mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-26 09:26:25 +08:00
micrortps bridge: clean templates; add backwards compatibility; add ROS2 compatibility
This commit is contained in:
TSC21
@@ -20,7 +20,7 @@ topic = alias if alias else spec.short_name
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/****************************************************************************
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*
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* Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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* Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
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* Copyright (C) 2018-2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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@@ -54,7 +54,7 @@ topic = alias if alias else spec.short_name
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* @@file @(topic)_Publisher.cpp
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* This file contains the implementation of the publisher functions.
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*
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* This file was generated by the tool fastcdrgen.
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* This file was adapted from the fastcdrgen tool.
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*/
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#include <fastrtps/participant/Participant.h>
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@@ -64,7 +64,9 @@ topic = alias if alias else spec.short_name
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#include <fastrtps/Domain.h>
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@[if 1.5 < fastrtpsgen_version <= 1.7]@
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#include <fastrtps/utils/eClock.h>
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@[else]@
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#include "@(topic)_Publisher.h"
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@@ -76,26 +78,34 @@ topic = alias if alias else spec.short_name
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bool @(topic)_Publisher::init()
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{
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// Create RTPSParticipant
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ParticipantAttributes PParam;
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PParam.rtps.builtin.domainId = 0;
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@[if 1.5 < fastrtpsgen_version <= 1.7]@
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PParam.rtps.builtin.leaseDuration = c_TimeInfinite;
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@[else]@
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PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite;
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@[end if]@
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PParam.rtps.setName("@(topic)_publisher"); //You can put here the name you want
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mp_participant = Domain::createParticipant(PParam);
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if(mp_participant == nullptr)
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return false;
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//Register the type
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Domain::registerType(mp_participant, (TopicDataType*) &myType);
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// Register the type
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Domain::registerType(mp_participant, static_cast<TopicDataType*>(&myType));
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// Create Publisher
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PublisherAttributes Wparam;
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Wparam.topic.topicKind = NO_KEY;
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Wparam.topic.topicDataType = myType.getName(); //This type MUST be registered
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@[if 1.5 < fastrtpsgen_version <= 1.7]@
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Wparam.topic.topicName = "@(topic)_PubSubTopic";
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mp_publisher = Domain::createPublisher(mp_participant, Wparam, (PublisherListener*) &m_listener);
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@[else]@
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Wparam.topic.topicName = "@(topic)PubSubTopic";
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@[end if]@
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@[if ros2_distro and ros2_distro != "ardent"]@
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Wparam.topic.topicName = "rt/" + Wparam.topic.topicName;
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@[end if]@
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mp_publisher = Domain::createPublisher(mp_participant, Wparam, static_cast<PublisherListener*>(&m_listener));
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if(mp_publisher == nullptr)
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return false;
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//std::cout << "Publisher created, waiting for Subscribers." << std::endl;
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@@ -120,12 +130,15 @@ void @(topic)_Publisher::run()
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{
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while(m_listener.n_matched == 0)
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{
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eClock::my_sleep(250); // Sleep 250 ms
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@[if 1.5 < fastrtpsgen_version <= 1.7]@
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eClock::my_sleep(250); // Sleep 250 ms;
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@[else]@
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std::this_thread::sleep_for(std::chrono::milliseconds(250)); // Sleep 250 ms
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@[end if]@
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}
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// Publication code
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@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
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@[if 1.5 < fastrtpsgen_version <= 1.7]@
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@(topic)_ st;
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@[else]@
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@(topic) st;
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@@ -154,7 +167,7 @@ void @(topic)_Publisher::run()
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}while(std::cin >> ch);
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}
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@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
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@[if 1.5 < fastrtpsgen_version <= 1.7]@
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void @(topic)_Publisher::publish(@(topic)_* st)
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@[else]@
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void @(topic)_Publisher::publish(@(topic)* st)
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@@ -20,7 +20,7 @@ topic = alias if alias else spec.short_name
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/****************************************************************************
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*
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* Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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* Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
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* Copyright (C) 2018-2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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@@ -54,7 +54,7 @@ topic = alias if alias else spec.short_name
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* @@file @(topic)_Publisher.h
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* This header file contains the declaration of the publisher functions.
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*
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* This file was generated by the tool fastcdrgen.
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* This file was adapted from the fastcdrgen tool.
