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micrortps bridge: clean templates; add backwards compatibility; add ROS2 compatibility

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This commit is contained in:
TSC21
2019-10-02 10:40:37 +01:00
committed by Nuno Marques
parent 278d2fd21f
commit 1970ef875f
12 changed files with 147 additions and 113 deletions
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msg/templates/urtps/Publisher.cpp.em
+25 -12
View File
@@ -20,7 +20,7 @@ topic = alias if alias else spec.short_name
/**************************************************************************** /****************************************************************************
* *
* Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima). * 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 * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met: * modification, are permitted provided that the following conditions are met:
@@ -54,7 +54,7 @@ topic = alias if alias else spec.short_name
* @@file @(topic)_Publisher.cpp * @@file @(topic)_Publisher.cpp
* This file contains the implementation of the publisher functions. * This file contains the implementation of the publisher functions.
* *
* This file was generated by the tool fastcdrgen. * This file was adapted from the fastcdrgen tool.
*/ */
#include <fastrtps/participant/Participant.h> #include <fastrtps/participant/Participant.h>
@@ -64,7 +64,9 @@ topic = alias if alias else spec.short_name
#include <fastrtps/Domain.h> #include <fastrtps/Domain.h>
@[if 1.5 < fastrtpsgen_version <= 1.7]@
#include <fastrtps/utils/eClock.h> #include <fastrtps/utils/eClock.h>
@[else]@
#include "@(topic)_Publisher.h" #include "@(topic)_Publisher.h"
@@ -76,26 +78,34 @@ topic = alias if alias else spec.short_name
bool @(topic)_Publisher::init() bool @(topic)_Publisher::init()
{ {
// Create RTPSParticipant // Create RTPSParticipant
ParticipantAttributes PParam; ParticipantAttributes PParam;
PParam.rtps.builtin.domainId = 0; PParam.rtps.builtin.domainId = 0;
@[if 1.5 < fastrtpsgen_version <= 1.7]@
PParam.rtps.builtin.leaseDuration = c_TimeInfinite; PParam.rtps.builtin.leaseDuration = c_TimeInfinite;
@[else]@
PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite;
@[end if]@
PParam.rtps.setName("@(topic)_publisher"); //You can put here the name you want PParam.rtps.setName("@(topic)_publisher"); //You can put here the name you want
mp_participant = Domain::createParticipant(PParam); mp_participant = Domain::createParticipant(PParam);
if(mp_participant == nullptr) if(mp_participant == nullptr)
return false; return false;
//Register the type // Register the type
Domain::registerType(mp_participant, static_cast<TopicDataType*>(&myType));
Domain::registerType(mp_participant, (TopicDataType*) &myType);
// Create Publisher // Create Publisher
PublisherAttributes Wparam; PublisherAttributes Wparam;
Wparam.topic.topicKind = NO_KEY; Wparam.topic.topicKind = NO_KEY;
Wparam.topic.topicDataType = myType.getName(); //This type MUST be registered Wparam.topic.topicDataType = myType.getName(); //This type MUST be registered
@[if 1.5 < fastrtpsgen_version <= 1.7]@
Wparam.topic.topicName = "@(topic)_PubSubTopic"; Wparam.topic.topicName = "@(topic)_PubSubTopic";
mp_publisher = Domain::createPublisher(mp_participant, Wparam, (PublisherListener*) &m_listener); @[else]@
Wparam.topic.topicName = "@(topic)PubSubTopic";
@[end if]@
@[if ros2_distro and ros2_distro != "ardent"]@
Wparam.topic.topicName = "rt/" + Wparam.topic.topicName;
@[end if]@
mp_publisher = Domain::createPublisher(mp_participant, Wparam, static_cast<PublisherListener*>(&m_listener));
if(mp_publisher == nullptr) if(mp_publisher == nullptr)
return false; return false;
//std::cout << "Publisher created, waiting for Subscribers." << std::endl; //std::cout << "Publisher created, waiting for Subscribers." << std::endl;
@@ -120,12 +130,15 @@ void @(topic)_Publisher::run()
{ {
while(m_listener.n_matched == 0) while(m_listener.n_matched == 0)
{ {
eClock::my_sleep(250); // Sleep 250 ms @[if 1.5 < fastrtpsgen_version <= 1.7]@
eClock::my_sleep(250); // Sleep 250 ms;
@[else]@
std::this_thread::sleep_for(std::chrono::milliseconds(250)); // Sleep 250 ms
@[end if]@
} }
// Publication code // Publication code
@[if 1.5 < fastrtpsgen_version <= 1.7]@
@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
@(topic)_ st; @(topic)_ st;
@[else]@ @[else]@
@(topic) st; @(topic) st;
@@ -154,7 +167,7 @@ void @(topic)_Publisher::run()
