mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-20 11:23:06 +08:00
microRTPS: use FastRTPS version instead of FastRTPSGen version to generate conditional code
This commit is contained in:
TSC21
@@ -69,7 +69,7 @@ except AttributeError:
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#include <fastrtps/Domain.h>
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@[if 1.5 <= fastrtpsgen_version <= 1.7]@
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@[if fastrtps_version <= 1.7]@
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#include <fastrtps/utils/eClock.h>
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@[end if]@
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@@ -85,7 +85,7 @@ bool @(topic)_Publisher::init()
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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 or ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" or ros2_distro == "dashing"]@
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@[if fastrtps_version <= 1.8]@
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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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@@ -149,7 +149,7 @@ void @(topic)_Publisher::PubListener::onPublicationMatched(Publisher* pub, Match
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}
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}
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@[if 1.5 <= fastrtpsgen_version <= 1.7]@
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@[if fastrtps_version <= 1.7]@
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@[ if ros2_distro]@
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void @(topic)_Publisher::publish(@(package)::msg::dds_::@(topic)_* st)
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@[ else]@
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@@ -68,7 +68,7 @@ except AttributeError:
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#include <fastrtps/fastrtps_fwd.h>
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#include <fastrtps/publisher/PublisherListener.h>
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@[if 1.5 <= fastrtpsgen_version <= 1.7]@
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@[if fastrtps_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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@@ -84,7 +84,7 @@ 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 1.5 <= fastrtpsgen_version <= 1.7]@
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@[if fastrtps_version <= 1.7]@
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@[ if ros2_distro]@
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void publish(@(package)::msg::dds_::@(topic)_* st);
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@[ else]@
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@@ -109,7 +109,7 @@ 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 1.5 <= fastrtpsgen_version <= 1.7]@
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@[if fastrtps_version <= 1.7]@
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@[ if ros2_distro]@
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@(package)::msg::dds_::@(topic)_PubSubType @(topic)DataType;
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@[ else]@
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@@ -20,7 +20,7 @@ from px_generate_uorb_topic_files import MsgScope # this is in Tools/
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send_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
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recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
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package = package[0]
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fastrtpsgen_version = fastrtpsgen_version[0]
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fastrtps_version = fastrtps_version[0]
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try:
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ros2_distro = ros2_distro[0].decode("utf-8")
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except AttributeError:
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@@ -74,7 +74,7 @@ except AttributeError:
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@[for topic in recv_topics]@
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@[ if 1.5 <= fastrtpsgen_version <= 1.7]@
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@[ if fastrtps_version <= 1.7]@
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@[ if ros2_distro]@
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using @(topic)_msg_t = @(package)::msg::dds_::@(topic)_;
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@[ else]@
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@@ -89,7 +89,7 @@ using @(topic)_msg_t = @(topic);
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@[ end if]@
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@[end for]@
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@[for topic in send_topics]@
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@[ if 1.5 <= fastrtpsgen_version <= 1.7]@
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@[ if fastrtps_version <= 1.7]@
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@[ if ros2_distro]@
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using @(topic)_msg_t = @(package)::msg::dds_::@(topic)_;
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@[ else]@
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@@ -131,7 +131,7 @@ private:
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@[end for]@
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@[end if]@
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@[if 1.5 <= fastrtpsgen_version <= 1.7 or not ros2_distro]@
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@[if fastrtps_version <= 1.7 or not ros2_distro]@
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template <class T>
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uint8_t getMsgSysID(T* msg) { return msg->sys_id_(); }
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@@ -84,7 +84,7 @@ bool @(topic)_Subscriber::init(uint8_t topic_ID, std::condition_variable* t_send
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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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@[if 1.5 <= fastrtpsgen_version <= 1.7 or ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" or ros2_distro == "dashing"]@
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@[if fastrtps_version <= 1.8]@
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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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@@ -199,7 +199,7 @@ bool @(topic)_Subscriber::hasMsg()
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return false;
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}
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@[if 1.5 <= fastrtpsgen_version <= 1.7]@
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@[if fastrtps_version <= 1.7]@
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@[ if ros2_distro]@
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@(package)::msg::dds_::@(topic)_ @(topic)_Subscriber::getMsg()
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@[ else]@
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@@ -68,7 +68,7 @@ except AttributeError:
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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 1.5 <= fastrtpsgen_version <= 1.7]@
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@[if fastrtps_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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@@ -89,7 +89,7 @@ public:
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bool init(uint8_t topic_ID, std::condition_variable* t_send_queue_cv, std::mutex* t_send_queue_mutex, std::queue<uint8_t>* t_send_queue);
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void run();
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bool hasMsg();
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@[if 1.5 <= fastrtpsgen_version <= 1.7]@
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@[if fastrtps_version <= 1.7]@
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@[ if ros2_distro]@
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@(package)::msg::dds_::@(topic)_ getMsg();
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@[ else]@
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@@ -118,7 +118,7 @@ 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 1.5 <= fastrtpsgen_version <= 1.7]@