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*/
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@@ -64,7 +64,7 @@ topic = alias if alias else spec.short_name
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#include <fastrtps/fastrtps_fwd.h>
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#include <fastrtps/publisher/PublisherListener.h>
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@[if float(fastrtps_version) < 1.9]@
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@[if 1.5 < fastrtpsgen_version <= 1.7]@
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#include "@(topic)_PubSubTypes.h"
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@[else]@
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#include "@(topic)PubSubTypes.h"
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@@ -80,7 +80,7 @@ public:
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virtual ~@(topic)_Publisher();
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bool init();
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void run();
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@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
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@[if 1.5 < fastrtpsgen_version <= 1.7]@
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void publish(@(topic)_* st);
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@[else]@
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void publish(@(topic)* st);
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@@ -97,7 +97,7 @@ private:
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void onPublicationMatched(Publisher* pub, MatchingInfo& info);
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int n_matched;
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} m_listener;
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@[if float(fastrtps_version) < 1.9]@
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@[if 1.5 < fastrtpsgen_version <= 1.7]@
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@(topic)_PubSubType myType;
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@[else]@
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@(topic)PubSubType myType;
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@@ -23,7 +23,7 @@ recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumer
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/****************************************************************************
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*
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* Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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* Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
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* Copyright (C) 2018-2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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@@ -92,7 +92,7 @@ void RtpsTopics::publish(uint8_t topic_ID, char data_buffer[], size_t len)
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@[for topic in send_topics]@
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case @(rtps_message_id(ids, topic)): // @(topic)
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{
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@[ if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
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@[ if 1.5 < fastrtpsgen_version <= 1.7]@
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@(topic)_ st;
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@[ else]@
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@(topic) st;
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@@ -149,7 +149,7 @@ bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr)
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case @(rtps_message_id(ids, topic)): // @(topic)
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if (_@(topic)_sub.hasMsg())
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{
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@[ if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
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@[ if 1.5 < fastrtpsgen_version <= 1.7]@
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@(topic)_ msg = _@(topic)_sub.getMsg();
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@[ else]@
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@(topic) msg = _@(topic)_sub.getMsg();
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@@ -23,7 +23,7 @@ recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumer
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/****************************************************************************
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*
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* Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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* Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
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* Copyright (C) 2018-2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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@@ -20,7 +20,7 @@ topic = alias if alias else spec.short_name
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/****************************************************************************
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*
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* Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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* Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
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* Copyright (C) 2018-2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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@@ -54,7 +54,7 @@ topic = alias if alias else spec.short_name
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* @@file @(topic)_Subscriber.cpp
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* This file contains the implementation of the subscriber functions.
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*
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* This file was generated by the tool fastcdrgen.
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* This file was adapted from the fastcdrgen tool.
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*/
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#include <fastrtps/participant/Participant.h>
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@@ -66,7 +66,6 @@ topic = alias if alias else spec.short_name
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#include "@(topic)_Subscriber.h"
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@(topic)_Subscriber::@(topic)_Subscriber() : mp_participant(nullptr), mp_subscriber(nullptr) {}
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@(topic)_Subscriber::~@(topic)_Subscriber() { Domain::removeParticipant(mp_participant);}
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@@ -74,26 +73,34 @@ topic = alias if alias else spec.short_name
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bool @(topic)_Subscriber::init()
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{
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// Create RTPSParticipant
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ParticipantAttributes PParam;
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PParam.rtps.builtin.domainId = 0; //MUST BE THE SAME AS IN THE PUBLISHER
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PParam.rtps.builtin.domainId = 0; // MUST BE THE SAME AS IN THE PUBLISHER
