forked from Archive/PX4-Autopilot
move RTPS to dedicated px4fmu-v{3,4,4pro,5}, posix, sdflight builds (#8113)
This commit is contained in:
Daniel Agar
GitHub
parent
979d092628
commit
d83073f016
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@ -35,7 +35,7 @@
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path = src/drivers/gps/devices
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url = https://github.com/PX4/GpsDrivers.git
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[submodule "src/lib/micro-CDR"]
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path = src/lib/micro-CDR
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path = src/modules/micrortps_bridge/micro-CDR
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url = https://github.com/eProsima/micro-CDR.git
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[submodule "platforms/nuttx/NuttX/nuttx"]
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path = platforms/nuttx/NuttX/nuttx
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@ -355,22 +355,6 @@ include_directories(${include_dirs})
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link_directories(${link_dirs})
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add_definitions(${definitions})
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#=============================================================================
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# RTPS and micro-cdr
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#
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find_program(FASTRTPSGEN fastrtpsgen PATHS $ENV{FASTRTPSGEN_DIR})
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if (FASTRTPSGEN AND (config_rtps_send_topics OR config_rtps_receive_topics))
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option(GENERATE_RTPS_BRIDGE "enable RTPS and microCDR" ON)
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endif()
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if (GENERATE_RTPS_BRIDGE)
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# add micro-CDR
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message(STATUS "RTPS bridge enabled, send: ${config_rtps_send_topics} receive: ${config_rtps_receive_topics}")
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px4_add_git_submodule(TARGET git_micro_cdr PATH src/lib/micro-CDR)
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add_subdirectory(src/lib/micro-CDR EXCLUDE_FROM_ALL)
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endif()
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#=============================================================================
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# message, and airframe generation
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#
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20
Makefile
20
Makefile
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@ -159,21 +159,25 @@ all_nuttx_targets: $(NUTTX_CONFIG_TARGETS)
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posix: posix_sitl_default
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broadcast: posix_sitl_broadcast
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# All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
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.PHONY: all posix broadcast all_nuttx_targets
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# Multi- config targets.
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eagle_default: posix_eagle_default qurt_eagle_default
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eagle_rtps: posix_eagle_rtps qurt_eagle_default
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eagle_legacy_default: posix_eagle_legacy qurt_eagle_legacy
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excelsior_default: posix_excelsior_default qurt_excelsior_default
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excelsior_rtps: posix_excelsior_rtps qurt_excelsior_default
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excelsior_legacy_default: posix_excelsior_legacy qurt_excelsior_legacy
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# All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
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.PHONY: all posix broadcast eagle_default eagle_legacy_default excelsior_legacy_default excelsior_default all_nuttx_targets
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.PHONY: eagle_default eagle_rtps eagle_legacy_default
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.PHONY: excelsior_default excelsior_rtps excelsior_legacy_default
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# Other targets
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# --------------------------------------------------------------------
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.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware alt_firmware
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.PHONY: sizes check quick_check
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.PHONY: sizes check quick_check check_rtps
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# QGroundControl flashable NuttX firmware
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qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware sizes
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@ -209,6 +213,14 @@ alt_firmware: \
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check_s2740vc-v1_default \
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sizes
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# builds with RTPS
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check_rtps: \
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check_px4fmu-v3_rtps \
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check_px4fmu-v4_rtps \
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check_px4fmu-v4pro_rtps \
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check_posix_sitl_rtps \
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sizes
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sizes:
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@-find build -name *.elf -type f | xargs size 2> /dev/null || :
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@ -14,9 +14,8 @@ exec find src \
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-path src/lib/DriverFramework -prune -o \
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-path src/lib/ecl -prune -o \
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-path src/lib/matrix -prune -o \
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-path src/lib/micro-CDR -prune -o \
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-path src/modules/commander -prune -o \
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-path src/modules/micrortps_bridge/micrortps_agent -prune -o \
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-path src/modules/micrortps_bridge/micro-CDR -prune -o \
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-path src/modules/sdlog2 -prune -o \
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-path src/modules/systemlib/uthash -prune -o \
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-path src/modules/uavcan/libuavcan -prune -o \
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@ -41,7 +41,6 @@ include(common/px4_base)
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# utility functions
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#
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# * px4_add_git_submodule
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# * px4_create_git_hash_header
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#
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#=============================================================================
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@ -71,13 +70,13 @@ function(px4_add_git_submodule)
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string(REPLACE "/" "_" NAME ${PATH})
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add_custom_command(OUTPUT ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
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add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/git_init_${NAME}.stamp
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COMMAND bash ${PX4_SOURCE_DIR}/Tools/check_submodules.sh ${PATH}
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COMMAND cmake -E touch ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
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COMMAND cmake -E touch ${CMAKE_CURRENT_BINARY_DIR}/git_init_${NAME}.stamp
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DEPENDS ${PX4_SOURCE_DIR}/.gitmodules ${PATH}/.git
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
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COMMENT "git submodule ${PATH}"
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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)
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add_custom_target(${TARGET} DEPENDS ${PX4_BINARY_DIR}/git_init_${NAME}.stamp)
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add_custom_target(${TARGET} DEPENDS git_init_${NAME}.stamp)
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endfunction()
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@ -134,9 +134,6 @@ set(config_module_list
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modules/uORB
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modules/dataman
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# micro RTPS
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modules/micrortps_bridge/micrortps_client
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#
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# Libraries
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#
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@ -197,12 +194,4 @@ set(config_module_list
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# EKF
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#examples/ekf_att_pos_estimator
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)
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set(config_rtps_send_topics
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sensor_combined
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)
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set(config_rtps_receive_topics
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sensor_baro
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)
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)
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@ -143,10 +143,6 @@ set(config_module_list
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modules/uORB
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modules/dataman
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# micro RTPS
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modules/micrortps_bridge/micrortps_client
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#
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# Libraries
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#
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@ -214,13 +210,4 @@ set(config_module_list
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# EKF
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examples/ekf_att_pos_estimator
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)
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set(config_rtps_send_topics
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sensor_combined
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)
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set(config_rtps_receive_topics
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sensor_baro
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)
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)
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@ -138,9 +138,6 @@ set(config_module_list
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modules/systemlib/mixer
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modules/uORB
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# micro RTPS
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modules/micrortps_bridge/micrortps_client
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#
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# Libraries
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#
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@ -207,12 +204,4 @@ set(config_module_list
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# EKF
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examples/ekf_att_pos_estimator
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)
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set(config_rtps_send_topics
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sensor_combined
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)
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set(config_rtps_receive_topics
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sensor_baro
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)
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)
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@ -0,0 +1,5 @@
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include(configs/nuttx_px4fmu-v3_default)
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list(APPEND config_module_list
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modules/micrortps_bridge
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)
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@ -139,9 +139,6 @@ set(config_module_list
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modules/uORB
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modules/dataman
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# micro RTPS
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modules/micrortps_bridge/micrortps_client
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#
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# Libraries
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#
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@ -209,12 +206,4 @@ set(config_module_list
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# EKF
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examples/ekf_att_pos_estimator
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)
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set(config_rtps_send_topics
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sensor_combined
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)
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set(config_rtps_receive_topics
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sensor_baro
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)
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)
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@ -0,0 +1,5 @@
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include(configs/nuttx_px4fmu-v4_default)
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list(APPEND config_module_list
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modules/micrortps_bridge
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)
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@ -139,9 +139,6 @@ set(config_module_list
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modules/systemlib/mixer
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modules/uORB
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# micro RTPS
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modules/micrortps_bridge/micrortps_client
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#
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# Libraries
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#
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@ -208,12 +205,4 @@ set(config_module_list
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# EKF
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#examples/ekf_att_pos_estimator
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)
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set(config_rtps_send_topics
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sensor_combined
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)
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set(config_rtps_receive_topics
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sensor_baro
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)
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)
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@ -0,0 +1,5 @@
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include(configs/nuttx_px4fmu-v4pro_default)
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list(APPEND config_module_list
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modules/micrortps_bridge
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)
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@ -139,9 +139,6 @@ set(config_module_list
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modules/systemlib/mixer
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modules/uORB
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# micro RTPS
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modules/micrortps_bridge/micrortps_client
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#
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# Libraries
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#
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@ -209,12 +206,4 @@ set(config_module_list
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# EKF
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#examples/ekf_att_pos_estimator
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)
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set(config_rtps_send_topics
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sensor_combined
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)
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set(config_rtps_receive_topics
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sensor_baro
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)
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)
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@ -0,0 +1,5 @@
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include(configs/nuttx_px4fmu-v4_default)
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list(APPEND config_module_list
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modules/micrortps_bridge
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)
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@ -66,9 +66,6 @@ set(config_module_list
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modules/commander
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modules/navigator
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# micro RTPS
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modules/micrortps_bridge/micrortps_client
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lib/controllib
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lib/mathlib
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lib/mathlib/math/filter
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@ -86,12 +83,4 @@ set(config_module_list
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platforms/common
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platforms/posix/px4_layer
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platforms/posix/work_queue
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)
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set(config_rtps_send_topics
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sensor_baro
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)
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set(config_rtps_receive_topics
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sensor_combined
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)
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)
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@ -58,9 +58,6 @@ set(config_module_list
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modules/commander
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modules/navigator
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# micro RTPS
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modules/micrortps_bridge/micrortps_client
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lib/controllib
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lib/mathlib
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lib/mathlib/math/filter
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@ -78,4 +75,4 @@ set(config_module_list
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platforms/common
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platforms/posix/px4_layer
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platforms/posix/work_queue
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)
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)
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@ -0,0 +1,5 @@
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include(configs/posix_sdflight_default)
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list(APPEND config_module_list
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modules/micrortps_bridge
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)
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@ -114,9 +114,6 @@ set(config_module_list
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modules/systemlib/mixer
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modules/uORB
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# micro RTPS
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modules/micrortps_bridge/micrortps_client
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#
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# Libraries
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#
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@ -189,39 +186,18 @@ set(config_module_list
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# EKF
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examples/ekf_att_pos_estimator
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# micro-RTPS
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)
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set(config_rtps_send_topics
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sensor_baro
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)
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set(config_rtps_receive_topics
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sensor_combined
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)
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# Default config_sitl_rcS_dir (posix_sitl_default), this is overwritten later
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# for the config posix_sitl_efk2 and set again, explicitly, for posix_sitl_lpe,
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# which are based on posix_sitl_default.
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set(config_sitl_rcS_dir
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posix-configs/SITL/init/ekf2
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CACHE INTERNAL "init script dir for sitl"
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)
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set(config_sitl_rcS_dir posix-configs/SITL/init/ekf2 CACHE INTERNAL "init script dir for sitl")
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set(config_sitl_viewer
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jmavsim
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CACHE STRING "viewer for sitl"
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)
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set_property(CACHE config_sitl_viewer
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PROPERTY STRINGS "jmavsim;none")
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set(config_sitl_viewer jmavsim CACHE STRING "viewer for sitl")
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set_property(CACHE config_sitl_viewer PROPERTY STRINGS "jmavsim;none")
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set(config_sitl_debugger
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disable
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CACHE STRING "debugger for sitl"
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)
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set_property(CACHE config_sitl_debugger
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PROPERTY STRINGS "disable;gdb;lldb")
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set(config_sitl_debugger disable CACHE STRING "debugger for sitl")
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set_property(CACHE config_sitl_debugger PROPERTY STRINGS "disable;gdb;lldb")
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# If the environment variable 'replay' is defined, we are building with replay
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# support. In this case, we enable the orb publisher rules.
