forked from Archive/PX4-Autopilot
generate_microRTPS_bridge.py: beautify
This commit is contained in:
TSC21
Beat Küng
parent
6eda4feb20
commit
57f5bb6290
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@ -37,11 +37,16 @@
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# IDL for the topic messages. The PX4 msg definitions are used to create the IDL
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# used by fastrtpsgen using templates.
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import sys, os, argparse, shutil
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import sys
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import os
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import argparse
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import shutil
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import px_generate_uorb_topic_files
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import subprocess, glob
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import subprocess
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import glob
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import errno
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def get_absolute_path(arg_parse_dir):
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root_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
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@ -55,29 +60,47 @@ def get_absolute_path(arg_parse_dir):
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return dir
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default_client_out = get_absolute_path("src/modules/micrortps_bridge/micrortps_client")
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default_agent_out = get_absolute_path("src/modules/micrortps_bridge/micrortps_agent")
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default_client_out = get_absolute_path(
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"src/modules/micrortps_bridge/micrortps_client")
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default_agent_out = get_absolute_path(
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"src/modules/micrortps_bridge/micrortps_agent")
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default_uorb_templates_dir = "templates/uorb_microcdr"
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default_urtps_templates_dir = "templates/urtps"
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default_package_name = px_generate_uorb_topic_files.PACKAGE
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parser = argparse.ArgumentParser()
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parser.add_argument("-s", "--send", dest='send', metavar='*.msg', type=str, nargs='+', help="Topics to be sended")
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parser.add_argument("-r", "--receive", dest='receive', metavar='*.msg', type=str, nargs='+', help="Topics to be received")
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parser.add_argument("-a", "--agent", dest='agent', action="store_true", help="Flag for generate the agent, by default is true if -c is not specified")
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parser.add_argument("-c", "--client", dest='client', action="store_true", help="Flag for generate the client, by default is true if -a is not specified")
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parser.add_argument("-i", "--generate-idl", dest='gen_idl', action="store_true", help="Flag for generate idl files for each msg")
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parser.add_argument("-j", "--idl-dir", dest='idl_dir', type=str, help="IDL files dir", default='')
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parser.add_argument("-m", "--mkdir-build", dest='mkdir_build', action="store_true", help="Flag to create 'build' dir")
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parser.add_argument("-t", "--topic-msg-dir", dest='msgdir', type=str, help="Topics message dir, by default msg/", default="msg")
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parser.add_argument("-b", "--uorb-templates-dir", dest='uorb_templates', type=str, help="uORB templates dir, by default msg_dir/templates/uorb_microcdr", default=default_uorb_templates_dir)
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parser.add_argument("-q", "--urtps-templates-dir", dest='urtps_templates', type=str, help="uRTPS templates dir, by default msg_dir/templates/urtps", default=default_urtps_templates_dir)
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parser.add_argument("-p", "--package", dest='package', type=str, help="Msg package naming, by default px4", default=default_package_name)
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parser.add_argument("-o", "--agent-outdir", dest='agentdir', type=str, nargs=1, help="Agent output dir, by default src/modules/micrortps_bridge/micrortps_agent", default=default_agent_out)
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parser.add_argument("-u", "--client-outdir", dest='clientdir', type=str, nargs=1, help="Client output dir, by default src/modules/micrortps_bridge/micrortps_client", default=default_client_out)
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parser.add_argument("-f", "--fastrtpsgen-dir", dest='fastrtpsgen', type=str, nargs='?', help="fastrtpsgen installation dir, only needed if fastrtpsgen is not in PATH, by default empty", default="")
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parser.add_argument("--delete-tree", dest='del_tree', action="store_true", help="Delete dir tree output dir(s)")
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parser.add_argument("-s", "--send", dest='send', metavar='*.msg',
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type=str, nargs='+', help="Topics to be sended")
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parser.add_argument("-r", "--receive", dest='receive', metavar='*.msg',
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type=str, nargs='+', help="Topics to be received")
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parser.add_argument("-a", "--agent", dest='agent', action="store_true",
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help="Flag for generate the agent, by default is true if -c is not specified")
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parser.add_argument("-c", "--client", dest='client', action="store_true",
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help="Flag for generate the client, by default is true if -a is not specified")
