forked from Archive/PX4-Autopilot
microRTPS: split the microRTPS client and agent dest directories for better visbility and handling
This commit is contained in:
TSC21
Nuno Marques
parent
cc4cc05dd7
commit
a091a70470
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@ -50,6 +50,6 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_COMPILER_IS_CLANG OR
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endif()
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endif()
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file(GLOB MICRORTPS_AGENT_SOURCES *.cpp *.h)
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file(GLOB MICRORTPS_AGENT_SOURCES src/*.cpp src/*.h)
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add_executable(micrortps_agent ${MICRORTPS_AGENT_SOURCES})
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target_link_libraries(micrortps_agent fastrtps fastcdr)
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@ -264,10 +264,10 @@ else:
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# get ROS 2 version, if exists
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ros2_distro = ''
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ros_version = os.environ.get('ROS_VERSION')
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if ros_version == '2' :
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if ros_version == '2':
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if args.ros2_distro != '':
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ros2_distro = args.ros2_distro
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else :
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else:
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ros2_distro = os.environ.get('ROS_DISTRO')
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# get FastRTPS version
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@ -414,7 +414,7 @@ def generate_agent(out_dir):
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px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir,
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urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
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if cmakelists:
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px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir,
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px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, os.path.dirname(out_dir),
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urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE)
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# Final steps to install agent
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@ -450,10 +450,10 @@ def generate_agent(out_dir):
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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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if cmakelists:
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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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os.rename(os.path.join(os.path.dirname(out_dir), "microRTPS_agent_CMakeLists.txt"),
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os.path.join(os.path.dirname(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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mkdir_p(os.path.join(os.path.dirname(out_dir), "build"))
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os.chdir(prev_cwd_path)
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return 0
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@ -32,6 +32,7 @@
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############################################################################
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set(msg_out_path ${CMAKE_CURRENT_BINARY_DIR})
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get_filename_component(micrortps_bridge_path ${msg_out_path} PATH)
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if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_topics}" STREQUAL "")
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@ -54,19 +55,19 @@ if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_t
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endif()
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foreach(topic ${config_rtps_send_topics})
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list(APPEND topic_bridge_files_out ${msg_out_path}/micrortps_agent/${topic}_Publisher.cpp)
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list(APPEND topic_bridge_files_out ${msg_out_path}/micrortps_agent/${topic}_Publisher.h)
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list(APPEND topic_bridge_files_out ${micrortps_bridge_path}/micrortps_agent/${topic}_Publisher.cpp)
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list(APPEND topic_bridge_files_out ${micrortps_bridge_path}/micrortps_agent/${topic}_Publisher.h)
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endforeach()
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foreach(topic ${config_rtps_receive_topics})
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list(APPEND topic_bridge_files_out ${msg_out_path}/micrortps_agent/${topic}_Subscriber.cpp)
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list(APPEND topic_bridge_files_out ${msg_out_path}/micrortps_agent/${topic}_Subscriber.h)
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list(APPEND topic_bridge_files_out ${micrortps_bridge_path}/micrortps_agent/${topic}_Subscriber.cpp)
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list(APPEND topic_bridge_files_out ${micrortps_bridge_path}/micrortps_agent/${topic}_Subscriber.h)
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endforeach()
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list(APPEND topic_bridge_files_out
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${msg_out_path}/micrortps_client/microRTPS_client.cpp
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${msg_out_path}/micrortps_client/microRTPS_transport.cpp
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${msg_out_path}/micrortps_client/microRTPS_transport.h
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${micrortps_bridge_path}/micrortps_client/microRTPS_client.cpp
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${micrortps_bridge_path}/micrortps_client/microRTPS_transport.cpp
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${micrortps_bridge_path}/micrortps_client/microRTPS_transport.h
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)
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add_custom_command(OUTPUT ${topic_bridge_files_out}
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@ -78,9 +79,9 @@ if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_t
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--topic-msg-dir ${PX4_SOURCE_DIR}/msg
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--uorb-templates-dir templates/uorb_microcdr
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--urtps-templates-dir templates/urtps
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--agent-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_agent
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--client-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_client
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--idl-dir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_agent/idl
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--agent-outdir ${micrortps_bridge_path}/micrortps_agent/src
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--client-outdir ${micrortps_bridge_path}/micrortps_client
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--idl-dir ../micrortps_agent/idl
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>micrortps_bridge.log >/dev/null
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DEPENDS ${send_topic_files} ${receive_topic_files}
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COMMENT "Generating RTPS topic bridge"
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@ -93,11 +94,11 @@ if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_t
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STACK_MAIN 4096
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INCLUDES
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${CMAKE_CURRENT_SOURCE_DIR}
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${CMAKE_CURRENT_BINARY_DIR}/micrortps_client
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${micrortps_bridge_path}/micrortps_client
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SRCS
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microRTPS_client_main.cpp
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${msg_out_path}/micrortps_client/microRTPS_client.cpp
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${msg_out_path}/micrortps_client/microRTPS_transport.cpp
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${micrortps_bridge_path}/micrortps_client/microRTPS_client.cpp
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${micrortps_bridge_path}/micrortps_client/microRTPS_transport.cpp
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MODULE_CONFIG
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module.yaml
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DEPENDS
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