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Commit 71d1b77b authored by TSC21's avatar TSC21 Committed by Beat Küng
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parse output from python script into readable cmake list to use; refactor RTPS scripts

parent a9771f13
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msg/tools/generate_microRTPS_bridge.py
+ 18
− 17
View file @ 71d1b77b
......@@ -44,7 +44,7 @@ import argparse
import shutil
import px_generate_uorb_topic_files
import px_generate_uorb_topic_helper
import uorb_rtps_classifier
from uorb_rtps_classifier import Classifier
import subprocess
import glob
import errno
......@@ -69,7 +69,7 @@ def check_rtps_id_uniqueness(classifier):
used_ids.sort()
repeated_keys = dict()
for key, value in msg_ids.items():
for key, value in msgs_to_use.items():
if used_ids.count(value) > 1:
repeated_keys.update({key: value})
......@@ -196,20 +196,21 @@ if agent and os.path.isdir(os.path.join(agent_out_dir, "idl")):
uorb_templates_dir = os.path.join(msg_folder, args.uorb_templates)
urtps_templates_dir = os.path.join(msg_folder, args.urtps_templates)
# parse yaml file into a map of ids
classifier = Classifier(px_generate_uorb_topic_helper.parse_yaml_msg_id_file(os.path.join(msg_folder, args.yaml_file), msg_folder)
classifier = Classifier(px_generate_uorb_topic_helper.parse_yaml_msg_id_file(
os.path.join(msg_folder, args.yaml_file)), msg_folder)
# check if there are no ID's repeated
check_rtps_id_uniqueness(classifier)
uRTPS_CLIENT_TEMPL_FILE='microRTPS_client.cpp.template'
uRTPS_AGENT_TOPICS_H_TEMPL_FILE='RtpsTopics.h.template'
uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE='RtpsTopics.cpp.template'
uRTPS_AGENT_TEMPL_FILE='microRTPS_agent.cpp.template'
uRTPS_AGENT_CMAKELISTS_TEMPL_FILE='microRTPS_agent_CMakeLists.txt.template'
uRTPS_PUBLISHER_SRC_TEMPL_FILE='Publisher.cpp.template'
uRTPS_PUBLISHER_H_TEMPL_FILE='Publisher.h.template'
uRTPS_SUBSCRIBER_SRC_TEMPL_FILE='Subscriber.cpp.template'
uRTPS_SUBSCRIBER_H_TEMPL_FILE='Subscriber.h.template'
uRTPS_CLIENT_TEMPL_FILE = 'microRTPS_client.cpp.template'
uRTPS_AGENT_TOPICS_H_TEMPL_FILE = 'RtpsTopics.h.template'
uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE = 'RtpsTopics.cpp.template'
uRTPS_AGENT_TEMPL_FILE = 'microRTPS_agent.cpp.template'
uRTPS_AGENT_CMAKELISTS_TEMPL_FILE = 'microRTPS_agent_CMakeLists.txt.template'
uRTPS_PUBLISHER_SRC_TEMPL_FILE = 'Publisher.cpp.template'
uRTPS_PUBLISHER_H_TEMPL_FILE = 'Publisher.h.template'
uRTPS_SUBSCRIBER_SRC_TEMPL_FILE = 'Subscriber.cpp.template'
uRTPS_SUBSCRIBER_H_TEMPL_FILE = 'Subscriber.h.template'
def generate_agent(out_dir):
......@@ -254,12 +255,12 @@ def generate_agent(out_dir):
# Final steps to install agent
mkdir_p(os.path.join(out_dir, "fastrtpsgen"))
prev_cwd_path=os.getcwd()
prev_cwd_path = os.getcwd()
os.chdir(os.path.join(out_dir, "fastrtpsgen"))
if not glob.glob(os.path.join(idl_dir, "*.idl")):
raise Exception("No IDL files found in %s" % idl_dir)
for idl_file in glob.glob(os.path.join(idl_dir, "*.idl")):
ret=subprocess.call(fastrtpsgen_path + " -d " + out_dir +
ret = subprocess.call(fastrtpsgen_path + " -d " + out_dir +
"/fastrtpsgen -example x64Linux2.6gcc " + fastrtpsgen_include + idl_file, shell=True)
if ret:
raise Exception(
......@@ -308,13 +309,13 @@ def generate_client(out_dir):
# Rename work in the default path
if default_client_out != out_dir:
def_file=os.path.join(default_client_out, "microRTPS_client.cpp")
def_file = os.path.join(default_client_out, "microRTPS_client.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_transport.cpp")
def_file = os.path.join(default_client_out, "microRTPS_transport.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_transport.h")
def_file = os.path.join(default_client_out, "microRTPS_transport.h")
if os.path.isfile(def_file):
os.rename(def_file, def_file.replace(".h", ".h_"))
......