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@[if fastrtps_version <= 1.7]@
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@[ if ros2_distro]@
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@(package)::msg::dds_::@(topic)_ msg;
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@[ else]@
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@@ -140,7 +140,7 @@ private:
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std::mutex has_msg_mutex;
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} m_listener;
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@[if 1.5 <= fastrtpsgen_version <= 1.7]@
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@[if fastrtps_version <= 1.7]@
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@[ if ros2_distro]@
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@(package)::msg::dds_::@(topic)_PubSubType @(topic)DataType;
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@[ else]@
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@@ -17,7 +17,7 @@ from px_generate_uorb_topic_helper import * # this is in Tools/
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from px_generate_uorb_topic_files import MsgScope # this is in Tools/
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package = package[0]
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fastrtpsgen_version = fastrtpsgen_version[0]
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fastrtps_version = fastrtps_version[0]
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try:
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ros2_distro = ros2_distro[0].decode("utf-8")
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except AttributeError:
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@@ -17,7 +17,7 @@ from px_generate_uorb_topic_helper import * # this is in Tools/
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from px_generate_uorb_topic_files import MsgScope # this is in Tools/
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package = package[0]
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fastrtpsgen_version = fastrtpsgen_version[0]
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fastrtps_version = fastrtps_version[0]
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try:
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ros2_distro = ros2_distro[0].decode("utf-8")
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except AttributeError:
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@@ -86,7 +86,7 @@ static constexpr int64_t TRIGGER_RESET_THRESHOLD_NS = 100ll * 1000ll * 1000ll;
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static constexpr int REQUEST_RESET_COUNTER_THRESHOLD = 5;
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@# Sets the timesync DDS type according to the FastRTPS and ROS2 version
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@[if 1.5 <= fastrtpsgen_version <= 1.7]@
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@[if fastrtps_version <= 1.7]@
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@[ if ros2_distro]@
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using timesync_msg_t = @(package)::msg::dds_::Timesync_;
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@[ else]@
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@@ -57,7 +57,7 @@ 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 1.5 <= fastrtpsgen_version <= 1.7:
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if fastrtps_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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@@ -77,12 +77,12 @@ 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 1.5 <= fastrtpsgen_version <= 1.7:
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if fastrtps_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:
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if 1.5 <= fastrtpsgen_version <= 1.7:
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if fastrtps_version <= 1.7:
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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)
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else:
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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)
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@@ -96,7 +96,7 @@ def add_msg_fields():
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def add_array_typedefs():
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for field in spec.parsed_fields():
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if not field.is_header and field.is_array:
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if 1.5 <= fastrtpsgen_version <= 1.7:
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if fastrtps_version <= 1.7:
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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)
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else:
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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)
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@@ -127,14 +127,14 @@ def add_msg_constants():
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@add_msg_constants()
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@# Array types
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@add_array_typedefs()
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@[if 1.5 <= fastrtpsgen_version <= 1.7]@
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@[if fastrtps_version <= 1.7]@
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struct @(topic)_
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@[else]@
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struct @(topic)
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@[end if]@
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{
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@add_msg_fields()
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@[if 1.5 <= fastrtpsgen_version <= 1.7]@
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@[if fastrtps_version <= 1.7]@
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}; // struct @(topic)_
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#pragma keylist @(topic)_
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@@ -209,16 +209,16 @@ else:
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if args.fastrtpsgen is None or args.fastrtpsgen == '':
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# Assume fastrtpsgen is in PATH
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fastrtpsgen_path = 'fastrtpsgen'
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for dirname in os.environ['PATH'].split(':') :
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for dirname in os.environ['PATH'].split(':'):
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candidate = os.path.join(dirname, 'fastrtpsgen')
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if os.path.isfile(candidate) :
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if os.path.isfile(candidate):
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fastrtpsgen_path = candidate
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else:
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# Path to fastrtpsgen is explicitly specified
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if os.path.isdir(args.fastrtpsgen) :
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if os.path.isdir(args.fastrtpsgen):
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fastrtpsgen_path = os.path.join(
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os.path.abspath(args.fastrtpsgen), 'fastrtpsgen')
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else :
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else:
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fastrtpsgen_path = args.fastrtpsgen
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fastrtpsgen_include = args.fastrtpsgen_include
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@@ -227,27 +227,13 @@ if fastrtpsgen_include is not None and fastrtpsgen_include != '':
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os.path.abspath(
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args.fastrtpsgen_include) + " "
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# get FastRTPSGen version
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# Note: since Fast-RTPS 1.8.x release, FastRTPSGen is now a separated
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# repository and not included in the Fast-RTPS project.
