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microRTPS: simplify the attribution of the RTPS IDs by makiing it automatic 

1. The RTPS IDs are now automatically assigned to the topics
2. Only the topics that get defined to be sent or received in the urtps_bridge_topics.yaml (renamed, since now it doesn't contain IDs) receive the IDs
3. Any addition or removal on the urtps_bridge_topics.yaml file might update the topic IDs - this will require that the agent and the client ID list has to be in sync. This will further require a robustification of the way we check the IDs and the message definitions when starting the bridge.
This commit is contained in:
TSC21 2021-07-17 17:25:01 +02:00 committed by Nuno Marques
parent f557fbc99f
commit c478e2985a
19 changed files with 226 additions and 802 deletions
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2
Jenkinsfile vendored
View File

@ -323,7 +323,7 @@ pipeline {
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
// deploy uORB RTPS ID map
sh('./msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml')
sh('./msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml')
sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS ID map `date`" || true')
sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
// deploy uORB RTPS required tools

5
msg/templates/uorb_microcdr/microRTPS_client.cpp.em
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@ -15,7 +15,6 @@ import os
import genmsg.msgs
from px_generate_uorb_topic_helper import * # this is in Tools/
from px_generate_uorb_topic_files import MsgScope # this is in Tools/
topic_names = [s.short_name for s in spec]
@ -153,7 +152,7 @@ void *send(void *args)
// copy raw data into local buffer. Payload is shifted by header length to make room for header
serialize_@(send_base_types[idx])(&writer, &@(topic)_data, &data_buffer[header_length], &length);
if (0 < (read = transport_node->write(static_cast<char>(@(rtps_message_id(ids, topic))), data_buffer, length))) {
if (0 < (read = transport_node->write(static_cast<char>(@(ids[0].index(topic) + 1)), data_buffer, length))) {
data->total_sent += read;
tx_last_sec_read += read;
++data->sent;
@ -262,7 +261,7 @@ void micrortps_start_topics(const uint32_t &datarate, struct timespec &begin, ui
switch (topic_ID) {
@[ for idx, topic in enumerate(recv_topics)]@
case @(rtps_message_id(ids, topic)): {
case @(ids[0].index(topic) + 1): {
@(receive_base_types[idx])_s @(topic)_data;
deserialize_@(receive_base_types[idx])(&reader, &@(topic)_data, data_buffer);

4
msg/templates/urtps/Publisher.cpp.em
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@ -11,12 +11,10 @@
@# - ids (List) list of all RTPS msg ids
@###############################################
@{
from packaging import version
import genmsg.msgs
from packaging import version
import re
from px_generate_uorb_topic_helper import * # this is in Tools/
topic = alias if alias else spec.short_name
try:

5
msg/templates/urtps/Publisher.h.em
View File

@ -11,10 +11,9 @@
@# - ids (List) list of all RTPS msg ids
@###############################################
@{
from packaging import version
import genmsg.msgs
from px_generate_uorb_topic_helper import * # this is in Tools/
from packaging import version
import re
topic = alias if alias else spec.short_name
try:

48
msg/templates/urtps/RtpsTopics.cpp.em
View File

@ -10,11 +10,8 @@
@# - ids (List) list of all RTPS msg ids
@###############################################
@{
import os
import genmsg.msgs
from px_generate_uorb_topic_helper import * # this is in Tools/
import os
from px_generate_uorb_topic_files import MsgScope # this is in Tools/
send_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
@ -64,7 +61,7 @@ bool RtpsTopics::init(std::condition_variable *t_send_queue_cv, std::mutex *t_se
std::cout << "\033[0;36m--- Subscribers ---\033[0m" << std::endl;
@[for topic in recv_topics]@
if (_@(topic)_sub.init(@(rtps_message_id(ids, topic)), t_send_queue_cv, t_send_queue_mutex, t_send_queue, ns)) {
if (_@(topic)_sub.init(@(ids[0].index(topic) + 1), t_send_queue_cv, t_send_queue_mutex, t_send_queue, ns)) {
std::cout << "- @(topic) subscriber started" << std::endl;
} else {
@ -76,6 +73,7 @@ bool RtpsTopics::init(std::condition_variable *t_send_queue_cv, std::mutex *t_se
std::cout << "\033[0;36m-----------------------\033[0m" << std::endl << std::endl;
@[end if]@
@[if send_topics]@
// Initialise publishers
std::cout << "\033[0;36m---- Publishers ----\033[0m" << std::endl;
@[for topic in send_topics]@
@ -107,28 +105,32 @@ bool RtpsTopics::init(std::condition_variable *t_send_queue_cv, std::mutex *t_se
}
@[if send_topics]@
template <typename T>
void RtpsTopics::sync_timestamp_of_incoming_data(T &msg) {
uint64_t timestamp = getMsgTimestamp(&msg);
uint64_t timestamp_sample = getMsgTimestampSample(&msg);
_timesync->subtractOffset(timestamp);
setMsgTimestamp(&msg, timestamp);
_timesync->subtractOffset(timestamp_sample);
setMsgTimestampSample(&msg, timestamp_sample);
}
void RtpsTopics::publish(const uint8_t topic_ID, char data_buffer[], size_t len)
{
switch (topic_ID) {
@[for topic in send_topics]@
case @(rtps_message_id(ids, topic)): { // @(topic)
case @(ids[0].index(topic) + 1): { // @(topic) publisher
@(topic)_msg_t st;
eprosima::fastcdr::FastBuffer cdrbuffer(data_buffer, len);
eprosima::fastcdr::Cdr cdr_des(cdrbuffer);
st.deserialize(cdr_des);
@[ if topic == 'Timesync' or topic == 'timesync']@
_timesync->processTimesyncMsg(&st, &_@(topic)_pub);
@[ end if]@
// apply timestamp offset
uint64_t timestamp = getMsgTimestamp(&st);
uint64_t timestamp_sample = getMsgTimestampSample(&st);
_timesync->subtractOffset(timestamp);
setMsgTimestamp(&st, timestamp);
_timesync->subtractOffset(timestamp_sample);
setMsgTimestampSample(&st, timestamp_sample);
sync_timestamp_of_incoming_data(st);
_@(topic)_pub.publish(&st);
}
@ -143,6 +145,15 @@ void RtpsTopics::publish(const uint8_t topic_ID, char data_buffer[], size_t len)
}
@[end if]@
@[if recv_topics]@
template <typename T>
void RtpsTopics::sync_timestamp_of_outgoing_data(T &msg) {
uint64_t timestamp = getMsgTimestamp(&msg);
uint64_t timestamp_sample = getMsgTimestampSample(&msg);
_timesync->addOffset(timestamp);
setMsgTimestamp(&msg, timestamp);
_timesync->addOffset(timestamp_sample);
setMsgTimestampSample(&msg, timestamp_sample);
}
bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr)
{
@ -151,17 +162,12 @@ bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr)
switch (topic_ID) {
@[for topic in recv_topics]@
case @(rtps_message_id(ids, topic)): // @(topic)
case @(ids[0].index(topic) + 1): // @(topic) subscriber
if (_@(topic)_sub.hasMsg()) {
@(topic)_msg_t msg = _@(topic)_sub.getMsg();
// apply timestamps offset
uint64_t timestamp = getMsgTimestamp(&msg);
uint64_t timestamp_sample = getMsgTimestampSample(&msg);
_timesync->addOffset(timestamp);
setMsgTimestamp(&msg, timestamp);
_timesync->addOffset(timestamp_sample);
setMsgTimestampSample(&msg, timestamp_sample);
// apply timestamp offset
sync_timestamp_of_outgoing_data(msg);
msg.serialize(scdr);
ret = true;

