forked from Archive/PX4-Autopilot
480 lines
25 KiB
Python
480 lines
25 KiB
Python
#!/usr/bin/env python3
|
|
################################################################################
|
|
#
|
|
# Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
|
|
# Copyright (c) 2018-2019 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 of the copyright holder 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 HOLDER 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.
|
|
#
|
|
################################################################################
|
|
|
|
# This script can generate the client and agent code based on a set of topics
|
|
# to sent and set to receive. It uses fastrtpsgen to generate the code from the
|
|
# IDL for the topic messages. The PX4 msg definitions are used to create the IDL
|
|
# used by fastrtpsgen using templates.
|
|
|
|
import sys
|
|
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
|
|
import errno
|
|
|
|
try:
|
|
from six.moves import input
|
|
except ImportError as e:
|
|
print("Failed to import six: " + e)
|
|
print("")
|
|
print("You may need to install it using:")
|
|
print(" pip3 install --user six")
|
|
print("")
|
|
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_package_name = px_generate_uorb_topic_files.PACKAGE
|
|
|
|
parser = argparse.ArgumentParser()
|
|
|
|
parser.add_argument("-a", "--agent", dest='agent', action="store_true",
|
|
help="Flag for generate the agent, by default is true if -c is not specified")
|
|
parser.add_argument("-c", "--client", dest='client', action="store_true",
|
|
help="Flag for generate the client, by default is true if -a is not specified")
|
|
parser.add_argument("-i", "--generate-idl", dest='gen_idl',
|
|
action="store_true", help="Flag for generate idl files for each msg")
|
|
parser.add_argument("-j", "--idl-dir", dest='idl_dir',
|
|
type=str, help="IDL files dir", default='')
|
|
parser.add_argument("-m", "--mkdir-build", dest='mkdir_build',
|
|
action="store_true", help="Flag to create 'build' dir")
|
|
parser.add_argument("-l", "--generate-cmakelists", dest='cmakelists',
|
|
action="store_true", help="Flag to generate a CMakeLists.txt file for the micro-RTPS agent")
|
|
parser.add_argument("-t", "--topic-msg-dir", dest='msgdir', type=str,
|
|
help="Topics message, by default using relative path 'msg/'", default="msg")
|
|
parser.add_argument("-b", "--uorb-templates-dir", dest='uorb_templates', type=str,
|
|
help="uORB templates, by default using relative path to msgdir 'templates/uorb_microcdr'", default=default_uorb_templates_dir)
|
|
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)
|
|
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,
|
|
help="Agent output dir, by default using relative path 'src/modules/micrortps_bridge/micrortps_agent'", default=default_agent_out)
|
|
parser.add_argument("-u", "--client-outdir", dest='clientdir', type=str,
|
|
help="Client output dir, by default using relative path 'src/modules/micrortps_bridge/micrortps_client'", default=default_client_out)
|
|
parser.add_argument("-f", "--fastrtpsgen-dir", dest='fastrtpsgen', type=str, nargs='?',
|
|
help="fastrtpsgen installation dir, only needed if fastrtpsgen is not in PATH, by default empty", default="")
|
|
parser.add_argument("-g", "--fastrtpsgen-include", dest='fastrtpsgen_include', type=str,
|
|
help="directory(ies) to add to preprocessor include paths of fastrtpsgen, by default empty", default="")
|
|
parser.add_argument("-r", "--ros2-distro", dest='ros2_distro', type=str, nargs='?',
