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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-18 00:23:34 +08:00
uORB generation move to msg/
This commit is contained in:
Daniel Agar
@@ -47,73 +47,77 @@ if(NOT GENERATE_RTPS_BRIDGE MATCHES "off")
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return()
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endif()
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include_directories(.)
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include_directories(${CMAKE_CURRENT_BINARY_DIR})
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include_directories(${PX4_SOURCE_DIR}/src/lib/micro-CDR/include)
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include_directories(${PX4_BINARY_DIR}/src/lib/micro-CDR/include/microcdr)
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# Do not delete everything in the current dir
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set(msg_out_path ${CMAKE_CURRENT_BINARY_DIR})
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set(topic_msg_path ${PX4_SOURCE_DIR}/msg)
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set(send_topic_files)
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foreach(topic ${config_rtps_send_topics})
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list(APPEND send_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
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endforeach()
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if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_topics}" STREQUAL "")
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set(receive_topic_files)
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foreach(topic ${config_rtps_receive_topics})
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list(APPEND receive_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
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endforeach()
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set(send_topic_files)
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foreach(topic ${config_rtps_send_topics})
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list(APPEND send_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
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endforeach()
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foreach(topic ${config_rtps_send_topics})
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list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Publisher.cpp)
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list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Publisher.h)
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endforeach()
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set(receive_topic_files)
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foreach(topic ${config_rtps_receive_topics})
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list(APPEND receive_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
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endforeach()
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foreach(topic ${config_rtps_receive_topics})
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list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Subscriber.cpp)
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list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Subscriber.h)
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endforeach()
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foreach(topic ${config_rtps_send_topics})
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list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Publisher.cpp)
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list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Publisher.h)
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endforeach()
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if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_topics}" STREQUAL "")
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set(topic_bridge_files_out microRTPS_client.cpp microRTPS_transport.cpp microRTPS_transport.h)
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foreach(topic ${config_rtps_receive_topics})
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list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Subscriber.cpp)
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list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Subscriber.h)
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endforeach()
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set(send_topic_files_opt)
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if (NOT "${send_topic_files}" STREQUAL "")
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set(send_topic_opt "-s")
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endif()
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set(send_topic_files_opt)
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if (NOT "${send_topic_files}" STREQUAL "")
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set(send_topic_opt "--send")
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endif()
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set(receive_topic_files_opt)
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if (NOT "${receive_topic_files}" STREQUAL "")
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set(receive_topic_opt "-r")
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endif()
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set(receive_topic_files_opt)
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if (NOT "${receive_topic_files}" STREQUAL "")
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set(receive_topic_opt "--receive")
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endif()
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add_custom_command(OUTPUT ${topic_bridge_files_out}
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COMMAND ${PYTHON_EXECUTABLE}
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${PX4_SOURCE_DIR}/Tools/generate_microRTPS_bridge.py
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-f $ENV{FASTRTPSGEN_DIR}
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${send_topic_opt} ${send_topic_files}
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${receive_topic_opt} ${receive_topic_files}
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-t ${topic_msg_path}
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-u ${msg_out_path}
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DEPENDS ${DEPENDS} ${send_topic_files} ${receive_topic_files}
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COMMENT "Generating RTPS topic bridge"
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VERBATIM
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)
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add_custom_target(topic_bridge_files DEPENDS ${topic_bridge_files_out})
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list(APPEND topic_bridge_files_out
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${msg_out_path}/micrortps_client/microRTPS_client.cpp
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${msg_out_path}/micrortps_client/microRTPS_transport.cpp
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${msg_out_path}/micrortps_client/microRTPS_transport.h
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)
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px4_add_module(
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MODULE modules__micrortps_bridge__micrortps_client
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MAIN micrortps_client
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STACK_MAIN 4096
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SRCS
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${msg_out_path}/microRTPS_transport.cpp
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${msg_out_path}/microRTPS_client.cpp
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microRTPS_client_main.cpp
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DEPENDS
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platforms__common
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topic_bridge_files
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add_custom_command(OUTPUT ${topic_bridge_files_out}
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/msg/tools/generate_microRTPS_bridge.py
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--fastrtpsgen-dir $ENV{FASTRTPSGEN_DIR}
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${send_topic_opt} ${send_topic_files}
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${receive_topic_opt} ${receive_topic_files}
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--topic-msg-dir ${PX4_SOURCE_DIR}/msg
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--agent-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_agent
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--client-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_client
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DEPENDS ${send_topic_files} ${receive_topic_files}
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COMMENT "Generating RTPS topic bridge"
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VERBATIM
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)
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endif()
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add_custom_target(topic_bridge_files DEPENDS ${topic_bridge_files_out})
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include_directories(${CMAKE_CURRENT_SOURCE_DIR})
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include_directories(${CMAKE_CURRENT_BINARY_DIR}/micrortps_client)
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px4_add_module(
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MODULE modules__micrortps_bridge__micrortps_client
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MAIN micrortps_client
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STACK_MAIN 4096
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SRCS
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${CMAKE_CURRENT_BINARY_DIR}/micrortps_client/microRTPS_transport.cpp
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${CMAKE_CURRENT_BINARY_DIR}/micrortps_client/microRTPS_client.cpp
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microRTPS_client_main.cpp
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DEPENDS
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platforms__common
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topic_bridge_files
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uorb_headers
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)
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target_link_libraries(modules__micrortps_bridge__micrortps_client PRIVATE lib__micro-CDR)
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endif()
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endif()
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@@ -49,3 +49,4 @@ px4_add_module(
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DEPENDS
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platforms__common
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)
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target_link_libraries(modules__uORB uorb_msgs)
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@@ -30,10 +30,6 @@
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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set(depends
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msg_gen
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prebuild_targets
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)
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px4_add_module(
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MODULE platforms__common
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@@ -42,6 +38,7 @@ px4_add_module(
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px4_getopt.c
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shutdown.cpp
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DEPENDS
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${depends}
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prebuild_targets
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uorb_headers
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)
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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@@ -33,11 +33,12 @@
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add_custom_command(OUTPUT topic_listener.cpp
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COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_listener.py ${PX4_SOURCE_DIR} > topic_listener.cpp
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DEPENDS generate_listener.py msg_gen
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DEPENDS generate_listener.py uorb_headers
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)
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add_custom_target(generate_topic_listener
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DEPENDS topic_listener.cpp generate_listener.py)
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DEPENDS topic_listener.cpp generate_listener.py
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)
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px4_add_module(
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MODULE systemcmds__topic_listener
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