mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-23 04:13:33 +08:00
micrortps bridge: clean templates; add backwards compatibility; add ROS2 compatibility
This commit is contained in:
TSC21
@@ -238,7 +238,37 @@ if fastrtpsgen_include is not None and fastrtpsgen_include != '':
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os.path.abspath(
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args.fastrtpsgen_include) + " "
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ros2_distro = "" if args.ros2_distro == None else args.ros2_distro
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# get FastRTPSGen version
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# Note: since Fast-RTPS 1.8.x release, FastRTPSGen is now a separated
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# repository and not included in the Fast-RTPS project.
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# The starting version since this separation is 1.0.0, which doesn't
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# follow the Fast-RTPS version convention
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fastrtpsgen_version = 0.0
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if(os.path.exists(fastrtpsgen_path)):
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fastrtpsgen_version_out = subprocess.check_output(
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[fastrtpsgen_path, "-version"]).strip()[-5:-2]
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if not fastrtpsgen_version_out:
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raise Exception(
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"FastRTPSGen failed with code error %s" % fastrtpsgen_version)
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else:
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fastrtpsgen_version = float(fastrtpsgen_version_out)
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else:
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raise Exception(
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"FastRTPSGen not found. Specify the location of fastrtpsgen with the -f flag")
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# get ROS 2 version, if exists
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ros2_distro = ""
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try:
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rosversion_out = subprocess.check_output(["rosversion", "-d"])
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rosversion_out = rosversion_out.rstrip()
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if rosversion_out not in ["<unknown>", "kinetic", "lunar", "melodic"]:
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ros2_distro = rosversion_out
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except OSError as e:
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if e.errno == errno.ENOENT:
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if args.ros2_distro != None:
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ros2_distro = args.ros2_distro
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else:
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raise
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# If nothing specified it's generated both
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if agent == False and client == False:
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@@ -297,30 +327,21 @@ uRTPS_SUBSCRIBER_H_TEMPL_FILE = 'Subscriber.h.em'
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def generate_agent(out_dir):
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# get FastRTPSGen version
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if(os.path.exists(fastrtpsgen_path)):
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fastrtps_vers = subprocess.check_output(
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[fastrtpsgen_path, "-version"]).strip()[-5:-2]
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if not fastrtps_vers:
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raise Exception(
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"FastRTPSGen failed with code error %s" % fastrtps_vers)
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else:
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raise Exception(
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"FastRTPSGen not found. Specify the location of fastrtpsgen with the -f flag")
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global fastrtpsgen_version
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if classifier.msgs_to_send:
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for msg_file in classifier.msgs_to_send:
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if gen_idl:
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if out_dir != agent_out_dir:
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px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", os.path.join(out_dir, "/idl"), urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, ros2_distro, classifier.msg_id_map)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
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else:
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px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", idl_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, ros2_distro, fastrtps_vers, classifier.msg_id_map)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
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px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE)
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if classifier.alias_msgs_to_send:
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for msg_file in classifier.alias_msgs_to_send:
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@@ -332,28 +353,28 @@ def generate_agent(out_dir):
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if gen_idl:
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if out_dir != agent_out_dir:
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px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, os.path.join(out_dir, "/idl"), urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, ros2_distro, classifier.msg_id_map)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
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else:
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px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, idl_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, ros2_distro, classifier.msg_id_map)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
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px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE)
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if classifier.msgs_to_receive:
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for msg_file in classifier.msgs_to_receive:
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if gen_idl:
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if out_dir != agent_out_dir:
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px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", os.path.join(out_dir, "/idl"), urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, ros2_distro, classifier.msg_id_map)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
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else:
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px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", idl_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, ros2_distro, classifier.msg_id_map)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
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px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
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if classifier.alias_msgs_to_receive:
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for msg_file in classifier.alias_msgs_to_receive:
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@@ -365,24 +386,24 @@ def generate_agent(out_dir):
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if gen_idl:
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if out_dir != agent_out_dir:
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px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, os.path.join(out_dir, "/idl"), urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, ros2_distro, classifier.msg_id_map)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
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else:
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px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, idl_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, ros2_distro, classifier.msg_id_map)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
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px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
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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,
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urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_AGENT_TEMPL_FILE)
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urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_AGENT_TEMPL_FILE)
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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,
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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)
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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)
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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,
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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)
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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)
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if cmakelists:
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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,