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@ -0,0 +1,5 @@
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include(configs/posix_sitl_default)
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list(APPEND config_module_list
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modules/micrortps_bridge
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)
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@ -177,76 +177,3 @@ add_custom_command(OUTPUT ${uorb_sources}
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px4_add_library(uorb_msgs ${uorb_sources})
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add_dependencies(uorb_msgs uorb_headers)
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###############################################################################
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# micro-cdr serialization
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###############################################################################
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# if RTPS is enabled generate serialization code for each uORB message
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if (GENERATE_RTPS_BRIDGE)
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set(msg_out_path_microcdr ${PX4_BINARY_DIR}/uORB_microcdr/topics)
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set(msg_source_out_path_microcdr ${CMAKE_CURRENT_BINARY_DIR}/topics_microcdr_sources)
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set(uorb_headers_microcdr)
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set(uorb_sources_microcdr)
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# send topic files
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set(send_topic_files)
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foreach(topic ${config_rtps_send_topics})
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list(APPEND send_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
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list(APPEND uorb_headers_microcdr ${msg_out_path_microcdr}/${topic}.h)
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list(APPEND uorb_sources_microcdr ${msg_source_out_path_microcdr}/${topic}.cpp)
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endforeach()
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# receive topic files
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set(receive_topic_files)
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foreach(topic ${config_rtps_receive_topics})
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list(APPEND receive_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
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list(APPEND uorb_headers_microcdr ${msg_out_path_microcdr}/${topic}.h)
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list(APPEND uorb_sources_microcdr ${msg_source_out_path_microcdr}/${topic}.cpp)
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endforeach()
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list(REMOVE_DUPLICATES uorb_headers_microcdr)
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list(REMOVE_DUPLICATES uorb_sources_microcdr)
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# Generate uORB serialization headers
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add_custom_command(OUTPUT ${uorb_headers_microcdr}
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COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
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--headers
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-f ${send_topic_files} ${receive_topic_files}
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-i ${CMAKE_CURRENT_SOURCE_DIR}
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-o ${msg_out_path_microcdr}
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-e templates/uorb_microcdr
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-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/headers_microcdr
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-q
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DEPENDS ${msg_files}
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COMMENT "Generating uORB microcdr topic headers"
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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VERBATIM
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)
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add_custom_target(uorb_headers_microcdr DEPENDS ${uorb_headers_microcdr})
