Use dummy bridge stub if fastrtpsgen not found

If the build config specifies RTPS topics to import/export and fastrtpsgen is not installed
on the build machine, then a dummy stub is used for the RTPS bridge.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

cmake/configs/nuttx_px4fmu-v4_default.cmake

@@ -207,8 +207,6 @@ set(config_module_list
 	examples/ekf_att_pos_estimator
 )
 
-set(GENERATE_RTPS_BRIDGE on)
-
 set(config_rtps_send_topics
    sensor_combined
    )

cmake/configs/posix_sitl_default.cmake

@@ -184,8 +184,6 @@ set(config_extra_builtin_cmds
 	sercon
 	)
 
-set(GENERATE_RTPS_BRIDGE on)
-
 set(config_rtps_send_topics
 	sensor_baro
 	)

src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt

@@ -31,7 +31,26 @@
 #
 ############################################################################
 
-if(NOT GENERATE_RTPS_BRIDGE MATCHES "off")
+find_program(FASTRTPSGEN fastrtpsgen)
+if(NOT FASTRTPSGEN)
+	message(WARNING "WARNING: Unable to find fastrtpsgen")
+	set(GENERATE_RTPS_BRIDGE off)
+else()
+	set(GENERATE_RTPS_BRIDGE on)
+endif()
+
+if(GENERATE_RTPS_BRIDGE MATCHES "off")
+
+    message(WARNING "WARNING: Building PX4 without RTPS bridge support")
+    px4_add_module(
+	MODULE modules__micrortps_bridge__micrortps_client
+	MAIN micrortps_client
+	SRCS
+		microRTPS_client_dummy.cpp
+	DEPENDS
+		platforms__common
+	)
+else()
     include_directories(.)
     include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
@@ -72,8 +91,6 @@ if(NOT GENERATE_RTPS_BRIDGE MATCHES "off")
             set(receive_topic_opt "-r")
         endif()
 
-	message("SEND ${send_topic_files_opt}")
-	message("RECV ${receive_topic_files_opt}")
         add_custom_command(OUTPUT ${topic_bridge_files_out}
             COMMAND ${PYTHON_EXECUTABLE}
             ${PX4_SOURCE_DIR}/Tools/generate_microRTPS_bridge.py
@@ -87,7 +104,6 @@ if(NOT GENERATE_RTPS_BRIDGE MATCHES "off")
             VERBATIM
             )
     endif()
-endif()
 
 px4_add_module(
 	MODULE modules__micrortps_bridge__micrortps_client
@@ -101,4 +117,5 @@ px4_add_module(
 	DEPENDS
 		platforms__common
 	)
+endif()
 # vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/modules/micrortps_bridge/micrortps_client/microRTPS_client_dummy.cpp

@@ -0,0 +1,68 @@
+/****************************************************************************
+ *
+ * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice, this
+ * list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * 3. Neither the name of the copyright holder nor the names of its contributors
+ * may be used to endorse or promote products derived from this software without
+ * specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_config.h>
+#include <px4_posix.h>
+#include <px4_tasks.h>
+
+extern "C" __EXPORT int micrortps_client_main(int argc, char *argv[]);
+
+
+static void usage(const char *name)
+{
+    PX4_INFO("usage: %s start|stop\n\n", name);
+}
+
+int micrortps_client_main(int argc, char *argv[])
+{
+    if (argc < 2)
+    {
+        usage(argv[0]);
+        return -1;
+    }
+
+    if (!strcmp(argv[1], "start"))
+    {
+        PX4_WARN("PX4 built without RTPS bridge support, EXITING...\n");
+        return -1;
+    }
+
+    if (!strcmp(argv[1], "stop"))
+    {
+        PX4_INFO("Not running");
+        return -1;
+    }
+
+    usage(argv[0]);
+
+    return -1;
+}