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msg ROS2 compatibility, microdds_client improvements (timesync, reduced code size, added topics, etc), fastrtps purge

Browse Source 
- update all msgs to be directly compatible with ROS2
 - microdds_client improvements
   - timesync
   - reduced code size
   - add to most default builds if we can afford it
   - lots of other little changes
 - purge fastrtps (I tried to save this multiple times, but kept hitting roadblocks)
This commit is contained in:
Daniel Agar
2022-10-19 19:36:47 -04:00
committed by GitHub
parent e211e0ca0e
commit cea185268e
318 changed files with 1948 additions and 8939 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
.ci/Jenkinsfile-compile
View File

@@ -69,24 +69,18 @@ pipeline {
"matek_h743-slim_default",
"matek_h743_default",
"modalai_fc-v1_default",
"modalai_fc-v1_rtps",
"modalai_fc-v2_default",
"modalai_voxl2-io_default",
"mro_ctrl-zero-f7_default",
"mro_ctrl-zero-f7-oem_default",
"mro_ctrl-zero-h7-oem_default",
"mro_ctrl-zero-h7-oem_rtps",
"mro_ctrl-zero-h7_default",
"mro_ctrl-zero-h7_rtps",
"mro_pixracerpro_default",
"mro_pixracerpro_rtps",
"mro_x21-777_default",
"mro_x21_default",
"nxp_fmuk66-e_default",
"nxp_fmuk66-e_rtps",
"nxp_fmuk66-e_socketcan",
"nxp_fmuk66-v3_default",
"nxp_fmuk66-v3_rtps",
"nxp_fmuk66-v3_socketcan",
"nxp_fmurt1062-v1_default",
"nxp_ucans32k146_canbootloader",
@@ -104,7 +98,6 @@ pipeline {
"px4_fmu-v5_debug",
"px4_fmu-v5_default",
"px4_fmu-v5_lto",
"px4_fmu-v5_rtps",
"px4_fmu-v5_stackcheck",
"px4_fmu-v5_uavcanv0periph",
"px4_fmu-v5x_default",

1
.github/workflows/checks.yml vendored
View File

@@ -23,7 +23,6 @@ jobs:
"shellcheck_all",
"NO_NINJA_BUILD=1 px4_fmu-v5_default",
"NO_NINJA_BUILD=1 px4_sitl_default",
"BUILD_MICRORTPS_AGENT=1 px4_sitl_rtps",
"airframe_metadata",
"module_documentation",
"parameters_metadata",

34
.github/workflows/metadata.yml vendored
View File

@@ -116,7 +116,7 @@ jobs:
ls -ls *
# TODO: deploy graph_px4_sitl.json to S3 px4-travis:Firmware/master/
micrortps_agent:
ROS2_msgs:
runs-on: ubuntu-latest
container: px4io/px4-dev-base-focal:2021-09-08
steps:
@@ -124,34 +124,8 @@ jobs:
with:
token: ${{ secrets.ACCESS_TOKEN }}
- name: microRTPS agent
run: |
make px4_sitl_rtps
git clone https://github.com/PX4/micrortps_agent.git
cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent
ROS_msgs:
runs-on: ubuntu-latest
container: px4io/px4-dev-base-focal:2021-09-08
steps:
- uses: actions/checkout@v1
with:
token: ${{ secrets.ACCESS_TOKEN }}
- name: PX4 ROS msgs
- name: PX4 ROS2 msgs
run: |
git clone https://github.com/PX4/px4_msgs.git
python3 msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/
ROS2_bridge:
runs-on: ubuntu-latest
container: px4io/px4-dev-base-focal:2021-09-08
steps:
- uses: actions/checkout@v1
with:
token: ${{ secrets.ACCESS_TOKEN }}
- name: PX4 ROS2 bridge
run: |
git clone https://github.com/PX4/px4_ros_com.git
./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml
rm px4_msgs/msg/*.msg
cp msg/*.msg px4_msgs/msg/

7
.gitmodules vendored
View File

@@ -18,10 +18,6 @@
path = src/drivers/gps/devices
url = https://github.com/PX4/PX4-GPSDrivers.git
branch = main
[submodule "src/modules/micrortps_bridge/micro-CDR"]
path = src/modules/micrortps_bridge/micro-CDR
url = https://github.com/PX4/Micro-CDR.git
branch = master
[submodule "platforms/nuttx/NuttX/nuttx"]
path = platforms/nuttx/NuttX/nuttx
url = https://github.com/PX4/NuttX.git
@@ -64,4 +60,5 @@
branch = px4
[submodule "src/modules/microdds_client/Micro-XRCE-DDS-Client"]
path = src/modules/microdds_client/Micro-XRCE-DDS-Client
url = https://github.com/eProsima/Micro-XRCE-DDS-Client.git
url = https://github.com/PX4/Micro-XRCE-DDS-Client.git
branch = px4

6
.vscode/cmake-variants.yaml vendored
View File

@@ -6,11 +6,11 @@ CONFIG:
buildType: RelWithDebInfo
settings:
CONFIG: px4_sitl_default
px4_sitl_rtps:
short: px4_sitl_rtps
px4_sitl_nolockstep:
short: px4_sitl_nolockstep
buildType: RelWithDebInfo
settings:
CONFIG: px4_sitl_rtps
CONFIG: px4_sitl_nolockstep
px4_sitl_asan:
short: px4_sitl (AddressSanitizer)
buildType: AddressSanitizer

1
Documentation/Doxyfile.in
View File

@@ -829,7 +829,6 @@ RECURSIVE = YES
# run.
EXCLUDE = @CMAKE_SOURCE_DIR@/src/modules/uavcan/libuavcan \
@CMAKE_SOURCE_DIR@/src/modules/micrortps_bridge/micro-CDR \
@CMAKE_SOURCE_DIR@/src/examples \
@CMAKE_SOURCE_DIR@/src/templates

