def generate_client(out_dir):
global fastrtps_version
# Rename work in the default path
if default_client_out != out_dir:
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")
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(".h", ".h_"))
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, uorb_templates_dir, package,
px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map,
fastrtps_version, ros2_distro, uRTPS_CLIENT_TEMPL_FILE)
# Final steps to install client
cp_wildcard(os.path.join(urtps_templates_dir, "microRTPS_transport.*"),
out_dir)
return 0
def generate_client(out_dir):
px_generate_uorb_topic_files.generate_uRTPS_general(
msg_files_send, msg_files_receive, out_dir, uorb_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_CLIENT_TEMPL_FILE)
# Final steps to install client
cp_wildcard(urtps_templates_dir + "/microRTPS_transport.*", client_out_dir)
return 0
def generate_client(out_dir):
# Rename work in the default path
if default_client_out != out_dir:
def_file = default_client_out + "/microRTPS_client.cpp"
if os.path.isfile(def_file):
os.rename(def_file, def_file.replace(".cpp", ".cpp_"))
def_file = default_client_out + "/microRTPS_transport.cpp"
if os.path.isfile(def_file):
os.rename(def_file, def_file.replace(".cpp", ".cpp_"))
def_file = default_client_out + "/microRTPS_transport.h"
if os.path.isfile(def_file):
os.rename(def_file, def_file.replace(".h", ".h_"))
px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, uorb_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_CLIENT_TEMPL_FILE)
# Final steps to install client
cp_wildcard(urtps_templates_dir + "/microRTPS_transport.*", out_dir)
return 0
def generate_agent(out_dir):
if msg_files_send:
for msg_file in msg_files_send:
px_generate_uorb_topic_files.generate_idl_file(msg_file, out_dir + "/idl", urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT)
px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_PUBLISHER_H_TEMPL_FILE)
if msg_files_receive:
for msg_file in msg_files_receive:
px_generate_uorb_topic_files.generate_idl_file(msg_file, out_dir + "/idl", urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT)
px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_CMAKELIST_TEMPL_FILE)
# Final steps to install agent
mkdir_p(agent_out_dir + "/fastrtpsgen")
os.chdir(agent_out_dir + "/fastrtpsgen")
for idl_file in glob.glob(agent_out_dir + "/idl/*.idl"):
ret = subprocess.call(fastrtpsgen_path + " -d " + agent_out_dir + "/fastrtpsgen -example x64Linux2.6gcc " + idl_file, shell=True)
if ret:
raise Exception("fastrtpsgen not found. Specify the location of fastrtpsgen with the -f flag")
rm_wildcard(agent_out_dir + "/fastrtpsgen/*PubSubMain*")
rm_wildcard(agent_out_dir + "/fastrtpsgen/makefile*")
rm_wildcard(agent_out_dir + "/fastrtpsgen/*Publisher*")
rm_wildcard(agent_out_dir + "/fastrtpsgen/*Subscriber*")
for f in glob.glob(agent_out_dir + "/fastrtpsgen/*.cxx"):
os.rename(f, f.replace(".cxx", ".cpp"))
cp_wildcard(agent_out_dir + "/fastrtpsgen/*", agent_out_dir)
if os.path.isdir(agent_out_dir + "/fastrtpsgen"):
shutil.rmtree(agent_out_dir + "/fastrtpsgen")
cp_wildcard(urtps_templates_dir + "/microRTPS_transport.*", agent_out_dir)
os.rename(agent_out_dir + "/microRTPS_agent_CMakeLists.txt", agent_out_dir + "/CMakeLists.txt")
mkdir_p(agent_out_dir + "/build")
return 0
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")
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")
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(".h", ".h_"))
px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msg_files_send, classifier.msg_files_receive, out_dir, uorb_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_CLIENT_TEMPL_FILE)
# Final steps to install client
cp_wildcard(os.path.join(urtps_templates_dir,
"microRTPS_transport.*"), out_dir)
return 0
def generate_client(out_dir):
# Rename work in the default path
if default_client_out != out_dir:
def_file = default_client_out + "/microRTPS_client.cpp"
if os.path.isfile(def_file):
os.rename(def_file, def_file.replace(".cpp", ".cpp_"))
def_file = default_client_out + "/microRTPS_transport.cpp"
if os.path.isfile(def_file):
os.rename(def_file, def_file.replace(".cpp", ".cpp_"))
def_file = default_client_out + "/microRTPS_transport.h"
if os.path.isfile(def_file):
os.rename(def_file, def_file.replace(".h", ".h_"))
