px4-firmware/Tools/update_px4_ros2_bridge.sh

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#!/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