157
Jenkinsfile vendored
View File

@@ -13,76 +13,6 @@ pipeline {
}
}
parallel {
// stage('Catkin build on ROS workspace') {
// agent {
// docker {
// image 'px4io/px4-dev-ros-melodic:2021-08-18'
// args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
// }
// }
// steps {
// sh 'ls -l'
// sh '''#!/bin/bash -l
// echo $0;
// mkdir -p catkin_ws/src;
// cd catkin_ws;
// git -C ${WORKSPACE}/catkin_ws/src/Firmware submodule update --init --recursive --force Tools/simulation/gazebo/sitl_gazebo
// git clone --recursive ${WORKSPACE}/catkin_ws/src/Firmware/Tools/simulation/gazebo/sitl_gazebo src/mavlink_sitl_gazebo;
// git -C ${WORKSPACE}/catkin_ws/src/Firmware fetch --tags;
// source /opt/ros/melodic/setup.bash;
// export PYTHONPATH=/opt/ros/$ROS_DISTRO/lib/python2.7/dist-packages:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages;
// catkin init;
// catkin build -j$(nproc) -l$(nproc);
// '''
// // test if the binary was correctly installed and runs using 'mavros_posix_sitl.launch'
// sh '''#!/bin/bash -l
// echo $0;
// source catkin_ws/devel/setup.bash;
// rostest px4 pub_test.launch;
// '''
// }
// post {
// always {
// sh 'rm -rf catkin_ws'
// }
// failure {
// archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.xml, .ros/**/*.log')
// }
// }
// options {
// checkoutToSubdirectory('catkin_ws/src/Firmware')
// }
// }
stage('Colcon build on ROS2 workspace') {
agent {
docker {
image 'px4io/px4-dev-ros2-foxy:2021-08-18'
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
}
}
steps {
sh 'ls -l'
sh '''#!/bin/bash -l
echo $0;
unset ROS_DISTRO;
mkdir -p colcon_ws/src;
cd colcon_ws;
git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/simulation/gazebo/sitl_gazebo;
git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
source /opt/ros/foxy/setup.sh;
colcon build --event-handlers console_direct+ --symlink-install;
'''
}
post {
always {
sh 'rm -rf colcon_ws'
}
}
options {
checkoutToSubdirectory('colcon_ws/src/Firmware')
}
}
stage('Airframe') {
agent {
@@ -149,7 +79,7 @@ pipeline {
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
}
steps {
sh 'mkdir -p build/msg_docs; ./msg/tools/generate_msg_docs.py -d build/msg_docs'
sh 'mkdir -p build/msg_docs; ./Tools/msg/generate_msg_docs.py -d build/msg_docs'
dir('build') {
archiveArtifacts(artifacts: 'msg_docs/*.md')
stash includes: 'msg_docs/*.md', name: 'msg_documentation'
@@ -288,37 +218,6 @@ pipeline {
}
}
stage('microRTPS agent') {
agent {
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
}
steps {
sh('export')
sh('git fetch --all --tags')
sh('make distclean; git clean -ff -x -d .')
sh('make px4_sitl_rtps')
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/micrortps_agent.git -b ${BRANCH_NAME}")
sh("rm -rf micrortps_agent/src micrortps_agent/idl")
sh('cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent')
sh('cd micrortps_agent; git status; git add src; git commit -a -m "Update microRTPS agent source code `date`" || true')
sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
sh('cd micrortps_agent; git status; git add idl; git commit -a -m "Update IDL definitions `date`" || true')
sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
sh('cd micrortps_agent; git status; git add CMakeLists.txt; git commit -a -m "Update CMakeLists.txt `date`" || true')
sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
sh('rm -rf micrortps_agent')
}
}
when {
anyOf {
branch 'main'
branch 'master' // should be removed, but in case there is something going on...
branch 'pr-jenkins' // for testing
}
}
}
stage('PX4 ROS msgs') {
agent {
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
@@ -329,66 +228,16 @@ pipeline {
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
// 'main' branch
sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
sh('rm -f px4_msgs/msg/*.msg')
sh('cp msg/*.msg px4_msgs/msg/')
sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
sh('cd px4_msgs; git push origin main || true')
// 'ros1' branch
sh('cd px4_msgs; git checkout ros1')
sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
sh('cd px4_msgs; git push origin ros1 || true')
sh('rm -rf px4_msgs')
}
}
when {
anyOf {
branch 'main'
branch 'master' // should be removed, but in case there is something going on...
branch 'pr-jenkins' // for testing
}
}
}
stage('PX4 ROS2 bridge') {
agent {
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
}
steps {
sh('export')
sh('make distclean; git clean -ff -x -d .')
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
// deploy uORB RTPS ID map
sh('./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml')
sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS ID map `date`" || true')
sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
// deploy uORB RTPS required tools
sh('cp msg/tools/uorb_rtps_classifier.py px4_ros_com/scripts/uorb_rtps_classifier.py')
sh('cp msg/tools/generate_microRTPS_bridge.py px4_ros_com/scripts/generate_microRTPS_bridge.py')
sh('cp msg/tools/px_generate_uorb_topic_files.py px4_ros_com/scripts/px_generate_uorb_topic_files.py')
sh('cp msg/tools/px_generate_uorb_topic_helper.py px4_ros_com/scripts/px_generate_uorb_topic_helper.py')
// deploy templates
sh('cp msg/templates/urtps/microRTPS_agent.cpp.em px4_ros_com/templates/microRTPS_agent.cpp.em')
sh('cp msg/templates/urtps/microRTPS_timesync.cpp.em px4_ros_com/templates/microRTPS_timesync.cpp.em')
sh('cp msg/templates/urtps/microRTPS_timesync.h.em px4_ros_com/templates/microRTPS_timesync.h.em')
sh('cp msg/templates/urtps/microRTPS_transport.cpp px4_ros_com/templates/microRTPS_transport.cpp')
sh('cp msg/templates/urtps/microRTPS_transport.h px4_ros_com/templates/microRTPS_transport.h')
sh('cp msg/templates/urtps/Publisher.cpp.em px4_ros_com/templates/Publisher.cpp.em')
sh('cp msg/templates/urtps/Publisher.h.em px4_ros_com/templates/Publisher.h.em')
sh('cp msg/templates/urtps/Subscriber.cpp.em px4_ros_com/templates/Subscriber.cpp.em')
sh('cp msg/templates/urtps/Subscriber.h.em px4_ros_com/templates/Subscriber.h.em')
sh('cp msg/templates/urtps/RtpsTopics.cpp.em px4_ros_com/templates/RtpsTopics.cpp.em')
sh('cp msg/templates/urtps/RtpsTopics.h.em px4_ros_com/templates/RtpsTopics.h.em')
sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS script tools `date`" || true')
sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
sh('rm -rf px4_msgs')
}
}
when {
anyOf {
branch 'main'
branch 'master' // should be removed, but in case there is something going on...
branch 'pr-jenkins' // for testing
}
}
}

