Allow to disable the build of # TOPICS if the module is not enabled inside px4boards

Author: jonas

Tools/msg/px_generate_uorb_topic_files.py

@@ -74,21 +74,35 @@
 TOPICS_LIST_TEMPLATE_FILE = ['uORBTopics.hpp.em', 'uORBTopics.cpp.em', None, None]
 INCL_DEFAULT = ['std_msgs:./msg/std_msgs']
 PACKAGE = 'px4'
-TOPICS_TOKEN = '# TOPICS '
+TOPICS_TOKEN = '# TOPICS'
 
 
-def get_topics(filename):
+def get_topics(filename, defines=None):
     """
     Get TOPICS names from a "# TOPICS" line
     """
     ofile = open(filename, 'r')
     text = ofile.read()
     result = []
+    defined_configs = set(defines or [])
     for each_line in text.split('\n'):
         if each_line.startswith(TOPICS_TOKEN):
-            topic_names_str = each_line.strip()
-            topic_names_str = topic_names_str.replace(TOPICS_TOKEN, "")
-            topic_names_list = topic_names_str.split(" ")
+            topic_names_str = each_line[len(TOPICS_TOKEN):].strip()
+
+            config_guard = None
+            if topic_names_str.startswith('['):
+                closing_idx = topic_names_str.find(']')
+                if closing_idx != -1:
+                    config_guard = topic_names_str[1:closing_idx]
+                    topic_names_str = topic_names_str[closing_idx + 1:].strip()
+
+            if config_guard and config_guard not in defined_configs:
+                continue
+
+            if not topic_names_str:
+                continue
+
+            topic_names_list = topic_names_str.split()
             for topic in topic_names_list:
                 # topic name PascalCase (file name) to snake_case (topic name)
                 topic_name = re.sub(r'(?<!^)(?=[A-Z])', '_', topic).lower()
@@ -104,7 +118,7 @@ def get_topics(filename):
     return result
 
 
-def generate_output_from_file(format_idx, filename, outputdir, package, templatedir, includepath, all_topics):
+def generate_output_from_file(format_idx, filename, outputdir, package, templatedir, includepath, all_topics, defines=None):
     """
     Converts a single .msg file to an uorb header/source file
     """
@@ -137,7 +151,7 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template
               " msg definition is not of type uint64 but rather of type " + field_name_and_type.get('timestamp') + "!")
         exit(1)
 
-    topics = get_topics(filename)
+    topics = get_topics(filename, defines)
 
     if includepath:
         search_path = genmsg.command_line.includepath_to_dict(includepath)
@@ -235,6 +249,8 @@ def append_to_include_path(path_to_append, curr_include, package):
     parser.add_argument('-p', dest='prefix', default='',
                         help='string added as prefix to the output file '
                         ' name when converting directories')
+    parser.add_argument('--define', dest='define', action='append', default=[],
+                        help='Enable optional topic groups guarded by the provided Kconfig symbols')
     args = parser.parse_args()
 
     if args.include_paths:
@@ -252,13 +268,15 @@ def append_to_include_path(path_to_append, curr_include, package):
         print('Error: either --headers, --sources or --json must be specified')
         exit(-1)
     if args.file is not None:
+        defines = set(args.define or [])
+
         all_topics = []
         for msg_filename in args.file:
-            all_topics.extend(get_topics(msg_filename))
+            all_topics.extend(get_topics(msg_filename, defines))
         all_topics.sort()
 
         for f in args.file:
-            generate_output_from_file(generate_idx, f, args.outputdir, args.package, args.templatedir, INCL_DEFAULT, all_topics)
+            generate_output_from_file(generate_idx, f, args.outputdir, args.package, args.templatedir, INCL_DEFAULT, all_topics, defines)
 
         # Generate topics list header and source file
         if TOPICS_LIST_TEMPLATE_FILE[generate_idx] is not None and os.path.isfile(os.path.join(args.templatedir, TOPICS_LIST_TEMPLATE_FILE[generate_idx])):

Tools/zenoh/px_generate_zenoh_topic_files.py

@@ -71,21 +71,35 @@
 __email__ = "thomasgubler@gmail.com"
 
 ZENOH_TEMPLATE_FILE = ['Kconfig.topics.em', 'uorb_pubsub_factory.hpp.em']
-TOPICS_TOKEN = '# TOPICS '
+TOPICS_TOKEN = '# TOPICS'
 
