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first push on supporting ROS2 Dashing and IDL 4.2

sbg
TSC21 5 years ago committed by Nuno Marques
parent
f885d2274a
commit
278d2fd21f
12 changed files with 152 additions and 54 deletions
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  1. 1
      msg/collision_constraints.msg
  2. 2
      msg/optical_flow.msg
  3. 3
      msg/sensor_combined.msg
  4. 8
      msg/templates/urtps/Publisher.cpp.em
  5. 12
      msg/templates/urtps/Publisher.h.em
  6. 8
      msg/templates/urtps/RtpsTopics.cpp.em
  7. 11
      msg/templates/urtps/Subscriber.cpp.em
  8. 16
      msg/templates/urtps/Subscriber.h.em
  9. 32
      msg/templates/urtps/msg.idl.em
  10. 71
      msg/tools/generate_microRTPS_bridge.py
  11. 36
      msg/tools/px_generate_uorb_topic_files.py
  12. 6
      src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt

1
msg/collision_constraints.msg
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@ -5,4 +5,3 @@ uint64 timestamp # time since system start (microseconds)
float32[2] original_setpoint # velocities demanded float32[2] original_setpoint # velocities demanded
float32[2] adapted_setpoint # velocities allowed float32[2] adapted_setpoint # velocities allowed

2
msg/optical_flow.msg
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@ -1,5 +1,5 @@
# Optical flow in XYZ body frame in SI units. # Optical flow in XYZ body frame in SI units.
# @see http://en.wikipedia.org/wiki/International_System_of_Units # http://en.wikipedia.org/wiki/International_System_of_Units
uint64 timestamp # time since system start (microseconds) uint64 timestamp # time since system start (microseconds)

3
msg/sensor_combined.msg
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@ -1,9 +1,6 @@
#
# Sensor readings in SI-unit form. # Sensor readings in SI-unit form.
#
# These fields are scaled and offset-compensated where possible and do not # These fields are scaled and offset-compensated where possible and do not
# change with board revisions and sensor updates. # change with board revisions and sensor updates.
#
uint64 timestamp # time since system start (microseconds) uint64 timestamp # time since system start (microseconds)

8
msg/templates/urtps/Publisher.cpp.em
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@ -125,7 +125,11 @@ void @(topic)_Publisher::run()
// Publication code // Publication code
@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
@(topic)_ st; @(topic)_ st;
@[else]@
@(topic) st;
@[end if]@
/* Initialize your structure here */ /* Initialize your structure here */
@ -150,7 +154,11 @@ void @(topic)_Publisher::run()
}while(std::cin >> ch); }while(std::cin >> ch);
} }
@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
void @(topic)_Publisher::publish(@(topic)_* st) void @(topic)_Publisher::publish(@(topic)_* st)
@[else]@
void @(topic)_Publisher::publish(@(topic)* st)
@[end if]@
{ {
mp_publisher->write(st); mp_publisher->write(st);
} }

12
msg/templates/urtps/Publisher.h.em
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@ -64,7 +64,11 @@ topic = alias if alias else spec.short_name
#include <fastrtps/fastrtps_fwd.h> #include <fastrtps/fastrtps_fwd.h>
#include <fastrtps/publisher/PublisherListener.h> #include <fastrtps/publisher/PublisherListener.h>
@[if float(fastrtps_version) < 1.9]@
#include "@(topic)_PubSubTypes.h" #include "@(topic)_PubSubTypes.h"
@[else]@
#include "@(topic)PubSubTypes.h"
@[end if]@
using namespace eprosima::fastrtps; using namespace eprosima::fastrtps;
using namespace eprosima::fastrtps::rtps; using namespace eprosima::fastrtps::rtps;
@ -76,7 +80,11 @@ public:
virtual ~@(topic)_Publisher(); virtual ~@(topic)_Publisher();
bool init(); bool init();
void run(); void run();
@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
void publish(@(topic)_* st); void publish(@(topic)_* st);
@[else]@
void publish(@(topic)* st);
@[end if]@
private: private:
Participant *mp_participant; Participant *mp_participant;
Publisher *mp_publisher; Publisher *mp_publisher;
@ -89,7 +97,11 @@ private:
void onPublicationMatched(Publisher* pub, MatchingInfo& info); void onPublicationMatched(Publisher* pub, MatchingInfo& info);
int n_matched; int n_matched;
} m_listener; } m_listener;
@[if float(fastrtps_version) < 1.9]@
@(topic)_PubSubType myType; @(topic)_PubSubType myType;
@[else]@
@(topic)PubSubType myType;
@[end if]@
}; };
#endif // _@(topic)__PUBLISHER_H_ #endif // _@(topic)__PUBLISHER_H_

