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Fixes for manual bridge generation 

Fix for some forgot .cxx extensions
Fix for 'print' python 2 3 compatibility
Fix for topic ID type change
This commit is contained in:
Vicente Monge 2017-08-01 11:34:13 +02:00 committed by Lorenz Meier
parent c05ea542d9
commit c5e2745a19
8 changed files with 52 additions and 49 deletions
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14
Tools/generate_microRTPS_bridge.py
View File

@ -74,8 +74,8 @@ if len(sys.argv) <= 1:
# Parse arguments
args = parser.parse_args()
msg_folder = get_absolute_path(args.msgdir)
msg_files_send = args.send
msg_files_receive = args.receive
msg_files_send = [get_absolute_path(msg) for msg in args.send]
msg_files_receive = [get_absolute_path(msg) for msg in args.receive]
agent = args.agent
client = args.client
del_tree = args.del_tree
@ -162,22 +162,22 @@ def generate_agent(out_dir):
# Final steps to install agent
mkdir_p(agent_out_dir + "/fastrtpsgen")
os.chdir(agent_out_dir + "/fastrtpsgen")
for idl_file in glob.glob( agent_out_dir + "/idl/*.idl"):
ret = os.system(fastrtpsgen_path + " -example x64Linux2.6gcc " + idl_file)
for idl_file in glob.glob(agent_out_dir + "/idl/*.idl"):
ret = subprocess.call(fastrtpsgen_path + " -d " + agent_out_dir + "/fastrtpsgen -example x64Linux2.6gcc " + idl_file, shell=True)
if ret:
raise Exception("fastrtpsgen not found. Specify the location of fastrtpsgen with the -f flag")
rm_wildcard(agent_out_dir + "/fastrtpsgen/*PubSubMain.cpp")
rm_wildcard(agent_out_dir + "/fastrtpsgen/*PubSubMain*")
rm_wildcard(agent_out_dir + "/fastrtpsgen/makefile*")
rm_wildcard(agent_out_dir + "/fastrtpsgen/*Publisher*")
rm_wildcard(agent_out_dir + "/fastrtpsgen/*Subscriber*")
for f in glob.glob(agent_out_dir + "/fastrtpsgen/*.cxx"):
os.rename(f, f.replace(".cxx", ".cpp"))
cp_wildcard(agent_out_dir + "/fastrtpsgen/*", agent_out_dir)
if os.path.isdir(agent_out_dir + "/fastrtpsgen"):
shutil.rmtree(agent_out_dir + "/fastrtpsgen")
cp_wildcard(urtps_templates_dir + "/microRTPS_transport.*", agent_out_dir)
os.rename(agent_out_dir + "/microRTPS_agent_CMakeLists.txt", agent_out_dir + "/CMakeLists.txt")
mkdir_p(agent_out_dir + "/build")
return 0
def rm_wildcard(pattern):

2
Tools/px_generate_uorb_topic_files.py
View File

@ -165,7 +165,7 @@ def generate_idl_file(filename_msg, outputdir, templatedir, includepath):
def generate_uRTPS_general(filename_send_msgs, filename_received_msgs,
outputdir, templatedir, includepath, template_name):
"""
Generates source file by UART msg content
Generates source file by msg content
"""
em_globals_list = []
if filename_send_msgs:

16
msg/templates/uorb/msg.cpp.template
View File

@ -84,18 +84,18 @@ ORB_DEFINE(@multi_topic, struct @uorb_struct, @(struct_size-padding_end_size),
@{
def print_info(field):
print "type: ", field.type, "name: ", field.name, "base_type: ", \
print("type: ", field.type, "name: ", field.name, "base_type: ", \
field.base_type, "field.is_array:", ('0', '1')[field.is_array], " array_len: ", field.array_len, \
"is_builtin:", ('0', '1')[field.is_builtin], "is_header:", ('0', '1')[field.is_header]
"is_builtin:", ('0', '1')[field.is_builtin], "is_header:", ('0', '1')[field.is_header])
def print_level_info(fields):
for field in fields:
print_info(field)
if (not field.is_builtin):
print "\n"
print("\n")
children_fields = get_children_fields(field.base_type, search_path)
print_level_info(children_fields)
print "\n"
print("\n")
def walk_through_parsed_fields():
print_level_info(spec.parsed_fields())
@ -111,9 +111,9 @@ def add_serialize_functions(fields, scope_name):
if (not field.is_header):
if (field.is_builtin):
if (not field.is_array):
print "\tserialize"+str(get_serialization_type_name(field.type))+"(input->"+scope_name+str(field.name)+", microCDRWriter);"
print("\tserialize"+str(get_serialization_type_name(field.type))+"(input->"+scope_name+str(field.name)+", microCDRWriter);")
else:
print "\tserialize"+str(get_serialization_type_name(field.base_type))+"Array(input->"+scope_name+str(field.name)+", "+str(field.array_len)+", microCDRWriter);"
print("\tserialize"+str(get_serialization_type_name(field.base_type))+"Array(input->"+scope_name+str(field.name)+", "+str(field.array_len)+", microCDRWriter);")
else:
name = field.name
children_fields = get_children_fields(field.base_type, search_path)
@ -129,10 +129,10 @@ def add_deserialize_functions(fields, scope_name):
if (not field.is_header):
if (field.is_builtin):
if (not field.is_array):
print "\tdeserialize"+str(get_serialization_type_name(field.type))+"(&output->"+scope_name+str(field.name)+", microCDRReader);"
print("\tdeserialize"+str(get_serialization_type_name(field.type))+"(&output->"+scope_name+str(field.name)+", microCDRReader);")
else:
for i in xrange(field.array_len):
print "\tdeserialize"+str(get_serialization_type_name(field.base_type))+"(&output->"+scope_name+str(field.name)+ str('[%d]' %i) +", microCDRReader);"
print("\tdeserialize"+str(get_serialization_type_name(field.base_type))+"(&output->"+scope_name+str(field.name)+ str('[%d]' %i) +", microCDRReader);")
else:
name = field.name
children_fields = get_children_fields(field.base_type, search_path)

6
msg/templates/urtps/RtpsTopics.cpp.template
View File

@ -83,7 +83,7 @@ bool RtpsTopics::init()
}
@[if send_topics]@
void RtpsTopics::publish(char topic_ID, char data_buffer[], size_t len)
void RtpsTopics::publish(uint8_t topic_ID, char data_buffer[], size_t len)
{
switch (topic_ID)
{
@ -106,7 +106,7 @@ void RtpsTopics::publish(char topic_ID, char data_buffer[], size_t len)
@[end if]@
@[if recv_topics]@
bool RtpsTopics::hasMsg(char *topic_ID)
bool RtpsTopics::hasMsg(uint8_t *topic_ID)
{
if (nullptr == topic_ID) return false;
@ -134,7 +134,7 @@ bool RtpsTopics::hasMsg(char *topic_ID)
return true;
}
bool RtpsTopics::getMsg(const char topic_ID, eprosima::fastcdr::Cdr &scdr)
bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr)
{
bool ret = false;
switch (topic_ID)

6
msg/templates/urtps/RtpsTopics.h.template
View File

@ -64,11 +64,11 @@ class RtpsTopics {
public:
bool init();
@[if send_topics]@
void publish(char topic_ID, char data_buffer[], size_t len);
void publish(uint8_t topic_ID, char data_buffer[], size_t len);
@[end if]@
@[if recv_topics]@
bool hasMsg(char *topic_ID);
bool getMsg(const char topic_ID, eprosima::fastcdr::Cdr &scdr);
bool hasMsg(uint8_t *topic_ID);
bool getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr);
@[end if]@
private:

2
msg/templates/urtps/microRTPS_agent.cpp.template
View File

@ -229,7 +229,7 @@ int main(int argc, char** argv)
int received = 0, loop = 0;
int length = 0, total_read = 0;
bool receiving = false;
char topic_ID = 255;
uint8_t topic_ID = 255;
std::chrono::time_point<std::chrono::steady_clock> start, end;
@[end if]@

4
msg/templates/urtps/msg.idl.template
View File

@ -61,9 +61,9 @@ def get_idl_type_name(field_type):
def add_msg_field(field):
if (not field.is_header):
if (not field.is_array):
print '\t' + str(get_idl_type_name(field.type)) + ' ' + field.name + ';'
print('\t' + str(get_idl_type_name(field.type)) + ' ' + field.name + ';')
else:
print '\t' + str(get_idl_type_name(field.base_type)) + ' ' + field.name + '[' +str(field.array_len)+ '];'
print('\t' + str(get_idl_type_name(field.base_type)) + ' ' + field.name + '[' +str(field.array_len)+ '];')
def add_msg_fields():
# sort fields (using a stable sort) as in the declaration of the type

51
src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt
View File

@ -31,10 +31,13 @@
#
############################################################################
find_program(FASTRTPSGEN fastrtpsgen)
if(NOT FASTRTPSGEN)
message(WARNING "WARNING: Unable to find fastrtpsgen")
set(GENERATE_RTPS_BRIDGE off)
if(NOT GENERATE_RTPS_BRIDGE MATCHES "off")
find_program(FASTRTPSGEN fastrtpsgen
PATHS $ENV{FASTRTPSGEN_DIR})
if(NOT FASTRTPSGEN)
message(WARNING "WARNING: Unable to find fastrtpsgen")
set(GENERATE_RTPS_BRIDGE off)
endif()
endif()
if(GENERATE_RTPS_BRIDGE MATCHES "off")
@ -79,28 +82,28 @@ else()
if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_topics}" STREQUAL "")
set(topic_bridge_files_out microRTPS_client.cpp microRTPS_transport.cpp microRTPS_transport.h)
set(send_topic_files_opt)
if (NOT "${send_topic_files}" STREQUAL "")
set(send_topic_opt "-s")
endif()
set(send_topic_files_opt)
if (NOT "${send_topic_files}" STREQUAL "")
set(send_topic_opt "-s")
endif()
set(receive_topic_files_opt)
if (NOT "${receive_topic_files}" STREQUAL "")
set(receive_topic_opt "-r")
endif()
set(receive_topic_files_opt)
if (NOT "${receive_topic_files}" STREQUAL "")
set(receive_topic_opt "-r")
endif()
add_custom_command(OUTPUT ${topic_bridge_files_out}
COMMAND ${PYTHON_EXECUTABLE}
${PX4_SOURCE_DIR}/Tools/generate_microRTPS_bridge.py
-f $ENV{FASTRTPSGEN_DIR}
${send_topic_opt} ${send_topic_files}
${receive_topic_opt} ${receive_topic_files}
-t ${topic_msg_path}
-u ${msg_out_path}
DEPENDS ${DEPENDS} ${send_topic_files} ${receive_topic_files}
COMMENT "Generating RTPS topic bridge"
VERBATIM
)
add_custom_command(OUTPUT ${topic_bridge_files_out}
COMMAND ${PYTHON_EXECUTABLE}
${PX4_SOURCE_DIR}/Tools/generate_microRTPS_bridge.py
-f $ENV{FASTRTPSGEN_DIR}
${send_topic_opt} ${send_topic_files}
${receive_topic_opt} ${receive_topic_files}
-t ${topic_msg_path}
-u ${msg_out_path}
DEPENDS ${DEPENDS} ${send_topic_files} ${receive_topic_files}
COMMENT "Generating RTPS topic bridge"
VERBATIM
)
endif()
px4_add_module(