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@[if 1.5 < fastrtpsgen_version <= 1.7]@
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PParam.rtps.builtin.leaseDuration = c_TimeInfinite;
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@[else]@
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PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite;
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@[end if]@
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PParam.rtps.setName("@(topic)_subscriber"); //You can put the name you want
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mp_participant = Domain::createParticipant(PParam);
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if(mp_participant == nullptr)
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return false;
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//Register the type
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Domain::registerType(mp_participant, (TopicDataType*) &myType);
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Domain::registerType(mp_participant, static_cast<TopicDataType*>(&myType));
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// Create Subscriber
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SubscriberAttributes Rparam;
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Rparam.topic.topicKind = NO_KEY;
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Rparam.topic.topicDataType = myType.getName(); //Must be registered before the creation of the subscriber
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@[if 1.5 < fastrtpsgen_version <= 1.7]@
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Rparam.topic.topicName = "@(topic)_PubSubTopic";
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mp_subscriber = Domain::createSubscriber(mp_participant, Rparam, (SubscriberListener*) &m_listener);
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@[else]@
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Rparam.topic.topicName = "@(topic)PubSubTopic";
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@[end if]@
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@[if ros2_distro and ros2_distro != "ardent"]@
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Rparam.topic.topicName = "rt/" + Wparam.topic.topicName;
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@[end if]@
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mp_subscriber = Domain::createSubscriber(mp_participant, Rparam, static_cast<SubscriberListener*>(&m_listener));
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if(mp_subscriber == nullptr)
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return false;
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return true;
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@@ -101,6 +108,8 @@ bool @(topic)_Subscriber::init()
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void @(topic)_Subscriber::SubListener::onSubscriptionMatched(Subscriber* sub, MatchingInfo& info)
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{
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(void)sub;
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if (info.status == MATCHED_MATCHING)
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{
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n_matched++;
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@@ -116,8 +125,7 @@ void @(topic)_Subscriber::SubListener::onSubscriptionMatched(Subscriber* sub, Ma
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void @(topic)_Subscriber::SubListener::onNewDataMessage(Subscriber* sub)
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{
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// Take data
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if(sub->takeNextData(&msg, &m_info))
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@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
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@[if 1.5 < fastrtpsgen_version <= 1.7]@
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@(topic)_ st;
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@[else]@
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@(topic) st;
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@@ -148,7 +156,7 @@ bool @(topic)_Subscriber::hasMsg()
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return m_listener.has_msg;
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}
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@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
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@[if 1.5 < fastrtpsgen_version <= 1.7]@
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@(topic)_ @(topic)_Subscriber::getMsg()
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@[else]@
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@(topic) @(topic)_Subscriber::getMsg()
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@@ -20,7 +20,7 @@ topic = alias if alias else spec.short_name
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/****************************************************************************
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*
|
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* Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
|
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* Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
|
||||
* Copyright (C) 2018-2019 PX4 Development Team. All rights reserved.
|
||||
*
|
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* Redistribution and use in source and binary forms, with or without
|
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* modification, are permitted provided that the following conditions are met:
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@@ -54,7 +54,7 @@ topic = alias if alias else spec.short_name
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* @@file @(topic)_Subscriber.h
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* This header file contains the declaration of the subscriber functions.
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*
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* This file was generated by the tool fastcdrgen.
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* This file was adapted from the fastcdrgen tool.
|
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*/
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@@ -64,7 +64,7 @@ topic = alias if alias else spec.short_name
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#include <fastrtps/fastrtps_fwd.h>
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#include <fastrtps/subscriber/SubscriberListener.h>
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#include <fastrtps/subscriber/SampleInfo.h>
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@[if float(fastrtps_version) < 1.9]@
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@[if 1.5 < fastrtpsgen_version <= 1.7]@
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#include "@(topic)_PubSubTypes.h"
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@[else]@
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#include "@(topic)PubSubTypes.h"
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@@ -81,7 +81,7 @@ public:
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bool init();
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void run();
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bool hasMsg();
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@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
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@[if 1.5 < fastrtpsgen_version <= 1.7]@
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@(topic)_ getMsg();