}while(std::cin >> ch); }while(std::cin >> ch);
} }
@[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]@
void @(topic)_Publisher::publish(@(topic)_* st) void @(topic)_Publisher::publish(@(topic)_* st)
@[else]@ @[else]@
void @(topic)_Publisher::publish(@(topic)* st) void @(topic)_Publisher::publish(@(topic)* st)
msg/templates/urtps/Publisher.h.em
+5 -5
View File
@@ -20,7 +20,7 @@ topic = alias if alias else spec.short_name
/**************************************************************************** /****************************************************************************
* *
* Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima). * 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 * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met: * modification, are permitted provided that the following conditions are met:
@@ -54,7 +54,7 @@ topic = alias if alias else spec.short_name
* @@file @(topic)_Publisher.h * @@file @(topic)_Publisher.h
* This header file contains the declaration of the publisher functions. * This header file contains the declaration of the publisher functions.
* *
* This file was generated by the tool fastcdrgen. * This file was adapted from the fastcdrgen tool.
*/ */
@@ -64,7 +64,7 @@ topic = alias if alias else spec.short_name
#include <fastrtps/fastrtps_fwd.h> #include <fastrtps/fastrtps_fwd.h>
#include <fastrtps/publisher/PublisherListener.h> #include <fastrtps/publisher/PublisherListener.h>
@[if float(fastrtps_version) < 1.9]@ @[if 1.5 < fastrtpsgen_version <= 1.7]@
#include "@(topic)_PubSubTypes.h" #include "@(topic)_PubSubTypes.h"
@[else]@ @[else]@
#include "@(topic)PubSubTypes.h" #include "@(topic)PubSubTypes.h"
@@ -80,7 +80,7 @@ public:
virtual ~@(topic)_Publisher(); virtual ~@(topic)_Publisher();
bool init(); bool init();
void run(); void run();
@[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]@
void publish(@(topic)_* st); void publish(@(topic)_* st);
@[else]@ @[else]@
void publish(@(topic)* st); void publish(@(topic)* st);
@@ -97,7 +97,7 @@ private:
void onPublicationMatched(Publisher* pub, MatchingInfo& info); void onPublicationMatched(Publisher* pub, MatchingInfo& info);
int n_matched; int n_matched;
} m_listener; } m_listener;
@[if float(fastrtps_version) < 1.9]@ @[if 1.5 < fastrtpsgen_version <= 1.7]@
@(topic)_PubSubType myType; @(topic)_PubSubType myType;
@[else]@ @[else]@
@(topic)PubSubType myType; @(topic)PubSubType myType;
msg/templates/urtps/RtpsTopics.cpp.em
+3 -3
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@@ -23,7 +23,7 @@ recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumer
/**************************************************************************** /****************************************************************************
* *
* Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima). * 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 * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met: * modification, are permitted provided that the following conditions are met:
@@ -92,7 +92,7 @@ void RtpsTopics::publish(uint8_t topic_ID, char data_buffer[], size_t len)
@[for topic in send_topics]@ @[for topic in send_topics]@
case @(rtps_message_id(ids, topic)): // @(topic) case @(rtps_message_id(ids, topic)): // @(topic)
{ {
@[ 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]@
@(topic)_ st; @(topic)_ st;
@[ else]@ @[ else]@
@(topic) st; @(topic) st;
@@ -149,7 +149,7 @@ bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr)
case @(rtps_message_id(ids, topic)): // @(topic) case @(rtps_message_id(ids, topic)): // @(topic)
if (_@(topic)_sub.hasMsg()) if (_@(topic)_sub.hasMsg())
{ {
@[ 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]@
@(topic)_ msg = _@(topic)_sub.getMsg(); @(topic)_ msg = _@(topic)_sub.getMsg();
@[ else]@ @[ else]@
@(topic) msg = _@(topic)_sub.getMsg(); @(topic) msg = _@(topic)_sub.getMsg();
msg/templates/urtps/RtpsTopics.h.em
+1 -1
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@@ -23,7 +23,7 @@ recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumer
/**************************************************************************** /****************************************************************************
* *
* Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima). * 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 * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met: * modification, are permitted provided that the following conditions are met:
msg/templates/urtps/Subscriber.cpp.em
