microdds: add xrce client

msg/CMakeLists.txt

@@ -260,14 +260,17 @@ endif()
 
 # headers
 set(msg_out_path ${PX4_BINARY_DIR}/uORB/topics)
+set(ucdr_out_path ${PX4_BINARY_DIR}/uORB/ucdr)
 set(msg_source_out_path	${CMAKE_CURRENT_BINARY_DIR}/topics_sources)
 
 set(uorb_headers ${msg_out_path}/uORBTopics.hpp)
 set(uorb_sources ${msg_source_out_path}/uORBTopics.cpp)
+set(uorb_ucdr_headers)
 foreach(msg_file ${msg_files})
 	get_filename_component(msg ${msg_file} NAME_WE)
 	list(APPEND uorb_headers ${msg_out_path}/${msg}.h)
 	list(APPEND uorb_sources ${msg_source_out_path}/${msg}.cpp)
+	list(APPEND uorb_ucdr_headers ${ucdr_out_path}/${msg}.h)
 endforeach()
 
 if (px4_constrained_flash_build)
@@ -300,6 +303,27 @@ add_custom_command(OUTPUT ${uorb_headers}
 	)
 add_custom_target(uorb_headers DEPENDS ${uorb_headers})
 
+add_custom_command(OUTPUT ${uorb_ucdr_headers}
+	COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
+		--headers
+		-f ${msg_files}
+		-i ${CMAKE_CURRENT_SOURCE_DIR}
+		-o ${ucdr_out_path}
+		-e templates/ucdr
+		-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/ucdr_headers
+		-q
+		${added_arguments}
+	DEPENDS
+		${msg_files}
+		templates/ucdr/msg.h.em
+		tools/px_generate_uorb_topic_files.py
+		tools/px_generate_uorb_topic_helper.py
+	COMMENT "Generating uORB topic ucdr headers"
+	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+	VERBATIM
+	)
+add_custom_target(uorb_ucdr_headers DEPENDS ${uorb_ucdr_headers})
+
 # Generate uORB sources
 add_custom_command(OUTPUT ${uorb_sources}
 	COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py