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@[else]@
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@(topic) getMsg();
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@@ -100,7 +100,7 @@ private:
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SampleInfo_t m_info;
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int n_matched;
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int n_msg;
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@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
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@[if 1.5 < fastrtpsgen_version <= 1.7]@
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@(topic)_ msg;
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@[else]@
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@(topic) msg;
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@@ -108,7 +108,7 @@ private:
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bool has_msg = false;
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} m_listener;
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@[if float(fastrtps_version) < 1.9]@
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@[if 1.5 < fastrtpsgen_version <= 1.7]@
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@(topic)_PubSubType myType;
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@[else]@
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@(topic)PubSubType myType;
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@@ -1,7 +1,7 @@
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################################################################################
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#
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# Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
|
||||
# Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
|
||||
# Copyright (C) 2018-2019 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions are met:
|
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|
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@@ -1,7 +1,7 @@
|
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/****************************************************************************
|
||||
*
|
||||
* Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
|
||||
* Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
|
||||
* Copyright (C) 2018-2019 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions are met:
|
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@@ -57,11 +57,10 @@ def get_include_directives(spec):
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if genmsg.msgs.is_valid_constant_type(genmsg.msgs.bare_msg_type(field.type)):
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continue
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builtin_type = str(field.base_type).replace('px4/', '')
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@[if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
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include_directive = '#include "%s_.idl"' % builtin_type
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@[else]@
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include_directive = '#include "%s.idl"' % builtin_type
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@[end if]@
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if 1.5 < fastrtpsgen_version <= 1.7:
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include_directive = '#include "%s_.idl"' % builtin_type
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else:
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include_directive = '#include "%s.idl"' % builtin_type
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builtin_types.add(builtin_type)
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include_directives.add(include_directive)
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return sorted(include_directives)
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@@ -78,18 +77,16 @@ def get_idl_type_name(field_type):
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def add_msg_field(field):
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if (not field.is_header):
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if field.is_array:
|
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@[if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
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print(' {0}__{1}_array_{2} {3}_;'.format(topic, str(get_idl_type_name(field.base_type)).replace(" ", "_"), str(field.array_len), field.name))
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if 1.5 < fastrtpsgen_version <= 1.7:
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print(' {0}__{1}_array_{2} {3}_;'.format(topic, str(get_idl_type_name(field.base_type)).replace(" ", "_"), str(field.array_len), field.name))
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else:
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||||
print(' {0}__{1}_array_{2} {3};'.format(topic, str(get_idl_type_name(field.base_type)).replace(" ", "_"), str(field.array_len), field.name))
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||||
else:
|
||||
base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
|
||||
if 1.5 < fastrtpsgen_version <= 1.7:
|
||||
base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
|
||||
else:
|
||||
base_type = get_idl_type_name(field.base_type) if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
|
||||
print(' {0} {1}_;'.format(base_type, field.name))
|
||||
@[else]@
|
||||
print(' {0}__{1}_array_{2} {3};'.format(topic, str(get_idl_type_name(field.base_type)).replace(" ", "_"), str(field.array_len), field.name))
|
||||
else:
|
||||
base_type = get_idl_type_name(field.base_type) if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
|
||||
print(' {0} {1};'.format(base_type, field.name))
|
||||
@[end if]@
|
||||
|
||||
|
||||
def add_msg_fields():
|
||||
for field in spec.parsed_fields():
|
||||
@@ -99,12 +96,10 @@ def add_msg_fields():
|
||||
def add_array_typedefs():
|
||||
for field in spec.parsed_fields():
|
||||
if not field.is_header and field.is_array:
|
||||
@[if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
|
||||
base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else
|
||||
@[else]@
|
||||
base_type = get_idl_type_name(field.base_type) if get_idl_type_name(field.base_type) in builtin_types else
|
||||
@[end if]@
|
||||
base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
|
||||
if 1.5 < fastrtpsgen_version <= 1.7:
|
||||
base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
|
||||
else:
|
||||
base_type = get_idl_type_name(field.base_type) if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
|
||||
array_type = 'typedef {0} {1}__{2}_array_{3}[{4}];'.format(base_type, topic, get_idl_type_name(field.base_type).replace(" ", "_"), field.array_len, field.array_len)
|
||||
if array_type not in array_types:
|
||||
array_types.add(array_type)
|
||||
@@ -132,14 +127,14 @@ def add_msg_constants():
|
||||
@add_msg_constants()
|
||||
@# Array types
|
||||
@add_array_typedefs()
|
||||
@[if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
|
||||
@[if 1.5 < fastrtpsgen_version <= 1.7]@
|
||||
struct @(topic)_
|
||||
@[else]@
|
||||
struct @(topic)
|
||||
@[end if]@
|
||||
{
|
||||
@add_msg_fields()
|
||||
@[if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
|
||||
@[if 1.5 < fastrtpsgen_version <= 1.7]@
|
||||
}; // struct @(topic)_
|
||||
|
||||
#pragma keylist @(topic)_
|
||||
|
||||
@@ -238,7 +238,37 @@ if fastrtpsgen_include is not None and fastrtpsgen_include != '':
|
||||
os.path.abspath(
|
||||
args.fastrtpsgen_include) + " "