 
-def get_topics(filename):
+def get_topics(filename, defines=None):
     """
     Get TOPICS names from a "# TOPICS" line
     """
     ofile = open(filename, 'r')
     text = ofile.read()
     result = []
+    defined_configs = set(defines or [])
     for each_line in text.split('\n'):
         if each_line.startswith(TOPICS_TOKEN):
-            topic_names_str = each_line.strip()
-            topic_names_str = topic_names_str.replace(TOPICS_TOKEN, "")
-            topic_names_list = topic_names_str.split(" ")
+            topic_names_str = each_line[len(TOPICS_TOKEN):].strip()
+
+            config_guard = None
+            if topic_names_str.startswith('['):
+                closing_idx = topic_names_str.find(']')
+                if closing_idx != -1:
+                    config_guard = topic_names_str[1:closing_idx]
+                    topic_names_str = topic_names_str[closing_idx + 1:].strip()
+
+            if config_guard and config_guard not in defined_configs:
+                continue
+
+            if not topic_names_str:
+                continue
+
+            topic_names_list = topic_names_str.split()
             for topic in topic_names_list:
                 # topic name PascalCase (file name) to snake_case (topic name)
                 topic_name = re.sub(r'(?<!^)(?=[A-Z])', '_', topic).lower()
@@ -125,7 +139,7 @@ def generate_by_template(output_file, template_file, em_globals):
     return True
 
 
-def generate_topics_list_file_from_files(files, outputdir, template_filename, templatedir, rihs_path):
+def generate_topics_list_file_from_files(files, outputdir, template_filename, templatedir, rihs_path, defines=None):
     # generate cpp file with topics list
     filenames = []
     for filename in [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")]:
@@ -154,9 +168,11 @@ def generate_topics_list_file_from_files(files, outputdir, template_filename, te
 
     topics = []
     datatypes_with_topics = dict()
+    defined_configs = set(defines or [])
+
     for msg_filename in files:
         datatype = re.sub(r'(?<!^)(?=[A-Z])', '_', os.path.basename(msg_filename)).lower().replace(".msg","")
-        datatypes_with_topics[datatype] = get_topics(msg_filename)
+        datatypes_with_topics[datatype] = get_topics(msg_filename, defined_configs)
         topics.extend(datatypes_with_topics[datatype])
 
     tl_globals = {"msgs": filenames, "topics": topics, "datatypes": datatypes, "full_base_names": full_base_names, "rihs01_hashes": rihs01_hashes, "datatypes_with_topics": datatypes_with_topics}
@@ -181,13 +197,17 @@ def generate_topics_list_file_from_files(files, outputdir, template_filename, te
                         ' name when converting directories')
     parser.add_argument('--rihs', dest='rihs', default='',
                         help='path where rihs01 json files located')
+    parser.add_argument('--define', dest='define', action='append', default=[],
+                        help='Enable optional topic groups guarded by the provided Kconfig symbols')
     args = parser.parse_args()
 
+    defines = set(args.define or [])
+
     if args.zenoh_config:
-        generate_topics_list_file_from_files(args.file, args.outputdir, ZENOH_TEMPLATE_FILE[0], args.templatedir, args.rihs)
+        generate_topics_list_file_from_files(args.file, args.outputdir, ZENOH_TEMPLATE_FILE[0], args.templatedir, args.rihs, defines)
         exit(0)
     elif args.zenoh_pub_sub:
-        generate_topics_list_file_from_files(args.file, args.outputdir, ZENOH_TEMPLATE_FILE[1], args.templatedir, args.rihs)
+        generate_topics_list_file_from_files(args.file, args.outputdir, ZENOH_TEMPLATE_FILE[1], args.templatedir, args.rihs, defines)
         exit(0)
     else:
         print('Error: either --headers or --sources must be specified')

docs/en/middleware/uorb.md

@@ -77,13 +77,23 @@ See the existing [`msg`](../msg_docs/index.md) files for other examples of how m
 ### Multi-Topic Messages
 
 Sometimes it is useful to use the same message definition for multiple topics.
-This can be specified at the end of the message using a line prefixed with `# TOPICS `, followed by space-separated topic ids.
+This can be specified at the end of the message using a line prefixed with `# TOPICS`, followed by space-separated topic ids.
 For example, the [ActuatorOutputs](../msg_docs/ActuatorOutputs.md) message definition is used to define the topic ids as shown:
 
 ```text
 # TOPICS actuator_outputs actuator_outputs_sim actuator_outputs_debug
 ```
 
+If a topic should only be generated when a particular configuration option is enabled (for example a module that is only present on some boards), add the Kconfig symbol in square brackets immediately after `# TOPICS`.
+The build system scans all message definitions, determines which guarded topics are required for the currently selected `.px4board`, and automatically forwards the relevant `--define` flags to the uORB/Zenoh code generators.
+
+```text
+# TOPICS estimator_aid_src_ev_yaw
+# TOPICS[CONFIG_MODULES_VISION_TARGET_ESTIMATOR] vte_aid_ev_yaw
+```
+
+In the example above `estimator_aid_src_ev_yaw` is always generated, while `vte_aid_ev_yaw` only exists when `CONFIG_MODULES_VISION_TARGET_ESTIMATOR` is set to `y` in the board configuration.
+
 ### Nested Messages
 
 Message definitions can be nested within other messages to create complex data structures.

