mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-09-27 17:10:00 +08:00
microRTPS: update RTPS message list naming from 'ids' to 'msgs'
This commit is contained in:
TSC21
@@ -274,14 +274,14 @@ 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_file, msg_dir, "", os.path.join(out_dir, "/idl"), urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_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_list)
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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, fastrtps_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_list)
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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, fastrtps_version, ros2_distro, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, 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, fastrtps_version, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, 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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@@ -290,28 +290,28 @@ 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, fastrtps_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_list)
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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, fastrtps_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_list)
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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, fastrtps_version, ros2_distro, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, 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, fastrtps_version, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, 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, fastrtps_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_list)
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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, fastrtps_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_list)
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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, fastrtps_version, ros2_distro, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_SUBSCRIBER_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, fastrtps_version, ros2_distro, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
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if classifier.alias_msgs_to_receive:
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for msg_file in classifier.alias_msgs_to_receive:
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@@ -320,28 +320,28 @@ 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, fastrtps_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_list)
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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, fastrtps_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_list)
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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, fastrtps_version, ros2_distro, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_SUBSCRIBER_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, fastrtps_version, ros2_distro, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
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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,
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urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_AGENT_TEMPL_FILE)
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urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_AGENT_TEMPL_FILE)
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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,
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urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_TIMESYNC_CPP_TEMPL_FILE)
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urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_TIMESYNC_CPP_TEMPL_FILE)
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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,
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urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_TIMESYNC_H_TEMPL_FILE)
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urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_TIMESYNC_H_TEMPL_FILE)
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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,
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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)
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urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
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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,
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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)
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urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
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if cmakelists:
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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, os.path.dirname(out_dir),
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urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE)
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urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE)
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# Final steps to install agent
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mkdir_p(os.path.join(out_dir, "fastrtpsgen"))
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@@ -361,7 +361,7 @@ def generate_agent(out_dir):
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for idl_file in glob.glob(os.path.join(idl_dir, "*.idl")):
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# Only run the generator for the topics that are actually marked to be
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# used by the bridge
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if os.path.splitext(os.path.basename(idl_file))[0] in classifier.msg_id_map:
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if os.path.splitext(os.path.basename(idl_file))[0] in classifier.msg_list:
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idl_files.append(idl_file)
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try:
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@@ -426,7 +426,7 @@ def generate_client(out_dir):
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os.rename(def_file, def_file.replace(".h", ".h_"))
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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,
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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)
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out_dir, uorb_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_CLIENT_TEMPL_FILE)
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# Final steps to install client
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cp_wildcard(os.path.join(urtps_templates_dir,
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@@ -177,7 +177,7 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template
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return generate_by_template(output_file, template_file, em_globals)
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def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, fastrtps_version, ros2_distro, ids):
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def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, fastrtps_version, ros2_distro, msgs):
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"""
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Generates an .idl from .msg file
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"""
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@@ -185,11 +185,11 @@ def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, pack
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if (alias != ""):
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em_globals = get_em_globals(
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msg, alias, package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.NONE)
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msg, alias, package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.NONE)
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spec_short_name = alias
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else:
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em_globals = get_em_globals(
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msg, "", package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.NONE)
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msg, "", package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.NONE)
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spec_short_name = em_globals["spec"].short_name
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# Make sure output directory exists:
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@@ -208,7 +208,7 @@ def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, pack
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def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filename_receive_msgs, filename_alias_receive_msgs,
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msg_dir, outputdir, templatedir, package, includepath, ids, fastrtps_version, ros2_distro, template_name):
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msg_dir, outputdir, templatedir, package, includepath, msgs, fastrtps_version, ros2_distro, template_name):
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"""
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Generates source file by msg content
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"""
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@@ -226,19 +226,19 @@ def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filenam
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em_globals_list = []
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if send_msgs:
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em_globals_list.extend([get_em_globals(
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f, "", package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.SEND) for f in send_msgs])
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f, "", package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.SEND) for f in send_msgs])
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if alias_send_msgs:
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em_globals_list.extend([get_em_globals(
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f[0], f[1], package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.SEND) for f in alias_send_msgs])
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f[0], f[1], package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.SEND) for f in alias_send_msgs])
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if receive_msgs:
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em_globals_list.extend([get_em_globals(
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f, "", package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.RECEIVE) for f in receive_msgs])
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f, "", package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.RECEIVE) for f in receive_msgs])
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if alias_receive_msgs:
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em_globals_list.extend([get_em_globals(
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f[0], f[1], package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.RECEIVE) for f in alias_receive_msgs])
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f[0], f[1], package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.RECEIVE) for f in alias_receive_msgs])
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merged_em_globals = merge_em_globals_list(em_globals_list)
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@@ -253,7 +253,7 @@ def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filenam
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return generate_by_template(output_file, template_file, merged_em_globals)
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def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, ids, fastrtps_version, ros2_distro, template_name):
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def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, msgs, fastrtps_version, ros2_distro, template_name):
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"""
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Generates a sources and headers from .msg file
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"""
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@@ -261,11 +261,11 @@ def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, pa
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if (alias):
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em_globals = get_em_globals(
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msg, alias, package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.NONE)
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msg, alias, package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.NONE)
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spec_short_name = alias
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else:
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em_globals = get_em_globals(
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msg, "", package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.NONE)
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msg, "", package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.NONE)
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spec_short_name = em_globals["spec"].short_name
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# Make sure output directory exists:
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@@ -279,7 +279,7 @@ def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, pa
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return generate_by_template(output_file, template_file, em_globals)
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def get_em_globals(filename_msg, alias, package, includepath, ids, fastrtps_version, ros2_distro, scope):
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def get_em_globals(filename_msg, alias, package, includepath, msgs, fastrtps_version, ros2_distro, scope):
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"""
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Generates em globals dictionary
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"""
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@@ -304,7 +304,7 @@ def get_em_globals(filename_msg, alias, package, includepath, ids, fastrtps_vers
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"msg_context": msg_context,
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"spec": spec,
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"topics": topics,
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"ids": ids,
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"msgs": msgs,
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"scope": scope,
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"package": package,
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"alias": alias,
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@@ -54,7 +54,7 @@ class Classifier():
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self.msgs_to_receive: Dict[str, int] = dict()
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self.alias_msgs_to_send: List[Tuple[str, str]] = []
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self.alias_msgs_to_receive: List[Tuple[str, str]] = []
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self.msg_id_map: List[str] = []
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self.msg_list: List[str] = []
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# Create message map
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self.setup_msg_map()
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@@ -77,7 +77,7 @@ class Classifier():
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(topic['msg'], topic['base']))
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else:
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self.msgs_to_receive.update({topic['msg']: 0})
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self.msg_id_map.append(topic['msg'])
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self.msg_list.append(topic['msg'])
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def set_msg_files_send(self) -> list:
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"""
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