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parser.add_argument("-i", "--generate-idl", dest='gen_idl',
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action="store_true", help="Flag for generate idl files for each msg")
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parser.add_argument("-j", "--idl-dir", dest='idl_dir',
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type=str, help="IDL files dir", default='')
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parser.add_argument("-m", "--mkdir-build", dest='mkdir_build',
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action="store_true", help="Flag to create 'build' dir")
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parser.add_argument("-t", "--topic-msg-dir", dest='msgdir', type=str,
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help="Topics message dir, by default msg/", default="msg")
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parser.add_argument("-b", "--uorb-templates-dir", dest='uorb_templates', type=str,
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help="uORB templates dir, by default msg_dir/templates/uorb_microcdr", default=default_uorb_templates_dir)
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parser.add_argument("-q", "--urtps-templates-dir", dest='urtps_templates', type=str,
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help="uRTPS templates dir, by default msg_dir/templates/urtps", default=default_urtps_templates_dir)
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parser.add_argument("-p", "--package", dest='package', type=str,
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help="Msg package naming, by default px4", default=default_package_name)
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parser.add_argument("-o", "--agent-outdir", dest='agentdir', type=str, nargs=1,
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help="Agent output dir, by default src/modules/micrortps_bridge/micrortps_agent", default=default_agent_out)
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parser.add_argument("-u", "--client-outdir", dest='clientdir', type=str, nargs=1,
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help="Client output dir, by default src/modules/micrortps_bridge/micrortps_client", default=default_client_out)
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parser.add_argument("-f", "--fastrtpsgen-dir", dest='fastrtpsgen', type=str, nargs='?',
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help="fastrtpsgen installation dir, only needed if fastrtpsgen is not in PATH, by default empty", default="")
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parser.add_argument("--delete-tree", dest='del_tree',
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action="store_true", help="Delete dir tree output dir(s)")
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if len(sys.argv) <= 1:
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parser.print_usage()
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@ -102,7 +125,8 @@ agent = args.agent
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client = args.client
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mkdir_build = args.mkdir_build
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del_tree = args.del_tree
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px_generate_uorb_topic_files.append_to_include_path({msg_folder}, px_generate_uorb_topic_files.INCL_DEFAULT, package)
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px_generate_uorb_topic_files.append_to_include_path(
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{msg_folder}, px_generate_uorb_topic_files.INCL_DEFAULT, package)
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agent_out_dir = get_absolute_path(args.agentdir)
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client_out_dir = get_absolute_path(args.clientdir)
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gen_idl = args.gen_idl
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@ -117,7 +141,8 @@ if args.fastrtpsgen is None or args.fastrtpsgen == "":
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fastrtpsgen_path = "fastrtpsgen"
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else:
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# Path to fastrtpsgen is explicitly specified
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fastrtpsgen_path = os.path.join(get_absolute_path(args.fastrtpsgen), "/fastrtpsgen")
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fastrtpsgen_path = os.path.join(
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get_absolute_path(args.fastrtpsgen), "/fastrtpsgen")
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# If nothing specified it's generated both
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if agent == False and client == False:
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@ -126,7 +151,8 @@ if agent == False and client == False:
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if del_tree:
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if agent:
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_continue = str(raw_input("\nFiles in " + agent_out_dir + " will be erased, continue?[Y/n]\n"))
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_continue = str(raw_input("\nFiles in " + agent_out_dir +
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" will be erased, continue?[Y/n]\n"))
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if _continue == "N" or _continue == "n":
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print("Aborting execution...")
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exit(-1)
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@ -135,7 +161,8 @@ if del_tree:
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shutil.rmtree(agent_out_dir)
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if client:
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_continue = str(raw_input("\nFiles in " + client_out_dir + " will be erased, continue?[Y/n]\n"))
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_continue = str(raw_input(
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"\nFiles in " + client_out_dir + " will be erased, continue?[Y/n]\n"))
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if _continue == "N" or _continue == "n":
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print("Aborting execution...")