|
||||
|
||||
ros2_distro = "" if args.ros2_distro == None else args.ros2_distro
|
||||
# get FastRTPSGen version
|
||||
# Note: since Fast-RTPS 1.8.x release, FastRTPSGen is now a separated
|
||||
# repository and not included in the Fast-RTPS project.
|
||||
# The starting version since this separation is 1.0.0, which doesn't
|
||||
# follow the Fast-RTPS version convention
|
||||
fastrtpsgen_version = 0.0
|
||||
if(os.path.exists(fastrtpsgen_path)):
|
||||
fastrtpsgen_version_out = subprocess.check_output(
|
||||
[fastrtpsgen_path, "-version"]).strip()[-5:-2]
|
||||
if not fastrtpsgen_version_out:
|
||||
raise Exception(
|
||||
"FastRTPSGen failed with code error %s" % fastrtpsgen_version)
|
||||
else:
|
||||
fastrtpsgen_version = float(fastrtpsgen_version_out)
|
||||
else:
|
||||
raise Exception(
|
||||
"FastRTPSGen not found. Specify the location of fastrtpsgen with the -f flag")
|
||||
|
||||
# get ROS 2 version, if exists
|
||||
ros2_distro = ""
|
||||
try:
|
||||
rosversion_out = subprocess.check_output(["rosversion", "-d"])
|
||||
rosversion_out = rosversion_out.rstrip()
|
||||
if rosversion_out not in ["<unknown>", "kinetic", "lunar", "melodic"]:
|
||||
ros2_distro = rosversion_out
|
||||
except OSError as e:
|
||||
if e.errno == errno.ENOENT:
|
||||
if args.ros2_distro != None:
|
||||
ros2_distro = args.ros2_distro
|
||||
else:
|
||||
raise
|
||||
|
||||
# If nothing specified it's generated both
|
||||
if agent == False and client == False:
|
||||
@@ -297,30 +327,21 @@ uRTPS_SUBSCRIBER_H_TEMPL_FILE = 'Subscriber.h.em'
|
||||
|
||||
|
||||
def generate_agent(out_dir):
|
||||
# get FastRTPSGen version
|
||||
if(os.path.exists(fastrtpsgen_path)):
|
||||
fastrtps_vers = subprocess.check_output(
|
||||
[fastrtpsgen_path, "-version"]).strip()[-5:-2]
|
||||
if not fastrtps_vers:
|
||||
raise Exception(
|
||||
"FastRTPSGen failed with code error %s" % fastrtps_vers)
|
||||
else:
|
||||
raise Exception(
|
||||
"FastRTPSGen not found. Specify the location of fastrtpsgen with the -f flag")
|
||||
global fastrtpsgen_version
|
||||
|
||||
if classifier.msgs_to_send:
|
||||
for msg_file in classifier.msgs_to_send:
|
||||
if gen_idl:
|
||||
if out_dir != agent_out_dir:
|
||||
px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", os.path.join(out_dir, "/idl"), urtps_templates_dir,
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, ros2_distro, classifier.msg_id_map)
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
|
||||
else:
|
||||
px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", idl_dir, urtps_templates_dir,
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, ros2_distro, fastrtps_vers, classifier.msg_id_map)
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
|
||||
px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
|
||||
px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE)
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE)
|
||||
|
||||
if classifier.alias_msgs_to_send:
|
||||
for msg_file in classifier.alias_msgs_to_send:
|
||||
@@ -332,28 +353,28 @@ def generate_agent(out_dir):
|
||||
if gen_idl:
|
||||
if out_dir != agent_out_dir:
|
||||
px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, os.path.join(out_dir, "/idl"), urtps_templates_dir,
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, ros2_distro, classifier.msg_id_map)
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
|
||||
else:
|
||||
px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, idl_dir, urtps_templates_dir,
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, ros2_distro, classifier.msg_id_map)
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
|
||||
px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
|
||||
px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE)
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE)
|
||||
|
||||
if classifier.msgs_to_receive:
|
||||
for msg_file in classifier.msgs_to_receive:
|
||||
if gen_idl:
|
||||
if out_dir != agent_out_dir:
|
||||
px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", os.path.join(out_dir, "/idl"), urtps_templates_dir,
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, ros2_distro, classifier.msg_id_map)
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
|
||||
else:
|
||||
px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", idl_dir, urtps_templates_dir,