8
msg/templates/urtps/RtpsTopics.cpp.em
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@ -92,7 +92,11 @@ void RtpsTopics::publish(uint8_t topic_ID, char data_buffer[], size_t len)
@[for topic in send_topics]@ @[for topic in send_topics]@
case @(rtps_message_id(ids, topic)): // @(topic) case @(rtps_message_id(ids, topic)): // @(topic)
{ {
@[ if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
@(topic)_ st; @(topic)_ st;
@[ else]@
@(topic) st;
@[ end if]@
eprosima::fastcdr::FastBuffer cdrbuffer(data_buffer, len); eprosima::fastcdr::FastBuffer cdrbuffer(data_buffer, len);
eprosima::fastcdr::Cdr cdr_des(cdrbuffer); eprosima::fastcdr::Cdr cdr_des(cdrbuffer);
st.deserialize(cdr_des); st.deserialize(cdr_des);
@ -145,7 +149,11 @@ bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr)
case @(rtps_message_id(ids, topic)): // @(topic) case @(rtps_message_id(ids, topic)): // @(topic)
if (_@(topic)_sub.hasMsg()) if (_@(topic)_sub.hasMsg())
{ {
@[ if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
@(topic)_ msg = _@(topic)_sub.getMsg(); @(topic)_ msg = _@(topic)_sub.getMsg();
@[ else]@
@(topic) msg = _@(topic)_sub.getMsg();
@[ end if]@
msg.serialize(scdr); msg.serialize(scdr);
ret = true; ret = true;
} }

11
msg/templates/urtps/Subscriber.cpp.em
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@ -117,6 +117,13 @@ void @(topic)_Subscriber::SubListener::onNewDataMessage(Subscriber* sub)
{ {
// Take data // Take data
if(sub->takeNextData(&msg, &m_info)) if(sub->takeNextData(&msg, &m_info))
@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
@(topic)_ st;
@[else]@
@(topic) st;
@[end if]@
if(sub->takeNextData(&st, &m_info))
{ {
if(m_info.sampleKind == ALIVE) if(m_info.sampleKind == ALIVE)
{ {
@ -141,7 +148,11 @@ bool @(topic)_Subscriber::hasMsg()
return m_listener.has_msg; return m_listener.has_msg;
} }
@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
@(topic)_ @(topic)_Subscriber::getMsg() @(topic)_ @(topic)_Subscriber::getMsg()
@[else]@
@(topic) @(topic)_Subscriber::getMsg()
@[end if]@
{ {
m_listener.has_msg = false; m_listener.has_msg = false;
return m_listener.msg; return m_listener.msg;

16
msg/templates/urtps/Subscriber.h.em
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@ -64,7 +64,11 @@ topic = alias if alias else spec.short_name
#include <fastrtps/fastrtps_fwd.h> #include <fastrtps/fastrtps_fwd.h>
#include <fastrtps/subscriber/SubscriberListener.h> #include <fastrtps/subscriber/SubscriberListener.h>
#include <fastrtps/subscriber/SampleInfo.h> #include <fastrtps/subscriber/SampleInfo.h>
@[if float(fastrtps_version) < 1.9]@
#include "@(topic)_PubSubTypes.h" #include "@(topic)_PubSubTypes.h"
@[else]@
#include "@(topic)PubSubTypes.h"
@[end if]@
using namespace eprosima::fastrtps; using namespace eprosima::fastrtps;
using namespace eprosima::fastrtps::rtps; using namespace eprosima::fastrtps::rtps;
@ -77,7 +81,11 @@ public:
bool init(); bool init();
void run(); void run();
bool hasMsg(); bool hasMsg();
@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
@(topic)_ getMsg(); @(topic)_ getMsg();
@[else]@
@(topic) getMsg();
@[end if]@
private: private:
Participant *mp_participant; Participant *mp_participant;
Subscriber *mp_subscriber; Subscriber *mp_subscriber;
@ -92,11 +100,19 @@ private:
SampleInfo_t m_info; SampleInfo_t m_info;
int n_matched; int n_matched;
int n_msg; int n_msg;
@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
@(topic)_ msg; @(topic)_ msg;
@[else]@
@(topic) msg;
@[end if]@
bool has_msg = false; bool has_msg = false;
} m_listener; } m_listener;
@[if float(fastrtps_version) < 1.9]@
@(topic)_PubSubType myType; @(topic)_PubSubType myType;
@[else]@
@(topic)PubSubType myType;
@[end if]@
}; };
#endif // _@(topic)__SUBSCRIBER_H_ #endif // _@(topic)__SUBSCRIBER_H_

