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Add Zenoh pico support
This commit is contained in:
Peter van der Perk
committed by
Daniel Agar
Daniel Agar
parent
5137ca1ccc
commit
019d232911
@@ -336,3 +336,128 @@ add_custom_command(
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add_library(uorb_msgs ${uorb_headers} ${msg_out_path}/uORBTopics.hpp ${uorb_sources} ${msg_source_out_path}/uORBTopics.cpp)
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target_link_libraries(uorb_msgs PRIVATE m)
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add_dependencies(uorb_msgs prebuild_targets uorb_headers)
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if(CONFIG_LIB_CDRSTREAM)
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set(uorb_cdr_idl)
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set(uorb_cdr_msg)
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set(uorb_cdr_idl_uorb)
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set(idl_include_path ${PX4_BINARY_DIR}/uORB/idl)
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set(idl_out_path ${idl_include_path}/px4/msg)
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set(idl_uorb_path ${PX4_BINARY_DIR}/msg/px4/msg)
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# Make sure that CycloneDDS has been checkout out
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execute_process(COMMAND git submodule sync src/lib/cdrstream/cyclonedds
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WORKING_DIRECTORY ${PX4_SOURCE_DIR} )
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execute_process(COMMAND git submodule update --init --force src/lib/cdrstream/cyclonedds
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WORKING_DIRECTORY ${PX4_SOURCE_DIR} )
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# CycloneDDS-tools doesn't ship with the cdrstream-desc feature thus we've to compile idlc from source
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MESSAGE(STATUS "Configuring idlc :" ${CMAKE_CURRENT_BINARY_DIR}/idlc)
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file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/idlc)
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execute_process(COMMAND ${CMAKE_COMMAND} ${PX4_SOURCE_DIR}/src/lib/cdrstream/cyclonedds
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-DCMAKE_C_COMPILER=/usr/bin/gcc
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-DBUILD_EXAMPLES=OFF
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WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/idlc
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RESULT_VARIABLE CMD_ERROR
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OUTPUT_FILE CMD_OUTPUT )
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MESSAGE(STATUS "Building idlc :" ${CMAKE_CURRENT_BINARY_DIR}/idlc)
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execute_process(COMMAND ${CMAKE_COMMAND} --build . --target idlc
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WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/idlc
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RESULT_VARIABLE CMD_ERROR
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OUTPUT_FILE CMD_OUTPUT )
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list(APPEND CMAKE_PROGRAM_PATH "${CMAKE_CURRENT_BINARY_DIR}/idlc/bin")
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# Copy .msg files
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foreach(msg_file ${msg_files})
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get_filename_component(msg ${msg_file} NAME_WE)
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configure_file(${PX4_SOURCE_DIR}/msg/${msg}.msg ${idl_out_path}/${msg}.msg COPYONLY)
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list(APPEND uorb_cdr_idl ${idl_out_path}/${msg}.idl)
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list(APPEND uorb_cdr_msg ${idl_out_path}/${msg}.msg)
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list(APPEND uorb_cdr_idl_uorb ${idl_uorb_path}/${msg}.h)
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endforeach()
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# Generate IDL from .msg using rosidl_adapter
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# Note this a submodule inside PX4 hence no ROS2 installation required
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add_custom_command(
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OUTPUT ${uorb_cdr_idl}
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COMMAND ${CMAKE_COMMAND}
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-E env "PYTHONPATH=${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_adapter:${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_cli"
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${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/cdrstream/msg2idl.py
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${uorb_cdr_msg}
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DEPENDS
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${uorb_cdr_msg}
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git_cyclonedds
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COMMENT "Generating IDL from uORB 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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# Generate C definitions from IDL
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set(CYCLONEDDS_DIR ${PX4_SOURCE_DIR}/src/lib/cdrstream/cyclonedds)
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include("${CYCLONEDDS_DIR}/cmake/Modules/Generate.cmake")
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idlc_generate(TARGET uorb_cdrstream
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FEATURES "cdrstream-desc"
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FILES ${uorb_cdr_idl}
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INCLUDES ${idl_include_path}
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BASE_DIR ${idl_include_path}
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WARNINGS no-implicit-extensibility)
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target_link_libraries(uorb_cdrstream INTERFACE cdr)
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# Generate and overwrite IDL header with custom headers for uORB operatability
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# We typedef the IDL struct the uORB struct so that the IDL offset calculate
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# the offset of internal uORB struct for serialization/deserialization
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# In the future we might want to turn this around let the IDL struct be the leading ABI
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# However we need to remove the padding for logging and remove the re-ordering of fields
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add_custom_target(
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uorb_idl_header
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
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--uorb-idl-header
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-f ${msg_files}
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-i ${CMAKE_CURRENT_SOURCE_DIR}
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-o ${idl_uorb_path}
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-e ${PX4_SOURCE_DIR}/Tools/msg/templates/cdrstream
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DEPENDS
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uorb_cdrstream
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${msg_files}
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${PX4_SOURCE_DIR}/Tools/msg/templates/cdrstream/uorb_idl_header.h.em
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${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
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${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
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COMMENT "Generating uORB compatible IDL 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_dependencies(uorb_msgs uorb_idl_header)
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# Compile all CDR compatible message defnitions
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target_link_libraries(uorb_msgs PRIVATE uorb_cdrstream )
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endif()
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if(CONFIG_MODULES_ZENOH)
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# Update kconfig file for topics
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execute_process(COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py
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--zenoh-config
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-f ${msg_files}
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-o ${PX4_SOURCE_DIR}/src/modules/zenoh/
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-e ${PX4_SOURCE_DIR}/Tools/zenoh/templates/zenoh
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)
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add_custom_command(
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OUTPUT
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${PX4_BINARY_DIR}/src/modules/zenoh/uorb_pubsub_factory.hpp
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py
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--zenoh-pub-sub
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-f ${msg_files}
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-o ${PX4_BINARY_DIR}/src/modules/zenoh/
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-e ${PX4_SOURCE_DIR}/Tools/zenoh/templates/zenoh
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DEPENDS
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${msg_files}
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${PX4_SOURCE_DIR}/Tools/zenoh/templates/zenoh/uorb_pubsub_factory.hpp.em
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${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py
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COMMENT "Generating Zenoh Topic Code"
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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VERBATIM
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)
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add_library(zenoh_topics ${PX4_BINARY_DIR}/src/modules/zenoh/uorb_pubsub_factory.hpp)
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set_target_properties(zenoh_topics PROPERTIES LINKER_LANGUAGE CXX)
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endif()
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