diff --git a/msg/templates/urtps/Publisher.cpp.em b/msg/templates/urtps/Publisher.cpp.em index b1247d39e8..2ff5d28a0d 100644 --- a/msg/templates/urtps/Publisher.cpp.em +++ b/msg/templates/urtps/Publisher.cpp.em @@ -69,7 +69,7 @@ except AttributeError: #include -@[if 1.5 <= fastrtpsgen_version <= 1.7]@ +@[if fastrtps_version <= 1.7]@ #include @[end if]@ @@ -85,7 +85,7 @@ bool @(topic)_Publisher::init() // Create RTPSParticipant ParticipantAttributes PParam; PParam.rtps.builtin.domainId = 0; -@[if 1.5 <= fastrtpsgen_version <= 1.7 or ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" or ros2_distro == "dashing"]@ +@[if fastrtps_version <= 1.8]@ PParam.rtps.builtin.leaseDuration = c_TimeInfinite; @[else]@ PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite; @@ -149,7 +149,7 @@ void @(topic)_Publisher::PubListener::onPublicationMatched(Publisher* pub, Match } } -@[if 1.5 <= fastrtpsgen_version <= 1.7]@ +@[if fastrtps_version <= 1.7]@ @[ if ros2_distro]@ void @(topic)_Publisher::publish(@(package)::msg::dds_::@(topic)_* st) @[ else]@ diff --git a/msg/templates/urtps/Publisher.h.em b/msg/templates/urtps/Publisher.h.em index 639189736e..cb95a74520 100644 --- a/msg/templates/urtps/Publisher.h.em +++ b/msg/templates/urtps/Publisher.h.em @@ -68,7 +68,7 @@ except AttributeError: #include #include -@[if 1.5 <= fastrtpsgen_version <= 1.7]@ +@[if fastrtps_version <= 1.7]@ #include "@(topic)_PubSubTypes.h" @[else]@ #include "@(topic)PubSubTypes.h" @@ -84,7 +84,7 @@ public: virtual ~@(topic)_Publisher(); bool init(); void run(); -@[if 1.5 <= fastrtpsgen_version <= 1.7]@ +@[if fastrtps_version <= 1.7]@ @[ if ros2_distro]@ void publish(@(package)::msg::dds_::@(topic)_* st); @[ else]@ @@ -109,7 +109,7 @@ private: void onPublicationMatched(Publisher* pub, MatchingInfo& info); int n_matched; } m_listener; -@[if 1.5 <= fastrtpsgen_version <= 1.7]@ +@[if fastrtps_version <= 1.7]@ @[ if ros2_distro]@ @(package)::msg::dds_::@(topic)_PubSubType @(topic)DataType; @[ else]@ diff --git a/msg/templates/urtps/RtpsTopics.h.em b/msg/templates/urtps/RtpsTopics.h.em index fc1b385b06..0a5c0dd0c8 100644 --- a/msg/templates/urtps/RtpsTopics.h.em +++ b/msg/templates/urtps/RtpsTopics.h.em @@ -20,7 +20,7 @@ from px_generate_uorb_topic_files import MsgScope # this is in Tools/ send_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND] recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE] package = package[0] -fastrtpsgen_version = fastrtpsgen_version[0] +fastrtps_version = fastrtps_version[0] try: ros2_distro = ros2_distro[0].decode("utf-8") except AttributeError: @@ -74,7 +74,7 @@ except AttributeError: @[for topic in recv_topics]@ -@[ if 1.5 <= fastrtpsgen_version <= 1.7]@ +@[ if fastrtps_version <= 1.7]@ @[ if ros2_distro]@ using @(topic)_msg_t = @(package)::msg::dds_::@(topic)_; @[ else]@ @@ -89,7 +89,7 @@ using @(topic)_msg_t = @(topic); @[ end if]@ @[end for]@ @[for topic in send_topics]@ -@[ if 1.5 <= fastrtpsgen_version <= 1.7]@ +@[ if fastrtps_version <= 1.7]@ @[ if ros2_distro]@ using @(topic)_msg_t = @(package)::msg::dds_::@(topic)_; @[ else]@ @@ -131,7 +131,7 @@ private: @[end for]@ @[end if]@ -@[if 1.5 <= fastrtpsgen_version <= 1.7 or not ros2_distro]@ +@[if fastrtps_version <= 1.7 or not ros2_distro]@ template uint8_t getMsgSysID(T* msg) { return msg->sys_id_(); } diff --git a/msg/templates/urtps/Subscriber.cpp.em b/msg/templates/urtps/Subscriber.cpp.em index 90a23fb56d..86f5e9b3d3 100644 --- a/msg/templates/urtps/Subscriber.cpp.em +++ b/msg/templates/urtps/Subscriber.cpp.em @@ -84,7 +84,7 @@ bool @(topic)_Subscriber::init(uint8_t topic_ID, std::condition_variable* t_send // Create RTPSParticipant ParticipantAttributes PParam; PParam.rtps.builtin.domainId = 0; // MUST BE THE SAME AS IN THE PUBLISHER -@[if 1.5 <= fastrtpsgen_version <= 1.7 or ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" or ros2_distro == "dashing"]@ +@[if fastrtps_version <= 1.8]@ PParam.rtps.builtin.leaseDuration = c_TimeInfinite; @[else]@ PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite; @@ -199,7 +199,7 @@ bool @(topic)_Subscriber::hasMsg() return false; } -@[if 1.5 <= fastrtpsgen_version <= 