msg/tools/uorb_rtps_classifier.py
+ 7
− 7
View file @ 71d1b77b
......@@ -141,7 +141,7 @@ if __name__ == "__main__":
# Parse arguments
args = parser.parse_args()
msg_folder = os.path.dirname(os.path.dirname(os.path.abspath(args.msgdir)))
msg_folder = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
classifier = Classifier(px_generate_uorb_topic_helper.parse_yaml_msg_id_file(
os.path.join(msg_folder, args.yaml_file)), msg_folder)
......@@ -150,19 +150,19 @@ if __name__ == "__main__":
print ('send files: ' + ', '.join(str(msg_file)
for msg_file in classifier.msgs_files_send) + '\n')
else:
print ('send topics: ' + ', '.join(str(msg)
for msg in classifier.msgs_to_send.keys()) + '\n')
print (', '.join(str(msg)
for msg in classifier.msgs_to_send.keys()) + '\n')
if args.receive:
if args.path:
print ('receive files: ' + ', '.join(str(msg_file)
for msg_file in classifier.msgs_files_receive) + '\n')
else:
print ('receive topics: ' + ', '.join(str(msg)
for msg in classifier.msgs_to_receive.keys()) + '\n')
print (', '.join(str(msg)
for msg in classifier.msgs_to_receive.keys()) + '\n')
if args.ignore:
if args.path:
print ('ignore files: ' + ', '.join(str(msg_file)
for msg_file in classifier.msgs_files_ignore) + '\n')
else:
print ('ignore topics: ' + ', '.join(str(msg)
for msg in classifier.msgs_to_ignore.keys()) + '\n')
print (', '.join(str(msg)
for msg in classifier.msgs_to_ignore.keys()) + '\n')
msg/tools/uorb_rtps_message_ids.yaml
+ 7
− 7
View file @ 71d1b77b
......@@ -69,11 +69,13 @@ rtps:
id: 14
- msg: obstacle_distance
id: 42
# multi topics
- msg: vehicle_mocap_odometry
id: 132
- msg: vehicle_visual_odometry
id: 133
- msg: optical_flow
id: 44
# multi topics TODO
# - msg: vehicle_mocap_odometry
# id: 132
# - msg: vehicle_visual_odometry
# id: 133
unclassified:
- msg: actuator_armed
id: 0
......@@ -141,8 +143,6 @@ rtps:
id: 41
- msg: offboard_control_mode
id: 43
- msg: optical_flow
id: 44
- msg: parameter_update
id: 45
- msg: ping
......
src/modules/micrortps_bridge/CMakeLists.txt
+ 22
− 14
View file @ 71d1b77b
......@@ -40,20 +40,27 @@ if(NOT FASTRTPSGEN)
message(FATAL_ERROR "Unable to find fastrtpsgen")
endif()
set(config_rtps_send_topics
sensor_combined
sensor_baro
sensor_selection
vehicle_gps_position
airspeed
vehicle_land_detected
vehicle_status
)
set(config_rtps_receive_topics
sensor_baro
optical_flow
)
if (EXISTS "${PX4_SOURCE_DIR}/msg/tools/uorb_rtps_message_ids.yaml")
set(config_rtps_send_topics)
execute_process(
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/msg/tools/uorb_rtps_classifier.py -s
OUTPUT_VARIABLE config_rtps_send_topics
)
STRING(REGEX REPLACE ", " ";" config_rtps_send_topics "${config_rtps_send_topics}")
STRING(REGEX REPLACE "\n" "" config_rtps_send_topics "${config_rtps_send_topics}")
set(config_rtps_receive_topics)
execute_process(
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/msg/tools/uorb_rtps_classifier.py -r
OUTPUT_VARIABLE config_rtps_receive_topics
)
STRING(REGEX REPLACE ", " ";" config_rtps_receive_topics "${config_rtps_receive_topics}")
STRING(REGEX REPLACE "\n" "" config_rtps_receive_topics "${config_rtps_receive_topics}")
endif()
if (FASTRTPSGEN AND (config_rtps_send_topics OR config_rtps_receive_topics))
option(GENERATE_RTPS_BRIDGE "enable RTPS and microCDR" ON)
......@@ -89,6 +96,7 @@ if (GENERATE_RTPS_BRIDGE)
endforeach()
# receive topic files
message(STATUS "RTPS receive: ${config_rtps_receive_topics}")
set(receive_topic_files)
foreach(topic ${config_rtps_receive_topics})
list(APPEND receive_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
......
src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt
+ 0
− 6
View file @ 71d1b77b
......@@ -71,15 +71,9 @@ if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_t
${msg_out_path}/micrortps_client/microRTPS_transport.h
)
# Copy yaml file to the bin dir to be used by empy on the file generation
configure_file("${PX4_SOURCE_DIR}/msg/tools/uorb_rtps_message_ids.yaml"
"${CMAKE_CURRENT_BINARY_DIR}/uorb_rtps_message_ids.yaml" COPYONLY)
add_custom_command(OUTPUT ${topic_bridge_files_out}
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/msg/tools/generate_microRTPS_bridge.py
--fastrtpsgen-dir $ENV{FASTRTPSGEN_DIR}
${send_topic_opt} ${send_topic_files}
${receive_topic_opt} ${receive_topic_files}
--generate-idl
--mkdir-build
--generate-cmakelists
......
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