21
Makefile
View File

@@ -172,11 +172,6 @@ ifdef PYTHON_EXECUTABLE
override CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
endif
# Check if the microRTPS agent is to be built
ifdef BUILD_MICRORTPS_AGENT
override CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
endif
# Functions
# --------------------------------------------------------------------
# describe how to build a cmake config
@@ -253,7 +248,7 @@ endef
# Other targets
# --------------------------------------------------------------------
.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware check_rtps
.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware
# QGroundControl flashable NuttX firmware
qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware
@@ -278,15 +273,7 @@ misc_qgc_extra_firmware: \
check_airmind_mindpx-v2_default \
sizes
# builds with RTPS
check_rtps: \
check_px4_fmu-v3_rtps \
check_px4_fmu-v4_rtps \
check_px4_fmu-v4pro_rtps \
check_px4_sitl_rtps \
sizes
.PHONY: sizes check quick_check check_rtps uorb_graphs
.PHONY: sizes check quick_check uorb_graphs
sizes:
@-find build -name *.elf -type f | xargs size 2> /dev/null || :
@@ -495,7 +482,9 @@ shellcheck_all:
validate_module_configs:
@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
-not -path "$(SRC_DIR)/src/lib/mixer_module/*" -not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
-not -path "$(SRC_DIR)/src/lib/mixer_module/*" \
-not -path "$(SRC_DIR)/src/modules/microdds_client/dds_topics.yaml" \
-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
# Cleanup

2
README.md
View File

@@ -75,7 +75,7 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/con
* [Paul Riseborough](https://github.com/priseborough)
* Vision based navigation and Obstacle Avoidance
* [Markus Achtelik](https://github.com/markusachtelik)
* RTPS/ROS2 Interface
* DDS/ROS2 Interface
* [Nuno Marques](https://github.com/TSC21)
See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github).

1
ROMFS/px4fmu_common/init.d-posix/CMakeLists.txt
View File

@@ -36,7 +36,6 @@ add_subdirectory(airframes)
px4_add_romfs_files(
px4-rc.mavlink
px4-rc.params
px4-rc.rtps
px4-rc.simulator
rc.replay
rcS

4
ROMFS/px4fmu_common/init.d-posix/px4-rc.rtps
View File

@@ -1,4 +0,0 @@
#!/bin/sh
# shellcheck disable=SC2154
micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))

7
ROMFS/px4fmu_common/init.d-posix/rcS
View File

@@ -259,11 +259,8 @@ fi
navigator start
# Try to start the micrortps_client with UDP transport if module exists
if px4-micrortps_client status > /dev/null 2>&1
then
. px4-rc.rtps
fi
# Try to start the microdds_client with UDP transport if module exists
microdds_client start -t udp -p 8888
if param greater -s MNT_MODE_IN -1
then

3
Tools/astyle/files_to_check_code_style.sh
View File

@@ -8,7 +8,6 @@ if [ $# -gt 0 ]; then
fi
exec find boards msg src platforms test \
-path msg/templates/urtps -prune -o \
-path platforms/nuttx/NuttX -prune -o \
-path platforms/qurt/dspal -prune -o \
-path src/drivers/uavcan/libuavcan -prune -o \
@@ -21,8 +20,6 @@ exec find boards msg src platforms test \
-path src/modules/ekf2/EKF -prune -o \
-path src/modules/gyro_fft/CMSIS_5 -prune -o \
-path src/modules/mavlink/mavlink -prune -o \
-path src/modules/micrortps_bridge/micro-CDR -prune -o \
-path src/modules/micrortps_bridge/microRTPS_client -prune -o \
-path test/mavsdk_tests/catch2 -prune -o \
-path src/lib/crypto/monocypher -prune -o \
-path src/lib/crypto/libtomcrypt -prune -o \

15
Tools/build_micrortps_agent.sh
View File

@@ -1,15 +0,0 @@
#!/usr/bin/env bash
set -e
SCRIPT_DIR=$0
if [[ ${SCRIPT_DIR:0:1} != '/' ]]; then
SCRIPT_DIR=$(dirname $(realpath -s "$PWD/$0"))
fi
PX4_DIR=$(cd "$(dirname $(dirname $SCRIPT_DIR))" && pwd)
if [ -d $PX4_DIR/build/*_rtps ]; then
cd $PX4_DIR/build/*_rtps/src/modules/micrortps_bridge/micrortps_agent/
cmake -Bbuild
cmake --build build -j$(nproc --all)
fi

0
msg/tools/__init__.py → Tools/msg/__init__.py
View File

4
msg/tools/generate_msg_docs.py → Tools/msg/generate_msg_docs.py
View File

@@ -66,7 +66,7 @@ if __name__ == "__main__":
with open(msg_filename, 'r') as source_file:
msg_contents = source_file.read()
#Format markdown using msg name, comment, url, contents.
#Format markdown using msg name, comment, url, contents.
markdown_output="""# %s (UORB message)
%s
@@ -90,7 +90,7 @@ if __name__ == "__main__":
readme_text="""# uORB Message Reference
:::note
This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/msg/tools/generate_msg_docs.py) from the source code.
This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
:::
This topic lists the UORB messages available in PX4 (some of which may be may be shared by the [PX4-ROS 2 Bridge](../ros/ros2_comm.md)).