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, ros2_distro, classifier.msg_id_map)
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
|
||||
px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
|
||||
px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
|
||||
|
||||
if classifier.alias_msgs_to_receive:
|
||||
for msg_file in classifier.alias_msgs_to_receive:
|
||||
@@ -365,24 +386,24 @@ def generate_agent(out_dir):
|
||||
if gen_idl:
|
||||
if out_dir != agent_out_dir:
|
||||
px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, os.path.join(out_dir, "/idl"), urtps_templates_dir,
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, ros2_distro, classifier.msg_id_map)
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
|
||||
else:
|
||||
px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, idl_dir, urtps_templates_dir,
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, ros2_distro, classifier.msg_id_map)
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
|
||||
px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
|
||||
px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
|
||||
|
||||
px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir,
|
||||
urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_AGENT_TEMPL_FILE)
|
||||
urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_AGENT_TEMPL_FILE)
|
||||
px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir,
|
||||
urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
|
||||
urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
|
||||
px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir,
|
||||
urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
|
||||
urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
|
||||
if cmakelists:
|
||||
px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir,
|
||||
urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE)
|
||||
urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE)
|
||||
|
||||
# Final steps to install agent
|
||||
mkdir_p(os.path.join(out_dir, "fastrtpsgen"))
|
||||
@@ -438,6 +459,7 @@ def mkdir_p(dirpath):
|
||||
|
||||
|
||||
def generate_client(out_dir):
|
||||
global fastrtpsgen_version
|
||||
|
||||
# Rename work in the default path
|
||||
if default_client_out != out_dir:
|
||||
@@ -452,7 +474,7 @@ def generate_client(out_dir):
|
||||
os.rename(def_file, def_file.replace(".h", ".h_"))
|
||||
|
||||
px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir,
|
||||
out_dir, uorb_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_CLIENT_TEMPL_FILE)
|
||||
out_dir, uorb_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_CLIENT_TEMPL_FILE)
|
||||
|
||||
# Final steps to install client
|
||||
cp_wildcard(os.path.join(urtps_templates_dir,
|
||||
|
||||
@@ -170,7 +170,7 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template
|
||||
return generate_by_template(output_file, template_file, em_globals)
|
||||
|
||||
|
||||
def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, fastrtps_ver, ros2_distro, ids):
|
||||
def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, fastrtpsgen_version, ros2_distro, ids):
|
||||
"""
|
||||
Generates an .idl from .msg file
|
||||
"""
|
||||
@@ -178,11 +178,11 @@ def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, pack
|
||||
|
||||
if (alias != ""):
|
||||
em_globals = get_em_globals(
|
||||
msg, alias, package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.NONE)
|
||||
msg, alias, package, includepath, ids, fastrtpsgen_version, ros2_distro, MsgScope.NONE)
|
||||
spec_short_name = alias
|
||||
else:
|
||||
em_globals = get_em_globals(
|
||||
msg, "", package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.NONE)
|
||||
msg, "", package, includepath, ids, fastrtpsgen_version, ros2_distro, MsgScope.NONE)
|
||||
spec_short_name = em_globals["spec"].short_name
|
||||
|
||||
# Make sure output directory exists:
|
||||
@@ -201,7 +201,7 @@ def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, pack
|
||||
|
||||
|
||||
def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filename_receive_msgs, filename_alias_receive_msgs,
|
||||
msg_dir, outputdir, templatedir, package, includepath, ids, fastrtps_ver, ros2_distro, template_name):
|
||||
msg_dir, outputdir, templatedir, package, includepath, ids, fastrtpsgen_version, ros2_distro, template_name):