9
msg/templates/urtps/RtpsTopics.h.em
View File

@ -10,12 +10,9 @@
@# - ids (List) list of all RTPS msg ids
@###############################################
@{
import genmsg.msgs
import os
from packaging import version
import genmsg.msgs
from px_generate_uorb_topic_helper import * # this is in Tools/
from px_generate_uorb_topic_files import MsgScope # this is in Tools/
send_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
@ -98,9 +95,13 @@ public:
const std::string &ns);
void set_timesync(const std::shared_ptr<TimeSync> &timesync) { _timesync = timesync; };
@[if send_topics]@
template <typename T>
void sync_timestamp_of_incoming_data(T &msg);
void publish(const uint8_t topic_ID, char data_buffer[], size_t len);
@[end if]@
@[if recv_topics]@
template <typename T>
void sync_timestamp_of_outgoing_data(T &msg);
bool getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr);
@[end if]@

4
msg/templates/urtps/Subscriber.cpp.em
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@ -11,12 +11,10 @@
@# - ids (List) list of all RTPS msg ids
@###############################################
@{
from packaging import version
import genmsg.msgs
from packaging import version
import re
from px_generate_uorb_topic_helper import * # this is in Tools/
topic = alias if alias else spec.short_name
try:
ros2_distro = ros2_distro.decode("utf-8")

5
msg/templates/urtps/Subscriber.h.em
View File

@ -11,10 +11,9 @@
@# - ids (List) list of all RTPS msg ids
@###############################################
@{
from packaging import version
import genmsg.msgs
from px_generate_uorb_topic_helper import * # this is in Tools/
from packaging import version
import re
topic = alias if alias else spec.short_name
try:

2
msg/templates/urtps/microRTPS_agent.cpp.em
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@ -12,8 +12,6 @@
@###############################################
@{
import genmsg.msgs
from px_generate_uorb_topic_helper import * # this is in Tools/
from px_generate_uorb_topic_files import MsgScope # this is in Tools/
try:

2
msg/templates/urtps/microRTPS_timesync.cpp.em
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@ -12,8 +12,6 @@
@###############################################
@{
import genmsg.msgs
from px_generate_uorb_topic_helper import * # this is in Tools/
from px_generate_uorb_topic_files import MsgScope # this is in Tools/
package = package[0]

4
msg/templates/urtps/microRTPS_timesync.h.em
View File

@ -11,10 +11,8 @@
@# - ids (List) list of all RTPS msg ids
@###############################################
@{
from packaging import version
import genmsg.msgs
from px_generate_uorb_topic_helper import * # this is in Tools/
from packaging import version
from px_generate_uorb_topic_files import MsgScope # this is in Tools/
package = package[0]

3
msg/templates/urtps/msg.idl.em
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@ -37,9 +37,8 @@
@#
@################################################################################
@{
from packaging import version
import genmsg.msgs
from packaging import version
from px_generate_uorb_topic_helper import * # this is in Tools/
builtin_types = set()

86
msg/tools/generate_microRTPS_bridge.py
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@ -2,7 +2,7 @@
################################################################################
#
# Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
# Copyright (c) 2018-2019 PX4 Development Team. All rights reserved.
# Copyright (c) 2018-2021 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
@ -42,7 +42,6 @@ import os
import argparse
import shutil
import px_generate_uorb_topic_files
import px_generate_uorb_topic_helper
from uorb_rtps_classifier import Classifier
import subprocess
import glob
@ -70,81 +69,11 @@ except ImportError as e:
sys.exit(1)
def check_rtps_id_uniqueness(classifier):
"""
Checks if there are no ID's for different msgs repeated on the map
"""
repeated_ids = dict()
full_send_list = dict(list(msg for msg in list(classifier.msgs_to_send.items(
))) + list(list(msg[0].items())[0] for msg in classifier.alias_msgs_to_send))
full_receive_list = dict(list(msg for msg in list(classifier.msgs_to_receive.items(
))) + list(list(msg[0].items())[0] for msg in classifier.alias_msgs_to_receive))
full_ignore_list = dict(list(msg for msg in list(classifier.msgs_to_ignore.items(
))) + list(list(msg[0].items())[0] for msg in classifier.alias_msgs_to_ignore))
# check if there are repeated ID's on the messages to send
for key, value in list(full_send_list.items()):
if list(full_send_list.values()).count(value) > 1:
repeated_ids.update({key: value})
# check if there are repeated ID's on the messages to receive
for key, value in list(full_receive_list.items()):
if list(full_receive_list.values()).count(value) > 1:
repeated_ids.update({key: value})
# check if there are repeated ID's on the messages to ignore
for key, value in list(full_ignore_list.items()):
if list(full_ignore_list.values()).count(value) > 1:
repeated_ids.update({key: value})
# check if there are repeated IDs between classified and unclassified msgs
# check send and ignore lists
send_ignore_common_ids = list(set(full_ignore_list.values(
)).intersection(list(full_send_list.values())))
for item in list(full_send_list.items()):
for repeated in send_ignore_common_ids:
if item[1] == repeated:
repeated_ids.update({item[0]: item[1]})
for item in list(full_ignore_list.items()):
for repeated in send_ignore_common_ids:
if item[1] == repeated:
repeated_ids.update({item[0]: item[1]})
# check receive and ignore lists
receive_ignore_common_ids = list(set(full_ignore_list.values(
)).intersection(list(full_receive_list.values())))
for item in list(full_receive_list.items()):
for repeated in receive_ignore_common_ids:
if item[1] == repeated:
repeated_ids.update({item[0]: item[1]})
for item in list(full_ignore_list.items()):
for repeated in receive_ignore_common_ids:
if item[1] == repeated:
repeated_ids.update({item[0]: item[1]})
all_msgs = {}
all_msgs.update(full_send_list)
all_msgs.update(full_receive_list)
all_msgs.update(full_ignore_list)
all_ids = list()
all_ids = list(all_msgs.values())
all_ids.sort()
if not repeated_ids:
print("All good. RTPS ID's are unique")
else:
raise AssertionError(", ".join('%s' % msgs for msgs in list(repeated_ids.keys())) +
" have their ID's repeated. Please choose from the following pool:\n" +
", ".join('%d' % id for id in px_generate_uorb_topic_helper.check_available_ids(all_ids)))
default_client_out = "src/modules/micrortps_bridge/micrortps_client"
default_agent_out = "src/modules/micrortps_bridge/micrortps_agent"
default_uorb_templates_dir = "templates/uorb_microcdr"
default_urtps_templates_dir = "templates/urtps"
default_rtps_id_file = "tools/uorb_rtps_message_ids.yaml"
default_urtps_topics_file = "tools/urtps_bridge_topics.yaml"
default_package_name = px_generate_uorb_topic_files.PACKAGE
parser = argparse.ArgumentParser()
@ -168,7 +97,7 @@ parser.add_argument("-b", "--uorb-templates-dir", dest='uorb_templates', type=st
parser.add_argument("-q", "--urtps-templates-dir", dest='urtps_templates', type=str,
help="uRTPS templates, by default using relative path to msgdir 'templates/urtps'", default=default_urtps_templates_dir)
parser.add_argument("-y", "--rtps-ids-file", dest='yaml_file', type=str,
help="RTPS msg IDs definition path, by default using relative path to msgdir 'tools/uorb_rtps_message_ids.yaml'", default=default_rtps_id_file)
help="Setup uRTPS bridge topics file path, by default using relative path to msgdir 'tools/urtps_bridge_topics.yaml'", default=default_urtps_topics_file)
parser.add_argument("-p", "--package", dest='package', type=str,
help="Msg package naming, by default px4", default=default_package_name)
parser.add_argument("-o", "--agent-outdir", dest='agentdir', type=str,
@ -319,13 +248,10 @@ uorb_templates_dir = (args.uorb_templates if os.path.isabs(args.uorb_templates)
urtps_templates_dir = (args.urtps_templates if os.path.isabs(args.urtps_templates)
else os.path.join(msg_dir, args.urtps_templates))
# parse yaml file into a map of ids
# parse yaml file into a map of ids and messages to send and receive
classifier = (Classifier(os.path.abspath(args.yaml_file), msg_dir) if os.path.isabs(args.yaml_file)
else Classifier(os.path.join(msg_dir, args.yaml_file), msg_dir))
# check if there are no ID's repeated
check_rtps_id_uniqueness(classifier)
uRTPS_CLIENT_TEMPL_FILE = 'microRTPS_client.cpp.em'
uRTPS_AGENT_TOPICS_H_TEMPL_FILE = 'RtpsTopics.h.em'
@ -359,7 +285,7 @@ def generate_agent(out_dir):
if classifier.alias_msgs_to_send:
for msg_file in classifier.alias_msgs_to_send:
msg_alias = list(msg_file[0].keys())[0]
msg_alias = msg_file[0]
msg_name = msg_file[1]
if gen_idl:
if out_dir != agent_out_dir:
@ -389,7 +315,7 @@ def generate_agent(out_dir):
if classifier.alias_msgs_to_receive:
for msg_file in classifier.alias_msgs_to_receive:
msg_alias = list(msg_file[0].keys())[0]
msg_alias = msg_file[0]
msg_name = msg_file[1]
if gen_idl:
if out_dir != agent_out_dir:

4
msg/tools/px_generate_uorb_topic_files.py
View File

@ -218,10 +218,10 @@ def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filenam
for msg in filename_receive_msgs)
alias_send_msgs = list([os.path.join(
msg_dir, msg[1] + ".msg"), list(msg[0].keys())[0]] for msg in filename_alias_send_msgs)
msg_dir, msg[1] + ".msg"), msg[0]] for msg in filename_alias_send_msgs)
alias_receive_msgs = list([os.path.join(
msg_dir, msg[1] + ".msg"), list(msg[0].keys())[0]] for msg in filename_alias_receive_msgs)
msg_dir, msg[1] + ".msg"), msg[0]] for msg in filename_alias_receive_msgs)
em_globals_list = []
if send_msgs:

60
msg/tools/px_generate_uorb_topic_helper.py
View File

@ -1,7 +1,7 @@
#!/usr/bin/env python3
#############################################################################
#
# Copyright (C) 2013-2019 PX4 Pro Development Team. All rights reserved.
# Copyright (C) 2013-2021 PX4 Pro Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
@ -296,9 +296,10 @@ def print_field(field):
if field.name == 'timestamp':
print(("if (message.timestamp != 0) {\n\t\tPX4_INFO_RAW(\"\\t" + field.name +
": " + c_type + " (%.6f seconds ago)\\n\", " + field_name +
", (now - message.timestamp) / 1e6);\n\t} else {\n\t\tPX4_INFO_RAW(\"\\n\");\n\t}"))
", (now - message.timestamp) / 1e6);\n\t} else {\n\t\tPX4_INFO_RAW(\"\\n\");\n\t}"))
elif field.name == 'timestamp_sample':
print(("\n\tPX4_INFO_RAW(\"\\t" + field.name + ": " + c_type + " (" + c_type + " us before timestamp)\\n\", " + field_name + ", message.timestamp - message.timestamp_sample);\n\t"))
print(("\n\tPX4_INFO_RAW(\"\\t" + field.name + ": " + c_type + " (" + c_type +
" us before timestamp)\\n\", " + field_name + ", message.timestamp - message.timestamp_sample);\n\t"))
elif field.name == 'device_id':
print("char device_id_buffer[80];")
print("device::Device::device_id_print_buffer(device_id_buffer, sizeof(device_id_buffer), message.device_id);")
@ -322,19 +323,25 @@ def print_field(field):
elif (field.name == 'q' or 'q_' in field.name) and field.type == 'float32[4]':
# float32[4] q/q_d/q_reset/delta_q_reset
print("{")
print("\t\tmatrix::Eulerf euler{matrix::Quatf{message." + field.name + "}};")
print("\t\tPX4_INFO_RAW(\"\\t" + field.name + ": " + c_type + " (Roll: %.1f deg, Pitch: %.1f deg, Yaw: %.1f deg" ")\\n\", " + field_name + ", (double)math::degrees(euler(0)), (double)math::degrees(euler(1)), (double)math::degrees(euler(2)));\n\t")
print(
"\t\tmatrix::Eulerf euler{matrix::Quatf{message." + field.name + "}};")
print("\t\tPX4_INFO_RAW(\"\\t" + field.name + ": " + c_type + " (Roll: %.1f deg, Pitch: %.1f deg, Yaw: %.1f deg" ")\\n\", " +
field_name + ", (double)math::degrees(euler(0)), (double)math::degrees(euler(1)), (double)math::degrees(euler(2)));\n\t")
print("\t}")
elif ("flags" in field.name or "bits" in field.name) and "uint" in field.type:
# print bits of fixed width unsigned integers (uint8, uint16, uint32) if name contains flags or bits
print("PX4_INFO_RAW(\"\\t" + field.name + ": " + c_type + " (0b\", " + field_name + ");")
print("\tfor (int i = (sizeof(" + field_name + ") * 8) - 1; i >= 0; i--) { PX4_INFO_RAW(\"%lu%s\", (unsigned long) " + field_name + " >> i & 1, ((unsigned)i < (sizeof(" + field_name + ") * 8) - 1 && i % 4 == 0 && i > 0) ? \"'\" : \"\"); }")
print("PX4_INFO_RAW(\"\\t" + field.name + ": " +
c_type + " (0b\", " + field_name + ");")
print("\tfor (int i = (sizeof(" + field_name + ") * 8) - 1; i >= 0; i--) { PX4_INFO_RAW(\"%lu%s\", (unsigned long) "
+ field_name + " >> i & 1, ((unsigned)i < (sizeof(" + field_name + ") * 8) - 1 && i % 4 == 0 && i > 0) ? \"'\" : \"\"); }")
print("\tPX4_INFO_RAW(\")\\n\");")
elif is_array and 'char' in field.type:
print(("PX4_INFO_RAW(\"\\t" + field.name + ": \\\"%." + str(array_length) + "s\\\" \\n\", message." + field.name + ");"))
print(("PX4_INFO_RAW(\"\\t" + field.name + ": \\\"%." +
str(array_length) + "s\\\" \\n\", message." + field.name + ");"))
else:
print(("PX4_INFO_RAW(\"\\t" + field.name + ": " + c_type + "\\n\", " + field_name + ");"))
print(("PX4_INFO_RAW(\"\\t" + field.name + ": " +
c_type + "\\n\", " + field_name + ");"))
def print_field_def(field):
@ -375,37 +382,4 @@ def print_field_def(field):
comment = ' // required for logger'
print(('\t%s%s%s %s%s;%s' % (type_prefix, type_px4, type_appendix, field.name,
array_size, comment)))
def check_available_ids(used_msg_ids_list):
"""
Checks the available RTPS ID's
"""
return set(list(range(0, 255))) - set(used_msg_ids_list)
def rtps_message_id(msg_id_map, message):
"""
Get RTPS ID of uORB message
"""
error_msg = ""
# check if the message has an ID set
for dict in msg_id_map[0]['rtps']:
if message in dict['msg']:
if dict['id'] is not None:
return dict['id']
else:
error_msg = "ID is None!"
break
# create list of the available IDs if it fails to get an ID
used_ids = list()
for dict in msg_id_map[0]['rtps']:
if dict['id'] is not None:
used_ids.append(dict['id'])
raise AssertionError(
"%s %s Please add an ID from the available pool:\n" % (message, error_msg) +
", ".join('%d' % id for id in check_available_ids(used_ids)))
array_size, comment)))