253
Tools/msg/px_generate_uorb_topic_files.py Executable file
View File

@@ -0,0 +1,253 @@
#!/usr/bin/env python3
#############################################################################
#
# Copyright (C) 2013-2022 PX4 Pro Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
#############################################################################
"""
px_generate_uorb_topic_files.py
Generates c/cpp header/source files for uorb topics from .msg
message files
"""
import os
import argparse
import re
import sys
try:
import em
except ImportError as e:
print("Failed to import em: " + str(e))
print("")
print("You may need to install it using:")
print(" pip3 install --user empy")
print("")
sys.exit(1)
try:
import genmsg.template_tools
except ImportError as e:
print("Failed to import genmsg: " + str(e))
print("")
print("You may need to install it using:")
print(" pip3 install --user pyros-genmsg")
print("")
sys.exit(1)
__author__ = "Sergey Belash, Thomas Gubler, Beat Kueng"
__copyright__ = "Copyright (C) 2013-2022 PX4 Development Team."
__license__ = "BSD"
__email__ = "thomasgubler@gmail.com"
TEMPLATE_FILE = ['msg.h.em', 'msg.cpp.em']
TOPICS_LIST_TEMPLATE_FILE = ['uORBTopics.hpp.em', 'uORBTopics.cpp.em']
OUTPUT_FILE_EXT = ['.h', '.cpp']
INCL_DEFAULT = ['std_msgs:./msg/std_msgs']
PACKAGE = 'px4'
TOPICS_TOKEN = '# TOPICS '
def get_topics(filename):
"""
Get TOPICS names from a "# TOPICS" line
"""
ofile = open(filename, 'r')
text = ofile.read()
result = []
for each_line in text.split('\n'):
if each_line.startswith(TOPICS_TOKEN):
topic_names_str = each_line.strip()
topic_names_str = topic_names_str.replace(TOPICS_TOKEN, "")
topic_names_list = topic_names_str.split(" ")
for topic in topic_names_list:
# topic name PascalCase (file name) to snake_case (topic name)
topic_name = re.sub(r'(?<!^)(?=[A-Z])', '_', topic).lower()
result.append(topic_name)
ofile.close()
if len(result) == 0:
# topic name PascalCase (file name) to snake_case (topic name)
file_base_name = os.path.basename(filename).replace(".msg", "")
topic_name = re.sub(r'(?<!^)(?=[A-Z])', '_', file_base_name).lower()
result.append(topic_name)
return result
def generate_output_from_file(format_idx, filename, outputdir, package, templatedir, includepath):
"""
Converts a single .msg file to an uorb header/source file
"""
msg_context = genmsg.msg_loader.MsgContext.create_default()
full_type_name = genmsg.gentools.compute_full_type_name(package, os.path.basename(filename))
file_base_name = os.path.basename(filename).replace(".msg", "")
full_type_name_snake = re.sub(r'(?<!^)(?=[A-Z])', '_', file_base_name).lower()
spec = genmsg.msg_loader.load_msg_from_file(msg_context, filename, full_type_name)
field_name_and_type = {}
for field in spec.parsed_fields():
field_name_and_type.update({field.name: field.type})
# assert if the timestamp field exists
try:
assert 'timestamp' in field_name_and_type
except AssertionError:
print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\tNo 'timestamp' field found in " +
spec.short_name + " msg definition!")
exit(1)
# assert if the timestamp field is of type uint64
try:
assert field_name_and_type.get('timestamp') == 'uint64'
except AssertionError:
print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\t'timestamp' field in " + spec.short_name +
" msg definition is not of type uint64 but rather of type " + field_name_and_type.get('timestamp') + "!")
exit(1)
topics = get_topics(filename)
if includepath:
search_path = genmsg.command_line.includepath_to_dict(includepath)
else:
search_path = {}
genmsg.msg_loader.load_depends(msg_context, spec, search_path)
em_globals = {
"name_snake_case": full_type_name_snake,
"file_name_in": filename,
"search_path": search_path,
"msg_context": msg_context,
"spec": spec,
"topics": topics,
}
# Make sure output directory exists:
if not os.path.isdir(outputdir):
os.makedirs(outputdir)
template_file = os.path.join(templatedir, TEMPLATE_FILE[format_idx])
output_file = os.path.join(outputdir, full_type_name_snake + OUTPUT_FILE_EXT[format_idx])
return generate_by_template(output_file, template_file, em_globals)
def generate_by_template(output_file, template_file, em_globals):
"""
Invokes empy intepreter to geneate output_file by the
given template_file and predefined em_globals dict
"""
# check if folder exists:
folder_name = os.path.dirname(output_file)
if not os.path.exists(folder_name):
os.makedirs(folder_name)
ofile = open(output_file, 'w')
# todo, reuse interpreter
interpreter = em.Interpreter(output=ofile, globals=em_globals, options={
em.RAW_OPT: True, em.BUFFERED_OPT: True})
try:
interpreter.file(open(template_file))
except OSError as e:
ofile.close()
os.remove(output_file)
raise
interpreter.shutdown()
ofile.close()
return True
def generate_topics_list_file_from_files(files, outputdir, template_filename, templatedir):
# generate cpp file with topics list
filenames = []
for filename in [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")]:
filenames.append(re.sub(r'(?<!^)(?=[A-Z])', '_', filename).lower())
topics = []
for msg_filename in files:
topics.extend(get_topics(msg_filename))
tl_globals = {"msgs": filenames, "topics": topics}
tl_template_file = os.path.join(templatedir, template_filename)
tl_out_file = os.path.join(outputdir, template_filename.replace(".em", ""))
generate_by_template(tl_out_file, tl_template_file, tl_globals)
def append_to_include_path(path_to_append, curr_include, package):
for p in path_to_append:
curr_include.append('%s:%s' % (package, p))
if __name__ == "__main__":
parser = argparse.ArgumentParser(description='Convert msg files to uorb headers/sources')
parser.add_argument('--headers', help='Generate header files', action='store_true')
parser.add_argument('--sources', help='Generate source files', action='store_true')
parser.add_argument('-f', dest='file',
help="files to convert (use only without -d)",
nargs="+")
parser.add_argument('-i', dest="include_paths",
help='Additional Include Paths', nargs="*",
default=None)
parser.add_argument('-e', dest='templatedir',
help='directory with template files',)
parser.add_argument('-k', dest='package', default=PACKAGE,
help='package name')
parser.add_argument('-o', dest='outputdir',
help='output directory for header files')
parser.add_argument('-p', dest='prefix', default='',
help='string added as prefix to the output file '
' name when converting directories')
args = parser.parse_args()
if args.include_paths:
append_to_include_path(args.include_paths, INCL_DEFAULT, args.package)
if args.headers:
generate_idx = 0
elif args.sources:
generate_idx = 1
else:
print('Error: either --headers or --sources must be specified')
exit(-1)
if args.file is not None:
for f in args.file:
generate_output_from_file(generate_idx, f, args.outputdir, args.package, args.templatedir, INCL_DEFAULT)
# Generate topics list header and source file
if os.path.isfile(os.path.join(args.templatedir, TOPICS_LIST_TEMPLATE_FILE[generate_idx])):
generate_topics_list_file_from_files(args.file, args.outputdir, TOPICS_LIST_TEMPLATE_FILE[generate_idx], args.templatedir)

