Merged applanix_msgs with applanix_srvs and adapted the mapping.py

script to generate all of the required elements. Updated the
CMakeLists.txt for applanix_msgs to generate services and AllMsgs.
Updated applanix_bridge for the changes.

Author: Kareem Shehata

.gitignore

@@ -5,5 +5,5 @@
 msg_gen
 srv_gen
 build
-applanix_srvs/srv/*
-applanix_srvs/msg/*
+applanix_msgs/srv/*
+applanix_msgs/msg/AllMsgs.msg

applanix_bridge/src/applanix_bridge/control.py

@@ -44,7 +44,7 @@
 import rospy
 
 # ROS messages and services
-import applanix_srvs.srv
+import applanix_msgs.srv
 import applanix_msgs.msg
 
 # Node
@@ -75,7 +75,7 @@ def run(self):
 
     # Send the navigation mode every n seconds so that the Applanix device
     # doesn't close the connection on us.
-    set_nav_mode = rospy.ServiceProxy("nav_mode", applanix_srvs.srv.NavModeControl)
+    set_nav_mode = rospy.ServiceProxy("nav_mode", applanix_msgs.srv.SetNavModeControl)
     nav_mode_msg = applanix_msgs.msg.NavModeControl(mode=applanix_msgs.msg.NavModeControl.MODE_NAVIGATE)
     while not self.finish.is_set():
       rospy.sleep(SILENCE_INTERVAL)
@@ -90,7 +90,7 @@ class ServiceHandler(object):
   def __init__(self, msg_num, port):
     self.name, data_class = mapping.msgs[msg_num]
     self.port = port
-    self.service = rospy.Service(self.name, getattr(applanix_srvs.srv, data_class.__name__), self.handle)
+    self.service = rospy.Service(self.name, getattr(applanix_msgs.srv, "Set" + data_class.__name__), self.handle)
 
     # Part of the outbound message to Applanix device.
     self.header = applanix_msgs.msg.CommonHeader(start=applanix_msgs.msg.CommonHeader.START_MESSAGE, id=msg_num, length=0)

applanix_bridge/src/applanix_bridge/data.py

@@ -45,7 +45,6 @@
 
 # ROS messages
 import applanix_msgs.msg
-import applanix_srvs.msg
 
 # Node source
 from port import Port
@@ -65,7 +64,7 @@ def run(self):
     self.sock.settimeout(1.0)
 
     # Aggregate message for republishing the sensor config as a single blob.
-    all_msgs = applanix_srvs.msg.AllMsgs()
+    all_msgs = applanix_msgs.msg.AllMsgs()
     all_msgs_pub = rospy.Publisher("config", all_msgs.__class__, latch=True) 
 
     # Listener object which tracks what topics have been subscribed to.

applanix_bridge/src/applanix_bridge/params.py

@@ -44,7 +44,7 @@
 import rospy
 import roslib.message
 import applanix_msgs.msg
-import applanix_srvs.srv 
+import applanix_msgs.srv 
 
 response_codes = dict([(val, name) for name, val in applanix_msgs.msg.Ack.__dict__.items() if name.startswith("RESPONSE_")])
 
@@ -111,7 +111,7 @@ def main():
 
 
 def call_applanix_service(name, req):
-  service_defn = getattr(applanix_srvs.srv, req.__class__.__name__)
+  service_defn = getattr(applanix_msgs.srv, "Set" + req.__class__.__name__)
   rospy.wait_for_service(name)
   ack = rospy.ServiceProxy(name, service_defn)(req).ack
   if ack.response_code != applanix_msgs.msg.Ack.RESPONSE_ACCEPTED:

applanix_bridge/test/basic_data_smoke.py

@@ -43,7 +43,7 @@
 import rospy
 
 from applanix_msgs.msg import NavigationSolution
-from applanix_srvs.msg import AllMsgs
+from applanix_msgs.msg import AllMsgs
 from diagnostic_msgs.msg import DiagnosticArray
 from sensor_msgs.msg import NavSatFix, Imu
 

applanix_msgs/CMakeLists.txt

@@ -11,9 +11,46 @@ find_package(catkin REQUIRED COMPONENTS
 # the message mappings to Applanix.
 catkin_python_setup()
 