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# Generate uORB serialization sources
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add_custom_command(OUTPUT ${uorb_sources_microcdr}
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COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
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--sources
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-f ${send_topic_files} ${receive_topic_files}
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-i ${CMAKE_CURRENT_SOURCE_DIR}
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-o ${msg_source_out_path_microcdr}
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-e templates/uorb_microcdr
|
||||
-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/sources_microcdr
|
||||
-q
|
||||
DEPENDS ${msg_files}
|
||||
COMMENT "Generating uORB microcdr topic sources"
|
||||
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
|
||||
VERBATIM
|
||||
)
|
||||
px4_add_library(uorb_msgs_microcdr ${uorb_sources_microcdr})
|
||||
add_dependencies(uorb_msgs_microcdr uorb_headers_microcdr uorb_headers)
|
||||
|
||||
# microCDR
|
||||
target_include_directories(uorb_msgs_microcdr
|
||||
PRIVATE ${PX4_SOURCE_DIR}/src/lib/micro-CDR/include
|
||||
PRIVATE ${PX4_BINARY_DIR}/src/lib/micro-CDR/include/microcdr
|
||||
)
|
||||
endif()
|
||||
|
|
|
|||
|
|
@ -0,0 +1,134 @@
|
|||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2017 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:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#=============================================================================
|
||||
# RTPS and micro-cdr
|
||||
#
|
||||
|
||||
find_program(FASTRTPSGEN fastrtpsgen PATHS $ENV{FASTRTPSGEN_DIR})
|
||||
if(NOT FASTRTPSGEN)
|
||||
message(FATAL_ERROR "Unable to find fastrtpsgen")
|
||||
endif()
|
||||
|
||||
set(config_rtps_send_topics
|
||||
sensor_combined
|
||||
)
|
||||
|
||||
set(config_rtps_receive_topics
|
||||
sensor_baro
|
||||
)
|
||||
|
||||
if (FASTRTPSGEN AND (config_rtps_send_topics OR config_rtps_receive_topics))
|
||||
option(GENERATE_RTPS_BRIDGE "enable RTPS and microCDR" ON)
|
||||
endif()
|
||||
|
||||
if (GENERATE_RTPS_BRIDGE)
|
||||
|
||||
add_subdirectory(micrortps_client)
|
||||
|
||||
###############################################################################
|
||||
# micro-cdr serialization
|
||||
###############################################################################
|
||||
include(common/px4_git)
|
||||
px4_add_git_submodule(TARGET git_micro_cdr PATH micro-CDR)
|
||||
add_subdirectory(micro-CDR)
|
||||
|
||||
set(msg_out_path_microcdr ${PX4_BINARY_DIR}/uORB_microcdr/topics)
|
||||
set(msg_source_out_path_microcdr ${CMAKE_CURRENT_BINARY_DIR}/topics_microcdr_sources)
|
||||
|
||||
set(uorb_headers_microcdr)
|
||||
set(uorb_sources_microcdr)
|
||||
|
||||
# send topic files
|
||||
set(send_topic_files)
|
||||
foreach(topic ${config_rtps_send_topics})
|
||||
list(APPEND send_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
|
||||
list(APPEND uorb_headers_microcdr ${msg_out_path_microcdr}/${topic}.h)
|
||||
list(APPEND uorb_sources_microcdr ${msg_source_out_path_microcdr}/${topic}.cpp)
|
||||
endforeach()
|
||||
|
||||
# receive topic files
|
||||
set(receive_topic_files)
|
||||
foreach(topic ${config_rtps_receive_topics})
|
||||
list(APPEND receive_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
|
||||
list(APPEND uorb_headers_microcdr ${msg_out_path_microcdr}/${topic}.h)
|
||||
list(APPEND uorb_sources_microcdr ${msg_source_out_path_microcdr}/${topic}.cpp)
|
||||
endforeach()
|
||||
|
||||
list(REMOVE_DUPLICATES uorb_headers_microcdr)
|
||||
list(REMOVE_DUPLICATES uorb_sources_microcdr)
|
||||
|
||||
# Generate uORB serialization headers
|
||||
add_custom_command(OUTPUT ${uorb_headers_microcdr}
|
||||
COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
|
||||
--headers
|
||||
-f ${send_topic_files} ${receive_topic_files}
|
||||
-i .
|
||||
-o ${msg_out_path_microcdr}
|
||||
-e templates/uorb_microcdr
|
||||
-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/headers_microcdr
|
||||
-q
|
||||
DEPENDS ${msg_files}
|
||||
COMMENT "Generating uORB microcdr topic headers"
|
||||
WORKING_DIRECTORY ${PX4_SOURCE_DIR}/msg/
|
||||
VERBATIM
|
||||
)
|
||||
add_custom_target(uorb_headers_microcdr DEPENDS ${uorb_headers_microcdr})
|
||||
|
||||
# Generate uORB serialization sources
|
||||
add_custom_command(OUTPUT ${uorb_sources_microcdr}
|
||||
COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
|
||||
--sources
|
||||
-f ${send_topic_files} ${receive_topic_files}
|
||||
-i .