32
msg/templates/urtps/msg.idl.em
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@ -57,7 +57,11 @@ def get_include_directives(spec):
if genmsg.msgs.is_valid_constant_type(genmsg.msgs.bare_msg_type(field.type)): if genmsg.msgs.is_valid_constant_type(genmsg.msgs.bare_msg_type(field.type)):
continue continue
builtin_type = str(field.base_type).replace('px4/', '') builtin_type = str(field.base_type).replace('px4/', '')
@[if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
include_directive = '#include "%s_.idl"' % builtin_type include_directive = '#include "%s_.idl"' % builtin_type
@[else]@
include_directive = '#include "%s.idl"' % builtin_type
@[end if]@
builtin_types.add(builtin_type) builtin_types.add(builtin_type)
include_directives.add(include_directive) include_directives.add(include_directive)
return sorted(include_directives) return sorted(include_directives)
@ -74,10 +78,17 @@ def get_idl_type_name(field_type):
def add_msg_field(field): def add_msg_field(field):
if (not field.is_header): if (not field.is_header):
if field.is_array: if field.is_array:
@[if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
print(' {0}__{1}_array_{2} {3}_;'.format(topic, str(get_idl_type_name(field.base_type)).replace(" ", "_"), str(field.array_len), field.name)) print(' {0}__{1}_array_{2} {3}_;'.format(topic, str(get_idl_type_name(field.base_type)).replace(" ", "_"), str(field.array_len), field.name))
else: else:
base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type) base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
print(' {0} {1}_;'.format(base_type, field.name)) print(' {0} {1}_;'.format(base_type, field.name))
@[else]@
print(' {0}__{1}_array_{2} {3};'.format(topic, str(get_idl_type_name(field.base_type)).replace(" ", "_"), str(field.array_len), field.name))
else:
base_type = get_idl_type_name(field.base_type) if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
print(' {0} {1};'.format(base_type, field.name))
@[end if]@
def add_msg_fields(): def add_msg_fields():
@ -88,6 +99,11 @@ def add_msg_fields():
def add_array_typedefs(): def add_array_typedefs():
for field in spec.parsed_fields(): for field in spec.parsed_fields():
if not field.is_header and field.is_array: if not field.is_header and field.is_array:
@[if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else
@[else]@
base_type = get_idl_type_name(field.base_type) if get_idl_type_name(field.base_type) in builtin_types else
@[end if]@
base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type) base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
array_type = 'typedef {0} {1}__{2}_array_{3}[{4}];'.format(base_type, topic, get_idl_type_name(field.base_type).replace(" ", "_"), field.array_len, field.array_len) array_type = 'typedef {0} {1}__{2}_array_{3}[{4}];'.format(base_type, topic, get_idl_type_name(field.base_type).replace(" ", "_"), field.array_len, field.array_len)
if array_type not in array_types: if array_type not in array_types:
@ -109,18 +125,28 @@ def add_msg_constants():
@############################# @#############################
@# Include dependency messages @# Include dependency messages
@############################# @#############################
@[for line in get_include_directives(spec)] @[for line in get_include_directives(spec)]@
@(line) @(line)@
@[end for] @[end for]@
@# Constants @# Constants
@add_msg_constants() @add_msg_constants()
@# Array types @# Array types
@add_array_typedefs() @add_array_typedefs()
@[if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
struct @(topic)_ struct @(topic)_
@[else]@
struct @(topic)
@[end if]@
{ {
@add_msg_fields() @add_msg_fields()
@[if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
}; // struct @(topic)_ }; // struct @(topic)_
#pragma keylist @(topic)_ #pragma keylist @(topic)_
@[else]@
}; // struct @(topic)
#pragma keylist @(topic)
@[end if]@
#endif // __@(topic)__idl__ #endif // __@(topic)__idl__