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# The starting version since this separation is 1.0.0, which doesn't
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# follow the Fast-RTPS version convention
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fastrtpsgen_version = 0.0
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if(os.path.exists(fastrtpsgen_path)):
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try:
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fastrtpsgen_version_out = subprocess.check_output(
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[fastrtpsgen_path, "-version"]).strip()[-5:-2]
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except OSError:
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raise
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try:
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fastrtpsgen_version = float(fastrtpsgen_version_out)
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except ValueError:
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print("'fastrtpsgen -version' returned None. Hardsetting version to 1.0")
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fastrtpsgen_version = 1.0
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else:
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raise Exception(
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"FastRTPSGen not found. Specify the location of fastrtpsgen with the -f flag")
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# get FastRTPS version (major.minor, since patch is not relevant at this stage)
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fastrtps_version = ""
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try:
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fastrtps_version = float(subprocess.check_output(
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"ldconfig -v | grep libfastrtps | tail -c 6", shell=True).decode("utf-8").strip()[-5:-2])
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except ValueError:
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print("No valid version found to FasRTPS. Make sure it is installed.")
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# get ROS 2 version, if exists
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ros2_distro = ""
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@@ -322,21 +308,21 @@ uRTPS_SUBSCRIBER_H_TEMPL_FILE = 'Subscriber.h.em'
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def generate_agent(out_dir):
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global fastrtpsgen_version
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global fastrtps_version
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if classifier.msgs_to_send:
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for msg_file in classifier.msgs_to_send:
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if gen_idl:
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if out_dir != agent_out_dir:
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px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", os.path.join(out_dir, "/idl"), urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_id_map)
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else:
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px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", idl_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_id_map)
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px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE)
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if classifier.alias_msgs_to_send:
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for msg_file in classifier.alias_msgs_to_send:
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@@ -345,28 +331,28 @@ def generate_agent(out_dir):
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if gen_idl:
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if out_dir != agent_out_dir:
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px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, os.path.join(out_dir, "/idl"), urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_id_map)
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else:
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px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, idl_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_id_map)
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px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE)
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if classifier.msgs_to_receive:
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for msg_file in classifier.msgs_to_receive:
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if gen_idl:
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if out_dir != agent_out_dir:
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px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", os.path.join(out_dir, "/idl"), urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_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, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_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, fastrtpsgen_version, ros2_distro, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_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, fastrtpsgen_version, ros2_distro, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
|
||||
|
||||
if classifier.alias_msgs_to_receive:
|
||||
for msg_file in classifier.alias_msgs_to_receive:
|
||||
@@ -375,28 +361,28 @@ 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, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_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, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_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, fastrtpsgen_version, ros2_distro, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_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, fastrtpsgen_version, ros2_distro, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
|
||||
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_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, fastrtpsgen_version, ros2_distro, uRTPS_AGENT_TEMPL_FILE)
|
||||
urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_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, fastrtpsgen_version, ros2_distro, uRTPS_TIMESYNC_CPP_TEMPL_FILE)