|
||||
-o ${msg_source_out_path_microcdr}
|
||||
-e templates/uorb_microcdr
|
||||
-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/sources_microcdr
|
||||
-q
|
||||
DEPENDS ${msg_files}
|
||||
COMMENT "Generating uORB microcdr topic sources"
|
||||
WORKING_DIRECTORY ${PX4_SOURCE_DIR}/msg/
|
||||
VERBATIM
|
||||
)
|
||||
px4_add_library(uorb_msgs_microcdr ${uorb_sources_microcdr})
|
||||
add_dependencies(uorb_msgs_microcdr uorb_headers_microcdr uorb_headers git_micro_cdr lib__micro-CDR)
|
||||
|
||||
target_link_libraries(uorb_msgs_microcdr PRIVATE lib__micro-CDR)
|
||||
|
||||
# microCDR
|
||||
target_include_directories(uorb_msgs_microcdr
|
||||
PUBLIC
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/micro-CDR/include
|
||||
${CMAKE_CURRENT_BINARY_DIR}/micro-CDR/include/microcdr
|
||||
)
|
||||
endif()
|
||||
|
|
@ -31,86 +31,75 @@
|
|||
#
|
||||
############################################################################
|
||||
|
||||
if(GENERATE_RTPS_BRIDGE)
|
||||
set(msg_out_path ${CMAKE_CURRENT_BINARY_DIR})
|
||||
|
||||
find_program(FASTRTPSGEN fastrtpsgen PATHS $ENV{FASTRTPSGEN_DIR})
|
||||
if(NOT FASTRTPSGEN)
|
||||
message(STATUS "WARNING: Unable to find fastrtpsgen. Building PX4 without RTPS bridge support")
|
||||
if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_topics}" STREQUAL "")
|
||||
|
||||
return()
|
||||
set(send_topic_files)
|
||||
foreach(topic ${config_rtps_send_topics})
|
||||
list(APPEND send_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
|
||||
endforeach()
|
||||
|
||||
set(receive_topic_files)
|
||||
foreach(topic ${config_rtps_receive_topics})
|
||||
list(APPEND receive_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
|
||||
endforeach()
|
||||
|
||||
foreach(topic ${config_rtps_send_topics})
|
||||
list(APPEND topic_bridge_files_out ${msg_out_path}/micrortps_agent/${topic}_Publisher.cpp)
|
||||
list(APPEND topic_bridge_files_out ${msg_out_path}/micrortps_agent/${topic}_Publisher.h)
|
||||
endforeach()
|
||||
|
||||
foreach(topic ${config_rtps_receive_topics})
|
||||
list(APPEND topic_bridge_files_out ${msg_out_path}/micrortps_agent/${topic}_Subscriber.cpp)
|
||||
list(APPEND topic_bridge_files_out ${msg_out_path}/micrortps_agent/${topic}_Subscriber.h)
|
||||
endforeach()
|
||||
|
||||
set(send_topic_files_opt)
|
||||
if (NOT "${send_topic_files}" STREQUAL "")
|
||||
set(send_topic_opt "--send")
|
||||
endif()
|
||||
|
||||
# Do not delete everything in the current dir
|
||||
set(msg_out_path ${CMAKE_CURRENT_BINARY_DIR})
|
||||
set(receive_topic_files_opt)
|
||||
if (NOT "${receive_topic_files}" STREQUAL "")
|
||||
set(receive_topic_opt "--receive")
|
||||
endif()
|
||||
|
||||
if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_topics}" STREQUAL "")
|
||||
list(APPEND topic_bridge_files_out
|
||||
${msg_out_path}/micrortps_client/microRTPS_client.cpp
|
||||
${msg_out_path}/micrortps_client/microRTPS_transport.cpp
|
||||
${msg_out_path}/micrortps_client/microRTPS_transport.h
|
||||
)
|
||||
|
||||
set(send_topic_files)
|
||||
foreach(topic ${config_rtps_send_topics})
|
||||
list(APPEND send_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
|
||||
endforeach()
|
||||
add_custom_command(OUTPUT ${topic_bridge_files_out}
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/msg/tools/generate_microRTPS_bridge.py
|
||||
--fastrtpsgen-dir $ENV{FASTRTPSGEN_DIR}
|
||||
${send_topic_opt} ${send_topic_files}
|
||||
${receive_topic_opt} ${receive_topic_files}
|
||||
--topic-msg-dir ${PX4_SOURCE_DIR}/msg
|
||||
--agent-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_agent
|
||||