|
|
help="ROS2 distro, only required if generating the agent for usage with ROS2 nodes, by default empty", default="")
|
|
parser.add_argument("--delete-tree", dest='del_tree',
|
|
action="store_true", help="Delete dir tree output dir(s)")
|
|
|
|
|
|
if len(sys.argv) <= 1:
|
|
parser.print_usage()
|
|
exit(-1)
|
|
|
|
# Parse arguments
|
|
args = parser.parse_args()
|
|
agent = args.agent
|
|
client = args.client
|
|
cmakelists = args.cmakelists
|
|
del_tree = args.del_tree
|
|
gen_idl = args.gen_idl
|
|
mkdir_build = args.mkdir_build
|
|
package = args.package
|
|
|
|
# Msg files path
|
|
msg_dir = os.path.abspath(args.msgdir)
|
|
px_generate_uorb_topic_files.append_to_include_path(
|
|
{msg_dir}, px_generate_uorb_topic_files.INCL_DEFAULT, package)
|
|
|
|
# Agent files output path
|
|
agent_out_dir = os.path.abspath(args.agentdir)
|
|
|
|
# Client files output path
|
|
client_out_dir = os.path.abspath(args.clientdir)
|
|
|
|
# IDL files path
|
|
idl_dir = args.idl_dir
|
|
if idl_dir != '':
|
|
idl_dir = os.path.abspath(args.idl_dir)
|
|
else:
|
|
idl_dir = os.path.join(agent_out_dir, "idl")
|
|
|
|
if args.fastrtpsgen is None or args.fastrtpsgen == '':
|
|
# Assume fastrtpsgen is in PATH
|
|
fastrtpsgen_path = 'fastrtpsgen'
|
|
for dirname in os.environ['PATH'].split(':') :
|
|
candidate = os.path.join(dirname, 'fastrtpsgen')
|
|
if os.path.isfile(candidate) :
|
|
fastrtpsgen_path = candidate
|
|
else:
|
|
# Path to fastrtpsgen is explicitly specified
|
|
if os.path.isdir(args.fastrtpsgen) :
|
|
fastrtpsgen_path = os.path.join(
|
|
os.path.abspath(args.fastrtpsgen), 'fastrtpsgen')
|
|
else :
|
|
fastrtpsgen_path = args.fastrtpsgen
|
|
|
|
fastrtpsgen_include = args.fastrtpsgen_include
|
|
if fastrtpsgen_include is not None and fastrtpsgen_include != '':
|
|
fastrtpsgen_include = "-I " + \
|
|
os.path.abspath(
|
|
args.fastrtpsgen_include) + " "
|
|
|
|
# get FastRTPSGen version
|
|
# Note: since Fast-RTPS 1.8.x release, FastRTPSGen is now a separated
|
|
# repository and not included in the Fast-RTPS project.
|
|
# The starting version since this separation is 1.0.0, which doesn't
|
|
# follow the Fast-RTPS version convention
|
|
fastrtpsgen_version = 0.0
|
|
if(os.path.exists(fastrtpsgen_path)):
|
|
try:
|
|
fastrtpsgen_version_out = subprocess.check_output(
|
|
[fastrtpsgen_path, "-version"]).strip()[-5:-2]
|
|
except OSError:
|
|
raise
|
|
|
|
try:
|
|
fastrtpsgen_version = float(fastrtpsgen_version_out)
|
|
except ValueError:
|
|
print("'fastrtpsgen -version' returned None. Hardsetting version to 1.0")
|
|
fastrtpsgen_version = 1.0
|
|
else:
|
|
raise Exception(
|
|
"FastRTPSGen not found. Specify the location of fastrtpsgen with the -f flag")
|
|
|
|
# get ROS 2 version, if exists
|
|
ros2_distro = ""
|
|
try:
|
|
rosversion_out = subprocess.check_output(["rosversion", "-d"])
|
|
rosversion_out = rosversion_out.rstrip()
|
|
if rosversion_out not in ["<unknown>", "kinetic", "lunar", "melodic"]:
|
|
ros2_distro = rosversion_out
|
|
except OSError as e:
|
|
if e.errno == errno.ENOENT:
|
|
if args.ros2_distro != None:
|
|
ros2_distro = args.ros2_distro
|
|
else:
|
|
raise
|
|
|
|
# If nothing specified it's generated both
|
|
if agent == False and client == False:
|
|
agent = True
|
|
client = True
|
|
|
|
if del_tree:
|
|
if agent:
|
|
_continue = str(input("\nFiles in " + agent_out_dir +
|
|
" will be erased, continue?[Y/n]\n"))
|
|
if _continue == "N" or _continue == "n":
|
|
print("Aborting execution...")