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urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE)
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urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE)
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# Final steps to install agent
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mkdir_p(os.path.join(out_dir, "fastrtpsgen"))
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@@ -438,6 +459,7 @@ def mkdir_p(dirpath):
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def generate_client(out_dir):
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global fastrtpsgen_version
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# Rename work in the default path
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if default_client_out != out_dir:
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@@ -452,7 +474,7 @@ def generate_client(out_dir):
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os.rename(def_file, def_file.replace(".h", ".h_"))
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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,
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out_dir, uorb_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_CLIENT_TEMPL_FILE)
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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)
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# Final steps to install client
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cp_wildcard(os.path.join(urtps_templates_dir,
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@@ -170,7 +170,7 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template
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return generate_by_template(output_file, template_file, em_globals)
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def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, fastrtps_ver, ros2_distro, ids):
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def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, fastrtpsgen_version, ros2_distro, ids):
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"""
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Generates an .idl from .msg file
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"""
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@@ -178,11 +178,11 @@ def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, pack
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if (alias != ""):
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em_globals = get_em_globals(
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msg, alias, package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.NONE)
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msg, alias, package, includepath, ids, fastrtpsgen_version, ros2_distro, MsgScope.NONE)
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spec_short_name = alias
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else:
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em_globals = get_em_globals(
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msg, "", package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.NONE)
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msg, "", package, includepath, ids, fastrtpsgen_version, ros2_distro, MsgScope.NONE)
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spec_short_name = em_globals["spec"].short_name
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# Make sure output directory exists:
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@@ -201,7 +201,7 @@ def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, pack
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def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filename_receive_msgs, filename_alias_receive_msgs,
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msg_dir, outputdir, templatedir, package, includepath, ids, fastrtps_ver, ros2_distro, template_name):
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msg_dir, outputdir, templatedir, package, includepath, ids, fastrtpsgen_version, ros2_distro, template_name):
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"""
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Generates source file by msg content
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"""
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@@ -227,19 +227,19 @@ def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filenam
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em_globals_list = []
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if send_msgs:
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em_globals_list.extend([get_em_globals(
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f, "", package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.SEND) for f in send_msgs])
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f, "", package, includepath, ids, fastrtpsgen_version, ros2_distro, MsgScope.SEND) for f in send_msgs])
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if alias_send_msgs:
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em_globals_list.extend([get_em_globals(
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f[0], f[1], package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.SEND) for f in alias_send_msgs])
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f[0], f[1], package, includepath, ids, fastrtpsgen_version, ros2_distro, MsgScope.SEND) for f in alias_send_msgs])
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if receive_msgs:
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em_globals_list.extend([get_em_globals(
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f, "", package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.RECEIVE) for f in receive_msgs])
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f, "", package, includepath, ids, fastrtpsgen_version, ros2_distro, MsgScope.RECEIVE) for f in receive_msgs])
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if alias_receive_msgs:
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em_globals_list.extend([get_em_globals(
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f[0], f[1], package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.RECEIVE) for f in alias_receive_msgs])
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f[0], f[1], package, includepath, ids, fastrtpsgen_version, ros2_distro, MsgScope.RECEIVE) for f in alias_receive_msgs])
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merged_em_globals = merge_em_globals_list(em_globals_list)
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@@ -254,7 +254,7 @@ def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filenam
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return generate_by_template(output_file, template_file, merged_em_globals)
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def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, ids, fastrtps_ver, ros2_distro, template_name):
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def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, ids, fastrtpsgen_version, ros2_distro, template_name):
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"""
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Generates a sources and headers from .msg file
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"""
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@@ -262,11 +262,11 @@ def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, pa
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if (alias):
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em_globals = get_em_globals(
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msg, alias, package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.NONE)
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msg, alias, package, includepath, ids, fastrtpsgen_version, ros2_distro, MsgScope.NONE)
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spec_short_name = alias
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else:
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em_globals = get_em_globals(
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msg, "", package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.NONE)
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msg, "", package, includepath, ids, fastrtpsgen_version, ros2_distro, MsgScope.NONE)
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spec_short_name = em_globals["spec"].short_name
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# Make sure output directory exists:
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@@ -280,7 +280,7 @@ def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, pa
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return generate_by_template(output_file, template_file, em_globals)
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def get_em_globals(filename_msg, alias, package, includepath, ids, fastrtps_ver, ros2_distro, scope):
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def get_em_globals(filename_msg, alias, package, includepath, ids, fastrtpsgen_version, ros2_distro, scope):
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"""
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Generates em globals dictionary
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"""
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@@ -309,7 +309,7 @@ def get_em_globals(filename_msg, alias, package, includepath, ids, fastrtps_ver,
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"scope": scope,
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"package": package,
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"alias": alias,
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"fastrtps_version": fastrtps_ver,
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"fastrtpsgen_version": fastrtpsgen_version,
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"ros2_distro": ros2_distro
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}
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Reference in New Issue
Block a user