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parse output from python script into readable cmake list to use; refactor RTPS scripts

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This commit is contained in:
TSC21
2018-09-30 18:37:53 +01:00
committed by Beat Küng
parent a9771f13d1
commit 71d1b77bbe
5 changed files with 53 additions and 50 deletions
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src/modules/micrortps_bridge/CMakeLists.txt
+21 -13
View File
@@ -40,20 +40,27 @@ if(NOT FASTRTPSGEN)
message(FATAL_ERROR "Unable to find fastrtpsgen")
endif()
set(config_rtps_send_topics
sensor_combined
sensor_baro
sensor_selection
vehicle_gps_position
airspeed
vehicle_land_detected
vehicle_status
)
if (EXISTS "${PX4_SOURCE_DIR}/msg/tools/uorb_rtps_message_ids.yaml")
set(config_rtps_receive_topics
sensor_baro
optical_flow
)
set(config_rtps_send_topics)
execute_process(
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/msg/tools/uorb_rtps_classifier.py -s
OUTPUT_VARIABLE config_rtps_send_topics
)
STRING(REGEX REPLACE ", " ";" config_rtps_send_topics "${config_rtps_send_topics}")
STRING(REGEX REPLACE "\n" "" config_rtps_send_topics "${config_rtps_send_topics}")
set(config_rtps_receive_topics)
execute_process(
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/msg/tools/uorb_rtps_classifier.py -r
OUTPUT_VARIABLE config_rtps_receive_topics
)
STRING(REGEX REPLACE ", " ";" config_rtps_receive_topics "${config_rtps_receive_topics}")
STRING(REGEX REPLACE "\n" "" config_rtps_receive_topics "${config_rtps_receive_topics}")
endif()
if (FASTRTPSGEN AND (config_rtps_send_topics OR config_rtps_receive_topics))
option(GENERATE_RTPS_BRIDGE "enable RTPS and microCDR" ON)
@@ -89,6 +96,7 @@ if (GENERATE_RTPS_BRIDGE)
endforeach()
# receive topic files
message(STATUS "RTPS receive: ${config_rtps_receive_topics}")
set(receive_topic_files)
foreach(topic ${config_rtps_receive_topics})
list(APPEND receive_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt
-6
View File
@@ -71,15 +71,9 @@ if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_t
${msg_out_path}/micrortps_client/microRTPS_transport.h
)
# Copy yaml file to the bin dir to be used by empy on the file generation
configure_file("${PX4_SOURCE_DIR}/msg/tools/uorb_rtps_message_ids.yaml"
"${CMAKE_CURRENT_BINARY_DIR}/uorb_rtps_message_ids.yaml" COPYONLY)
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}
--generate-idl
--mkdir-build
--generate-cmakelists