229
msg/tools/uorb_rtps_classifier.py
View File

@ -31,143 +31,79 @@
#
################################################################################
import sys
import os
import argparse
import errno
import yaml
import re
import difflib
import errno
import os
from typing import Dict, List, Tuple
import yaml
class Classifier():
"""
Class to classify RTPS msgs as senders, receivers or to be ignored
"""
"""Class to classify RTPS msgs as to send, receive and set their IDs."""
def __init__(self, yaml_file, msg_folder):
def __init__(self, yaml_file, msg_folder) -> None:
self.msg_folder = msg_folder
self.all_msgs_list = self.set_all_msgs()
self.msg_id_map = self.parse_yaml_msg_id_file(yaml_file)
self.alias_space_init_id = 180
self.msg_map = self.parse_yaml_msgs_file(yaml_file)
# Checkers
self.check_if_listed(yaml_file)
# Check if base types are defined correctly
self.check_base_type()
self.check_id_space()
self.msgs_to_send, self.alias_msgs_to_send = self.set_msgs_to_send()
self.msgs_to_receive, self.alias_msgs_to_receive = self.set_msgs_to_receive()
self.msgs_to_ignore, self.alias_msgs_to_ignore = self.set_msgs_to_ignore()
# Get messages to send and to receive
self.msgs_to_send: Dict[str, int] = dict()
self.msgs_to_receive: Dict[str, int] = dict()
self.alias_msgs_to_send: List[Tuple[str, str]] = []
self.alias_msgs_to_receive: List[Tuple[str, str]] = []
self.msg_id_map: List[str] = []
# Create message map
self.setup_msg_map()
self.msg_files_send = self.set_msg_files_send()
self.msg_files_receive = self.set_msg_files_receive()
self.msg_files_ignore = self.set_msg_files_ignore()
# setters (for class init)
def set_all_msgs(self):
msg_list = []
for filename in os.listdir(self.msg_folder):
if '.msg' in filename:
# add base messages
msg_list.append(re.sub(".msg", "", filename))
# add alias / multi-topics messages
with open(os.path.join(self.msg_folder, filename), 'r') as f:
alias_msgs = []
lines = f.readlines()
for line in lines:
if '# TOPICS' in line:
fileUpdated = True
alias_msgs += line.split()
alias_msgs.remove('#')
alias_msgs.remove('TOPICS')
for msg in alias_msgs:
if msg not in msg_list:
msg_list.append(msg)
return msg_list
def set_msgs_to_send(self):
send = {}
send_alias = []
for dict in self.msg_id_map['rtps']:
if 'send' in list(dict.keys()):
if 'alias' in list(dict.keys()):
send_alias.append(
({dict['msg']: dict['id']}, dict['alias']))
def setup_msg_map(self) -> None:
"""Setup dictionary with an ID map for the messages."""
for topic in self.msg_map['rtps']:
if 'send' in list(topic.keys()):
if 'base' in list(topic.keys()):
self.alias_msgs_to_send.append(
(topic['msg'], topic['base']))
else:
send.update({dict['msg']: dict['id']})
return send, send_alias
def set_msgs_to_receive(self):
receive = {}
receive_alias = []
for dict in self.msg_id_map['rtps']:
if 'receive' in list(dict.keys()):
if 'alias' in list(dict.keys()):
receive_alias.append(
({dict['msg']: dict['id']}, dict['alias']))
self.msgs_to_send.update({topic['msg']: 0})
if 'receive' in list(topic.keys()):
if 'base' in list(topic.keys()):
self.alias_msgs_to_receive.append(
(topic['msg'], topic['base']))
else:
receive.update({dict['msg']: dict['id']})
return receive, receive_alias
self.msgs_to_receive.update({topic['msg']: 0})
self.msg_id_map.append(topic['msg'])
def set_msgs_to_ignore(self):
ignore = {}
ignore_alias = []
for dict in self.msg_id_map['rtps']:
if (('send' not in list(dict.keys())) and ('receive' not in list(dict.keys()))):
if 'alias' in list(dict.keys()):
ignore_alias.append(
({dict['msg']: dict['id']}, dict['alias']))
else:
ignore.update({dict['msg']: dict['id']})
return ignore, ignore_alias
def set_msg_files_send(self):
def set_msg_files_send(self) -> list:
"""
Append the path to the files which messages are marked to
be sent.
"""
return [os.path.join(self.msg_folder, msg + ".msg")
for msg in list(self.msgs_to_send.keys())]
def set_msg_files_receive(self):
def set_msg_files_receive(self) -> list:
"""
Append the path to the files which messages are marked to
be received.
"""
return [os.path.join(self.msg_folder, msg + ".msg")
for msg in list(self.msgs_to_receive.keys())]
def set_msg_files_ignore(self):
return [os.path.join(self.msg_folder, msg + ".msg")
for msg in list(self.msgs_to_ignore.keys())]
def check_if_listed(self, yaml_file):
"""
Checks if all msgs are listed under the RTPS ID yaml file
"""
none_listed_msgs = []
for msg in self.all_msgs_list:
result = not any(
dict['msg'] == msg for dict in self.msg_id_map['rtps'])
if result:
none_listed_msgs.append(msg)
if len(none_listed_msgs) > 0:
if len(none_listed_msgs) == 1:
error_msg = "The following message is not listen under "
elif len(none_listed_msgs) > 1:
error_msg = "The following messages are not listen under "
raise AssertionError(
"\n%s %s: " % (error_msg, yaml_file) + ", ".join('%s' % msg for msg in none_listed_msgs) +
"\n\nPlease add them to the yaml file with the respective ID and, if applicable, mark them " +
"to be sent or received by the micro-RTPS bridge.\n"
"NOTE: If the message is an alias / part of multi-topics (#TOPICS) of a base message, it should be added as well.\n")