+SET(mapping_py "${CMAKE_CURRENT_SOURCE_DIR}/src/applanix_msgs/mapping.py")
+
+# get the list of all of the messages for which to generate services
+execute_process(COMMAND ${mapping_py} OUTPUT_VARIABLE gen_msg_names
+  OUTPUT_STRIP_TRAILING_WHITESPACE)
+
+MESSAGE("Generating AllMsgs.msg")
+SET(all_msgs_path "${CMAKE_CURRENT_SOURCE_DIR}/msg/AllMsgs.msg")
+# need to do this if the file doesn't exist already
+execute_process(COMMAND ${mapping_py} -a OUTPUT_FILE ${all_msgs_path})
+
+# custom command to generate AllMsgs
+add_custom_command(
+  OUTPUT ${all_msgs_path} COMMAND ${mapping_py} -a > ${all_msgs_path}
+  DEPENDS ${mapping_py}
+  )
+
+add_custom_target(AllMsgs.msg DEPENDS ${mapping_py})
+
+# go through each of the message names and generate a service
+FOREACH(msg_name ${gen_msg_names})
+  MESSAGE("Generating service definition for ${msg_name}")
+  SET(srv_path "${CMAKE_CURRENT_SOURCE_DIR}/srv/Set${msg_name}.srv")
+  execute_process(COMMAND ${mapping_py} -g ${msg_name} OUTPUT_FILE ${srv_path})
+  SET(generated_srvs ${generated_srvs} "Set${msg_name}.srv;")
+
+  add_custom_command(
+    OUTPUT ${srv_path} 
+    COMMAND ${mapping_py} -g ${msg_name} > ${srv_path}
+    DEPENDS ${mapping_py}
+    )
+
+  add_custom_target("Set${msg_name}.srv" DEPENDS ${mapping_py})
+
+ENDFOREACH(msg_name)
+
 ## Generate messages in the 'msg' folder
 add_message_files(
   FILES
+  AllMsgs.msg
   Ack.msg
   AidingSensorIntegrationControl.msg
   AidingSensorParams.msg
@@ -72,6 +109,12 @@ add_message_files(
   Version.msg
 )
 
+## Service definitions generated above
+add_service_files(
+  FILES
+  ${generated_srvs}
+)
+
 generate_messages(
   DEPENDENCIES
   geometry_msgs

applanix_msgs/src/applanix_msgs/mapping.py

@@ -39,95 +39,116 @@
 #
 # Please send comments, questions, or patches to skynet@clearpathrobotics.com
 #
-from applanix_msgs.msg import *
-
 
 # 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),
+      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),
-      20: ("general", GeneralParams),
-      21: ("gams", GAMSParams),
-      22: ("aiding_sensors", AidingSensorParams),
-      24: ("user_accuracy", UserAccuracySpecs),
-      30: ("primary_gnss_setup", GNSSSetup),
-      31: ("secondary_gnss_setup", GNSSSetup),
-      32: ("ip_address", IPAddress),
-      33: ("event_setup", EventSetup),
-      34: ("com_port_setup", COMPortSetup),
-      35: ("nmea_message_select", NMEAMessageSelect),
-      36: ("binary_message_select", BinaryMessageSelect),
-      37: ("base_gnss_1_setup", BaseGNSSSetup),
-      38: ("base_gnss_2_setup", BaseGNSSSetup),
-      40: ("precise_gravity", PreciseGravitySpecs),
-      41: ("primary_dgps_source", DGPSSourceControl),
-      50: ("nav_mode", NavModeControl),
-      51: ("display_port", PortControl),
-      52: ("primary_data_port", PortControl),
-      53: ("logging_port", LoggingControl),
-      54: ("save_restore", SaveRestoreControl),
-      55: ("time_sync", TimeSyncControl),
-      57: ("installation_calibration", InstallationCalibrationControl),
-      58: ("gams_calibration", GAMSCalibrationControl),
-      61: ("secondary_data_port", PortControl),
-      90: ("program", ProgramControl),
-      91: ("gnss", GNSSControl),
-      92: ("integration_diagnostics", IntegrationDiagnosticsControl),
-      93: ("aiding_sensor_integration", AidingSensorIntegrationControl),
+      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]
 
-# Message excluded from the generated AllMsgs aggregate message.
-all_msgs_exclude = set([Ack, SaveRestoreControl, InstallationCalibrationControl, 
-    GAMSCalibrationControl, ProgramControl, GNSSControl])
-for name, msg in msgs.values():
-  if msg in all_msgs_exclude:
-    msg.in_all_msgs = False
-  else:
-    msg.in_all_msgs = True
+    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)
 
-if __name__ == '__main__':
-  from pprint import pprint
-  pprint((groups, msgs))
+  elif sys.argv[1] == "-g":
+    msg_name = sys.argv[2]
+    print "applanix_msgs/" + msg_name + " request"
+    print "---"
+    print "applanix_msgs/Ack ack"
+
+
+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
+