8
msg/tools/px_generate_uorb_topic_helper.py → Tools/msg/px_generate_uorb_topic_helper.py
View File

@@ -1,7 +1,7 @@
#!/usr/bin/env python3
#############################################################################
#
# Copyright (C) 2013-2021 PX4 Pro Development Team. All rights reserved.
# Copyright (C) 2013-2022 PX4 Pro Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
@@ -41,6 +41,7 @@ precompiled and thus message generation will be much faster
import os
import errno
import re
import genmsg.msgs
@@ -236,8 +237,12 @@ def convert_type(spec_type, use_short_type=False):
c_type = type_map_short[msg_type]
elif msg_type in type_map:
c_type = type_map[msg_type]
else:
c_type = re.sub(r'(?<!^)(?=[A-Z])', '_', c_type).lower() # PascalCase to snake_case
if is_array:
return c_type + "[" + str(array_length) + "]"
return c_type
@@ -257,6 +262,7 @@ def print_field_def(field):
type_prefix = ''
if (sl_pos >= 0):
type_name = type_name[sl_pos + 1:]
type_name = re.sub(r'(?<!^)(?=[A-Z])', '_', type_name).lower() # PascalCase to snake_case
type_prefix = 'struct '
type_appendix = '_s'

72
msg/templates/ucdr/msg.h.em → Tools/msg/templates/ucdr/msg.h.em
View File

@@ -6,15 +6,51 @@
@# generates CDR serialization & deserialization methods
@#
@# Context:
@# - file_name_in (String) Source file
@# - spec (msggen.MsgSpec) Parsed specification of the .msg file
@# - search_path (str) Path to .msg files
@# - search_path (dict) search paths for genmsg
@# - topics (List of String) topic names
@###############################################
/****************************************************************************
*
* Copyright (C) 2013-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
@{
import genmsg.msgs
import re
from px_generate_uorb_topic_helper import * # this is in Tools/
topic = spec.short_name
uorb_struct = '%s_s'%spec.short_name
topic = name_snake_case
uorb_struct = '%s_s'%name_snake_case
# get fields, struct size and paddings
def add_fields(msg_fields, name_prefix='', offset=0):
@@ -79,7 +115,8 @@ for field in spec.parsed_fields():
if not field.is_header:
(package, name) = genmsg.names.package_resource_name(field.base_type)
package = package or spec.package # convert '' to package
print('#include <uORB/ucdr/%s.h>'%(name))
name_snake = re.sub(r'(?<!^)(?=[A-Z])', '_', name).lower()
print('#include <uORB/ucdr/%s.h>'%(name_snake))
}@
static inline constexpr int ucdr_topic_size_@(topic)()
@@ -87,11 +124,8 @@ static inline constexpr int ucdr_topic_size_@(topic)()
return @(struct_size);
}
bool ucdr_serialize_@(topic)(const @(uorb_struct)& topic, ucdrBuffer& buf)
bool ucdr_serialize_@(topic)(const @(uorb_struct)& topic, ucdrBuffer& buf, int64_t time_offset = 0)
{
if (ucdr_buffer_remaining(&buf) < @(struct_size)) {
return false;
}
@{
for field_type, field_name, field_size, padding in fields:
if padding > 0:
@@ -99,7 +133,18 @@ for field_type, field_name, field_size, padding in fields:
print('\tbuf.offset += {:}; // padding'.format(padding))
print('\tstatic_assert(sizeof(topic.{0}) == {1}, "size mismatch");'.format(field_name, field_size))
print('\tmemcpy(buf.iterator, &topic.{0}, sizeof(topic.{0}));'.format(field_name))
if field_type == 'uint64' and field_name == 'timestamp':
print('\tconst uint64_t timestamp_adjusted = topic.timestamp + time_offset;')
print('\tmemcpy(buf.iterator, &timestamp_adjusted, sizeof(topic.{0}));'.format(field_name))
elif field_type == 'uint64' and field_name == 'timestamp_sample':
print('\tconst uint64_t timestamp_sample_adjusted = topic.timestamp_sample + time_offset;')
print('\tmemcpy(buf.iterator, &timestamp_sample_adjusted, sizeof(topic.{0}));'.format(field_name))
else:
print('\tmemcpy(buf.iterator, &topic.{0}, sizeof(topic.{0}));'.format(field_name))
print('\tbuf.iterator += sizeof(topic.{:});'.format(field_name))
print('\tbuf.offset += sizeof(topic.{:});'.format(field_name))
@@ -107,11 +152,8 @@ for field_type, field_name, field_size, padding in fields:
return true;
}
bool ucdr_deserialize_@(topic)(ucdrBuffer& buf, @(uorb_struct)& topic)
bool ucdr_deserialize_@(topic)(ucdrBuffer& buf, @(uorb_struct)& topic, int64_t time_offset = 0)
{
if (ucdr_buffer_remaining(&buf) < @(struct_size)) {
return false;
}
@{
for field_type, field_name, field_size, padding in fields:
if padding > 0:
@@ -120,6 +162,10 @@ for field_type, field_name, field_size, padding in fields:
print('\tstatic_assert(sizeof(topic.{0}) == {1}, "size mismatch");'.format(field_name, field_size))
print('\tmemcpy(&topic.{0}, buf.iterator, sizeof(topic.{0}));'.format(field_name))
if field_type == 'uint64' and (field_name == 'timestamp' or field_name == 'timestamp_sample'):
print('\ttopic.{0} -= time_offset;'.format(field_name))
print('\tbuf.iterator += sizeof(topic.{:});'.format(field_name))
print('\tbuf.offset += sizeof(topic.{:});'.format(field_name))

