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first push on supporting ROS2 Dashing and IDL 4.2

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This commit is contained in:
TSC21
2019-10-04 16:56:03 +01:00
committed by Nuno Marques
parent f885d2274a
commit 278d2fd21f
12 changed files with 152 additions and 54 deletions
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msg/tools/px_generate_uorb_topic_files.py
+21 -15
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@@ -170,7 +170,7 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template
return generate_by_template(output_file, template_file, em_globals)
def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, ids):
def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, fastrtps_ver, ros2_distro, ids):
"""
Generates an .idl from .msg file
"""
@@ -178,11 +178,11 @@ def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, pack
if (alias != ""):
em_globals = get_em_globals(
msg, alias, package, includepath, ids, MsgScope.NONE)
msg, alias, package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.NONE)
spec_short_name = alias
else:
em_globals = get_em_globals(
msg, "", package, includepath, ids, MsgScope.NONE)
msg, "", package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.NONE)
spec_short_name = em_globals["spec"].short_name
# Make sure output directory exists:
@@ -190,14 +190,18 @@ def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, pack
os.makedirs(outputdir)
template_file = os.path.join(templatedir, IDL_TEMPLATE_FILE)
output_file = os.path.join(outputdir, IDL_TEMPLATE_FILE.replace(
"msg.idl.em", str(spec_short_name + "_.idl")))
if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal":
output_file = os.path.join(outputdir, IDL_TEMPLATE_FILE.replace(
"msg.idl.em", str(spec_short_name + "_.idl")))
else:
output_file = os.path.join(outputdir, IDL_TEMPLATE_FILE.replace(
"msg.idl.em", str(spec_short_name + ".idl")))
return generate_by_template(output_file, template_file, em_globals)
def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filename_receive_msgs, filename_alias_receive_msgs,
msg_dir, outputdir, templatedir, package, includepath, ids, template_name):
msg_dir, outputdir, templatedir, package, includepath, ids, fastrtps_ver, ros2_distro, template_name):
"""
Generates source file by msg content
"""
@@ -223,19 +227,19 @@ def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filenam
em_globals_list = []
if send_msgs:
em_globals_list.extend([get_em_globals(
f, "", package, includepath, ids, MsgScope.SEND) for f in send_msgs])
f, "", package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.SEND) for f in send_msgs])
if alias_send_msgs:
em_globals_list.extend([get_em_globals(
f[0], f[1], package, includepath, ids, MsgScope.SEND) for f in alias_send_msgs])
f[0], f[1], package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.SEND) for f in alias_send_msgs])
if receive_msgs:
em_globals_list.extend([get_em_globals(
f, "", package, includepath, ids, MsgScope.RECEIVE) for f in receive_msgs])
f, "", package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.RECEIVE) for f in receive_msgs])
if alias_receive_msgs:
em_globals_list.extend([get_em_globals(
f[0], f[1], package, includepath, ids, MsgScope.RECEIVE) for f in alias_receive_msgs])
f[0], f[1], package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.RECEIVE) for f in alias_receive_msgs])
merged_em_globals = merge_em_globals_list(em_globals_list)
@@ -250,7 +254,7 @@ def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filenam
return generate_by_template(output_file, template_file, merged_em_globals)
def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, ids, template_name):
def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, ids, fastrtps_ver, ros2_distro, template_name):
"""
Generates a sources and headers from .msg file
"""
@@ -258,11 +262,11 @@ def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, pa
if (alias):
em_globals = get_em_globals(
msg, alias, package, includepath, ids, MsgScope.NONE)
msg, alias, package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.NONE)
spec_short_name = alias
else:
em_globals = get_em_globals(
msg, "", package, includepath, ids, MsgScope.NONE)
msg, "", package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.NONE)
spec_short_name = em_globals["spec"].short_name
# Make sure output directory exists:
@@ -276,7 +280,7 @@ def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, pa
return generate_by_template(output_file, template_file, em_globals)
def get_em_globals(filename_msg, alias, package, includepath, ids, scope):
def get_em_globals(filename_msg, alias, package, includepath, ids, fastrtps_ver, ros2_distro, scope):
"""
Generates em globals dictionary
"""
@@ -304,7 +308,9 @@ def get_em_globals(filename_msg, alias, package, includepath, ids, scope):
"ids": ids,
"scope": scope,
"package": package,
"alias": alias
"alias": alias,
"fastrtps_version": fastrtps_ver,
"ros2_distro": ros2_distro
}
return em_globals