+20 -12
View File
@@ -20,7 +20,7 @@ topic = alias if alias else spec.short_name
/**************************************************************************** /****************************************************************************
* *
* Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima). * 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 * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met: * modification, are permitted provided that the following conditions are met:
@@ -54,7 +54,7 @@ topic = alias if alias else spec.short_name
* @@file @(topic)_Subscriber.cpp * @@file @(topic)_Subscriber.cpp
* This file contains the implementation of the subscriber functions. * This file contains the implementation of the subscriber functions.
* *
* This file was generated by the tool fastcdrgen. * This file was adapted from the fastcdrgen tool.
*/ */
#include <fastrtps/participant/Participant.h> #include <fastrtps/participant/Participant.h>
@@ -66,7 +66,6 @@ topic = alias if alias else spec.short_name
#include "@(topic)_Subscriber.h" #include "@(topic)_Subscriber.h"
@(topic)_Subscriber::@(topic)_Subscriber() : mp_participant(nullptr), mp_subscriber(nullptr) {} @(topic)_Subscriber::@(topic)_Subscriber() : mp_participant(nullptr), mp_subscriber(nullptr) {}
@(topic)_Subscriber::~@(topic)_Subscriber() { Domain::removeParticipant(mp_participant);} @(topic)_Subscriber::~@(topic)_Subscriber() { Domain::removeParticipant(mp_participant);}
@@ -74,26 +73,34 @@ topic = alias if alias else spec.short_name
bool @(topic)_Subscriber::init() bool @(topic)_Subscriber::init()
{ {
// Create RTPSParticipant // Create RTPSParticipant
ParticipantAttributes PParam; ParticipantAttributes PParam;
PParam.rtps.builtin.domainId = 0; //MUST BE THE SAME AS IN THE PUBLISHER PParam.rtps.builtin.domainId = 0; // MUST BE THE SAME AS IN THE PUBLISHER
@[if 1.5 < fastrtpsgen_version <= 1.7]@
PParam.rtps.builtin.leaseDuration = c_TimeInfinite; PParam.rtps.builtin.leaseDuration = c_TimeInfinite;
@[else]@
PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite;
@[end if]@
PParam.rtps.setName("@(topic)_subscriber"); //You can put the name you want PParam.rtps.setName("@(topic)_subscriber"); //You can put the name you want
mp_participant = Domain::createParticipant(PParam); mp_participant = Domain::createParticipant(PParam);
if(mp_participant == nullptr) if(mp_participant == nullptr)
return false; return false;
//Register the type //Register the type
Domain::registerType(mp_participant, static_cast<TopicDataType*>(&myType));
Domain::registerType(mp_participant, (TopicDataType*) &myType);
// Create Subscriber // Create Subscriber
SubscriberAttributes Rparam; SubscriberAttributes Rparam;
Rparam.topic.topicKind = NO_KEY; Rparam.topic.topicKind = NO_KEY;
Rparam.topic.topicDataType = myType.getName(); //Must be registered before the creation of the subscriber Rparam.topic.topicDataType = myType.getName(); //Must be registered before the creation of the subscriber
@[if 1.5 < fastrtpsgen_version <= 1.7]@
Rparam.topic.topicName = "@(topic)_PubSubTopic"; Rparam.topic.topicName = "@(topic)_PubSubTopic";
mp_subscriber = Domain::createSubscriber(mp_participant, Rparam, (SubscriberListener*) &m_listener); @[else]@
Rparam.topic.topicName = "@(topic)PubSubTopic";
@[end if]@
@[if ros2_distro and ros2_distro != "ardent"]@
Rparam.topic.topicName = "rt/" + Wparam.topic.topicName;
@[end if]@
mp_subscriber = Domain::createSubscriber(mp_participant, Rparam, static_cast<SubscriberListener*>(&m_listener));
if(mp_subscriber == nullptr) if(mp_subscriber == nullptr)
return false; return false;
return true; return true;
@@ -101,6 +108,8 @@ bool @(topic)_Subscriber::init()
void @(topic)_Subscriber::SubListener::onSubscriptionMatched(Subscriber* sub, MatchingInfo& info) void @(topic)_Subscriber::SubListener::onSubscriptionMatched(Subscriber* sub, MatchingInfo& info)
{ {
(void)sub;
if (info.status == MATCHED_MATCHING) if (info.status == MATCHED_MATCHING)
{ {
n_matched++; n_matched++;
@@ -116,8 +125,7 @@ void @(topic)_Subscriber::SubListener::onSubscriptionMatched(Subscriber* sub, Ma
void @(topic)_Subscriber::SubListener::onNewDataMessage(Subscriber* sub) void @(topic)_Subscriber::SubListener::onNewDataMessage(Subscriber* sub)
{ {
// Take data // Take data
if(sub->takeNextData(&msg, &m_info)) @[if 1.5 < fastrtpsgen_version <= 1.7]@
@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
@(topic)_ st; @(topic)_ st;
@[else]@ @[else]@
@(topic) st; @(topic) st;