def check_base_type(self):
"""
Check if alias message has correct base type
"""
def check_base_type(self) -> None:
"""Check if alias message has correct base type."""
registered_alias_msgs = list(
dict['alias'] for dict in self.msg_id_map['rtps'] if 'alias' in list(dict.keys()))
topic['base'] for topic in self.msg_map['rtps'] if 'base' in list(topic.keys()))
base_types = []
for dict in self.msg_id_map['rtps']:
if 'alias' not in list(dict.keys()):
base_types.append(dict['msg'])
for topic in self.msg_map['rtps']:
if 'base' not in list(topic.keys()):
base_types.append(topic['msg'])
incorrect_base_types = list(
set(registered_alias_msgs) - set(base_types))
@ -181,40 +117,17 @@ class Classifier():
raise AssertionError(
('\n' + '\n'.join('\t- The multi-topic message base type \'{}\' does not exist.{}'.format(k, (' Did you mean \'' + v[0] + '\'?' if v else '')) for k, v in list(base_types_suggestion.items()))))
def check_id_space(self):
"""
Check if msg ID is in the correct ID space
"""
incorrect_base_ids = {}
incorrect_alias_ids = {}
for dict in self.msg_id_map['rtps']:
if 'alias' not in list(dict.keys()) and dict['id'] >= self.alias_space_init_id:
incorrect_base_ids.update({dict['msg']: dict['id']})
elif 'alias' in list(dict.keys()) and dict['id'] < self.alias_space_init_id:
incorrect_alias_ids.update({dict['msg']: dict['id']})
if len(incorrect_base_ids) > 0:
raise AssertionError(
('\n' + '\n'.join('\t- The message \'{} with ID \'{}\' is in the wrong ID space. Please use any of the available IDs from 0 to 169'.format(k, v) for k, v in list(incorrect_base_ids.items()))))
if len(incorrect_alias_ids) > 0:
raise AssertionError(
('\n' + '\n'.join('\t- The alias message \'{}\' with ID \'{}\' is in the wrong ID space. Please use any of the available IDs from 170 to 255'.format(k, v) for k, v in list(incorrect_alias_ids.items()))))
@staticmethod
def parse_yaml_msg_id_file(yaml_file):
"""
Parses a yaml file into a dict
"""
def parse_yaml_msgs_file(yaml_file) -> dict:
"""Parses a yaml file into a dict."""
try:
with open(yaml_file, 'r') as f:
return yaml.safe_load(f)
except OSError as e:
if e.errno == errno.ENOENT:
with open(yaml_file, 'r') as file:
return yaml.safe_load(file)
except OSError as err:
if err.errno == errno.ENOENT:
raise IOError(errno.ENOENT, os.strerror(
errno.ENOENT), yaml_file)
else:
raise
raise
if __name__ == "__main__":
@ -233,8 +146,8 @@ if __name__ == "__main__":
parser.add_argument("-m", "--topic-msg-dir", dest='msgdir', type=str,
help="Topics message dir, by default msg/", default="msg")
parser.add_argument("-y", "--rtps-ids-file", dest='yaml_file', type=str,
help="RTPS msg IDs definition file absolute path, by default use relative path to msg, tools/uorb_rtps_message_ids.yaml",
default='tools/uorb_rtps_message_ids.yaml')
help="RTPS msg IDs definition file absolute path, by default use relative path to msg, tools/urtps_bridge_topics.yaml",
default='tools/urtps_bridge_topics.yaml')
# Parse arguments
args = parser.parse_args()
@ -250,36 +163,24 @@ if __name__ == "__main__":
if args.send:
if args.path:
print(('send files: ' + ', '.join(str(msg_file)
for msg_file in classifier.msgs_files_send) + '\n'))
for msg_file in classifier.msg_files_send) + '\n'))
else:
if args.alias:
print((', '.join(str(msg)
for msg in list(classifier.msgs_to_send.keys())) + (' alias ' + ', '.join(str(list(msg[0].keys())[0])
for msg in classifier.alias_msgs_to_send) if len(classifier.alias_msgs_to_send) > 0 else '') + '\n'))
for msg in sorted(classifier.msgs_to_send)) + (' alias ' + ', '.join(msg[0]
for msg in classifier.alias_msgs_to_send) if len(classifier.alias_msgs_to_send) > 0 else '') + '\n'))
else:
print((', '.join(str(msg)
for msg in list(classifier.msgs_to_send.keys()))))
for msg in sorted(classifier.msgs_to_send))))
if args.receive:
if args.path:
print(('receive files: ' + ', '.join(str(msg_file)
for msg_file in classifier.msgs_files_receive) + '\n'))
for msg_file in classifier.msg_files_receive) + '\n'))
else:
if args.alias:
print((', '.join(str(msg)
for msg in list(classifier.msgs_to_receive.keys())) + (' alias ' + ', '.join(str(list(msg[0].keys())[0])
for msg in classifier.alias_msgs_to_receive) if len(classifier.alias_msgs_to_receive) > 0 else '') + '\n'))
for msg in sorted(classifier.msgs_to_receive)) + (' alias ' + ', '.join(msg[0]
for msg in classifier.alias_msgs_to_receive) if len(classifier.alias_msgs_to_receive) > 0 else '') + '\n'))
else:
print((', '.join(str(msg)
for msg in list(classifier.msgs_to_receive.keys()))))
if args.ignore:
if args.path:
print(('ignore files: ' + ', '.join(str(msg_file)
for msg_file in classifier.msgs_files_ignore) + '\n'))
else:
if args.alias:
print((', '.join(str(msg)
for msg in list(classifier.msgs_to_ignore.keys())) + (' alias ' + ', '.join(str(list(msg[0].keys())[0])
for msg in classifier.alias_msgs_to_ignore) if len(classifier.alias_msgs_to_ignore) > 0 else '') + '\n'))
else:
print((', '.join(str(msg)
for msg in list(classifier.msgs_to_ignore.keys()))))
for msg in sorted(classifier.msgs_to_receive))))