msg/CMakeLists.txt

@@ -299,6 +299,32 @@ if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 	endif()
 endif()
 
+set(uorb_generator_defines)
+foreach(msg_path ${msg_files})
+	if(EXISTS ${msg_path})
+		file(STRINGS ${msg_path} _guarded_topic_lines REGEX "^# TOPICS.*\\[")
+		foreach(_guarded_line ${_guarded_topic_lines})
+			string(REGEX MATCHALL "\\[([^]]+)\\]" _config_matches ${_guarded_line})
+			foreach(_config_match ${_config_matches})
+				string(REGEX REPLACE "\\[|\\]" "" _config ${_config_match})
+				if(DEFINED ${_config})
+					if(${_config})
+						list(APPEND uorb_generator_defines ${_config})
+					endif()
+				endif()
+			endforeach()
+		endforeach()
+	endif()
+endforeach()
+if(uorb_generator_defines)
+	list(REMOVE_DUPLICATES uorb_generator_defines)
+endif()
+
+set(uorb_generator_define_args)
+foreach(define ${uorb_generator_defines})
+	list(APPEND uorb_generator_define_args --define ${define})
+endforeach()
+
 # headers
 set(msg_out_path ${PX4_BINARY_DIR}/uORB/topics)
 set(ucdr_out_path ${PX4_BINARY_DIR}/uORB/ucdr)
@@ -331,6 +357,7 @@ add_custom_command(
 		${uorb_headers}
 		${msg_out_path}/uORBTopics.hpp
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+		${uorb_generator_define_args}
 		--headers
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/versioned
@@ -352,6 +379,7 @@ add_custom_command(
 	OUTPUT
 		${uorb_json_files}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+		${uorb_generator_define_args}
 		--json
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/versioned
@@ -390,6 +418,7 @@ add_custom_command(
 add_custom_command(
 	OUTPUT ${uorb_ucdr_headers}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+		${uorb_generator_define_args}
 		--headers
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/versioned
@@ -412,6 +441,7 @@ add_custom_command(
 		${uorb_sources}
 		${msg_source_out_path}/uORBTopics.cpp
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+		${uorb_generator_define_args}
 		--sources
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/versioned
@@ -529,8 +559,9 @@ if(CONFIG_LIB_CDRSTREAM)
 
 	add_custom_target(
 		uorb_idl_header
-		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
-			--uorb-idl-header
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+		${uorb_generator_define_args}
+		--uorb-idl-header
 			-f ${msg_files}
 			-i ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/versioned
 			-o ${idl_uorb_path}
@@ -559,6 +590,7 @@ if(CONFIG_MODULES_ZENOH)
 			-f ${msg_files}
 			-o ${PX4_SOURCE_DIR}/src/modules/zenoh/
 			-e ${PX4_SOURCE_DIR}/Tools/zenoh/templates/zenoh
+			${uorb_generator_define_args}
 		)
 	add_custom_command(
 		OUTPUT
@@ -569,6 +601,7 @@ if(CONFIG_MODULES_ZENOH)
 			-o ${PX4_BINARY_DIR}/src/modules/zenoh/
 			-e ${PX4_SOURCE_DIR}/Tools/zenoh/templates/zenoh
 			--rihs ${idl_rihs01_out_path}
+			${uorb_generator_define_args}
 		DEPENDS
 			${msg_files}
 			${uorb_cdr_hash}

msg/EstimatorAidSource1d.msg

@@ -26,4 +26,4 @@ bool fused                   # true if the sample was successfully fused
 # TOPICS estimator_aid_src_fake_hgt
 # TOPICS estimator_aid_src_mag_heading estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw
 # TOPICS estimator_aid_src_terrain_range_finder
-# TOPICS vte_aid_ev_yaw
+# TOPICS[CONFIG_MODULES_VISION_TARGET_ESTIMATOR] vte_aid_ev_yaw

msg/EstimatorAidSource3d.msg

@@ -22,5 +22,5 @@ bool innovation_rejected        # true if the observation has been rejected
 bool fused                      # true if the sample was successfully fused
 
 # TOPICS estimator_aid_src_ev_vel estimator_aid_src_gnss_vel estimator_aid_src_gravity estimator_aid_src_mag
-# TOPICS vte_aid_gps_pos_target vte_aid_gps_pos_mission vte_aid_gps_vel_target vte_aid_gps_vel_uav
-# TOPICS vte_aid_fiducial_marker vte_aid_uwb vte_aid_irlock
+# TOPICS[CONFIG_MODULES_VISION_TARGET_ESTIMATOR] vte_aid_gps_pos_target vte_aid_gps_pos_mission vte_aid_gps_vel_target vte_aid_gps_vel_uav
+# TOPICS[CONFIG_MODULES_VISION_TARGET_ESTIMATOR] vte_aid_fiducial_marker vte_aid_uwb vte_aid_irlock