mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-19 11:03:35 +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
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help="fastrtpsgen installation dir, only needed if fastrtpsgen is not in PATH, by default empty", default="")
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parser.add_argument("-g", "--fastrtpsgen-include", dest='fastrtpsgen_include', type=str,
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help="directory(ies) to add to preprocessor include paths of fastrtpsgen, by default empty", default="")
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parser.add_argument("-r", "--ros2-distro", dest='ros2_distro', type=str, nargs='?',
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help="ROS2 distro, only required if generating the agent for usage with ROS2 nodes, by default empty", default="")
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parser.add_argument("--delete-tree", dest='del_tree',
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action="store_true", help="Delete dir tree output dir(s)")
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@@ -236,6 +238,8 @@ 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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# If nothing specified it's generated both
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if agent == False and client == False:
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agent = True
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@@ -293,19 +297,30 @@ 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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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, classifier.msg_id_map)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, 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, classifier.msg_id_map)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, ros2_distro, fastrtps_vers, 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, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
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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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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, uRTPS_PUBLISHER_H_TEMPL_FILE)
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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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if classifier.alias_msgs_to_send:
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for msg_file in classifier.alias_msgs_to_send:
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@@ -317,28 +332,28 @@ 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, classifier.msg_id_map)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, 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, classifier.msg_id_map)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, 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, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
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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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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, uRTPS_PUBLISHER_H_TEMPL_FILE)
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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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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, classifier.msg_id_map)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, 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, classifier.msg_id_map)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, 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, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
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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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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, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
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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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if classifier.alias_msgs_to_receive:
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for msg_file in classifier.alias_msgs_to_receive:
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@@ -350,24 +365,24 @@ 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, classifier.msg_id_map)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, 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, classifier.msg_id_map)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, 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, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
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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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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, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
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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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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, uRTPS_AGENT_TEMPL_FILE)
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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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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, 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, fastrtps_vers, 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, 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, fastrtps_vers, 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, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE)
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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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# Final steps to install agent
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mkdir_p(os.path.join(out_dir, "fastrtpsgen"))
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@@ -375,16 +390,12 @@ def generate_agent(out_dir):
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os.chdir(os.path.join(out_dir, "fastrtpsgen"))
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if not glob.glob(os.path.join(idl_dir, "*.idl")):
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raise Exception("No IDL files found in %s" % idl_dir)
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if(os.path.exists(fastrtpsgen_path)):
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for idl_file in glob.glob(os.path.join(idl_dir, "*.idl")):
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ret = subprocess.call(fastrtpsgen_path + " -d " + out_dir +
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"/fastrtpsgen -example x64Linux2.6gcc " + fastrtpsgen_include + idl_file, shell=True)
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if ret:
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raise Exception(
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"fastrtpsgen failed with code error %s" % ret)
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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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for idl_file in glob.glob(os.path.join(idl_dir, "*.idl")):
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ret = subprocess.call(fastrtpsgen_path + " -d " + out_dir +
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"/fastrtpsgen -example x64Linux2.6gcc " + fastrtpsgen_include + idl_file, shell=True)
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if ret:
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raise Exception(
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"FastRTPSGen failed with code error %s" % ret)
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rm_wildcard(os.path.join(out_dir, "fastrtpsgen/*PubSubMain*"))
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rm_wildcard(os.path.join(out_dir, "fastrtpsgen/makefile*"))
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