71
msg/tools/generate_microRTPS_bridge.py
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@ -187,6 +187,8 @@ parser.add_argument("-f", "--fastrtpsgen-dir", dest='fastrtpsgen', type=str, nar
help="fastrtpsgen installation dir, only needed if fastrtpsgen is not in PATH, by default empty", default="") 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, 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="") 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', parser.add_argument("--delete-tree", dest='del_tree',
action="store_true", help="Delete dir tree output dir(s)") action="store_true", help="Delete dir tree output dir(s)")
@ -236,6 +238,8 @@ if fastrtpsgen_include is not None and fastrtpsgen_include != '':
os.path.abspath( os.path.abspath(
args.fastrtpsgen_include) + " " args.fastrtpsgen_include) + " "
ros2_distro = "" if args.ros2_distro == None else args.ros2_distro
# If nothing specified it's generated both # If nothing specified it's generated both
if agent == False and client == False: if agent == False and client == False:
agent = True agent = True
@ -293,19 +297,30 @@ uRTPS_SUBSCRIBER_H_TEMPL_FILE = 'Subscriber.h.em'
def generate_agent(out_dir): def generate_agent(out_dir):
# get FastRTPSGen version
if(os.path.exists(fastrtpsgen_path)):
fastrtps_vers = subprocess.check_output(
[fastrtpsgen_path, "-version"]).strip()[-5:-2]
if not fastrtps_vers:
raise Exception(
"FastRTPSGen failed with code error %s" % fastrtps_vers)
else:
raise Exception(
"FastRTPSGen not found. Specify the location of fastrtpsgen with the -f flag")
if classifier.msgs_to_send: if classifier.msgs_to_send:
for msg_file in classifier.msgs_to_send: for msg_file in classifier.msgs_to_send:
if gen_idl: if gen_idl:
if out_dir != agent_out_dir: 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, 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, classifier.msg_id_map) package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, ros2_distro, classifier.msg_id_map)
else: else:
px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", idl_dir, urtps_templates_dir, 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, classifier.msg_id_map) package, px_generate_uorb_topic_files.INCL_DEFAULT, ros2_distro, fastrtps_vers, classifier.msg_id_map)
px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir, 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, uRTPS_PUBLISHER_SRC_TEMPL_FILE) package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir, 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, uRTPS_PUBLISHER_H_TEMPL_FILE) package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE)
if classifier.alias_msgs_to_send: if classifier.alias_msgs_to_send:
for msg_file in classifier.alias_msgs_to_send: for msg_file in classifier.alias_msgs_to_send:
@ -317,28 +332,28 @@ def generate_agent(out_dir):
if gen_idl: if gen_idl:
if out_dir != agent_out_dir: 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, 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, classifier.msg_id_map) package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, ros2_distro, classifier.msg_id_map)
else: else:
px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, idl_dir, urtps_templates_dir, 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, classifier.msg_id_map) package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, 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, 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, uRTPS_PUBLISHER_SRC_TEMPL_FILE) package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, 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, 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, uRTPS_PUBLISHER_H_TEMPL_FILE) package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE)
if classifier.msgs_to_receive: if classifier.msgs_to_receive:
for msg_file in classifier.msgs_to_receive: for msg_file in classifier.msgs_to_receive:
if gen_idl: if gen_idl:
if out_dir != agent_out_dir: 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, 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, classifier.msg_id_map) package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, ros2_distro, classifier.msg_id_map)
else: else:
px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", idl_dir, urtps_templates_dir, 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, classifier.msg_id_map) package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, ros2_distro, classifier.msg_id_map)
px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir, 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, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE) package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir, 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, uRTPS_SUBSCRIBER_H_TEMPL_FILE) package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
if classifier.alias_msgs_to_receive: if classifier.alias_msgs_to_receive:
for msg_file in classifier.alias_msgs_to_receive: for msg_file in classifier.alias_msgs_to_receive:
@ -350,24 +365,24 @@ def generate_agent(out_dir):
if gen_idl: if gen_idl:
if out_dir != agent_out_dir: 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, 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, classifier.msg_id_map) package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, ros2_distro, classifier.msg_id_map)
else: else:
px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, idl_dir, urtps_templates_dir, 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, classifier.msg_id_map) package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, 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, 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, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE) package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, 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, 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, uRTPS_SUBSCRIBER_H_TEMPL_FILE) package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, 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, 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, uRTPS_AGENT_TEMPL_FILE) urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, 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, 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, uRTPS_AGENT_TOPICS_H_TEMPL_FILE) urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, 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, 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, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE) urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
if cmakelists: 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, 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, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE) urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE)
# Final steps to install agent # Final steps to install agent
mkdir_p(os.path.join(out_dir, "fastrtpsgen")) mkdir_p(os.path.join(out_dir, "fastrtpsgen"))
@ -375,16 +390,12 @@ def generate_agent(out_dir):
os.chdir(os.path.join(out_dir, "fastrtpsgen")) os.chdir(os.path.join(out_dir, "fastrtpsgen"))
if not glob.glob(os.path.join(idl_dir, "*.idl")): if not glob.glob(os.path.join(idl_dir, "*.idl")):
raise Exception("No IDL files found in %s" % idl_dir) raise Exception("No IDL files found in %s" % idl_dir)
if(os.path.exists(fastrtpsgen_path)): for idl_file in glob.glob(os.path.join(idl_dir, "*.idl")):
for idl_file in glob.glob(os.path.join(idl_dir, "*.idl")): ret = subprocess.call(fastrtpsgen_path + " -d " + out_dir +
ret = subprocess.call(fastrtpsgen_path + " -d " + out_dir + "/fastrtpsgen -example x64Linux2.6gcc " + fastrtpsgen_include + idl_file, shell=True)
"/fastrtpsgen -example x64Linux2.6gcc " + fastrtpsgen_include + idl_file, shell=True) if ret:
if ret: raise Exception(
raise Exception( "FastRTPSGen failed with code error %s" % ret)
"fastrtpsgen failed with code error %s" % ret)
else:
raise Exception(
"fastrtpsgen not found. Specify the location of fastrtpsgen with the -f flag")
rm_wildcard(os.path.join(out_dir, "fastrtpsgen/*PubSubMain*")) 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/makefile*"))

