From 6f9cbd97510dce4d0bfe715fa77af3b99d282659 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Thu, 4 Dec 2014 16:40:46 +0100
Subject: [PATCH] add genmsg and gencpp python modules, ros not required
 anymore for message generation

---
 .gitmodules  | 6 ++++++
 Makefile     | 7 +++++--
 Tools/gencpp | 1 +
 Tools/genmsg | 1 +
 4 files changed, 13 insertions(+), 2 deletions(-)
 create mode 160000 Tools/gencpp
 create mode 160000 Tools/genmsg

diff --git a/.gitmodules b/.gitmodules
index 4b84afac2a..4996b274bd 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -7,3 +7,9 @@
 [submodule "uavcan"]
 	path = uavcan
 	url = git://github.com/pavel-kirienko/uavcan.git
+[submodule "Tools/genmsg"]
+	path = Tools/genmsg
+	url = https://github.com/ros/genmsg.git
+[submodule "Tools/gencpp"]
+	path = Tools/gencpp
+	url = https://github.com/ros/gencpp.git
diff --git a/Makefile b/Makefile
index bdbc18be54..f2e467e5aa 100644
--- a/Makefile
+++ b/Makefile
@@ -228,12 +228,15 @@ MSG_DIR = $(PX4_BASE)msg/px4_msgs
 MSG_TEMPLATE_DIR = $(PX4_BASE)msg/templates
 TOPICS_DIR = $(PX4_BASE)src/modules/uORB/topics
 TOPICS_TEMPORARY_DIR = $(BUILD_DIR)topics_temporary
+GENMSG_PYTHONPATH = $(PX4_BASE)/Tools/genmsg/src
+GENCPP_PYTHONPATH = $(PX4_BASE)/Tools/gencpp/src
 
 .PHONY: generateuorbtopicheaders
 generateuorbtopicheaders:
 	@$(ECHO) "Generating uORB topic headers"
-	$(Q) ($(PX4_BASE)/Tools/px_generate_uorb_topic_headers.py -d $(MSG_DIR) \
-		-o $(TOPICS_DIR) -e $(MSG_TEMPLATE_DIR) -t $(TOPICS_TEMPORARY_DIR))
+	$(Q) (PYTHONPATH=$(GENMSG_PYTHONPATH):$(GENCPP_PYTHONPATH) $(PYTHON) \
+		$(PX4_BASE)Tools/px_generate_uorb_topic_headers.py \
+		-d $(MSG_DIR) -o $(TOPICS_DIR) -e $(MSG_TEMPLATE_DIR) -t $(TOPICS_TEMPORARY_DIR))
 # clean up temporary files
 	$(Q) (rm -r $(TOPICS_TEMPORARY_DIR))
 
diff --git a/Tools/gencpp b/Tools/gencpp
new file mode 160000
index 0000000000..26a86f04bc
--- /dev/null
+++ b/Tools/gencpp
@@ -0,0 +1 @@
+Subproject commit 26a86f04bcec0018af6652b3ddd3f680e6e3fa2a
diff --git a/Tools/genmsg b/Tools/genmsg
new file mode 160000
index 0000000000..72f0383f0e
--- /dev/null
+++ b/Tools/genmsg
@@ -0,0 +1 @@
+Subproject commit 72f0383f0e6a489214c51802ae12d6e271b1e454