanix_msgs/Ack ack"

  else:
    print "Usage: mapping.py [-s|-a|-g <msg name>]"
    print "If no arguments or -s given, list services to generate"
    print "  -a generate AllMsgs message definition"
    print "  -g <msg_name> Generate service for message type given"
    sys.exit(1)


else:
  # magic to replace class names with actual class instances
  import applanix_msgs.msg
  for k in groups.keys():
    name, msg_name = groups[k]
    groups[k] = (name, applanix_msgs.msg.__dict__[msg_name])

  for k in msgs.keys():
    name, msg_name, in_all_msgs = msgs[k]
    msgs[k] = (name, applanix_msgs.msg.__dict__[msg_name])
    msgs[k][1].in_all_msgs = in_all_msgs