16
msg/templates/uorb/msg.cpp.em → Tools/msg/templates/uorb/msg.cpp.em
View File

@@ -13,12 +13,11 @@
@# - file_name_in (String) Source file
@# - spec (msggen.MsgSpec) Parsed specification of the .msg file
@# - search_path (dict) search paths for genmsg
@# - topics (List of String) multi-topic names
@# - constrained_flash set to true if flash is constrained
@# - topics (List of String) topic names
@###############################################
/****************************************************************************
*
* Copyright (C) 2013-2021 PX4 Development Team. All rights reserved.
* Copyright (C) 2013-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -56,8 +55,7 @@ import genmsg.msgs
from px_generate_uorb_topic_helper import * # this is in Tools/
uorb_struct = '%s_s'%spec.short_name
topic_name = spec.short_name
uorb_struct = '%s_s'%name_snake_case
sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
@@ -67,7 +65,7 @@ topic_fields = ["%s %s" % (convert_type(field.type, True), field.name) for field
#include <inttypes.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/defines.h>
#include <uORB/topics/@(topic_name).h>
#include <uORB/topics/@(name_snake_case).h>
#include <uORB/topics/uORBTopics.hpp>
#include <drivers/drv_hrt.h>
#include <lib/drivers/device/Device.hpp>
@@ -76,10 +74,10 @@ topic_fields = ["%s %s" % (convert_type(field.type, True), field.name) for field
@# join all msg files in one line e.g: "float[3] position;float[3] velocity;bool armed"
@# This is used for the logger
constexpr char __orb_@(topic_name)_fields[] = "@( ";".join(topic_fields) );";
constexpr char __orb_@(name_snake_case)_fields[] = "@( ";".join(topic_fields) );";
@[for multi_topic in topics]@
ORB_DEFINE(@multi_topic, struct @uorb_struct, @(struct_size-padding_end_size), __orb_@(topic_name)_fields, static_cast<uint8_t>(ORB_ID::@multi_topic));
@[for topic in topics]@
ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), __orb_@(name_snake_case)_fields, static_cast<uint8_t>(ORB_ID::@topic));
@[end for]
void print_message(const orb_metadata *meta, const @uorb_struct& message)

24
msg/templates/uorb/msg.h.em → Tools/msg/templates/uorb/msg.h.em
View File

@@ -13,11 +13,11 @@
@# - file_name_in (String) Source file
@# - spec (msggen.MsgSpec) Parsed specification of the .msg file
@# - search_path (dict) search paths for genmsg
@# - topics (List of String) multi-topic names
@# - topics (List of String) topic names
@###############################################
/****************************************************************************
*
* Copyright (C) 2013-2021 PX4 Development Team. All rights reserved.
* Copyright (C) 2013-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -52,12 +52,12 @@
@{
import genmsg.msgs
import re
from px_generate_uorb_topic_helper import * # this is in Tools/
uorb_struct = '%s_s'%spec.short_name
uorb_struct_upper = spec.short_name.upper()
topic_name = spec.short_name
uorb_struct = '%s_s'%name_snake_case
uorb_struct_upper = name_snake_case.upper()
}@
#pragma once
@@ -77,6 +77,8 @@ for field in spec.parsed_fields():
if (not field.is_header):
(package, name) = genmsg.names.package_resource_name(field.base_type)
package = package or spec.package # convert '' to package
name = re.sub(r'(?<!^)(?=[A-Z])', '_', name).lower()
print('#include <uORB/topics/%s.h>'%(name))
}@
@@ -127,9 +129,17 @@ for constant in spec.constants:
#endif
};
#ifdef __cplusplus
namespace px4 {
namespace msg {
using @(spec.short_name) = @(uorb_struct);
} // namespace msg
} // namespace px4
#endif
/* register this as object request broker structure */
@[for multi_topic in topics]@
ORB_DECLARE(@multi_topic);
@[for topic in topics]@
ORB_DECLARE(@topic);
@[end for]
#ifdef __cplusplus

19
msg/templates/uorb/uORBTopics.cpp.em → Tools/msg/templates/uorb/uORBTopics.cpp.em
View File

@@ -8,11 +8,11 @@
@#
@# Context:
@# - msgs (List) list of all msg files
@# - topics (List) list of all topic names
@# - multi_topics (List) list of all multi-topic names
@###############################################
/****************************************************************************
*
* Copyright (C) 2013-2021 PX4 Development Team. All rights reserved.
* Copyright (C) 2013-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -46,19 +46,22 @@
#include <uORB/topics/uORBTopics.hpp>
#include <uORB/uORB.h>
@{
msg_names = [mn.replace(".msg", "") for mn in msgs]
msg_names = list(set([mn.replace(".msg", "") for mn in msgs])) # set() filters duplicates
msg_names.sort()
msgs_count = len(msg_names)
topics_all = topics
topics_all.sort()
topics_count_all = len(topics_all)
topic_names = list(set(topics)) # set() filters duplicates
topic_names.sort()
topics_count = len(topics)
}@
@[for msg_name in msg_names]@
#include <uORB/topics/@(msg_name).h>
@[end for]
const constexpr struct orb_metadata *const uorb_topics_list[ORB_TOPICS_COUNT] = {
@[for idx, topic_name in enumerate(topics_all, 1)]@
ORB_ID(@(topic_name))@[if idx != topics_count_all], @[end if]
@[for idx, topic_name in enumerate(topic_names, 1)]@
ORB_ID(@(topic_name))@[if idx != topic_names], @[end if]
@[end for]
};

17
msg/templates/uorb/uORBTopics.hpp.em → Tools/msg/templates/uorb/uORBTopics.hpp.em
View File

