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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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microRTPS: use FastRTPS version instead of FastRTPSGen version to generate conditional code
This commit is contained in:
TSC21
@@ -209,16 +209,16 @@ else:
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if args.fastrtpsgen is None or args.fastrtpsgen == '':
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# Assume fastrtpsgen is in PATH
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fastrtpsgen_path = 'fastrtpsgen'
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for dirname in os.environ['PATH'].split(':') :
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for dirname in os.environ['PATH'].split(':'):
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candidate = os.path.join(dirname, 'fastrtpsgen')
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if os.path.isfile(candidate) :
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if os.path.isfile(candidate):
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fastrtpsgen_path = candidate
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else:
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# Path to fastrtpsgen is explicitly specified
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if os.path.isdir(args.fastrtpsgen) :
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if os.path.isdir(args.fastrtpsgen):
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fastrtpsgen_path = os.path.join(
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os.path.abspath(args.fastrtpsgen), 'fastrtpsgen')
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else :
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else:
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fastrtpsgen_path = args.fastrtpsgen
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fastrtpsgen_include = args.fastrtpsgen_include
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@@ -227,27 +227,13 @@ 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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# get FastRTPSGen version
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# Note: since Fast-RTPS 1.8.x release, FastRTPSGen is now a separated
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# repository and not included in the Fast-RTPS project.
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# The starting version since this separation is 1.0.0, which doesn't
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# follow the Fast-RTPS version convention
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fastrtpsgen_version = 0.0
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if(os.path.exists(fastrtpsgen_path)):
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try:
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fastrtpsgen_version_out = subprocess.check_output(
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[fastrtpsgen_path, "-version"]).strip()[-5:-2]
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except OSError:
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raise
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try:
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fastrtpsgen_version = float(fastrtpsgen_version_out)
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except ValueError:
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print("'fastrtpsgen -version' returned None. Hardsetting version to 1.0")
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fastrtpsgen_version = 1.0
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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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# get FastRTPS version (major.minor, since patch is not relevant at this stage)
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fastrtps_version = ""
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try:
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fastrtps_version = float(subprocess.check_output(
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"ldconfig -v | grep libfastrtps | tail -c 6", shell=True).decode("utf-8").strip()[-5:-2])
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except ValueError:
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print("No valid version found to FasRTPS. Make sure it is installed.")
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# get ROS 2 version, if exists
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ros2_distro = ""
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@@ -322,21 +308,21 @@ uRTPS_SUBSCRIBER_H_TEMPL_FILE = 'Subscriber.h.em'
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def generate_agent(out_dir):
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global fastrtpsgen_version
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global fastrtps_version
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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, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, 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, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, 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, fastrtpsgen_version, ros2_distro, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, 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, fastrtpsgen_version, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, 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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@@ -345,28 +331,28 @@ 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, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, 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, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, 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, fastrtpsgen_version, ros2_distro, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, 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, fastrtpsgen_version, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, 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, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, 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, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, 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, fastrtpsgen_version, ros2_distro, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, 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, fastrtpsgen_version, ros2_distro, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, 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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@@ -375,28 +361,28 @@ 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, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, 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, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, 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, fastrtpsgen_version, ros2_distro, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, 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, fastrtpsgen_version, ros2_distro, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, 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, fastrtpsgen_version, ros2_distro, uRTPS_AGENT_TEMPL_FILE)
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urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, 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, fastrtpsgen_version, ros2_distro, uRTPS_TIMESYNC_CPP_TEMPL_FILE)
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urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_TIMESYNC_CPP_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, fastrtpsgen_version, ros2_distro, uRTPS_TIMESYNC_H_TEMPL_FILE)
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urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_TIMESYNC_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, fastrtpsgen_version, ros2_distro, 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_version, 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, fastrtpsgen_version, ros2_distro, 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_version, 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, fastrtpsgen_version, ros2_distro, 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_version, 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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@@ -407,7 +393,7 @@ def generate_agent(out_dir):
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for idl_file in glob.glob(os.path.join(idl_dir, "*.idl")):
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try:
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ret = subprocess.check_call(fastrtpsgen_path + " -d " + out_dir +
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"/fastrtpsgen -example x64Linux2.6gcc " + fastrtpsgen_include + idl_file, shell=True)