460
msg/tools/uorb_rtps_message_ids.yaml
View File

@ -1,460 +0,0 @@
rtps:
- msg: actuator_armed
id: 0
- msg: actuator_controls
id: 1
- msg: actuator_outputs
id: 3
- msg: adc_report
id: 4
- msg: airspeed
id: 5
- msg: battery_status
id: 6
- msg: camera_capture
id: 7
- msg: camera_trigger
id: 8
- msg: collision_report
id: 9
- msg: commander_state
id: 10
- msg: cpuload
id: 11
- msg: debug_array
id: 12
receive: true
- msg: debug_key_value
id: 13
receive: true
- msg: debug_value
id: 14
receive: true
- msg: debug_vect
id: 15
receive: true
- msg: differential_pressure
id: 16
- msg: distance_sensor
id: 17
- msg: estimator_innovations
id: 18
- msg: ekf2_timestamps
id: 19
- msg: ekf_gps_drift
id: 20
- msg: sensor_gps
id: 21
- msg: esc_report
id: 22
- msg: esc_status
id: 23
- msg: estimator_status
id: 24
- msg: follow_target
id: 25
- msg: geofence_result
id: 26
- msg: gps_dump
id: 27
- msg: gps_inject_data
id: 28
- msg: home_position
id: 29
- msg: input_rc
id: 30
send: true
- msg: iridiumsbd_status
id: 31
- msg: irlock_report
id: 32
- msg: landing_target_innovations
id: 33
- msg: landing_target_pose
id: 34
- msg: led_control
id: 35
- msg: log_message
id: 36
- msg: manual_control_setpoint
id: 37
- msg: mavlink_log
id: 38
- msg: mission
id: 39
- msg: mission_result
id: 40
- msg: mount_orientation
id: 41
- msg: multirotor_motor_limits
id: 42
- msg: obstacle_distance
id: 43
- msg: offboard_control_mode
id: 44
receive: true
- msg: optical_flow
id: 45
receive: true
- msg: parameter_update
id: 46
- msg: ping
id: 47
- msg: position_controller_landing_status
id: 48
- msg: position_controller_status
id: 49
- msg: position_setpoint
id: 50
receive: true
- msg: position_setpoint_triplet
id: 51
receive: true
- msg: power_button_state
id: 52
- msg: pwm_input
id: 53
- msg: qshell_req
id: 54
- msg: qshell_retval
id: 55
- msg: radio_status
id: 56
- msg: rate_ctrl_status
id: 57
- msg: rc_channels
id: 58
- msg: rc_parameter_map
id: 59
- msg: safety
id: 60
- msg: satellite_info
id: 61
send: true
- msg: sensor_accel
id: 62
- msg: sensor_baro
id: 63
- msg: estimator_sensor_bias
id: 64
- msg: sensor_combined
id: 65
send: true
- msg: sensor_correction
id: 66
- msg: sensor_gyro
id: 67
- msg: sensor_mag
id: 68
- msg: sensors_status_imu
id: 69
- msg: sensor_selection
id: 70
- msg: px4io_status
id: 71
- msg: system_power
id: 73
- msg: task_stack_info
id: 74
- msg: tecs_status
id: 75
- msg: telemetry_status
id: 76
receive: true
- msg: test_motor
id: 77
- msg: timesync
id: 78
receive: true
send: true
- msg: trajectory_waypoint
id: 79
send: true
- msg: transponder_report
id: 80
- msg: tune_control
id: 81
- msg: uavcan_parameter_request
id: 82
- msg: uavcan_parameter_value
id: 83
- msg: ulog_stream
id: 84
- msg: ulog_stream_ack
id: 85
- msg: vehicle_air_data
id: 86
- msg: vehicle_attitude
id: 87
send: true
- msg: vehicle_attitude_setpoint
id: 88
- msg: vehicle_command
id: 89
receive: true
- msg: vehicle_command_ack
id: 90
- msg: vehicle_constraints
id: 91
- msg: vehicle_control_mode
id: 92
send: true
- msg: vehicle_global_position
id: 93
- msg: vehicle_gps_position
id: 94
- msg: vehicle_land_detected
id: 95
- msg: vehicle_local_position
id: 96
send: true
- msg: vehicle_local_position_setpoint
id: 97
receive: true
- msg: vehicle_magnetometer
id: 98
- msg: vehicle_odometry
id: 99
send: true
- msg: vehicle_rates_setpoint
id: 100
- msg: vehicle_roi
id: 101
- msg: vehicle_status
id: 102
send: true
- msg: vehicle_status_flags
id: 103
- msg: vehicle_trajectory_waypoint
id: 104
receive: true
- msg: vtol_vehicle_status
id: 105
- msg: wind
id: 106
- msg: collision_constraints
id: 107
send: true
- msg: orbit_status
id: 108
- msg: power_monitor
id: 109
- msg: landing_gear
id: 110
- msg: wheel_encoders
id: 111
- msg: vehicle_angular_velocity
id: 112
send: true
- msg: vehicle_acceleration
id: 113
- msg: airspeed_validated
id: 115
- msg: onboard_computer_status
id: 116
receive: true
- msg: cellular_status
id: 117
- msg: sensor_accel_fifo
id: 118
- msg: sensor_gyro_fifo
id: 119
- msg: vehicle_imu
id: 120
- msg: vehicle_imu_status
id: 121
- msg: vehicle_angular_acceleration
id: 122
- msg: logger_status
id: 123
- msg: rpm
id: 124
- msg: hover_thrust_estimate
id: 125
- msg: trajectory_bezier
id: 126
receive: true
- msg: vehicle_trajectory_bezier
id: 127
receive: true
- msg: timesync_status
id: 128
send: true
- msg: orb_test
id: 129
- msg: orb_test_medium
id: 130
- msg: orb_test_large
id: 131
- msg: yaw_estimator_status
id: 132
- msg: sensor_preflight_mag
id: 133
- msg: estimator_states
id: 134
- msg: generator_status
id: 135
- msg: sensor_gyro_fft
id: 136
- msg: navigator_mission_item
id: 137
- msg: estimator_optical_flow_vel
id: 138
- msg: estimator_selector_status
id: 139
- msg: manual_control_switches
id: 140
- msg: estimator_status_flags
id: 141
- msg: rtl_flight_time
id: 142
- msg: vehicle_angular_acceleration_setpoint
id: 143
- msg: vehicle_torque_setpoint
id: 144
- msg: vehicle_thrust_setpoint
id: 145
- msg: vehicle_actuator_setpoint
id: 146
- msg: control_allocator_status
id: 147
- msg: mag_worker_data
id: 148
- msg: takeoff_status
id: 149
- msg: heater_status
id: 150
- msg: gimbal_device_attitude_status
id: 151
- msg: gimbal_device_information
id: 152
- msg: gimbal_device_set_attitude
id: 153
- msg: gimbal_manager_information
id: 154
- msg: gimbal_manager_set_attitude
id: 155
- msg: gimbal_manager_status
id: 156
- msg: gimbal_manager_set_manual_control
id: 157
- msg: airspeed_wind
id: 158
- msg: estimator_event_flags
id: 159
- msg: event
id: 160
- msg: estimator_baro_bias
id: 161
- msg: internal_combustion_engine_status
id: 162
- msg: camera_status
id: 163
########## multi topics: begin ##########
- msg: actuator_controls_0
id: 180
alias: actuator_controls
- msg: actuator_controls_1
id: 181
alias: actuator_controls
- msg: actuator_controls_2
id: 182
alias: actuator_controls
- msg: actuator_controls_3
id: 183
alias: actuator_controls
- msg: actuator_controls_virtual_fw
id: 184
alias: actuator_controls
- msg: actuator_controls_virtual_mc
id: 185
alias: actuator_controls
- msg: mc_virtual_attitude_setpoint
id: 186
alias: vehicle_attitude_setpoint
- msg: fw_virtual_attitude_setpoint
id: 187
alias: vehicle_attitude_setpoint
- msg: vehicle_attitude_groundtruth
id: 188
alias: vehicle_attitude
- msg: vehicle_global_position_groundtruth
id: 189
alias: vehicle_global_position
- msg: vehicle_local_position_groundtruth
id: 190
alias: vehicle_local_position
- msg: vehicle_mocap_odometry
alias: vehicle_odometry
id: 191
receive: true
- msg: vehicle_visual_odometry
id: 192
alias: vehicle_odometry
receive: true
- msg: vehicle_trajectory_waypoint_desired
id: 193
alias: vehicle_trajectory_waypoint
send: true
- msg: obstacle_distance_fused
id: 194
alias: obstacle_distance
- msg: vehicle_vision_attitude
id: 195
alias: vehicle_attitude
- msg: trajectory_setpoint
id: 196
alias: vehicle_local_position_setpoint
receive: true
- msg: camera_trigger_secondary
id: 197
alias: camera_trigger
- msg: vehicle_angular_velocity_groundtruth
id: 198
alias: vehicle_angular_velocity
- msg: estimator_visual_odometry_aligned
id: 199
alias: vehicle_odometry
- msg: estimator_innovation_variances
id: 200
alias: estimator_innovations
- msg: estimator_innovation_test_ratios
id: 201
alias: estimator_innovations
- msg: orb_multitest
id: 202
alias: orb_test
- msg: orb_test_medium_multi
id: 203
alias: orb_test_medium
- msg: orb_test_medium_queue
id: 204
alias: orb_test_medium
- msg: orb_test_medium_queue_poll
id: 205
alias: orb_test_medium
- msg: orb_test_medium_wrap_around
id: 206
alias: orb_test_medium
- msg: estimator_local_position
id: 207
alias: vehicle_local_position
- msg: estimator_global_position
id: 208
alias: vehicle_global_position
- msg: estimator_attitude
id: 209
alias: vehicle_attitude
- msg: estimator_odometry
id: 210
alias: vehicle_odometry
- msg: actuator_controls_4
id: 211
alias: actuator_controls
- msg: actuator_controls_5
id: 212
alias: actuator_controls
- msg: estimator_wind
id: 213
alias: wind
########## multi topics: end ##########