@@ -7,12 +7,11 @@
@# Start of Template
@#
@# Context:
@# - msgs (List) list of all msg files
@# - topics (List) list of all topic names
@###############################################
/****************************************************************************
*
* Copyright (C) 2021 PX4 Development Team. All rights reserved.
* Copyright (C) 2021-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -44,11 +43,9 @@
****************************************************************************/
@{
msg_names = [mn.replace(".msg", "") for mn in msgs]
msgs_count = len(msg_names)
topics_all = topics
topics_all.sort()
topics_count_all = len(topics_all)
topics_count = len(topics)
topic_names_all = list(set(topics)) # set() filters duplicates
topic_names_all.sort()
}@
#pragma once
@@ -57,7 +54,7 @@ topics_count_all = len(topics_all)
#include <uORB/uORB.h>
static constexpr size_t ORB_TOPICS_COUNT{@(topics_count_all)};
static constexpr size_t ORB_TOPICS_COUNT{@(topics_count)};
static constexpr size_t orb_topics_count() { return ORB_TOPICS_COUNT; }
/*
@@ -66,8 +63,8 @@ static constexpr size_t orb_topics_count() { return ORB_TOPICS_COUNT; }
extern const struct orb_metadata *const *orb_get_topics() __EXPORT;
enum class ORB_ID : uint8_t {
@[for idx, msg_name in enumerate(topics_all)]@
@(msg_name) = @(idx),
@[for idx, topic_name in enumerate(topic_names_all)]@
@(topic_name) = @(idx),
@[end for]
INVALID
};

4
Tools/setup/arch.sh
View File

@@ -9,8 +9,6 @@
## - jMAVSim simulator (omit with arg: --no-sim-tools)
## - Gazebo simulator (not by default, use --gazebo)
##
## Not Installs:
## - FastRTPS and FastCDR
INSTALL_NUTTX="true"
INSTALL_SIM="true"
@@ -122,7 +120,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
echo
echo "Installing PX4 simulation dependencies"
# java (jmavsim or fastrtps)
# java (jmavsim)
sudo pacman -S --noconfirm --needed \
ant \
jdk-openjdk \

4
Tools/setup/ubuntu.sh
View File

@@ -10,8 +10,6 @@ set -e
## - NuttX toolchain (omit with arg: --no-nuttx)
## - jMAVSim and Gazebo9 simulator (omit with arg: --no-sim-tools)
##
## Not Installs:
## - FastRTPS and FastCDR
INSTALL_NUTTX="true"
INSTALL_SIM="true"
@@ -216,7 +214,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
else
java_version=14
fi
# Java (jmavsim or fastrtps)
# Java (jmavsim)
sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
ant \
openjdk-$java_version-jre \

135
Tools/update_px4_ros2_bridge.sh
View File

@@ -1,135 +0,0 @@
#!/usr/bin/env bash
set -e
agent_template_files_updated=0
code_generator_files_updated=0
# parse help argument
if [[ $1 == "-h" ]] || [[ $1 == "--help" ]]; then
echo -e "Usage: update_px4_ros2_bridge.bash [options...] \t This script allows to update px4_ros_com and px4_msgs in a specified directory." >&2
echo
echo -e "\t--ws_dir \t\t Location of the ament/colcon workspace. Default: $HOME/colcon_ws."
echo -e "\t--px4_ros_com \t\t Updates px4_ros_com microRTPS agent code generation and templates."
echo -e "\t--px4_msgs \t\t Updates px4_msgs messages definition files."
echo -e "\t--all \t\t Updates both px4_ros_com and px4_msgs."
echo
exit 0
fi
# parse the arguments
while [ $# -gt 0 ]; do
if [[ $1 == *"--"* ]]; then
v="${1/--/}"
if [ ! -z $2 ]; then
declare $v="$2"
else
declare $v=1
fi
fi
shift
done
# get script directory
SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
# get PX4-Autopilot directory
PX4_DIR=$(cd "$(dirname "$SCRIPT_DIR")" && pwd)
function compare_and_update () {
cmp -s "$1" "$2"
if [ $? -eq 1 ]; then
cp "$1" "$2"
return 0
fi
return 1;
}
# update microRTPS agent code generators / helpers
function update_agent_code {
declare -a templates=( \
"microRTPS_agent.cpp.em" \
"microRTPS_timesync.cpp.em" \
"microRTPS_timesync.h.em" \
"microRTPS_transport.cpp" \
"microRTPS_transport.h" \
"Publisher.cpp.em" \
"Publisher.h.em" \
"Subscriber.cpp.em" \
"Subscriber.h.em" \
"RtpsTopics.cpp.em" \
"RtpsTopics.h.em" \
)
for file in ${templates[@]}; do
compare_and_update "$PX4_DIR/msg/templates/urtps/$file" "$ws_dir/src/px4_ros_com/templates/$file" \
&& echo -e "--\t\t- '$ws_dir/src/px4_ros_com/templates/$file' updated" && ((agent_template_files_updated+=1))
done
if [ $agent_template_files_updated -eq 0 ]; then
echo -e "--\t\t- No template files updated"
elif [ $agent_template_files_updated -eq 1 ]; then
echo -e "--\t\t - 1 template file updated"
else
echo -e "--\t\t - $agent_template_files_updated template files updated"
fi
}
# update microRTPS agent code templates
function update_agent_templates {
declare -a code_generators=( \
"uorb_rtps_classifier.py" \
"generate_microRTPS_bridge.py" \
"px_generate_uorb_topic_files.py" \
)
for file in ${code_generators[@]}; do
compare_and_update "$PX4_DIR/msg/tools/$file $ws_dir/src/px4_ros_com/scripts/$file" \
&& echo -e "--\t\t- '$ws_dir/src/px4_ros_com/scripts/$file' updated" && ((code_generator_files_updated+=1))
done
if [ $code_generator_files_updated -eq 0 ]; then
echo -e "--\t\t- No code generators / helpers files updated"
elif [ $code_generator_files_updated -eq 1 ]; then
echo -e "--\t\t - 1 code generator / helper file updated"
else
echo -e "--\t\t - $code_generator_files_updated code generator / helper files updated"
fi
}
# update px4_ros_com files
function update_px4_ros_com {
python3 $PX4_DIR/msg/tools/uorb_to_ros_urtps_topics.py -i $PX4_DIR/msg/tools/urtps_bridge_topics.yaml -o $ws_dir/src/px4_ros_com/templates/urtps_bridge_topics.yaml
echo -e "--------------- \033[1mmicroRTPS agent code generation and templates update\033[0m ----------------"
echo "-------------------------------------------------------------------------------------------------------"
update_agent_code
update_agent_templates
return 0
}
# function to update px4_msgs
function update_px4_msgs {
find "$ws_dir/src/px4_msgs/msg/" -maxdepth 1 -type f -delete
python3 $PX4_DIR/msg/tools/uorb_to_ros_msgs.py $PX4_DIR/msg/ $ws_dir/src/px4_msgs/msg/
}
# decisor
echo "-------------------------------------------------------------------------------------------------------"
if [ -d "${ws_dir}" ]; then
ws_dir=$(cd "$ws_dir" && pwd)
if [ ! -z ${all} ]; then
update_px4_ros_com
echo "-------------------------------------------------------------------------------------------------------"
update_px4_msgs
elif [ ! -z ${px4_ros_com} ]; then
update_px4_ros_com
echo "-------------------------------------------------------------------------------------------------------"
elif [ ! -z ${px4_msgs} ]; then
update_px4_msgs
fi
echo -e "-------------------------------- \033[0;32mUpdate successful!\033[0m ---------------------------------"
echo "-------------------------------------------------------------------------------------------------------"
exit 0
else
echo -e "-- \033[0;31mWorkspace directory doesn't exist...\033[0m"
echo -e "---------------------------------- \033[0;31mUpdate failed!\033[0m -----------------------------------"
echo "-------------------------------------------------------------------------------------------------------"
exit $ERRCODE
fi