36
msg/tools/px_generate_uorb_topic_files.py
Unescape View File

@ -170,7 +170,7 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template
return generate_by_template(output_file, template_file, em_globals) return generate_by_template(output_file, template_file, em_globals)
def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, ids): def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, fastrtps_ver, ros2_distro, ids):
""" """
Generates an .idl from .msg file Generates an .idl from .msg file
""" """
@ -178,11 +178,11 @@ def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, pack
if (alias != ""): if (alias != ""):
em_globals = get_em_globals( em_globals = get_em_globals(
msg, alias, package, includepath, ids, MsgScope.NONE) msg, alias, package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.NONE)
spec_short_name = alias spec_short_name = alias
else: else:
em_globals = get_em_globals( em_globals = get_em_globals(
msg, "", package, includepath, ids, MsgScope.NONE) msg, "", package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.NONE)
spec_short_name = em_globals["spec"].short_name spec_short_name = em_globals["spec"].short_name
# Make sure output directory exists: # Make sure output directory exists:
@ -190,14 +190,18 @@ def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, pack
os.makedirs(outputdir) os.makedirs(outputdir)
template_file = os.path.join(templatedir, IDL_TEMPLATE_FILE) template_file = os.path.join(templatedir, IDL_TEMPLATE_FILE)
output_file = os.path.join(outputdir, IDL_TEMPLATE_FILE.replace( if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal":
"msg.idl.em", str(spec_short_name + "_.idl"))) output_file = os.path.join(outputdir, IDL_TEMPLATE_FILE.replace(
"msg.idl.em", str(spec_short_name + "_.idl")))
else:
output_file = os.path.join(outputdir, IDL_TEMPLATE_FILE.replace(
"msg.idl.em", str(spec_short_name + ".idl")))
return generate_by_template(output_file, template_file, em_globals) return generate_by_template(output_file, template_file, em_globals)
def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filename_receive_msgs, filename_alias_receive_msgs, def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filename_receive_msgs, filename_alias_receive_msgs,
msg_dir, outputdir, templatedir, package, includepath, ids, template_name): msg_dir, outputdir, templatedir, package, includepath, ids, fastrtps_ver, ros2_distro, template_name):
""" """
Generates source file by msg content Generates source file by msg content
""" """
@ -223,19 +227,19 @@ def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filenam
em_globals_list = [] em_globals_list = []
if send_msgs: if send_msgs:
em_globals_list.extend([get_em_globals( em_globals_list.extend([get_em_globals(
f, "", package, includepath, ids, MsgScope.SEND) for f in send_msgs]) f, "", package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.SEND) for f in send_msgs])
if alias_send_msgs: if alias_send_msgs:
em_globals_list.extend([get_em_globals( em_globals_list.extend([get_em_globals(
f[0], f[1], package, includepath, ids, MsgScope.SEND) for f in alias_send_msgs]) f[0], f[1], package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.SEND) for f in alias_send_msgs])
if receive_msgs: if receive_msgs:
em_globals_list.extend([get_em_globals( em_globals_list.extend([get_em_globals(
f, "", package, includepath, ids, MsgScope.RECEIVE) for f in receive_msgs]) f, "", package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.RECEIVE) for f in receive_msgs])
if alias_receive_msgs: if alias_receive_msgs:
em_globals_list.extend([get_em_globals( em_globals_list.extend([get_em_globals(