1.7]@ +@[if fastrtps_version <= 1.7]@ @[ if ros2_distro]@ @(package)::msg::dds_::@(topic)_ @(topic)_Subscriber::getMsg() @[ else]@ diff --git a/msg/templates/urtps/Subscriber.h.em b/msg/templates/urtps/Subscriber.h.em index 655c25c7c6..d308798e7d 100644 --- a/msg/templates/urtps/Subscriber.h.em +++ b/msg/templates/urtps/Subscriber.h.em @@ -68,7 +68,7 @@ except AttributeError: #include #include #include -@[if 1.5 <= fastrtpsgen_version <= 1.7]@ +@[if fastrtps_version <= 1.7]@ #include "@(topic)_PubSubTypes.h" @[else]@ #include "@(topic)PubSubTypes.h" @@ -89,7 +89,7 @@ public: bool init(uint8_t topic_ID, std::condition_variable* t_send_queue_cv, std::mutex* t_send_queue_mutex, std::queue* t_send_queue); void run(); bool hasMsg(); -@[if 1.5 <= fastrtpsgen_version <= 1.7]@ +@[if fastrtps_version <= 1.7]@ @[ if ros2_distro]@ @(package)::msg::dds_::@(topic)_ getMsg(); @[ else]@ @@ -118,7 +118,7 @@ private: SampleInfo_t m_info; int n_matched; int n_msg; -@[if 1.5 <= fastrtpsgen_version <= 1.7]@ +@[if fastrtps_version <= 1.7]@ @[ if ros2_distro]@ @(package)::msg::dds_::@(topic)_ msg; @[ else]@ @@ -140,7 +140,7 @@ private: std::mutex has_msg_mutex; } m_listener; -@[if 1.5 <= fastrtpsgen_version <= 1.7]@ +@[if fastrtps_version <= 1.7]@ @[ if ros2_distro]@ @(package)::msg::dds_::@(topic)_PubSubType @(topic)DataType; @[ else]@ diff --git a/msg/templates/urtps/microRTPS_timesync.cpp.em b/msg/templates/urtps/microRTPS_timesync.cpp.em index 6ef8e2f3c6..09cbfa70a8 100644 --- a/msg/templates/urtps/microRTPS_timesync.cpp.em +++ b/msg/templates/urtps/microRTPS_timesync.cpp.em @@ -17,7 +17,7 @@ from px_generate_uorb_topic_helper import * # this is in Tools/ from px_generate_uorb_topic_files import MsgScope # this is in Tools/ package = package[0] -fastrtpsgen_version = fastrtpsgen_version[0] +fastrtps_version = fastrtps_version[0] try: ros2_distro = ros2_distro[0].decode("utf-8") except AttributeError: diff --git a/msg/templates/urtps/microRTPS_timesync.h.em b/msg/templates/urtps/microRTPS_timesync.h.em index c014a69184..ef137b236e 100644 --- a/msg/templates/urtps/microRTPS_timesync.h.em +++ b/msg/templates/urtps/microRTPS_timesync.h.em @@ -17,7 +17,7 @@ from px_generate_uorb_topic_helper import * # this is in Tools/ from px_generate_uorb_topic_files import MsgScope # this is in Tools/ package = package[0] -fastrtpsgen_version = fastrtpsgen_version[0] +fastrtps_version = fastrtps_version[0] try: ros2_distro = ros2_distro[0].decode("utf-8") except AttributeError: @@ -86,7 +86,7 @@ static constexpr int64_t TRIGGER_RESET_THRESHOLD_NS = 100ll * 1000ll * 1000ll; static constexpr int REQUEST_RESET_COUNTER_THRESHOLD = 5; @# Sets the timesync DDS type according to the FastRTPS and ROS2 version -@[if 1.5 <= fastrtpsgen_version <= 1.7]@ +@[if fastrtps_version <= 1.7]@ @[ if ros2_distro]@ using timesync_msg_t = @(package)::msg::dds_::Timesync_; @[ else]@ diff --git a/msg/templates/urtps/msg.idl.em b/msg/templates/urtps/msg.idl.em index 9245a247e4..269ea0a87d 100644 --- a/msg/templates/urtps/msg.idl.em +++ b/msg/templates/urtps/msg.idl.em @@ -57,7 +57,7 @@ def get_include_directives(spec): if genmsg.msgs.is_valid_constant_type(genmsg.msgs.bare_msg_type(field.type)): continue builtin_type = str(field.base_type).replace('px4/', '') - if 1.5 <= fastrtpsgen_version <= 1.7: + if fastrtps_version <= 1.7: include_directive = '#include "%s_.idl"' % builtin_type else: include_directive = '#include "%s.idl"' % builtin_type @@ -77,12 +77,12 @@ def get_idl_type_name(field_type): def add_msg_field(field): if (not field.is_header): if field.is_array: - if 1.5 <= fastrtpsgen_version <= 1.7: + if fastrtps_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)) 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: - if 1.5 <= fastrtpsgen_version <= 1.7: + if fastrtps_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) @@ -96,7 +96,7 @@ def add_msg_fields(): def add_array_typedefs(): for field in spec.parsed_fields(): if not field.is_header and field.is_array: - if 1.5 <= fastrtpsgen_version <= 1.7: + if fastrtps_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) @@ -127,14 +127,14 @@ def