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msg ROS2 compatibility, microdds_client improvements (timesync, reduced code size, added topics, etc), fastrtps purge

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- update all msgs to be directly compatible with ROS2
 - microdds_client improvements
   - timesync
   - reduced code size
   - add to most default builds if we can afford it
   - lots of other little changes
 - purge fastrtps (I tried to save this multiple times, but kept hitting roadblocks)
This commit is contained in:
Daniel Agar
2022-10-19 19:36:47 -04:00
committed by GitHub
parent e211e0ca0e
commit cea185268e
318 changed files with 1948 additions and 8939 deletions
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src/modules/commander/failsafe/CMakeLists.txt
+1 -1
View File
@@ -32,7 +32,7 @@
############################################################################
# Extract information from failsafe msg file
set(failsafe_flags_msg_file ${PX4_SOURCE_DIR}/msg/failsafe_flags.msg)
set(failsafe_flags_msg_file ${PX4_SOURCE_DIR}/msg/FailsafeFlags.msg)
set(generated_uorb_struct_field_mapping_header ${PX4_BINARY_DIR}/generated_uorb_struct_field_mapping.h)
set(html_template_file ${CMAKE_CURRENT_SOURCE_DIR}/emscripten_template.html)
set(html_output_file ${PX4_BINARY_DIR}/failsafe_html_template.html)
src/modules/commander/failsafe/parse_flags_from_msg.py
+2 -2
View File
@@ -12,7 +12,7 @@ import re
if __name__ == "__main__":
parser = argparse.ArgumentParser(description='Extract fields from .msg files')
parser.add_argument('msg_file', help='failsafe_flags.msg file')
parser.add_argument('msg_file', help='FailsafeFlags.msg file')
parser.add_argument('header_file', help='generated_uorb_struct_field_mapping.h')
parser.add_argument('html_template', help='HTML template input file')
parser.add_argument('html_output', help='HTML output file')
@@ -81,7 +81,7 @@ if __name__ == "__main__":
macro_lines = ''
for group in groups:
for field_type, field_name, comment in group.fields:
macro_lines += ' .property("{0}", &{1}_s::{0}) \\\n'.format(field_name, msg_name)
macro_lines += ' .property("{0}", &px4::msg::{1}::{0}) \\\n'.format(field_name, msg_name)
cpp_emscription_macro = '#define UORB_STRUCT_FIELD_MAPPING \\\n{}\n'.format(macro_lines)