|
|
exit(-1)
|
|
else:
|
|
if agent and os.path.isdir(agent_out_dir):
|
|
shutil.rmtree(agent_out_dir)
|
|
|
|
if client:
|
|
_continue = str(input(
|
|
"\nFiles in " + client_out_dir + " will be erased, continue?[Y/n]\n"))
|
|
if _continue.strip() in ("N", "n"):
|
|
print("Aborting execution...")
|
|
exit(-1)
|
|
else:
|
|
if client and os.path.isdir(client_out_dir):
|
|
shutil.rmtree(client_out_dir)
|
|
|
|
if agent and os.path.isdir(os.path.join(agent_out_dir, "idl")):
|
|
shutil.rmtree(os.path.join(agent_out_dir, "idl"))
|
|
|
|
# uORB templates path
|
|
uorb_templates_dir = (args.uorb_templates if os.path.isabs(args.uorb_templates)
|
|
else os.path.join(msg_dir, args.uorb_templates))
|
|
|
|
# uRTPS templates path
|
|
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
|
|
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'
|
|
uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE = 'RtpsTopics.cpp.em'
|
|
uRTPS_AGENT_TEMPL_FILE = 'microRTPS_agent.cpp.em'
|
|
uRTPS_AGENT_CMAKELISTS_TEMPL_FILE = 'microRTPS_agent_CMakeLists.txt.em'
|
|
uRTPS_PUBLISHER_SRC_TEMPL_FILE = 'Publisher.cpp.em'
|
|
uRTPS_PUBLISHER_H_TEMPL_FILE = 'Publisher.h.em'
|
|
uRTPS_SUBSCRIBER_SRC_TEMPL_FILE = 'Subscriber.cpp.em'
|
|
uRTPS_SUBSCRIBER_H_TEMPL_FILE = 'Subscriber.h.em'
|
|
|
|
|
|
def generate_agent(out_dir):
|
|
global fastrtpsgen_version
|
|
|
|
if classifier.msgs_to_send:
|
|
for msg_file in classifier.msgs_to_send:
|
|
if gen_idl:
|
|
if out_dir != agent_out_dir:
|
|
px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", os.path.join(out_dir, "/idl"), urtps_templates_dir,
|
|
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
|
|
else:
|
|
px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", idl_dir, urtps_templates_dir,
|
|
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
|
|
px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
|
|
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
|
|
px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
|
|
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE)
|
|
|
|
if classifier.alias_msgs_to_send:
|
|
for msg_file in classifier.alias_msgs_to_send:
|
|
msg_alias = list(msg_file[0].keys())[0]
|
|
msg_name = msg_file[1]
|
|
if gen_idl:
|
|
if out_dir != agent_out_dir:
|
|
px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, os.path.join(out_dir, "/idl"), urtps_templates_dir,
|
|
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
|
|
else:
|
|
px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, idl_dir, urtps_templates_dir,
|
|
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
|
|
px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
|
|
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
|
|
px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
|
|
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE)
|
|
|
|
if classifier.msgs_to_receive:
|
|
for msg_file in classifier.msgs_to_receive:
|
|
if gen_idl:
|
|
if out_dir != agent_out_dir:
|
|
px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", os.path.join(out_dir, "/idl"), urtps_templates_dir,
|
|
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
|
|
else:
|
|
px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", idl_dir, urtps_templates_dir,
|
|
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
|
|
px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
|
|
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
|
|
px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
|
|
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
|
|
|
|
if classifier.alias_msgs_to_receive:
|
|
for msg_file in classifier.alias_msgs_to_receive:
|
|
msg_alias = list(msg_file[0].keys())[0]
|
|
msg_name = msg_file[1]
|
|
if gen_idl:
|
|
if out_dir != agent_out_dir:
|
|
px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, os.path.join(out_dir, "/idl"), urtps_templates_dir,
|
|
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
