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@ -47,73 +47,77 @@ if(NOT GENERATE_RTPS_BRIDGE MATCHES "off")
@@ -47,73 +47,77 @@ if(NOT GENERATE_RTPS_BRIDGE MATCHES "off")
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return() |
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endif() |
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include_directories(.) |
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include_directories(${CMAKE_CURRENT_BINARY_DIR}) |
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include_directories(${PX4_SOURCE_DIR}/src/lib/micro-CDR/include) |
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include_directories(${PX4_BINARY_DIR}/src/lib/micro-CDR/include/microcdr) |
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# Do not delete everything in the current dir |
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set(msg_out_path ${CMAKE_CURRENT_BINARY_DIR}) |
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set(topic_msg_path ${PX4_SOURCE_DIR}/msg) |
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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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endforeach() |
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if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_topics}" STREQUAL "") |
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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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endforeach() |
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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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endforeach() |
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foreach(topic ${config_rtps_send_topics}) |
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list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Publisher.cpp) |
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list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Publisher.h) |
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endforeach() |
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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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endforeach() |
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foreach(topic ${config_rtps_receive_topics}) |
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list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Subscriber.cpp) |
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list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Subscriber.h) |
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endforeach() |
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foreach(topic ${config_rtps_send_topics}) |
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list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Publisher.cpp) |
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list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Publisher.h) |
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endforeach() |
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if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_topics}" STREQUAL "") |
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set(topic_bridge_files_out microRTPS_client.cpp microRTPS_transport.cpp microRTPS_transport.h) |
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foreach(topic ${config_rtps_receive_topics}) |
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list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Subscriber.cpp) |
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list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Subscriber.h) |
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endforeach() |
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set(send_topic_files_opt) |
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if (NOT "${send_topic_files}" STREQUAL "") |
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set(send_topic_opt "-s") |
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endif() |
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set(send_topic_files_opt) |
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if (NOT "${send_topic_files}" STREQUAL "") |
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set(send_topic_opt "--send") |
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endif() |
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set(receive_topic_files_opt) |
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if (NOT "${receive_topic_files}" STREQUAL "") |
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set(receive_topic_opt "-r") |
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endif() |
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set(receive_topic_files_opt) |
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if (NOT "${receive_topic_files}" STREQUAL "") |
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set(receive_topic_opt "--receive") |
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endif() |
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add_custom_command(OUTPUT ${topic_bridge_files_out} |
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COMMAND ${PYTHON_EXECUTABLE} |
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${PX4_SOURCE_DIR}/Tools/generate_microRTPS_bridge.py |
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-f $ENV{FASTRTPSGEN_DIR} |
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${send_topic_opt} ${send_topic_files} |
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${receive_topic_opt} ${receive_topic_files} |
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-t ${topic_msg_path} |
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-u ${msg_out_path} |
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DEPENDS ${DEPENDS} ${send_topic_files} ${receive_topic_files} |
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COMMENT "Generating RTPS topic bridge" |
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VERBATIM |
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) |
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add_custom_target(topic_bridge_files DEPENDS ${topic_bridge_files_out}) |
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list(APPEND topic_bridge_files_out |
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${msg_out_path}/micrortps_client/microRTPS_client.cpp |
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${msg_out_path}/micrortps_client/microRTPS_transport.cpp |
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${msg_out_path}/micrortps_client/microRTPS_transport.h |
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) |
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px4_add_module( |
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MODULE modules__micrortps_bridge__micrortps_client |
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MAIN micrortps_client |
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STACK_MAIN 4096 |
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SRCS |
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${msg_out_path}/microRTPS_transport.cpp |
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${msg_out_path}/microRTPS_client.cpp |
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microRTPS_client_main.cpp |
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DEPENDS |
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platforms__common |
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topic_bridge_files |
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add_custom_command(OUTPUT ${topic_bridge_files_out} |
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/msg/tools/generate_microRTPS_bridge.py |
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--fastrtpsgen-dir $ENV{FASTRTPSGEN_DIR} |
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${send_topic_opt} ${send_topic_files} |
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${receive_topic_opt} ${receive_topic_files} |
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--topic-msg-dir ${PX4_SOURCE_DIR}/msg |
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--agent-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_agent |
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--client-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_client |
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DEPENDS ${send_topic_files} ${receive_topic_files} |
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COMMENT "Generating RTPS topic bridge" |
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VERBATIM |
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) |
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endif() |
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add_custom_target(topic_bridge_files DEPENDS ${topic_bridge_files_out}) |
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include_directories(${CMAKE_CURRENT_SOURCE_DIR}) |
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include_directories(${CMAKE_CURRENT_BINARY_DIR}/micrortps_client) |
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px4_add_module( |
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MODULE modules__micrortps_bridge__micrortps_client |
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MAIN micrortps_client |
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STACK_MAIN 4096 |
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SRCS |
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${CMAKE_CURRENT_BINARY_DIR}/micrortps_client/microRTPS_transport.cpp |
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${CMAKE_CURRENT_BINARY_DIR}/micrortps_client/microRTPS_client.cpp |
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microRTPS_client_main.cpp |
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DEPENDS |
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platforms__common |
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topic_bridge_files |
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uorb_headers |
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) |
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target_link_libraries(modules__micrortps_bridge__micrortps_client PRIVATE lib__micro-CDR) |
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endif() |
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endif() |
Daniel Agar
7 years ago