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uORB generation move to msg/

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This commit is contained in:
Daniel Agar
2017-09-29 10:13:51 -04:00
parent 03784c6b01
commit 48f1e3ed1c
19 changed files with 132 additions and 237 deletions
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src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt
+61 -57
View File
@@ -47,73 +47,77 @@ if(NOT GENERATE_RTPS_BRIDGE MATCHES "off")
return()
endif()
include_directories(.)
include_directories(${CMAKE_CURRENT_BINARY_DIR})
include_directories(${PX4_SOURCE_DIR}/src/lib/micro-CDR/include)
include_directories(${PX4_BINARY_DIR}/src/lib/micro-CDR/include/microcdr)
# Do not delete everything in the current dir
set(msg_out_path ${CMAKE_CURRENT_BINARY_DIR})
set(topic_msg_path ${PX4_SOURCE_DIR}/msg)
set(send_topic_files)
foreach(topic ${config_rtps_send_topics})
list(APPEND send_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
endforeach()
if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_topics}" STREQUAL "")
set(receive_topic_files)
foreach(topic ${config_rtps_receive_topics})
list(APPEND receive_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
endforeach()
set(send_topic_files)
foreach(topic ${config_rtps_send_topics})
list(APPEND send_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
endforeach()
foreach(topic ${config_rtps_send_topics})
list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Publisher.cpp)
list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Publisher.h)
endforeach()
set(receive_topic_files)
foreach(topic ${config_rtps_receive_topics})
list(APPEND receive_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
endforeach()
foreach(topic ${config_rtps_receive_topics})
list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Subscriber.cpp)
list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Subscriber.h)
endforeach()
foreach(topic ${config_rtps_send_topics})
list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Publisher.cpp)
list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Publisher.h)
endforeach()
if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_topics}" STREQUAL "")
set(topic_bridge_files_out microRTPS_client.cpp microRTPS_transport.cpp microRTPS_transport.h)
foreach(topic ${config_rtps_receive_topics})
list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Subscriber.cpp)
list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Subscriber.h)
endforeach()
set(send_topic_files_opt)
if (NOT "${send_topic_files}" STREQUAL "")
set(send_topic_opt "-s")
endif()
set(send_topic_files_opt)
if (NOT "${send_topic_files}" STREQUAL "")
set(send_topic_opt "--send")
endif()
set(receive_topic_files_opt)
if (NOT "${receive_topic_files}" STREQUAL "")
set(receive_topic_opt "-r")
endif()
set(receive_topic_files_opt)
if (NOT "${receive_topic_files}" STREQUAL "")
set(receive_topic_opt "--receive")
endif()
add_custom_command(OUTPUT ${topic_bridge_files_out}
COMMAND ${PYTHON_EXECUTABLE}
${PX4_SOURCE_DIR}/Tools/generate_microRTPS_bridge.py
-f $ENV{FASTRTPSGEN_DIR}
${send_topic_opt} ${send_topic_files}
${receive_topic_opt} ${receive_topic_files}
-t ${topic_msg_path}
-u ${msg_out_path}
DEPENDS ${DEPENDS} ${send_topic_files} ${receive_topic_files}
COMMENT "Generating RTPS topic bridge"
VERBATIM
)
add_custom_target(topic_bridge_files DEPENDS ${topic_bridge_files_out})
list(APPEND topic_bridge_files_out
${msg_out_path}/micrortps_client/microRTPS_client.cpp
${msg_out_path}/micrortps_client/microRTPS_transport.cpp
${msg_out_path}/micrortps_client/microRTPS_transport.h
)
px4_add_module(
MODULE modules__micrortps_bridge__micrortps_client
MAIN micrortps_client
STACK_MAIN 4096
SRCS
${msg_out_path}/microRTPS_transport.cpp
${msg_out_path}/microRTPS_client.cpp
microRTPS_client_main.cpp
DEPENDS
platforms__common
topic_bridge_files
add_custom_command(OUTPUT ${topic_bridge_files_out}
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/msg/tools/generate_microRTPS_bridge.py
--fastrtpsgen-dir $ENV{FASTRTPSGEN_DIR}
${send_topic_opt} ${send_topic_files}
${receive_topic_opt} ${receive_topic_files}
--topic-msg-dir ${PX4_SOURCE_DIR}/msg
--agent-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_agent
--client-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_client
DEPENDS ${send_topic_files} ${receive_topic_files}
COMMENT "Generating RTPS topic bridge"
VERBATIM
)
endif()
add_custom_target(topic_bridge_files DEPENDS ${topic_bridge_files_out})
include_directories(${CMAKE_CURRENT_SOURCE_DIR})
include_directories(${CMAKE_CURRENT_BINARY_DIR}/micrortps_client)
px4_add_module(
MODULE modules__micrortps_bridge__micrortps_client
MAIN micrortps_client
STACK_MAIN 4096
SRCS
${CMAKE_CURRENT_BINARY_DIR}/micrortps_client/microRTPS_transport.cpp
${CMAKE_CURRENT_BINARY_DIR}/micrortps_client/microRTPS_client.cpp
microRTPS_client_main.cpp
DEPENDS
platforms__common
topic_bridge_files
uorb_headers
)
target_link_libraries(modules__micrortps_bridge__micrortps_client PRIVATE lib__micro-CDR)
endif()
endif()
src/modules/uORB/CMakeLists.txt
+1
View File
@@ -49,3 +49,4 @@ px4_add_module(
DEPENDS
platforms__common
)
target_link_libraries(modules__uORB uorb_msgs)