|
|
else:
|
|
px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, idl_dir, urtps_templates_dir,
|
|
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
|
|
px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
|
|
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
|
|
px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
|
|
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
|
|
|
|
px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir,
|
|
urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_AGENT_TEMPL_FILE)
|
|
px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir,
|
|
urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
|
|
px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir,
|
|
urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
|
|
if cmakelists:
|
|
px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir,
|
|
urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE)
|
|
|
|
# Final steps to install agent
|
|
mkdir_p(os.path.join(out_dir, "fastrtpsgen"))
|
|
prev_cwd_path = os.getcwd()
|
|
os.chdir(os.path.join(out_dir, "fastrtpsgen"))
|
|
if not glob.glob(os.path.join(idl_dir, "*.idl")):
|
|
raise Exception("No IDL files found in %s" % idl_dir)
|
|
for idl_file in glob.glob(os.path.join(idl_dir, "*.idl")):
|
|
try:
|
|
ret = subprocess.check_call(fastrtpsgen_path + " -d " + out_dir +
|
|
"/fastrtpsgen -example x64Linux2.6gcc " + fastrtpsgen_include + idl_file, shell=True)
|
|
except OSError:
|
|
raise
|
|
|
|
rm_wildcard(os.path.join(out_dir, "fastrtpsgen/*PubSubMain*"))
|
|
rm_wildcard(os.path.join(out_dir, "fastrtpsgen/makefile*"))
|
|
rm_wildcard(os.path.join(out_dir, "fastrtpsgen/*Publisher*"))
|
|
rm_wildcard(os.path.join(out_dir, "fastrtpsgen/*Subscriber*"))
|
|
for f in glob.glob(os.path.join(out_dir, "fastrtpsgen/*.cxx")):
|
|
os.rename(f, f.replace(".cxx", ".cpp"))
|
|
cp_wildcard(os.path.join(out_dir, "fastrtpsgen/*"), out_dir)
|
|
if os.path.isdir(os.path.join(out_dir, "fastrtpsgen")):
|
|
shutil.rmtree(os.path.join(out_dir, "fastrtpsgen"))
|
|
cp_wildcard(os.path.join(urtps_templates_dir,
|
|
"microRTPS_transport.*"), agent_out_dir)
|
|
if cmakelists:
|
|
os.rename(os.path.join(out_dir, "microRTPS_agent_CMakeLists.txt"),
|
|
os.path.join(out_dir, "CMakeLists.txt"))
|
|
if (mkdir_build):
|
|
mkdir_p(os.path.join(out_dir, "build"))
|
|
os.chdir(prev_cwd_path)
|
|
return 0
|
|
|
|
|
|
def rm_wildcard(pattern):
|
|
for f in glob.glob(pattern):
|
|
os.remove(f)
|
|
|
|
|
|
def cp_wildcard(pattern, destdir):
|
|
for f in glob.glob(pattern):
|
|
shutil.copy(f, destdir)
|
|
|
|
|
|
def mkdir_p(dirpath):
|
|
try:
|
|
os.makedirs(dirpath)
|
|
except OSError as e:
|
|
if e.errno == errno.EEXIST and os.path.isdir(dirpath):
|
|
pass
|
|
else:
|
|
raise
|
|
|
|
|
|
def generate_client(out_dir):
|
|
global fastrtpsgen_version
|
|
|
|
# Rename work in the default path
|
|
if default_client_out != out_dir:
|
|
def_file = os.path.join(default_client_out, "microRTPS_client.cpp")
|
|
if os.path.isfile(def_file):
|
|
os.rename(def_file, def_file.replace(".cpp", ".cpp_"))
|
|
def_file = os.path.join(default_client_out, "microRTPS_transport.cpp")
|
|
if os.path.isfile(def_file):
|
|
os.rename(def_file, def_file.replace(".cpp", ".cpp_"))
|
|
def_file = os.path.join(default_client_out, "microRTPS_transport.h")
|
|
if os.path.isfile(def_file):
|
|
os.rename(def_file, def_file.replace(".h", ".h_"))
|
|
|
|
px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir,
|
|
out_dir, uorb_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_CLIENT_TEMPL_FILE)
|
|
|
|
# Final steps to install client
|
|
cp_wildcard(os.path.join(urtps_templates_dir,
|
|
"microRTPS_transport.*"), out_dir)
|
|
|
|
return 0
|
|
|
|
|
|
if agent:
|
|
generate_agent(agent_out_dir)
|
|
print(("\nAgent created in: " + agent_out_dir))
|
|
|
|
if client:
|
|
generate_client(client_out_dir)
|
|
print(("\nClient created in: " + client_out_dir))
|