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exit(-1)
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@ -159,6 +186,7 @@ uRTPS_PUBLISHER_H_TEMPL_FILE = 'Publisher.h.template'
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uRTPS_SUBSCRIBER_SRC_TEMPL_FILE = 'Subscriber.cpp.template'
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uRTPS_SUBSCRIBER_H_TEMPL_FILE = 'Subscriber.h.template'
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def generate_agent(out_dir):
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if msg_files_send:
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@ -166,37 +194,37 @@ 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, os.path.join(out_dir, "/idl"), urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT)
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package, px_generate_uorb_topic_files.INCL_DEFAULT)
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else:
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px_generate_uorb_topic_files.generate_idl_file(msg_file, idl_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT)
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package, px_generate_uorb_topic_files.INCL_DEFAULT)
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px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_PUBLISHER_H_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_PUBLISHER_H_TEMPL_FILE)
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if msg_files_receive:
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for msg_file in msg_files_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, os.path.join(out_dir, "/idl"), urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT)
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package, px_generate_uorb_topic_files.INCL_DEFAULT)
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else:
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px_generate_uorb_topic_files.generate_idl_file(msg_file, idl_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT)
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package, px_generate_uorb_topic_files.INCL_DEFAULT)
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px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_CMAKELIST_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_CMAKELIST_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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@ -205,9 +233,11 @@ def generate_agent(out_dir):
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if not glob.glob(os.path.join(idl_dir, "*.idl")):
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raise Exception("No IDL files found in %s" % idl_dir)
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for idl_file in glob.glob(os.path.join(idl_dir, "*.idl")):
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ret = subprocess.call(fastrtpsgen_path + " -d " + out_dir + "/fastrtpsgen -example x64Linux2.6gcc " + idl_file, shell=True)
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ret = subprocess.call(fastrtpsgen_path + " -d " + out_dir +
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"/fastrtpsgen -example x64Linux2.6gcc " + idl_file, shell=True)
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if ret:
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raise Exception("fastrtpsgen not found. Specify the location of fastrtpsgen with the -f flag")
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raise Exception(
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"fastrtpsgen not found. Specify the location of fastrtpsgen with the -f flag")
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rm_wildcard(os.path.join(out_dir, "fastrtpsgen/*PubSubMain*"))
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rm_wildcard(os.path.join(out_dir, "fastrtpsgen/makefile*"))
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rm_wildcard(os.path.join(out_dir, "fastrtpsgen/*Publisher*"))
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@ -217,21 +247,26 @@ def generate_agent(out_dir):
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cp_wildcard(os.path.join(out_dir, "fastrtpsgen/*"), out_dir)
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if os.path.isdir(os.path.join(out_dir, "fastrtpsgen")):
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shutil.rmtree(os.path.join(out_dir, "fastrtpsgen"))
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cp_wildcard(os.path.join(urtps_templates_dir, "microRTPS_transport.*"), agent_out_dir)
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os.rename(os.path.join(out_dir, "microRTPS_agent_CMakeLists.txt"), os.path.join(out_dir, "CMakeLists.txt"))
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cp_wildcard(os.path.join(urtps_templates_dir,
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"microRTPS_transport.*"), agent_out_dir)
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os.rename(os.path.join(out_dir, "microRTPS_agent_CMakeLists.txt"),
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os.path.join(out_dir, "CMakeLists.txt"))
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if (mkdir_build):
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mkdir_p(os.path.join(out_dir, "build"))
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os.chdir(prev_cwd_path)
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return 0
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def rm_wildcard(pattern):
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for f in glob.glob(pattern):
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os.remove(f)
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def cp_wildcard(pattern, destdir):
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for f in glob.glob(pattern):
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shutil.copy(f, destdir)
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def mkdir_p(dirpath):
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try:
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os.makedirs(dirpath)
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@ -241,6 +276,7 @@ def mkdir_p(dirpath):
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else:
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raise
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def generate_client(out_dir):
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# Rename work in the default path
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@ -256,13 +292,15 @@ 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(msg_files_send, msg_files_receive, out_dir, uorb_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_CLIENT_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, 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, "microRTPS_transport.*"), out_dir)
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cp_wildcard(os.path.join(urtps_templates_dir,
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"microRTPS_transport.*"), out_dir)
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return 0
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if agent:
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generate_agent(agent_out_dir)
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print("\nAgent created in: " + agent_out_dir)
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