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"/fastrtpsgen -example x64Linux2.6gcc " + fastrtpsgen_include + idl_file, shell=True)
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except OSError:
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raise
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@@ -452,7 +438,7 @@ def mkdir_p(dirpath):
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def generate_client(out_dir):
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global fastrtpsgen_version
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global fastrtps_version
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# Rename work in the default path
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if default_client_out != out_dir:
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@@ -467,7 +453,7 @@ def generate_client(out_dir):
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os.rename(def_file, def_file.replace(".h", ".h_"))
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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,
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out_dir, uorb_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_CLIENT_TEMPL_FILE)
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out_dir, uorb_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_version, ros2_distro, uRTPS_CLIENT_TEMPL_FILE)
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# Final steps to install client
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cp_wildcard(os.path.join(urtps_templates_dir,
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@@ -167,7 +167,7 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template
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return generate_by_template(output_file, template_file, em_globals)
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def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, fastrtpsgen_version, ros2_distro, ids):
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def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, fastrtps_version, ros2_distro, ids):
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"""
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Generates an .idl from .msg file
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"""
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@@ -175,11 +175,11 @@ def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, pack
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if (alias != ""):
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em_globals = get_em_globals(
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msg, alias, package, includepath, ids, fastrtpsgen_version, ros2_distro, MsgScope.NONE)
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msg, alias, package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.NONE)
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spec_short_name = alias
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else:
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em_globals = get_em_globals(
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msg, "", package, includepath, ids, fastrtpsgen_version, ros2_distro, MsgScope.NONE)
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msg, "", package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.NONE)
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spec_short_name = em_globals["spec"].short_name
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# Make sure output directory exists:
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@@ -187,7 +187,7 @@ def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, pack
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os.makedirs(outputdir)
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template_file = os.path.join(templatedir, IDL_TEMPLATE_FILE)
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if 1.5 <= fastrtpsgen_version <= 1.7:
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if 1.5 <= fastrtps_version <= 1.7:
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output_file = os.path.join(outputdir, IDL_TEMPLATE_FILE.replace(
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"msg.idl.em", str(spec_short_name + "_.idl")))
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else:
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@@ -198,7 +198,7 @@ def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, pack
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def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filename_receive_msgs, filename_alias_receive_msgs,
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msg_dir, outputdir, templatedir, package, includepath, ids, fastrtpsgen_version, ros2_distro, template_name):
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msg_dir, outputdir, templatedir, package, includepath, ids, fastrtps_version, ros2_distro, template_name):
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"""
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Generates source file by msg content
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"""
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@@ -216,19 +216,19 @@ def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filenam
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em_globals_list = []
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if send_msgs:
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em_globals_list.extend([get_em_globals(
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f, "", package, includepath, ids, fastrtpsgen_version, ros2_distro, MsgScope.SEND) for f in send_msgs])
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f, "", package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.SEND) for f in send_msgs])
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if alias_send_msgs:
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em_globals_list.extend([get_em_globals(
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f[0], f[1], package, includepath, ids, fastrtpsgen_version, ros2_distro, MsgScope.SEND) for f in alias_send_msgs])
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f[0], f[1], package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.SEND) for f in alias_send_msgs])
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if receive_msgs:
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em_globals_list.extend([get_em_globals(
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f, "", package, includepath, ids, fastrtpsgen_version, ros2_distro, MsgScope.RECEIVE) for f in receive_msgs])
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f, "", package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.RECEIVE) for f in receive_msgs])
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if alias_receive_msgs:
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em_globals_list.extend([get_em_globals(
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f[0], f[1], package, includepath, ids, fastrtpsgen_version, ros2_distro, MsgScope.RECEIVE) for f in alias_receive_msgs])
|
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f[0], f[1], package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.RECEIVE) for f in alias_receive_msgs])
|
||||
|
||||
merged_em_globals = merge_em_globals_list(em_globals_list)
|
||||
|
||||
@@ -243,7 +243,7 @@ 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, fastrtpsgen_version, ros2_distro, template_name):
|
||||
def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, ids, fastrtps_version, ros2_distro, template_name):
|
||||
"""
|
||||
Generates a sources and headers from .msg file
|
||||
"""
|
||||
@@ -251,11 +251,11 @@ def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, pa
|
||||
|
||||
if (alias):
|
||||
em_globals = get_em_globals(
|
||||
msg, alias, package, includepath, ids, fastrtpsgen_version, ros2_distro, MsgScope.NONE)
|
||||
msg, alias, package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.NONE)
|
||||
spec_short_name = alias
|
||||
else:
|
||||
em_globals = get_em_globals(
|
||||
msg, "", package, includepath, ids, fastrtpsgen_version, ros2_distro, MsgScope.NONE)
|
||||
msg, "", package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.NONE)
|
||||
spec_short_name = em_globals["spec"].short_name
|
||||
|
||||
# Make sure output directory exists:
|
||||
@@ -269,7 +269,7 @@ 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, fastrtpsgen_version, ros2_distro, scope):
|
||||
def get_em_globals(filename_msg, alias, package, includepath, ids, fastrtps_version, ros2_distro, scope):
|
||||
"""
|
||||
Generates em globals dictionary
|
||||
"""
|
||||
@@ -298,7 +298,7 @@ def get_em_globals(filename_msg, alias, package, includepath, ids, fastrtpsgen_v
|
||||
"scope": scope,
|
||||
"package": package,
|
||||
"alias": alias,
|
||||
"fastrtpsgen_version": fastrtpsgen_version,
|
||||
"fastrtps_version": fastrtps_version,
|
||||
"ros2_distro": ros2_distro
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user