forked from Archive/PX4-Autopilot
microRTPS: add make targets to update the PX4-ROS2/microRTPS bridge
This allows to easily update the px4_ros_com and/or px4_msgs through a make target and by passing the location of their directories
This commit is contained in:
TSC21
Nuno Marques
parent
8762dce762
commit
00ad0d3b82
17
Makefile
17
Makefile
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@ -490,7 +490,7 @@ distclean: gazeboclean
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@rm -rf "$(SRC_DIR)/build"
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@git clean --force -X "$(SRC_DIR)/msg/" "$(SRC_DIR)/platforms/" "$(SRC_DIR)/posix-configs/" "$(SRC_DIR)/ROMFS/" "$(SRC_DIR)/src/" "$(SRC_DIR)/test/" "$(SRC_DIR)/Tools/"
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# Help / Error
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# Help / Error / Misc
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# --------------------------------------------------------------------
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# All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
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@ -524,3 +524,18 @@ check_px4: $(call make_list,nuttx,"px4") \
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check_nxp: $(call make_list,nuttx,"nxp") \
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sizes
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ifneq ($(ROS2_WS_DIR),)
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ROS2_WS_DIR := $(basename ${ROS2_WS_DIR})
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else
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ROS2_WS_DIR := ~/colcon_ws
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endif
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update_ros2_bridge:
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@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --all
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update_px4_ros_com:
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@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_ros_com
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update_px4_msgs:
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@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_msgs
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@ -0,0 +1,135 @@
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#!/usr/bin/env bash
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set -e
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agent_template_files_updated=0
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code_generator_files_updated=0
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# parse help argument
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if [[ $1 == "-h" ]] || [[ $1 == "--help" ]]; then
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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
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echo
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echo -e "\t--ws_dir \t\t Location of the ament/colcon workspace. Default: $HOME/colcon_ws."
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echo -e "\t--px4_ros_com \t\t Updates px4_ros_com microRTPS agent code generation and templates."
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echo -e "\t--px4_msgs \t\t Updates px4_msgs messages definition files."
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echo -e "\t--all \t\t Updates both px4_ros_com and px4_msgs."
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echo
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exit 0
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fi
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# parse the arguments
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while [ $# -gt 0 ]; do
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if [[ $1 == *"--"* ]]; then
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v="${1/--/}"
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if [ ! -z $2 ]; then
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declare $v="$2"
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else
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declare $v=1
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fi
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fi
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shift
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done
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# get script directory
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SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
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# get PX4-Autopilot directory
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PX4_DIR=$(cd "$(dirname "$SCRIPT_DIR")" && pwd)
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function compare_and_update () {
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cmp -s "$1" "$2"
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if [ $? -eq 1 ]; then
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cp "$1" "$2"
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return 0
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fi
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return 1;
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}
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# update microRTPS agent code generators / helpers
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function update_agent_code {
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declare -a templates=( \
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"microRTPS_agent.cpp.em" \
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"microRTPS_timesync.cpp.em" \
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"microRTPS_timesync.h.em" \
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"microRTPS_transport.cpp" \
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"microRTPS_transport.h" \
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"Publisher.cpp.em" \
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"Publisher.h.em" \
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"Subscriber.cpp.em" \
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"Subscriber.h.em" \
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"RtpsTopics.cpp.em" \
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"RtpsTopics.h.em" \
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)
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for file in ${templates[@]}; do
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compare_and_update "$PX4_DIR/msg/templates/urtps/$file" "$ws_dir/src/px4_ros_com/templates/$file" \
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&& echo -e "--\t\t- '$ws_dir/src/px4_ros_com/templates/$file' updated" && ((agent_template_files_updated+=1))
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done
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if [ $agent_template_files_updated -eq 0 ]; then
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echo -e "--\t\t- No template files updated"
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elif [ $agent_template_files_updated -eq 1 ]; then
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echo -e "--\t\t - 1 template file updated"
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else
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echo -e "--\t\t - $agent_template_files_updated template files updated"
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fi
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}
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# update microRTPS agent code templates
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function update_agent_templates {
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declare -a code_generators=( \
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"uorb_rtps_classifier.py" \
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"generate_microRTPS_bridge.py" \
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"px_generate_uorb_topic_files.py" \
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)
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for file in ${code_generators[@]}; do
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compare_and_update "$PX4_DIR/msg/tools/$file $ws_dir/src/px4_ros_com/scripts/$file" \
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&& echo -e "--\t\t- '$ws_dir/src/px4_ros_com/scripts/$file' updated" && ((code_generator_files_updated+=1))
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done
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if [ $code_generator_files_updated -eq 0 ]; then
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echo -e "--\t\t- No code generators / helpers files updated"
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elif [ $code_generator_files_updated -eq 1 ]; then
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echo -e "--\t\t - 1 code generator / helper file updated"
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else
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echo -e "--\t\t - $code_generator_files_updated code generator / helper files updated"
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fi
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}
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# update px4_ros_com files
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function update_px4_ros_com {
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python3 $PX4_DIR/msg/tools/uorb_to_ros_urtps_topics.py -i $PX4_DIR/msg/tools/urtps_bridge_topics.yaml -o $ws_dir/src/px4_ros_com/templates/urtps_bridge_topics.yaml
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echo -e "--------------- \033[1mmicroRTPS agent code generation and templates update\033[0m ----------------"
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echo "-------------------------------------------------------------------------------------------------------"
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update_agent_code
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update_agent_templates
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return 0
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}
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# function to update px4_msgs
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function update_px4_msgs {
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find "$ws_dir/src/px4_msgs/msg/" -maxdepth 1 -type f -delete
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python3 $PX4_DIR/msg/tools/uorb_to_ros_msgs.py $PX4_DIR/msg/ $ws_dir/src/px4_msgs/msg/
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}
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# decisor
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echo "-------------------------------------------------------------------------------------------------------"
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if [ -d "${ws_dir}" ]; then
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ws_dir=$(cd "$ws_dir" && pwd)
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if [ ! -z ${all} ]; then
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update_px4_ros_com
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echo "-------------------------------------------------------------------------------------------------------"
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update_px4_msgs
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elif [ ! -z ${px4_ros_com} ]; then
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update_px4_ros_com
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echo "-------------------------------------------------------------------------------------------------------"
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elif [ ! -z ${px4_msgs} ]; then
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update_px4_msgs
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fi
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echo -e "-------------------------------- \033[0;32mUpdate successful!\033[0m ---------------------------------"
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echo "-------------------------------------------------------------------------------------------------------"
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exit 0
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else
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echo -e "-- \033[0;31mWorkspace directory doesn't exist...\033[0m"
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echo -e "---------------------------------- \033[0;31mUpdate failed!\033[0m -----------------------------------"
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echo "-------------------------------------------------------------------------------------------------------"
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exit $ERRCODE
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fi
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