@@ -148,7 +156,7 @@ bool @(topic)_Subscriber::hasMsg()
return m_listener.has_msg; return m_listener.has_msg;
} }
@[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]@
@(topic)_ @(topic)_Subscriber::getMsg() @(topic)_ @(topic)_Subscriber::getMsg()
@[else]@ @[else]@
@(topic) @(topic)_Subscriber::getMsg() @(topic) @(topic)_Subscriber::getMsg()
msg/templates/urtps/Subscriber.h.em
+6 -6
View File
@@ -20,7 +20,7 @@ topic = alias if alias else spec.short_name
/**************************************************************************** /****************************************************************************
* *
* Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima). * 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 * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met: * modification, are permitted provided that the following conditions are met:
@@ -54,7 +54,7 @@ topic = alias if alias else spec.short_name
* @@file @(topic)_Subscriber.h * @@file @(topic)_Subscriber.h
* This header file contains the declaration of the subscriber functions. * This header file contains the declaration of the subscriber functions.
* *
* This file was generated by the tool fastcdrgen. * This file was adapted from the fastcdrgen tool.
*/ */
@@ -64,7 +64,7 @@ topic = alias if alias else spec.short_name
#include <fastrtps/fastrtps_fwd.h> #include <fastrtps/fastrtps_fwd.h>
#include <fastrtps/subscriber/SubscriberListener.h> #include <fastrtps/subscriber/SubscriberListener.h>
#include <fastrtps/subscriber/SampleInfo.h> #include <fastrtps/subscriber/SampleInfo.h>
@[if float(fastrtps_version) < 1.9]@ @[if 1.5 < fastrtpsgen_version <= 1.7]@
#include "@(topic)_PubSubTypes.h" #include "@(topic)_PubSubTypes.h"
@[else]@ @[else]@
#include "@(topic)PubSubTypes.h" #include "@(topic)PubSubTypes.h"
@@ -81,7 +81,7 @@ public:
bool init(); bool init();
void run(); void run();
bool hasMsg(); bool hasMsg();
@[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]@
@(topic)_ getMsg(); @(topic)_ getMsg();
@[else]@ @[else]@
@(topic) getMsg(); @(topic) getMsg();
@@ -100,7 +100,7 @@ private:
SampleInfo_t m_info; SampleInfo_t m_info;
int n_matched; int n_matched;
int n_msg; int n_msg;
@[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]@
@(topic)_ msg; @(topic)_ msg;
@[else]@ @[else]@
@(topic) msg; @(topic) msg;
@@ -108,7 +108,7 @@ private:
bool has_msg = false; bool has_msg = false;
} m_listener; } m_listener;
@[if float(fastrtps_version) < 1.9]@ @[if 1.5 < fastrtpsgen_version <= 1.7]@
@(topic)_PubSubType myType; @(topic)_PubSubType myType;
@[else]@ @[else]@
@(topic)PubSubType myType; @(topic)PubSubType myType;
msg/templates/urtps/microRTPS_agent_CMakeLists.txt.em
+1 -1
View File
@@ -1,7 +1,7 @@
################################################################################ ################################################################################
# #
# Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima). # 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 # Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met: # modification, are permitted provided that the following conditions are met:
msg/templates/urtps/microRTPS_transport.h
+1 -1
View File
@@ -1,7 +1,7 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima). * 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 * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met: * modification, are permitted provided that the following conditions are met:
msg/templates/urtps/msg.idl.em
+18 -23
View File
@@ -57,11 +57,10 @@ def get_include_directives(spec):
if genmsg.msgs.is_valid_constant_type(genmsg.msgs.bare_msg_type(field.type)): if genmsg.msgs.is_valid_constant_type(genmsg.msgs.bare_msg_type(field.type)):
continue continue
builtin_type = str(field.base_type).replace('px4/', '') builtin_type = str(field.base_type).replace('px4/', '')
@[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:
include_directive = '#include "%s_.idl"' % builtin_type include_directive = '#include "%s_.idl"' % builtin_type
@[else]@ else:
include_directive = '#include "%s.idl"' % builtin_type include_directive = '#include "%s.idl"' % builtin_type
@[end if]@
builtin_types.add(builtin_type) builtin_types.add(builtin_type)
include_directives.add(include_directive) include_directives.add(include_directive)
return sorted(include_directives) return sorted(include_directives)
@@ -78,18 +77,16 @@ def get_idl_type_name(field_type):
def add_msg_field(field): def add_msg_field(field):