|
||||
"""
|
||||
Generates source file by msg content
|
||||
"""
|
||||
@@ -227,19 +227,19 @@ def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filenam
|
||||
em_globals_list = []
|
||||
if send_msgs:
|
||||
em_globals_list.extend([get_em_globals(
|
||||
f, "", package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.SEND) for f in send_msgs])
|
||||
f, "", package, includepath, ids, fastrtpsgen_version, ros2_distro, MsgScope.SEND) for f in send_msgs])
|
||||
|
||||
if alias_send_msgs:
|
||||
em_globals_list.extend([get_em_globals(
|
||||
f[0], f[1], package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.SEND) for f in alias_send_msgs])
|
||||
f[0], f[1], package, includepath, ids, fastrtpsgen_version, ros2_distro, MsgScope.SEND) for f in alias_send_msgs])
|
||||
|
||||
if receive_msgs:
|
||||
em_globals_list.extend([get_em_globals(
|
||||
f, "", package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.RECEIVE) for f in receive_msgs])
|
||||
f, "", package, includepath, ids, fastrtpsgen_version, ros2_distro, MsgScope.RECEIVE) for f in receive_msgs])
|
||||
|
||||
if alias_receive_msgs:
|
||||
em_globals_list.extend([get_em_globals(
|
||||
f[0], f[1], package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.RECEIVE) for f in alias_receive_msgs])
|
||||
f[0], f[1], package, includepath, ids, fastrtpsgen_version, ros2_distro, MsgScope.RECEIVE) for f in alias_receive_msgs])
|
||||
|
||||
merged_em_globals = merge_em_globals_list(em_globals_list)
|
||||
|
||||
@@ -254,7 +254,7 @@ def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filenam
|
||||
return generate_by_template(output_file, template_file, merged_em_globals)
|
||||
|
||||
|
||||
def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, ids, fastrtps_ver, ros2_distro, template_name):
|
||||
def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, ids, fastrtpsgen_version, ros2_distro, template_name):
|
||||
"""
|
||||
Generates a sources and headers from .msg file
|
||||
"""
|
||||
@@ -262,11 +262,11 @@ def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, pa
|
||||
|
||||
if (alias):
|
||||
em_globals = get_em_globals(
|
||||
msg, alias, package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.NONE)
|
||||
msg, alias, package, includepath, ids, fastrtpsgen_version, ros2_distro, MsgScope.NONE)
|
||||
spec_short_name = alias
|
||||
else:
|
||||
em_globals = get_em_globals(
|
||||
msg, "", package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.NONE)
|
||||
msg, "", package, includepath, ids, fastrtpsgen_version, ros2_distro, MsgScope.NONE)
|
||||
spec_short_name = em_globals["spec"].short_name
|
||||
|
||||
# Make sure output directory exists:
|
||||
@@ -280,7 +280,7 @@ def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, pa
|
||||
return generate_by_template(output_file, template_file, em_globals)
|
||||
|
||||
|
||||
def get_em_globals(filename_msg, alias, package, includepath, ids, fastrtps_ver, ros2_distro, scope):
|
||||
def get_em_globals(filename_msg, alias, package, includepath, ids, fastrtpsgen_version, ros2_distro, scope):
|
||||
"""
|
||||
Generates em globals dictionary
|
||||
"""
|
||||
@@ -309,7 +309,7 @@ def get_em_globals(filename_msg, alias, package, includepath, ids, fastrtps_ver,
|
||||
"scope": scope,
|
||||
"package": package,
|
||||
"alias": alias,
|
||||
"fastrtps_version": fastrtps_ver,
|
||||
"fastrtpsgen_version": fastrtpsgen_version,
|
||||
"ros2_distro": ros2_distro
|
||||
}
|
||||
|
||||
|
||||
@@ -33,9 +33,6 @@
|
||||
|
||||
set(msg_out_path ${CMAKE_CURRENT_BINARY_DIR})
|
||||
|
||||
#set(ROS2_DISTRO $ENV{ROS_DISTRO})
|
||||
set(ROS2_DISTRO "")
|
||||
|
||||
if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_topics}" STREQUAL "")
|
||||
|
||||
set(send_topic_files)
|
||||
@@ -84,7 +81,6 @@ if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_t
|
||||
--agent-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_agent
|
||||
--client-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_client
|
||||
--idl-dir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_agent/idl
|
||||
--ros2-distro ${ROS2_DISTRO}
|
||||
#>micrortps_bridge.log > /dev/null
|
||||
DEPENDS ${send_topic_files} ${receive_topic_files}
|
||||
COMMENT "Generating RTPS topic bridge"
|
||||
|
||||
Reference in New Issue
Block a user