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Fix for manual/automatic micro RTPS bridge generation

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This commit is contained in:
Vicente Monge
2017-08-02 16:18:08 +02:00
committed by Lorenz Meier
parent 4ee9cb2e2f
commit a93174dee4
2 changed files with 51 additions and 32 deletions
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Tools/generate_microRTPS_bridge.py
+26 -5
View File
@@ -55,6 +55,8 @@ def get_absolute_path(arg_parse_dir):
return dir
default_client_out = get_absolute_path("src/modules/micrortps_bridge/micrortps_client")
default_agent_out = get_absolute_path("src/modules/micrortps_bridge/micrortps_agent")
parser = argparse.ArgumentParser()
parser.add_argument("-s", "--send", dest='send', metavar='*.msg', type=str, nargs='+', help="Topics to be sended")
@@ -62,8 +64,8 @@ parser.add_argument("-r", "--receive", dest='receive', metavar='*.msg', type=str
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("-t", "--topic-msg-dir", dest='msgdir', type=str, nargs=1, help="Topics message dir, by default msg/", default="msg")
parser.add_argument("-o", "--agent-outdir", dest='agentdir', type=str, nargs=1, help="Agent output dir, by default src/modules/micrortps_bridge/micrortps_agent", default="src/modules/micrortps_bridge/micrortps_agent")
parser.add_argument("-u", "--client-outdir", dest='clientdir', type=str, nargs=1, help="Client output dir, by default src/modules/micrortps_bridge/micrortps_client", default="src/modules/micrortps_bridge/micrortps_client")
parser.add_argument("-o", "--agent-outdir", dest='agentdir', type=str, nargs=1, help="Agent output dir, by default src/modules/micrortps_bridge/micrortps_agent", default=default_agent_out)
parser.add_argument("-u", "--client-outdir", dest='clientdir', type=str, nargs=1, help="Client output dir, by default src/modules/micrortps_bridge/micrortps_client", default=default_client_out)
parser.add_argument("-f", "--fastrtpsgen-dir", dest='fastrtpsgen', type=str, nargs='?', help="fastrtpsgen installation dir, only needed if fastrtpsgen is not in PATH, by default empty", default="")
parser.add_argument("--delete-tree", dest='del_tree', action="store_true", help="Delete dir tree output dir(s)")
@@ -74,8 +76,15 @@ if len(sys.argv) <= 1:
# Parse arguments
args = parser.parse_args()
msg_folder = get_absolute_path(args.msgdir)
msg_files_send = [get_absolute_path(msg) for msg in args.send]
msg_files_receive = [get_absolute_path(msg) for msg in args.receive]
msg_files_send = []
if args.send:
msg_files_send = [get_absolute_path(msg) for msg in args.send]
else:
msg_files_send = []
if args.receive:
msg_files_receive = [get_absolute_path(msg) for msg in args.receive]
else:
msg_files_receive = []
agent = args.agent
client = args.client
del_tree = args.del_tree
@@ -199,11 +208,23 @@ def mkdir_p(dirpath):
def generate_client(out_dir):
# Rename work in the default path
if default_client_out != out_dir:
def_file = default_client_out + "/microRTPS_client.cpp"
if os.path.isfile(def_file):
os.rename(def_file, def_file.replace(".cpp", ".cpp_"))
def_file = default_client_out + "/microRTPS_transport.cpp"
if os.path.isfile(def_file):
os.rename(def_file, def_file.replace(".cpp", ".cpp_"))
def_file = default_client_out + "/microRTPS_transport.h"
if os.path.isfile(def_file):
os.rename(def_file, def_file.replace(".h", ".h_"))
px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, uorb_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_CLIENT_TEMPL_FILE)
# Final steps to install client
cp_wildcard(urtps_templates_dir + "/microRTPS_transport.*", client_out_dir)
cp_wildcard(urtps_templates_dir + "/microRTPS_transport.*", out_dir)
return 0
src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt
+25 -27
View File
@@ -32,26 +32,22 @@
############################################################################
if(NOT GENERATE_RTPS_BRIDGE MATCHES "off")
find_program(FASTRTPSGEN fastrtpsgen
PATHS $ENV{FASTRTPSGEN_DIR})
if(NOT FASTRTPSGEN)
message(WARNING "WARNING: Unable to find fastrtpsgen")
set(GENERATE_RTPS_BRIDGE off)
message(WARNING "WARNING: Unable to find fastrtpsgen. Building PX4 without RTPS bridge support")
px4_add_module(
MODULE modules__micrortps_bridge__micrortps_client
MAIN micrortps_client
SRCS
microRTPS_client_dummy.cpp
DEPENDS
platforms__common
)
return()
endif()
endif()
if(GENERATE_RTPS_BRIDGE MATCHES "off")
message(WARNING "WARNING: Building PX4 without RTPS bridge support")
px4_add_module(
MODULE modules__micrortps_bridge__micrortps_client
MAIN micrortps_client
SRCS
microRTPS_client_dummy.cpp
DEPENDS
platforms__common
)
else()
include_directories(.)
include_directories(${CMAKE_CURRENT_BINARY_DIR})
@@ -106,17 +102,19 @@ else()
)
endif()
px4_add_module(
MODULE modules__micrortps_bridge__micrortps_client
MAIN micrortps_client
STACK_MAIN 4096
SRCS
microRTPS_transport.cpp
microRTPS_client.cpp
microRTPS_client.h
microRTPS_client_main.cpp
DEPENDS
platforms__common
)
endif()
px4_add_module(
MODULE modules__micrortps_bridge__micrortps_client
MAIN micrortps_client
STACK_MAIN 4096
SRCS
microRTPS_transport.cpp
microRTPS_client.cpp
microRTPS_client.h
microRTPS_client_main.cpp
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :