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add option to set the msg IDL dir

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This commit is contained in:
TSC21
2018-09-10 23:18:34 +01:00
committed by Beat Küng
parent e3560795a1
commit 43f78705ab
2 changed files with 39 additions and 22 deletions
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msg/tools/generate_microRTPS_bridge.py
+38 -22
View File
@@ -67,7 +67,8 @@ parser.add_argument("-s", "--send", dest='send', metavar='*.msg', type=str, narg
parser.add_argument("-r", "--receive", dest='receive', metavar='*.msg', type=str, nargs='+', help="Topics to be received")
parser.add_argument("-a", "--agent", dest='agent', action="store_true", help="Flag for generate the agent, by default is true if -c is not specified")
parser.add_argument("-c", "--client", dest='client', action="store_true", help="Flag for generate the client, by default is true if -a is not specified")
parser.add_argument("-i", "--generate-idl", dest='idl', action="store_true", help="Flag for generate idl files for each msg")
parser.add_argument("-i", "--generate-idl", dest='gen_idl', action="store_true", help="Flag for generate idl files for each msg")
parser.add_argument("-j", "--idl-dir", dest='idl_dir', type=str, help="IDL files dir", default='')
parser.add_argument("-m", "--mkdir-build", dest='mkdir_build', action="store_true", help="Flag to create 'build' dir")
parser.add_argument("-t", "--topic-msg-dir", dest='msgdir', type=str, help="Topics message dir, by default msg/", default="msg")
parser.add_argument("-b", "--uorb-templates-dir", dest='uorb_templates', type=str, help="uORB templates dir, by default msg_dir/templates/uorb_microcdr", default=default_uorb_templates_dir)
@@ -99,12 +100,17 @@ else:
agent = args.agent
client = args.client
idl = args.idl
mkdir_build = args.mkdir_build
del_tree = args.del_tree
px_generate_uorb_topic_files.append_to_include_path({msg_folder}, px_generate_uorb_topic_files.INCL_DEFAULT, package)
agent_out_dir = get_absolute_path(args.agentdir)
client_out_dir = get_absolute_path(args.clientdir)
gen_idl = args.gen_idl
idl_dir = args.idl_dir
if idl_dir != '':
idl_dir = get_absolute_path(args.idl_dir)
else:
idl_dir = agent_out_dir + "/idl"
if args.fastrtpsgen is None or args.fastrtpsgen == "":
# Assume fastrtpsgen is in PATH
@@ -157,9 +163,13 @@ def generate_agent(out_dir):
if msg_files_send:
for msg_file in msg_files_send:
if idl:
px_generate_uorb_topic_files.generate_idl_file(msg_file, out_dir + "/idl", urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT)
if gen_idl:
if out_dir != agent_out_dir:
px_generate_uorb_topic_files.generate_idl_file(msg_file, out_dir + "/idl", urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT)
else:
px_generate_uorb_topic_files.generate_idl_file(msg_file, idl_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT)
px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
@@ -167,9 +177,13 @@ def generate_agent(out_dir):
if msg_files_receive:
for msg_file in msg_files_receive:
if idl:
px_generate_uorb_topic_files.generate_idl_file(msg_file, out_dir + "/idl", urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT)
if gen_idl:
if out_dir != agent_out_dir:
px_generate_uorb_topic_files.generate_idl_file(msg_file, out_dir + "/idl", urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT)
else:
px_generate_uorb_topic_files.generate_idl_file(msg_file, idl_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT)
px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
@@ -185,26 +199,28 @@ def generate_agent(out_dir):
package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_CMAKELIST_TEMPL_FILE)
# Final steps to install agent
mkdir_p(agent_out_dir + "/fastrtpsgen")
mkdir_p(out_dir + "/fastrtpsgen")
prev_cwd_path = os.getcwd()
os.chdir(agent_out_dir + "/fastrtpsgen")
for idl_file in glob.glob(agent_out_dir + "/idl/*.idl"):
ret = subprocess.call(fastrtpsgen_path + " -d " + agent_out_dir + "/fastrtpsgen -example x64Linux2.6gcc " + idl_file, shell=True)
os.chdir(out_dir + "/fastrtpsgen")
if not glob.glob(idl_dir + "/*.idl"):
raise Exception("No IDL files found in %s" % idl_dir)
for idl_file in glob.glob(idl_dir + "/*.idl"):
ret = subprocess.call(fastrtpsgen_path + " -d " + out_dir + "/fastrtpsgen -example x64Linux2.6gcc " + idl_file, shell=True)
if ret:
raise Exception("fastrtpsgen not found. Specify the location of fastrtpsgen with the -f flag")
rm_wildcard(agent_out_dir + "/fastrtpsgen/*PubSubMain*")
rm_wildcard(agent_out_dir + "/fastrtpsgen/makefile*")
rm_wildcard(agent_out_dir + "/fastrtpsgen/*Publisher*")
rm_wildcard(agent_out_dir + "/fastrtpsgen/*Subscriber*")
for f in glob.glob(agent_out_dir + "/fastrtpsgen/*.cxx"):
rm_wildcard(out_dir + "/fastrtpsgen/*PubSubMain*")
rm_wildcard(out_dir + "/fastrtpsgen/makefile*")
rm_wildcard(out_dir + "/fastrtpsgen/*Publisher*")
rm_wildcard(out_dir + "/fastrtpsgen/*Subscriber*")
for f in glob.glob(out_dir + "/fastrtpsgen/*.cxx"):
os.rename(f, f.replace(".cxx", ".cpp"))
cp_wildcard(agent_out_dir + "/fastrtpsgen/*", agent_out_dir)
if os.path.isdir(agent_out_dir + "/fastrtpsgen"):
shutil.rmtree(agent_out_dir + "/fastrtpsgen")
cp_wildcard(out_dir + "/fastrtpsgen/*", out_dir)
if os.path.isdir(out_dir + "/fastrtpsgen"):
shutil.rmtree(out_dir + "/fastrtpsgen")
cp_wildcard(urtps_templates_dir + "/microRTPS_transport.*", agent_out_dir)
os.rename(agent_out_dir + "/microRTPS_agent_CMakeLists.txt", agent_out_dir + "/CMakeLists.txt")
os.rename(out_dir + "/microRTPS_agent_CMakeLists.txt", out_dir + "/CMakeLists.txt")
if (mkdir_build):
mkdir_p(agent_out_dir + "/build")
mkdir_p(out_dir + "/build")
os.chdir(prev_cwd_path)
return 0
src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt
+1
View File
@@ -87,6 +87,7 @@ if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_t
--urtps-templates-dir "/templates/urtps"
--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
>micrortps_bridge.log 2>&1 || cat micrortps_bridge.log # quiet successful build output
DEPENDS ${send_topic_files} ${receive_topic_files}
COMMENT "Generating RTPS topic bridge"