1
boards/beaglebone/blue/default.px4board
View File

@@ -48,6 +48,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y

3
boards/cubepilot/cubeorange/default.px4board
View File

@@ -34,7 +34,6 @@ CONFIG_DRIVERS_TONE_ALARM=y
CONFIG_DRIVERS_TRANSPONDER_SAGETECH_MXS=y
CONFIG_DRIVERS_UAVCAN=y
CONFIG_MODULES_AIRSPEED_SELECTOR=y
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
CONFIG_MODULES_BATTERY_STATUS=y
CONFIG_MODULES_CAMERA_FEEDBACK=y
CONFIG_MODULES_COMMANDER=y
@@ -53,7 +52,6 @@ CONFIG_MODULES_GYRO_FFT=y
CONFIG_MODULES_LAND_DETECTOR=y
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
@@ -63,6 +61,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y

1
boards/diatone/mamba-f405-mk2/default.px4board
View File

@@ -15,7 +15,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
CONFIG_DRIVERS_MAGNETOMETER_AKM_AK8963=y
CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
CONFIG_DRIVERS_OSD=y
CONFIG_DRIVERS_PWM_OUT=y
CONFIG_DRIVERS_RC_INPUT=y
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y

1
boards/emlid/navio2/default.px4board
View File

@@ -50,6 +50,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y

1
boards/holybro/kakutef7/default.px4board
View File

@@ -29,6 +29,7 @@ CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_SENSORS=y

1
boards/holybro/kakuteh7/default.px4board
View File

@@ -56,6 +56,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y

1
boards/matek/h743-mini/default.px4board
View File

@@ -53,6 +53,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_SENSORS=y

1
boards/matek/h743-slim/default.px4board
View File

@@ -52,6 +52,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_SENSORS=y

1
boards/matek/h743/default.px4board
View File

@@ -53,6 +53,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_SENSORS=y

1
boards/modalai/fc-v1/default.px4board
View File

@@ -66,6 +66,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y

1
boards/modalai/fc-v1/rtps.px4board
View File

@@ -1 +0,0 @@
CONFIG_MODULES_MICRORTPS_BRIDGE=y

3
boards/modalai/fc-v2/default.px4board
View File

@@ -36,7 +36,6 @@ CONFIG_DRIVERS_UAVCAN=y
CONFIG_BOARD_UAVCAN_INTERFACES=1
CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
CONFIG_MODULES_AIRSPEED_SELECTOR=y
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
CONFIG_MODULES_CAMERA_FEEDBACK=y
CONFIG_MODULES_COMMANDER=y
CONFIG_MODULES_CONTROL_ALLOCATOR=y
@@ -54,7 +53,6 @@ CONFIG_MODULES_GYRO_FFT=y
CONFIG_MODULES_LAND_DETECTOR=y
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
@@ -64,6 +62,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y

1
boards/mro/ctrl-zero-classic/default.px4board
View File

@@ -62,6 +62,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y

1
boards/mro/ctrl-zero-h7-oem/default.px4board
View File

@@ -62,6 +62,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y

1
boards/mro/ctrl-zero-h7-oem/rtps.px4board
View File

@@ -1 +0,0 @@
CONFIG_MODULES_MICRORTPS_BRIDGE=y

1
boards/mro/ctrl-zero-h7/default.px4board
View File

@@ -63,6 +63,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y

1
boards/mro/ctrl-zero-h7/rtps.px4board
View File

@@ -1 +0,0 @@
CONFIG_MODULES_MICRORTPS_BRIDGE=y

1
boards/mro/pixracerpro/default.px4board
View File

@@ -62,6 +62,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y

1
boards/mro/pixracerpro/rtps.px4board
View File

@@ -1 +0,0 @@
CONFIG_MODULES_MICRORTPS_BRIDGE=y

5
boards/nxp/fmuk66-e/default.px4board
View File

@@ -41,6 +41,7 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
CONFIG_MODULES_BATTERY_STATUS=y
CONFIG_MODULES_CAMERA_FEEDBACK=y
CONFIG_MODULES_COMMANDER=y
CONFIG_MODULES_CONTROL_ALLOCATOR=y
CONFIG_MODULES_DATAMAN=y
CONFIG_MODULES_EKF2=y
CONFIG_MODULES_ESC_BATTERY=y
@@ -49,6 +50,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL_L1=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
CONFIG_MODULES_GYRO_FFT=y
CONFIG_MODULES_LAND_DETECTOR=y
@@ -64,7 +66,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_CONTROL_ALLOCATOR=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -75,7 +77,6 @@ CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_I2CDETECT=y

1
boards/nxp/fmuk66-e/rtps.px4board
View File

@@ -1 +0,0 @@
CONFIG_MODULES_MICRORTPS_BRIDGE=y

1
boards/nxp/fmuk66-v3/default.px4board
View File

@@ -68,6 +68,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y

1
boards/nxp/fmuk66-v3/rtps.px4board
View File

@@ -1 +0,0 @@
CONFIG_MODULES_MICRORTPS_BRIDGE=y

1
boards/nxp/fmurt1062-v1/default.px4board
View File

@@ -45,6 +45,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_SENSORS=y

Some files were not shown because too many files have changed in this diff Show More