--client-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_client
|
||||
>micrortps_bridge.log 2>&1 || cat micrortps_bridge.log # quiet successful build output
|
||||
DEPENDS ${send_topic_files} ${receive_topic_files}
|
||||
COMMENT "Generating RTPS topic bridge"
|
||||
)
|
||||
add_custom_target(topic_bridge_files DEPENDS ${topic_bridge_files_out})
|
||||
|
||||
set(receive_topic_files)
|
||||
foreach(topic ${config_rtps_receive_topics})
|
||||
list(APPEND receive_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
|
||||
endforeach()
|
||||
include_directories(${CMAKE_CURRENT_SOURCE_DIR})
|
||||
include_directories(${CMAKE_CURRENT_BINARY_DIR}/micrortps_client)
|
||||
|
||||
foreach(topic ${config_rtps_send_topics})
|
||||
list(APPEND topic_bridge_files_out ${msg_out_path}/micrortps_agent/${topic}_Publisher.cpp)
|
||||
list(APPEND topic_bridge_files_out ${msg_out_path}/micrortps_agent/${topic}_Publisher.h)
|
||||
endforeach()
|
||||
|
||||
foreach(topic ${config_rtps_receive_topics})
|
||||
list(APPEND topic_bridge_files_out ${msg_out_path}/micrortps_agent/${topic}_Subscriber.cpp)
|
||||
list(APPEND topic_bridge_files_out ${msg_out_path}/micrortps_agent/${topic}_Subscriber.h)
|
||||
endforeach()
|
||||
|
||||
set(send_topic_files_opt)
|
||||
if (NOT "${send_topic_files}" STREQUAL "")
|
||||
set(send_topic_opt "--send")
|
||||
endif()
|
||||
|
||||
set(receive_topic_files_opt)
|
||||
if (NOT "${receive_topic_files}" STREQUAL "")
|
||||
set(receive_topic_opt "--receive")
|
||||
endif()
|
||||
|
||||
list(APPEND topic_bridge_files_out
|
||||
px4_add_module(
|
||||
MODULE modules__micrortps_bridge__micrortps_client
|
||||
MAIN micrortps_client
|
||||
STACK_MAIN 4096
|
||||
SRCS
|
||||
microRTPS_client_main.cpp
|
||||
${msg_out_path}/micrortps_client/microRTPS_client.cpp
|
||||
${msg_out_path}/micrortps_client/microRTPS_transport.cpp
|
||||
${msg_out_path}/micrortps_client/microRTPS_transport.h
|
||||
)
|
||||
|
||||
add_custom_command(OUTPUT ${topic_bridge_files_out}
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/msg/tools/generate_microRTPS_bridge.py
|
||||
--fastrtpsgen-dir $ENV{FASTRTPSGEN_DIR}
|
||||
${send_topic_opt} ${send_topic_files}
|
||||
${receive_topic_opt} ${receive_topic_files}
|
||||
--topic-msg-dir ${PX4_SOURCE_DIR}/msg
|
||||
--agent-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_agent
|
||||
--client-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_client
|
||||
>micrortps_bridge.log 2>&1 || cat micrortps_bridge.log # quiet successful build output
|
||||
DEPENDS ${send_topic_files} ${receive_topic_files}
|
||||
COMMENT "Generating RTPS topic bridge"
|
||||
)
|
||||
add_custom_target(topic_bridge_files DEPENDS ${topic_bridge_files_out})
|
||||
|
||||
include_directories(${CMAKE_CURRENT_SOURCE_DIR})
|
||||
include_directories(${CMAKE_CURRENT_BINARY_DIR}/micrortps_client)
|
||||
|
||||
px4_add_module(
|
||||
MODULE modules__micrortps_bridge__micrortps_client
|
||||
MAIN micrortps_client
|
||||
STACK_MAIN 4096
|
||||
SRCS
|
||||
microRTPS_client_main.cpp
|
||||
${msg_out_path}/micrortps_client/microRTPS_client.cpp
|
||||
${msg_out_path}/micrortps_client/microRTPS_transport.cpp
|
||||
DEPENDS
|
||||
platforms__common
|
||||
topic_bridge_files
|
||||
uorb_headers_microcdr
|
||||
)
|
||||
target_link_libraries(modules__micrortps_bridge__micrortps_client PRIVATE lib__micro-CDR)
|
||||
endif()
|
||||
DEPENDS
|
||||
platforms__common
|
||||
topic_bridge_files
|
||||
uorb_headers_microcdr
|
||||
)
|
||||
target_link_libraries(modules__micrortps_bridge__micrortps_client PRIVATE uorb_msgs_microcdr)
|
||||
endif()
|
||||
Loading…
Reference in New Issue