if (not field.is_header): if (not field.is_header):
if field.is_array: if field.is_array:
@[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:
print(' {0}__{1}_array_{2} {3}_;'.format(topic, str(get_idl_type_name(field.base_type)).replace(" ", "_"), str(field.array_len), field.name)) print(' {0}__{1}_array_{2} {3}_;'.format(topic, str(get_idl_type_name(field.base_type)).replace(" ", "_"), str(field.array_len), 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: 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)) 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(): def add_msg_fields():
for field in spec.parsed_fields(): for field in spec.parsed_fields():
@@ -99,12 +96,10 @@ def add_msg_fields():
def add_array_typedefs(): def add_array_typedefs():
for field in spec.parsed_fields(): for field in spec.parsed_fields():
if not field.is_header and field.is_array: 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]@ 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 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]@ else:
base_type = get_idl_type_name(field.base_type) if get_idl_type_name(field.base_type) in builtin_types 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)
@[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)
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) 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: if array_type not in array_types:
array_types.add(array_type) array_types.add(array_type)
@@ -132,14 +127,14 @@ def add_msg_constants():
@add_msg_constants() @add_msg_constants()
@# Array types @# Array types
@add_array_typedefs() @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)_ struct @(topic)_
@[else]@ @[else]@
struct @(topic) struct @(topic)
@[end if]@ @[end if]@
{ {
@add_msg_fields() @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)_ }; // struct @(topic)_
#pragma keylist @(topic)_ #pragma keylist @(topic)_
msg/tools/generate_microRTPS_bridge.py
+54 -32
View File
@@ -238,7 +238,37 @@ if fastrtpsgen_include is not None and fastrtpsgen_include != '':
os.path.abspath( os.path.abspath(
args.fastrtpsgen_include) + " " 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 nothing specified it's generated both
if agent == False and client == False: if agent == False and client == False:
@@ -297,30 +327,21 @@ uRTPS_SUBSCRIBER_H_TEMPL_FILE = 'Subscriber.h.em'
def generate_agent(out_dir): def generate_agent(out_dir):
# get FastRTPSGen version global 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")
if classifier.msgs_to_send: if classifier.msgs_to_send:
for msg_file in classifier.msgs_to_send: for msg_file in classifier.msgs_to_send:
if gen_idl: if gen_idl:
if out_dir != agent_out_dir: 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, 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: else:
px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", idl_dir, urtps_templates_dir, 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, 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, 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: if classifier.alias_msgs_to_send:
for msg_file in 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 gen_idl:
if out_dir != agent_out_dir: 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, 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: else:
px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, idl_dir, urtps_templates_dir, 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, 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, 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: if classifier.msgs_to_receive:
for msg_file in classifier.msgs_to_receive: for msg_file in classifier.msgs_to_receive:
if gen_idl: if gen_idl:
if out_dir != agent_out_dir: 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, 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: else:
px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", idl_dir, urtps_templates_dir, 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, 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, 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: if classifier.alias_msgs_to_receive:
for msg_file in 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 gen_idl:
if out_dir != agent_out_dir: 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, 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: else:
px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, idl_dir, urtps_templates_dir, 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, 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, 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, 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, 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, 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: 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, 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 # Final steps to install agent
mkdir_p(os.path.join(out_dir, "fastrtpsgen")) mkdir_p(os.path.join(out_dir, "fastrtpsgen"))
@@ -438,6 +459,7 @@ def mkdir_p(dirpath):
def generate_client(out_dir): def generate_client(out_dir):
global fastrtpsgen_version
# Rename work in the default path # Rename work in the default path
if default_client_out != out_dir: if default_client_out != out_dir:
@@ -452,7 +474,7 @@ def generate_client(out_dir):
os.rename(def_file, def_file.replace(".h", ".h_")) 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, 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 # Final steps to install client
cp_wildcard(os.path.join(urtps_templates_dir, cp_wildcard(os.path.join(urtps_templates_dir,
msg/tools/px_generate_uorb_topic_files.py
+13 -13
View File
@@ -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) 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 Generates an .idl from .msg file
""" """
@@ -178,11 +178,11 @@ def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, pack
if (alias != ""): if (alias != ""):
em_globals = get_em_globals( 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 spec_short_name = alias
else: else:
em_globals = get_em_globals( 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 spec_short_name = em_globals["spec"].short_name
# Make sure output directory exists: # 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, 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 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 = [] em_globals_list = []
if send_msgs: if send_msgs:
em_globals_list.extend([get_em_globals( 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: if alias_send_msgs:
em_globals_list.extend([get_em_globals( 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: if receive_msgs:
em_globals_list.extend([get_em_globals( 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: if alias_receive_msgs:
em_globals_list.extend([get_em_globals( 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) 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) 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 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): if (alias):
em_globals = get_em_globals( 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 spec_short_name = alias
else: else:
em_globals = get_em_globals( 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 spec_short_name = em_globals["spec"].short_name
# Make sure output directory exists: # 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) 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 Generates em globals dictionary
""" """
@@ -309,7 +309,7 @@ def get_em_globals(filename_msg, alias, package, includepath, ids, fastrtps_ver,
"scope": scope, "scope": scope,
"package": package, "package": package,
"alias": alias, "alias": alias,
"fastrtps_version": fastrtps_ver, "fastrtpsgen_version": fastrtpsgen_version,
"ros2_distro": ros2_distro "ros2_distro": ros2_distro
} }
src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt
-4
View File
@@ -33,9 +33,6 @@
set(msg_out_path ${CMAKE_CURRENT_BINARY_DIR}) 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 "${config_rtps_receive_topics}" STREQUAL "") if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_topics}" STREQUAL "")
set(send_topic_files) set(send_topic_files)
@@ -84,7 +81,6 @@ if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_t
--agent-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_agent --agent-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_agent
--client-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_client --client-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_client
--idl-dir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_agent/idl --idl-dir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_agent/idl
--ros2-distro ${ROS2_DISTRO}
#>micrortps_bridge.log > /dev/null #>micrortps_bridge.log > /dev/null
DEPENDS ${send_topic_files} ${receive_topic_files} DEPENDS ${send_topic_files} ${receive_topic_files}
COMMENT "Generating RTPS topic bridge" COMMENT "Generating RTPS topic bridge"