mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-19 13:13:34 +08:00
first push on supporting ROS2 Dashing and IDL 4.2
This commit is contained in:
TSC21
@@ -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="")
|
||||
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="")
|
||||
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',
|
||||
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(
|
||||
args.fastrtpsgen_include) + " "
|
||||
|
||||
ros2_distro = "" if args.ros2_distro == None else args.ros2_distro
|
||||
|
||||
# If nothing specified it's generated both
|
||||
if agent == False and client == False:
|
||||
agent = True
|
||||
@@ -293,19 +297,30 @@ uRTPS_SUBSCRIBER_H_TEMPL_FILE = 'Subscriber.h.em'
|
||||
|
||||
|
||||
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:
|
||||
for msg_file in classifier.msgs_to_send:
|
||||
if gen_idl:
|
||||
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,
|
||||
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:
|
||||
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,
|
||||
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,
|
||||
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:
|
||||
for msg_file in classifier.alias_msgs_to_send:
|
||||
@@ -317,28 +332,28 @@ def generate_agent(out_dir):
|
||||
if gen_idl:
|
||||
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,
|
||||
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:
|
||||
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,
|
||||
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,
|
||||
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:
|
||||
for msg_file in classifier.msgs_to_receive:
|
||||
if gen_idl:
|
||||
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,
|
||||
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:
|
||||
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,
|
||||
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,
|
||||
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:
|
||||
for msg_file in classifier.alias_msgs_to_receive:
|
||||
@@ -350,24 +365,24 @@ def generate_agent(out_dir):
|
||||
if gen_idl:
|
||||
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,
|
||||
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:
|
||||
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,
|
||||
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,
|
||||
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,
|
||||
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,
|
||||
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,
|
||||
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:
|
||||
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
|
||||
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"))
|
||||
if not glob.glob(os.path.join(idl_dir, "*.idl")):
|
||||
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")):
|
||||
ret = subprocess.call(fastrtpsgen_path + " -d " + out_dir +
|
||||
"/fastrtpsgen -example x64Linux2.6gcc " + fastrtpsgen_include + idl_file, shell=True)
|
||||
if ret:
|
||||
raise Exception(
|
||||
"fastrtpsgen failed with code error %s" % ret)
|
||||
else:
|
||||
raise Exception(
|
||||
"fastrtpsgen not found. Specify the location of fastrtpsgen with the -f flag")
|
||||
for idl_file in glob.glob(os.path.join(idl_dir, "*.idl")):
|
||||
ret = subprocess.call(fastrtpsgen_path + " -d " + out_dir +
|
||||
"/fastrtpsgen -example x64Linux2.6gcc " + fastrtpsgen_include + idl_file, shell=True)
|
||||
if ret:
|
||||
raise Exception(
|
||||
"FastRTPSGen failed with code error %s" % ret)
|
||||
|
||||
rm_wildcard(os.path.join(out_dir, "fastrtpsgen/*PubSubMain*"))
|
||||
rm_wildcard(os.path.join(out_dir, "fastrtpsgen/makefile*"))
|
||||
|
||||
Reference in New Issue
Block a user