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microRTPS: use FastRTPS version instead of FastRTPSGen version to generate conditional code

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This commit is contained in:
TSC21
2020-03-11 15:13:07 +00:00
committed by Nuno Marques
parent c7d86b73d4
commit 7612879ffd
10 changed files with 76 additions and 90 deletions
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msg/tools/px_generate_uorb_topic_files.py
+14 -14
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@@ -167,7 +167,7 @@ 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, fastrtpsgen_version, ros2_distro, ids):
def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, fastrtps_version, ros2_distro, ids):
"""
Generates an .idl from .msg file
"""
@@ -175,11 +175,11 @@ def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, pack
if (alias != ""):
em_globals = get_em_globals(
msg, alias, package, includepath, ids, 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:
@@ -187,7 +187,7 @@ def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, pack
os.makedirs(outputdir)
template_file = os.path.join(templatedir, IDL_TEMPLATE_FILE)
if 1.5 <= fastrtpsgen_version <= 1.7:
if 1.5 <= fastrtps_version <= 1.7:
output_file = os.path.join(outputdir, IDL_TEMPLATE_FILE.replace(
"msg.idl.em", str(spec_short_name + "_.idl")))
else:
@@ -198,7 +198,7 @@ def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, pack
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, fastrtpsgen_version, ros2_distro, template_name):
msg_dir, outputdir, templatedir, package, includepath, ids, fastrtps_version, ros2_distro, template_name):
"""
Generates source file by msg content
"""
@@ -216,19 +216,19 @@ 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, fastrtpsgen_version, ros2_distro, MsgScope.SEND) for f in send_msgs])
f, "", package, includepath, ids, fastrtps_version, 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, fastrtpsgen_version, ros2_distro, MsgScope.SEND) for f in alias_send_msgs])
f[0], f[1], package, includepath, ids, fastrtps_version, ros2_distro, MsgScope.SEND) for f in alias_send_msgs])
if receive_msgs:
em_globals_list.extend([get_em_globals(
f, "", package, includepath, ids, fastrtpsgen_version, ros2_distro, MsgScope.RECEIVE) for f in receive_msgs])
f, "", package, includepath, ids, fastrtps_version, 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, fastrtpsgen_version, ros2_distro, MsgScope.RECEIVE) for f in alias_receive_msgs])
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
}