f[0], f[1], package, includepath, ids, MsgScope.RECEIVE) for f in alias_receive_msgs]) f[0], f[1], package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.RECEIVE) for f in alias_receive_msgs])
merged_em_globals = merge_em_globals_list(em_globals_list) merged_em_globals = merge_em_globals_list(em_globals_list)
@ -250,7 +254,7 @@ def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filenam
return generate_by_template(output_file, template_file, merged_em_globals) return generate_by_template(output_file, template_file, merged_em_globals)
def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, ids, template_name): def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, ids, fastrtps_ver, ros2_distro, template_name):
""" """
Generates a sources and headers from .msg file Generates a sources and headers from .msg file
""" """
@ -258,11 +262,11 @@ def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, pa
if (alias): if (alias):
em_globals = get_em_globals( em_globals = get_em_globals(
msg, alias, package, includepath, ids, MsgScope.NONE) msg, alias, package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.NONE)
spec_short_name = alias spec_short_name = alias
else: else:
em_globals = get_em_globals( em_globals = get_em_globals(
msg, "", package, includepath, ids, MsgScope.NONE) msg, "", package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.NONE)
spec_short_name = em_globals["spec"].short_name spec_short_name = em_globals["spec"].short_name
# Make sure output directory exists: # Make sure output directory exists:
@ -276,7 +280,7 @@ def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, pa
return generate_by_template(output_file, template_file, em_globals) return generate_by_template(output_file, template_file, em_globals)
def get_em_globals(filename_msg, alias, package, includepath, ids, scope): def get_em_globals(filename_msg, alias, package, includepath, ids, fastrtps_ver, ros2_distro, scope):
""" """
Generates em globals dictionary Generates em globals dictionary
""" """
@ -304,7 +308,9 @@ def get_em_globals(filename_msg, alias, package, includepath, ids, scope):
"ids": ids, "ids": ids,
"scope": scope, "scope": scope,
"package": package, "package": package,
"alias": alias "alias": alias,
"fastrtps_version": fastrtps_ver,
"ros2_distro": ros2_distro
} }
return em_globals return em_globals

6
src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt
Unescape View File

@ -33,6 +33,9 @@
set(msg_out_path ${CMAKE_CURRENT_BINARY_DIR}) set(msg_out_path ${CMAKE_CURRENT_BINARY_DIR})
#set(ROS2_DISTRO $ENV{ROS_DISTRO})
set(ROS2_DISTRO "")
if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_topics}" STREQUAL "") if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_topics}" STREQUAL "")
set(send_topic_files) set(send_topic_files)
@ -81,7 +84,8 @@ if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_t
--agent-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_agent --agent-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_agent
--client-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_client --client-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_client
--idl-dir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_agent/idl --idl-dir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_agent/idl
>micrortps_bridge.log > /dev/null --ros2-distro ${ROS2_DISTRO}
#>micrortps_bridge.log > /dev/null
DEPENDS ${send_topic_files} ${receive_topic_files} DEPENDS ${send_topic_files} ${receive_topic_files}
COMMENT "Generating RTPS topic bridge" COMMENT "Generating RTPS topic bridge"
) )

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