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Update cdrstream code generator including typehash

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This commit is contained in:
Peter van der Perk
2025-03-08 22:26:58 +01:00
committed by Beat Küng
parent a87456b38b
commit e1a7fbce71
6 changed files with 166 additions and 10 deletions
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msg/CMakeLists.txt
+25
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@@ -424,9 +424,11 @@ add_dependencies(uorb_msgs prebuild_targets uorb_headers)
if(CONFIG_LIB_CDRSTREAM)
set(uorb_cdr_idl)
set(uorb_cdr_msg)
set(uorb_cdr_hash)
set(uorb_cdr_idl_uorb)
set(idl_include_path ${PX4_BINARY_DIR}/uORB/idl)
set(idl_out_path ${idl_include_path}/px4/msg)
set(idl_rihs01_out_path ${idl_include_path}/px4)
set(idl_uorb_path ${PX4_BINARY_DIR}/msg/px4/msg)
# Make sure that CycloneDDS has been checkout out
@@ -457,6 +459,7 @@ if(CONFIG_LIB_CDRSTREAM)
configure_file(${msg_file} ${idl_out_path}/${msg}.msg COPYONLY)
list(APPEND uorb_cdr_idl ${idl_out_path}/${msg}.idl)
list(APPEND uorb_cdr_msg ${idl_out_path}/${msg}.msg)
list(APPEND uorb_cdr_hash ${idl_out_path}/${msg}.json)
list(APPEND uorb_cdr_idl_uorb ${idl_uorb_path}/${msg}.h)
endforeach()
@@ -476,6 +479,25 @@ if(CONFIG_LIB_CDRSTREAM)
VERBATIM
)
file(CREATE_LINK ${idl_rihs01_out_path} ${idl_include_path}/px4_msgs SYMBOLIC)
# Generate IDL from .msg using rosidl_adapter
# Note this a submodule inside PX4 hence no ROS2 installation required
add_custom_command(
OUTPUT ${uorb_cdr_hash}
COMMAND ${CMAKE_COMMAND}
-E env "PYTHONPATH=${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_adapter:${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_cli:${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_parser:${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_generator_type_description"
${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/cdrstream/idl2rihs01.py
--output-dir ${idl_rihs01_out_path}
${uorb_cdr_idl}
DEPENDS
${uorb_cdr_idl}
git_cyclonedds
COMMENT "Generating RIHS01 hashes from IDL"
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
VERBATIM
)
# Generate C definitions from IDL
set(CYCLONEDDS_DIR ${PX4_SOURCE_DIR}/src/lib/cdrstream/cyclonedds)
include("${CYCLONEDDS_DIR}/cmake/Modules/Generate.cmake")
@@ -505,6 +527,7 @@ if(CONFIG_LIB_CDRSTREAM)
DEPENDS
uorb_cdrstream
${msg_files}
${uorb_cdr_hash}
${PX4_SOURCE_DIR}/Tools/msg/templates/cdrstream/uorb_idl_header.h.em
${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
@@ -534,8 +557,10 @@ if(CONFIG_MODULES_ZENOH)
-f ${msg_files}
-o ${PX4_BINARY_DIR}/src/modules/zenoh/
-e ${PX4_SOURCE_DIR}/Tools/zenoh/templates/zenoh
-rihs ${idl_rihs01_out_path}
DEPENDS
${msg_files}
${uorb_cdr_hash}
${PX4_SOURCE_DIR}/Tools/zenoh/templates/zenoh/uorb_pubsub_factory.hpp.em
${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py
COMMENT "Generating Zenoh Topic Code"