89
msg/tools/urtps_bridge_topics.yaml Normal file
View File

@ -0,0 +1,89 @@
#####
#
# This file maps all the topics that are to be used on the microRTPS bridge.
# When one wants to add a new topic to the bridge, it should add it to this file
# and mark it to be sent or received from the link.
# For alias/multi-topic messages (i.e. the ones found on the '#TOPICS' of the
# uORB messages), these can be also added, requiring an extra entry ('base') to
# define the base message.
#
# IMPORTANT NOTICE: The IDs of the messages sent on the bridge get generated
# according to the order of the messages in this file. To keep consistency and
# backwards compatibility, it is recommended that any new message that one wants
# to be streamed in the bridge gets added to the end of the list. Any changes
# in the middle of the list (additions, removals, replacements) will change also
# the current message IDS, which might result with incompatibilities with
# previous PX4 versions (where the list with this format got introduced or
# subsisted).
#
# Any updates to this file should be mirrored in both sides of the bridge (i.e.,
# PX4 and px4_ros_com), when using it with ROS2. That can be easily done using
# the 'msg/tools/uorb_to_ros_urtps_topics.py' script to regenerate this same
# file under 'px4_ros_com/templates/''. The same is not applicable/required if
# using this bridge with "raw" RTPS/DDS applications, since the microRTPS agent
# to be used and stored in 'build/<px4_target>/src/modules/micrortps_bridge/''
# gets generated using this same list.
#
#####
rtps:
# topic ID 1
- msg: debug_array
receive: true
# topic ID 2
- msg: debug_key_value
receive: true
# topic ID 3
- msg: debug_value
receive: true
# ...
- msg: debug_vect
receive: true
- msg: offboard_control_mode
receive: true
- msg: optical_flow
receive: true
- msg: position_setpoint
receive: true
- msg: position_setpoint_triplet
receive: true
- msg: telemetry_status
receive: true
- msg: timesync
receive: true
send: true
- msg: trajectory_waypoint
send: true
- msg: vehicle_command
receive: true
- msg: vehicle_control_mode
send: true
- msg: vehicle_local_position_setpoint
receive: true
- msg: trajectory_setpoint # multi-topic / alias of vehicle_local_position_setpoint
base: vehicle_local_position_setpoint
receive: true
- msg: vehicle_odometry
send: true
- msg: vehicle_mocap_odometry # multi-topic / alias of vehicle_odometry
base: vehicle_odometry
receive: true
- msg: vehicle_visual_odometry # multi-topic / alias of vehicle_odometry
base: vehicle_odometry
receive: true
- msg: vehicle_status
send: true
- msg: vehicle_trajectory_waypoint
receive: true
- msg: vehicle_trajectory_waypoint_desired # multi-topic / alias of vehicle_trajectory_waypoint
base: vehicle_trajectory_waypoint
send: true
- msg: collision_constraints
send: true
- msg: onboard_computer_status
receive: true
- msg: trajectory_bezier
receive: true
- msg: vehicle_trajectory_bezier
receive: true
- msg: timesync_status
send: true

7
src/modules/micrortps_bridge/CMakeLists.txt
View File

@ -48,7 +48,7 @@ else()
message(STATUS "${FASTRTPSGEN_VERSION}")
endif()
if (EXISTS "${PX4_SOURCE_DIR}/msg/tools/uorb_rtps_message_ids.yaml")
if (EXISTS "${PX4_SOURCE_DIR}/msg/tools/urtps_bridge_topics.yaml")
set(config_rtps_send_topics)
execute_process(
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/msg/tools/uorb_rtps_classifier.py -sa
@ -106,7 +106,8 @@ if (GENERATE_RTPS_BRIDGE)
# send topic files
STRING(REGEX REPLACE ";" ", " send_list "${config_rtps_send_topics};${config_rtps_send_alias_topics}")
message(STATUS "RTPS send: ${send_list}")
message(STATUS "microRTPS bridge:")
message(STATUS " Publish to the bridge from: ${send_list}")
set(send_topic_files)
foreach(topic ${config_rtps_send_topics})
list(APPEND send_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
@ -116,7 +117,7 @@ if (GENERATE_RTPS_BRIDGE)
# receive topic files
STRING(REGEX REPLACE ";" ", " rcv_list "${config_rtps_receive_topics};${config_rtps_receive_alias_topics}")
message(STATUS "RTPS receive: ${rcv_list}")
message(STATUS " Subscribe from the bridge to: ${rcv_list}")
set(receive_topic_files)
foreach(topic ${config_rtps_receive_topics})
list(APPEND receive_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)