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microRTPS: timesync: template generalization for both ROS2 and non-ROS2

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This commit is contained in:
TSC21
2020-03-05 15:33:04 +00:00
committed by Nuno Marques
parent 01518bd009
commit cfd8e368df
3 changed files with 162 additions and 31 deletions
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msg/tools/generate_microRTPS_bridge.py
+6 -10
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@@ -312,6 +312,8 @@ uRTPS_CLIENT_TEMPL_FILE = 'microRTPS_client.cpp.em'
uRTPS_AGENT_TOPICS_H_TEMPL_FILE = 'RtpsTopics.h.em'
uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE = 'RtpsTopics.cpp.em'
uRTPS_AGENT_TEMPL_FILE = 'microRTPS_agent.cpp.em'
uRTPS_TIMESYNC_CPP_TEMPL_FILE = 'microRTPS_timesync.cpp.em'
uRTPS_TIMESYNC_H_TEMPL_FILE = 'microRTPS_timesync.h.em'
uRTPS_AGENT_CMAKELISTS_TEMPL_FILE = 'microRTPS_agent_CMakeLists.txt.em'
uRTPS_PUBLISHER_SRC_TEMPL_FILE = 'Publisher.cpp.em'
uRTPS_PUBLISHER_H_TEMPL_FILE = 'Publisher.h.em'
@@ -384,6 +386,10 @@ def generate_agent(out_dir):
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,
urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_AGENT_TEMPL_FILE)
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,
urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_TIMESYNC_CPP_TEMPL_FILE)
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,
urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_TIMESYNC_H_TEMPL_FILE)
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,
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)
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,
@@ -416,8 +422,6 @@ def generate_agent(out_dir):
shutil.rmtree(os.path.join(out_dir, "fastrtpsgen"))
cp_wildcard(os.path.join(urtps_templates_dir,
"microRTPS_transport.*"), agent_out_dir)
cp_wildcard(os.path.join(urtps_templates_dir,
"microRTPS_timesync.*"), agent_out_dir)
if cmakelists:
os.rename(os.path.join(out_dir, "microRTPS_agent_CMakeLists.txt"),
os.path.join(out_dir, "CMakeLists.txt"))
@@ -459,12 +463,6 @@ def generate_client(out_dir):
if os.path.isfile(def_file):
os.rename(def_file, def_file.replace(".cpp", ".cpp_"))
def_file = os.path.join(default_client_out, "microRTPS_transport.h")
if os.path.isfile(def_file):
os.rename(def_file, def_file.replace(".cpp", ".cpp_"))
def_file = os.path.join(default_client_out, "microRTPS_timesync.cpp")
if os.path.isfile(def_file):
os.rename(def_file, def_file.replace(".cpp", ".cpp_"))
def_file = os.path.join(default_client_out, "microRTPS_timesync.h")
if os.path.isfile(def_file):
os.rename(def_file, def_file.replace(".h", ".h_"))
@@ -474,8 +472,6 @@ def generate_client(out_dir):
# Final steps to install client
cp_wildcard(os.path.join(urtps_templates_dir,
"microRTPS_transport.*"), out_dir)
cp_wildcard(os.path.join(urtps_templates_dir,
"microRTPS_timesync.*"), out_dir)
return 0