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microRTPS: generate_microRTPS_bridge: run fastrtsgen only once for all files

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Reducing the generation time to a 4th of the time (!!)
This commit is contained in:
TSC21
2021-07-17 18:23:30 +02:00
committed by Nuno Marques
parent a8a56a03a4
commit ffa70ac0fd
1 changed files with 8 additions and 5 deletions
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msg/tools/generate_microRTPS_bridge.py
+8 -5
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@@ -357,15 +357,18 @@ def generate_agent(out_dir):
if ros2_distro and ros2_distro in ['dashing', 'eloquent', 'foxy', 'galactic', 'rolling'] and fastrtpsgen_version >= version.Version("1.0.4"):
gen_ros2_typename = "-typeros2 "
idl_files = []
for idl_file in glob.glob(os.path.join(idl_dir, "*.idl")):
# Only run the generator for the topics that are actually marked to be
# used by the bridge
if os.path.splitext(os.path.basename(idl_file))[0] in classifier.msg_id_map:
try:
ret = subprocess.check_call(fastrtpsgen_path + " -d " + out_dir +
"/fastrtpsgen -example x64Linux2.6gcc " + gen_ros2_typename + fastrtpsgen_include + idl_file, shell=True)
except OSError:
raise
idl_files.append(idl_file)
try:
ret = subprocess.check_call(fastrtpsgen_path + " -d " + out_dir +
"/fastrtpsgen -example x64Linux2.6gcc " + gen_ros2_typename + fastrtpsgen_include + " ".join(str(idl_file) for idl_file in idl_files), shell=True)
except OSError:
raise
rm_wildcard(os.path.join(out_dir, "fastrtpsgen/*PubSubMain*"))
rm_wildcard(os.path.join(out_dir, "fastrtpsgen/makefile*"))