add_msg_constants(): @add_msg_constants() @# Array types @add_array_typedefs() -@[if 1.5 <= fastrtpsgen_version <= 1.7]@ +@[if fastrtps_version <= 1.7]@ struct @(topic)_ @[else]@ struct @(topic) @[end if]@ { @add_msg_fields() -@[if 1.5 <= fastrtpsgen_version <= 1.7]@ +@[if fastrtps_version <= 1.7]@ }; // struct @(topic)_ #pragma keylist @(topic)_ diff --git a/msg/tools/generate_microRTPS_bridge.py b/msg/tools/generate_microRTPS_bridge.py index 4c8fd7fd46..923e0b9bea 100644 --- a/msg/tools/generate_microRTPS_bridge.py +++ b/msg/tools/generate_microRTPS_bridge.py @@ -209,16 +209,16 @@ else: if args.fastrtpsgen is None or args.fastrtpsgen == '': # Assume fastrtpsgen is in PATH fastrtpsgen_path = 'fastrtpsgen' - for dirname in os.environ['PATH'].split(':') : + for dirname in os.environ['PATH'].split(':'): candidate = os.path.join(dirname, 'fastrtpsgen') - if os.path.isfile(candidate) : + if os.path.isfile(candidate): fastrtpsgen_path = candidate else: # Path to fastrtpsgen is explicitly specified - if os.path.isdir(args.fastrtpsgen) : + if os.path.isdir(args.fastrtpsgen): fastrtpsgen_path = os.path.join( os.path.abspath(args.fastrtpsgen), 'fastrtpsgen') - else : + else: fastrtpsgen_path = args.fastrtpsgen fastrtpsgen_include = args.fastrtpsgen_include @@ -227,27 +227,13 @@ if fastrtpsgen_include is not None and fastrtpsgen_include != '': os.path.abspath( args.fastrtpsgen_include) + " " -# 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)): - try: - fastrtpsgen_version_out = subprocess.check_output( - [fastrtpsgen_path, "-version"]).strip()[-5:-2] - except OSError: - raise - - try: - fastrtpsgen_version = float(fastrtpsgen_version_out) - except ValueError: - print("'fastrtpsgen -version' returned None. Hardsetting version to 1.0") - fastrtpsgen_version = 1.0 -else: - raise Exception( - "FastRTPSGen not found. Specify the location of fastrtpsgen with the -f flag") +# get FastRTPS version (major.minor, since patch is not relevant at this stage) +fastrtps_version = "" +try: + fastrtps_version = float(subprocess.check_output( + "ldconfig -v | grep libfastrtps | tail -c 6", shell=True).decode("utf-8").strip()[-5:-2]) +except ValueError: + print("No valid version found to FasRTPS. Make sure it is installed.") # get ROS 2 version, if exists ros2_distro = "" @@ -322,21 +308,21 @@ uRTPS_SUBSCRIBER_H_TEMPL_FILE = 'Subscriber.h.em' def generate_agent(out_dir): - global fastrtpsgen_version + global fastrtps_version if classifier.msgs_to_send: for msg_file in classifier.msgs_to_send: if gen_idl: if out_dir != agent_out_dir: px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", os.path.join(out_dir, "/idl"), urtps_templates_dir, - package, px_generate_uorb_topic_files.INCL_DEFAULT, 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_PUBLISHER_SRC_TEMPL_FILE) + package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_PUBLISHER_SRC_TEMPL_FILE) px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir, - package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE) + package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE) if classifier.alias_msgs_to_send: for msg_file in classifier.alias_msgs_to_send: @@ -345,28 +331,28 @@ 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_PUBLISHER_SRC_TEMPL_FILE) + package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_PUBLISHER_SRC_TEMPL_FILE) px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir, - package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE) + package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE) if classifier.msgs_to_receive: for msg_file in classifier.msgs_to_receive: if gen_idl: if out_dir != agent_out_dir: px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", os.path.join(out_dir, "/idl"), urtps_templates_dir, - package, px_generate_uorb_topic_files.INCL_DEFAULT, 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, diff --git a/msg/tools/px_generate_uorb_topic_files.py b/msg/tools/px_generate_uorb_topic_files.py index 765b7f8b91..9fea531626 100755 --- a/msg/tools/px_generate_uorb_topic_files.py +++ b/msg/tools/px_generate_uorb_topic_files.py @@ -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 }