|
||||
urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_TIMESYNC_CPP_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, fastrtpsgen_version, ros2_distro, uRTPS_TIMESYNC_H_TEMPL_FILE)
|
||||
urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_TIMESYNC_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, fastrtpsgen_version, ros2_distro, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
|
||||
urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_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, fastrtpsgen_version, ros2_distro, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
|
||||
urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_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, fastrtpsgen_version, ros2_distro, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE)
|
||||
urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE)
|
||||
|
||||
# Final steps to install agent
|
||||
mkdir_p(os.path.join(out_dir, "fastrtpsgen"))
|
||||
@@ -407,7 +393,7 @@ def generate_agent(out_dir):
|
||||
for idl_file in glob.glob(os.path.join(idl_dir, "*.idl")):
|
||||
try:
|
||||
ret = subprocess.check_call(fastrtpsgen_path + " -d " + out_dir +
|
||||
"/fastrtpsgen -example x64Linux2.6gcc " + fastrtpsgen_include + idl_file, shell=True)
|
||||
"/fastrtpsgen -example x64Linux2.6gcc " + fastrtpsgen_include + idl_file, shell=True)
|
||||
except OSError:
|
||||
raise
|
||||
|
||||
@@ -452,7 +438,7 @@ def mkdir_p(dirpath):
|
||||
|
||||
|
||||
def generate_client(out_dir):
|
||||
global fastrtpsgen_version
|
||||
global fastrtps_version
|
||||
|
||||
# Rename work in the default path
|
||||
if default_client_out != out_dir:
|
||||
@@ -467,7 +453,7 @@ 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, fastrtpsgen_version, ros2_distro, uRTPS_CLIENT_TEMPL_FILE)
|
||||
out_dir, uorb_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_CLIENT_TEMPL_FILE)
|
||||
|
||||
# Final steps to install client
|
||||
cp_wildcard(os.path.join(urtps_templates_dir,
|
||||
|
||||
@@ -167,7 +167,7 @@ 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, fastrtpsgen_version, ros2_distro, ids):
|
||||
def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, fastrtps_version, ros2_distro, ids):
|
||||
"""
|
||||
Generates an .idl from .msg file
|
||||
"""
|
||||
@@ -175,11 +175,11 @@ def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, pack
|
||||
|
||||
if (alias != ""):
|
||||
em_globals = get_em_globals(
|
||||
msg, alias, package, includepath, ids, fastrtpsgen_version, ros2_distro, MsgScope.NONE)
|
||||
msg, alias, package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.NONE)
|
||||
spec_short_name = alias
|
||||
else:
|
||||
em_globals = get_em_globals(
|
||||
msg, "", package, includepath, ids, fastrtpsgen_version, ros2_distro, MsgScope.NONE)
|
||||
msg, "", package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.NONE)
|
||||
spec_short_name = em_globals["spec"].short_name
|
||||
|
||||
# Make sure output directory exists:
|
||||
@@ -187,7 +187,7 @@ def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, pack
|
||||
os.makedirs(outputdir)
|
||||
|
||||
template_file = os.path.join(templatedir, IDL_TEMPLATE_FILE)
|
||||
if 1.5 <= fastrtpsgen_version <= 1.7:
|
||||
if 1.5 <= fastrtps_version <= 1.7:
|
||||
output_file = os.path.join(outputdir, IDL_TEMPLATE_FILE.replace(
|
||||
"msg.idl.em", str(spec_short_name + "_.idl")))
|
||||
else:
|
||||
@@ -198,7 +198,7 @@ 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, fastrtpsgen_version, ros2_distro, template_name):
|
||||
msg_dir, outputdir, templatedir, package, includepath, ids, fastrtps_version, ros2_distro, template_name):
|
||||
"""
|
||||
Generates source file by msg content
|
||||
"""
|
||||
@@ -216,19 +216,19 @@ 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, fastrtpsgen_version, ros2_distro, MsgScope.SEND) for f in send_msgs])
|
||||
f, "", package, includepath, ids, fastrtps_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, fastrtpsgen_version, ros2_distro, MsgScope.SEND) for f in alias_send_msgs])
|
||||
f[0], f[1], package, includepath, ids, fastrtps_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, fastrtpsgen_version, ros2_distro, MsgScope.RECEIVE) for f in receive_msgs])
|
||||
f, "", package, includepath, ids, fastrtps_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, fastrtpsgen_version, ros2_distro, MsgScope.RECEIVE) for f in alias_receive_msgs])
|
||||
f[0], f[1], package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.RECEIVE) for f in alias_receive_msgs])
|
||||
|
||||
merged_em_globals = merge_em_globals_list(em_globals_list)
|
||||
|
||||
@@ -243,7 +243,7 @@ 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, fastrtpsgen_version, ros2_distro, template_name):
|
||||
def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, ids, fastrtps_version, ros2_distro, template_name):
|
||||
"""
|
||||
Generates a sources and headers from .msg file
|
||||
"""
|
||||
@@ -251,11 +251,11 @@ def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, pa
|
||||
|
||||
if (alias):
|
||||
em_globals = get_em_globals(
|
||||
msg, alias, package, includepath, ids, fastrtpsgen_version, ros2_distro, MsgScope.NONE)
|
||||
msg, alias, package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.NONE)
|
||||
spec_short_name = alias
|
||||
else:
|
||||
em_globals = get_em_globals(
|
||||
msg, "", package, includepath, ids, fastrtpsgen_version, ros2_distro, MsgScope.NONE)
|
||||
msg, "", package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.NONE)
|
||||
spec_short_name = em_globals["spec"].short_name
|
||||
|
||||
# Make sure output directory exists:
|
||||
@@ -269,7 +269,7 @@ 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, fastrtpsgen_version, ros2_distro, scope):
|
||||
def get_em_globals(filename_msg, alias, package, includepath, ids, fastrtps_version, ros2_distro, scope):
|
||||
"""
|
||||
Generates em globals dictionary
|
||||
"""
|
||||
@@ -298,7 +298,7 @@ def get_em_globals(filename_msg, alias, package, includepath, ids, fastrtpsgen_v
|
||||
"scope": scope,
|
||||
"package": package,
|
||||
"alias": alias,
|
||||
"fastrtpsgen_version": fastrtpsgen_version,
|
||||
"fastrtps_version": fastrtps_version,
|
||||
"ros2_distro": ros2_distro
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user