px_generate_uorb_topic_files.generate_uRTPS_general(
msg_files_send, msg_files_receive, out_dir, uorb_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_CLIENT_TEMPL_FILE)
# Final steps to install client
cp_wildcard(urtps_templates_dir + "/microRTPS_transport.*", out_dir)
return 0
def generate_agent(out_dir):
global fastrtpsgen_version
if classifier.msgs_to_send:
for msg_file in classifier.msgs_to_send:
if gen_idl:
if out_dir != agent_out_dir:
px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", os.path.join(out_dir, "/idl"), urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
else:
px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", idl_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE)
if classifier.alias_msgs_to_send:
for msg_file in classifier.alias_msgs_to_send:
if sys.version_info[0] < 3:
msg_alias = msg_file[0].keys()[0]
else:
msg_alias = list(msg_file[0].keys())[0]
msg_name = msg_file[1]
if gen_idl:
if out_dir != agent_out_dir:
px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, os.path.join(out_dir, "/idl"), urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
else:
px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, idl_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE)
if classifier.msgs_to_receive:
for msg_file in classifier.msgs_to_receive:
if gen_idl:
if out_dir != agent_out_dir:
px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", os.path.join(out_dir, "/idl"), urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
else:
px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", idl_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
if classifier.alias_msgs_to_receive:
for msg_file in classifier.alias_msgs_to_receive:
if sys.version_info[0] < 3:
msg_alias = msg_file[0].keys()[0]
else:
msg_alias = list(msg_file[0].keys())[0]
msg_name = msg_file[1]
if gen_idl:
if out_dir != agent_out_dir:
px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, os.path.join(out_dir, "/idl"), urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
else:
px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, idl_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtpsgen_version, ros2_distro, classifier.msg_id_map)
px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_SUBSCRIBER_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_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,
urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtpsgen_version, ros2_distro, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
if cmakelists:
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_CMAKELISTS_TEMPL_FILE)
# Final steps to install agent
mkdir_p(os.path.join(out_dir, "fastrtpsgen"))
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")):
try:
ret = subprocess.check_call(fastrtpsgen_path + " -d " + out_dir +
"/fastrtpsgen -example x64Linux2.6gcc " + fastrtpsgen_include + idl_file, shell=True)
except OSError:
raise
rm_wildcard(os.path.join(out_dir, "fastrtpsgen/*PubSubMain*"))
rm_wildcard(os.path.join(out_dir, "fastrtpsgen/makefile*"))
rm_wildcard(os.path.join(out_dir, "fastrtpsgen/*Publisher*"))
rm_wildcard(os.path.join(out_dir, "fastrtpsgen/*Subscriber*"))
for f in glob.glob(os.path.join(out_dir, "fastrtpsgen/*.cxx")):
os.rename(f, f.replace(".cxx", ".cpp"))
cp_wildcard(os.path.join(out_dir, "fastrtpsgen/*"), out_dir)
if os.path.isdir(os.path.join(out_dir, "fastrtpsgen")):
shutil.rmtree(os.path.join(out_dir, "fastrtpsgen"))
cp_wildcard(os.path.join(urtps_templates_dir,
"microRTPS_transport.*"), agent_out_dir)
if cmakelists:
os.rename(os.path.join(out_dir, "microRTPS_agent_CMakeLists.txt"),
os.path.join(out_dir, "CMakeLists.txt"))
if (mkdir_build):
mkdir_p(os.path.join(out_dir, "build"))
os.chdir(prev_cwd_path)
return 0
def generate_agent(out_dir):
if classifier.msg_files_send:
for msg_file in classifier.msg_files_send:
if gen_idl:
if out_dir != agent_out_dir:
px_generate_uorb_topic_files.generate_idl_file(msg_file, os.path.join(out_dir, "/idl"), urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
else:
px_generate_uorb_topic_files.generate_idl_file(msg_file, idl_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_PUBLISHER_H_TEMPL_FILE)
if classifier.msg_files_receive:
for msg_file in classifier.msg_files_receive:
if gen_idl:
if out_dir != agent_out_dir:
px_generate_uorb_topic_files.generate_idl_file(msg_file, os.path.join(out_dir, "/idl"), urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
else:
px_generate_uorb_topic_files.generate_idl_file(msg_file, idl_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msg_files_send, classifier.msg_files_receive, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_AGENT_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msg_files_send, classifier.msg_files_receive, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msg_files_send, classifier.msg_files_receive, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
if cmakelists:
px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msg_files_send, classifier.msg_files_receive, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE)
# Final steps to install agent
mkdir_p(os.path.join(out_dir, "fastrtpsgen"))
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 +
"/fastrtpsgen -example x64Linux2.6gcc " + fastrtpsgen_include + idl_file, shell=True)
if ret:
raise Exception(
"fastrtpsgen not found. Specify the location of fastrtpsgen with the -f flag")
rm_wildcard(os.path.join(out_dir, "fastrtpsgen/*PubSubMain*"))
rm_wildcard(os.path.join(out_dir, "fastrtpsgen/makefile*"))
rm_wildcard(os.path.join(out_dir, "fastrtpsgen/*Publisher*"))
rm_wildcard(os.path.join(out_dir, "fastrtpsgen/*Subscriber*"))
for f in glob.glob(os.path.join(out_dir, "fastrtpsgen/*.cxx")):
os.rename(f, f.replace(".cxx", ".cpp"))
cp_wildcard(os.path.join(out_dir, "fastrtpsgen/*"), out_dir)
if os.path.isdir(os.path.join(out_dir, "fastrtpsgen")):
shutil.rmtree(os.path.join(out_dir, "fastrtpsgen"))
cp_wildcard(os.path.join(urtps_templates_dir,
"microRTPS_transport.*"), agent_out_dir)
if cmakelists:
os.rename(os.path.join(out_dir, "microRTPS_agent_CMakeLists.txt"),
os.path.join(out_dir, "CMakeLists.txt"))
if (mkdir_build):
mkdir_p(os.path.join(out_dir, "build"))
os.chdir(prev_cwd_path)
return 0
def generate_agent(out_dir):
global fastrtps_version
if classifier.msgs_to_send:
for msg_file in classifier.msgs_to_send:
if gen_idl:
if out_dir != agent_out_dir:
px_generate_uorb_topic_files.generate_idl_file(
msg_file, msg_dir, "", os.path.join(out_dir, "/idl"),
urtps_templates_dir, package,
px_generate_uorb_topic_files.INCL_DEFAULT,
fastrtps_version, ros2_distro, classifier.msg_id_map)
else:
px_generate_uorb_topic_files.generate_idl_file(
msg_file, msg_dir, "", idl_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT,
fastrtps_version, ros2_distro, classifier.msg_id_map)
px_generate_uorb_topic_files.generate_topic_file(
msg_file, msg_dir, "", out_dir, urtps_templates_dir, package,
px_generate_uorb_topic_files.INCL_DEFAULT,
classifier.msg_id_map, fastrtps_version, ros2_distro,
uRTPS_PUBLISHER_SRC_TEMPL_FILE)
px_generate_uorb_topic_files.generate_topic_file(
msg_file, msg_dir, "", out_dir, urtps_templates_dir, package,
px_generate_uorb_topic_files.INCL_DEFAULT,
classifier.msg_id_map, fastrtps_version, ros2_distro,
uRTPS_PUBLISHER_H_TEMPL_FILE)
if classifier.alias_msgs_to_send:
for msg_file in classifier.alias_msgs_to_send:
msg_alias = list(msg_file[0].keys())[0]
msg_name = msg_file[1]
if gen_idl:
if out_dir != agent_out_dir:
px_generate_uorb_topic_files.generate_idl_file(
msg_name, msg_dir, msg_alias,
os.path.join(out_dir, "/idl"), urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT,
fastrtps_version, ros2_distro, classifier.msg_id_map)
else:
px_generate_uorb_topic_files.generate_idl_file(
msg_name, msg_dir, msg_alias, idl_dir,
urtps_templates_dir, package,
px_generate_uorb_topic_files.INCL_DEFAULT,
fastrtps_version, ros2_distro, classifier.msg_id_map)
px_generate_uorb_topic_files.generate_topic_file(
msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT,
classifier.msg_id_map, fastrtps_version, ros2_distro,
uRTPS_PUBLISHER_SRC_TEMPL_FILE)
px_generate_uorb_topic_files.generate_topic_file(
msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT,
classifier.msg_id_map, fastrtps_version, ros2_distro,
uRTPS_PUBLISHER_H_TEMPL_FILE)
if classifier.msgs_to_receive:
for msg_file in classifier.msgs_to_receive:
if gen_idl:
if out_dir != agent_out_dir:
px_generate_uorb_topic_files.generate_idl_file(
msg_file, msg_dir, "", os.path.join(out_dir, "/idl"),
urtps_templates_dir, package,
px_generate_uorb_topic_files.INCL_DEFAULT,
fastrtps_version, ros2_distro, classifier.msg_id_map)
else:
px_generate_uorb_topic_files.generate_idl_file(
msg_file, msg_dir, "", idl_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT,
fastrtps_version, ros2_distro, classifier.msg_id_map)
px_generate_uorb_topic_files.generate_topic_file(
msg_file, msg_dir, "", out_dir, urtps_templates_dir, package,
px_generate_uorb_topic_files.INCL_DEFAULT,
classifier.msg_id_map, fastrtps_version, ros2_distro,
uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
px_generate_uorb_topic_files.generate_topic_file(
msg_file, msg_dir, "", out_dir, urtps_templates_dir, package,
px_generate_uorb_topic_files.INCL_DEFAULT,
classifier.msg_id_map, fastrtps_version, ros2_distro,
uRTPS_SUBSCRIBER_H_TEMPL_FILE)
if classifier.alias_msgs_to_receive:
for msg_file in classifier.alias_msgs_to_receive:
msg_alias = list(msg_file[0].keys())[0]
msg_name = msg_file[1]
if gen_idl:
if out_dir != agent_out_dir:
px_generate_uorb_topic_files.generate_idl_file(
msg_name, msg_dir, msg_alias,
os.path.join(out_dir, "/idl"), urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT,
fastrtps_version, ros2_distro, classifier.msg_id_map)
else:
px_generate_uorb_topic_files.generate_idl_file(
msg_name, msg_dir, msg_alias, idl_dir,
urtps_templates_dir, package,
px_generate_uorb_topic_files.INCL_DEFAULT,
fastrtps_version, ros2_distro, classifier.msg_id_map)
px_generate_uorb_topic_files.generate_topic_file(
msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT,
classifier.msg_id_map, fastrtps_version, ros2_distro,
uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
px_generate_uorb_topic_files.generate_topic_file(
msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
package, px_generate_uorb_topic_files.INCL_DEFAULT,
classifier.msg_id_map, fastrtps_version, ros2_distro,
uRTPS_SUBSCRIBER_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,
fastrtps_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,
fastrtps_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,
fastrtps_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,
fastrtps_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, urtps_templates_dir, package,
px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map,
fastrtps_version, ros2_distro, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
if cmakelists:
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,
fastrtps_version, ros2_distro, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE)
# Final steps to install agent
mkdir_p(os.path.join(out_dir, "fastrtpsgen"))
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)
# If it is generating the bridge code for interfacing with ROS2, then set
# the '-typeros2' option in fastrtpsgen.
# .. note:: This is only available in FastRTPSGen 1.0.4 and above
gen_ros2_typename = ""
if ros2_distro and ros2_distro in [
'dashing', 'eloquent', 'foxy'
] and fastrtpsgen_version >= version.Version("1.0.4"):
gen_ros2_typename = "-typeros2 "
for idl_file in glob.glob(os.path.join(idl_dir, "*.idl")):
try:
ret = subprocess.check_call(
fastrtpsgen_path + " -d " + out_dir +
"/fastrtpsgen -example x64Linux2.6gcc " + gen_ros2_typename +
fastrtpsgen_include + idl_file,
shell=True)
except OSError:
raise
rm_wildcard(os.path.join(out_dir, "fastrtpsgen/*PubSubMain*"))
rm_wildcard(os.path.join(out_dir, "fastrtpsgen/makefile*"))
rm_wildcard(os.path.join(out_dir, "fastrtpsgen/*Publisher*"))
rm_wildcard(os.path.join(out_dir, "fastrtpsgen/*Subscriber*"))
for f in glob.glob(os.path.join(out_dir, "fastrtpsgen/*.cxx")):
os.rename(f, f.replace(".cxx", ".cpp"))
cp_wildcard(os.path.join(out_dir, "fastrtpsgen/*"), out_dir)
if os.path.isdir(os.path.join(out_dir, "fastrtpsgen")):
shutil.rmtree(os.path.join(out_dir, "fastrtpsgen"))
cp_wildcard(os.path.join(urtps_templates_dir, "microRTPS_transport.*"),
agent_out_dir)
if cmakelists:
os.rename(os.path.join(out_dir, "microRTPS_agent_CMakeLists.txt"),
os.path.join(out_dir, "CMakeLists.txt"))
if (mkdir_build):
mkdir_p(os.path.join(out_dir, "build"))
os.chdir(prev_cwd_path)
return 0
def generate_agent(out_dir):
if msg_files_send:
for msg_file in msg_files_send:
px_generate_uorb_topic_files.generate_idl_file(
msg_file, out_dir + "/idl", urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT)
px_generate_uorb_topic_files.generate_topic_file(
msg_file, out_dir, urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT,
uRTPS_PUBLISHER_SRC_TEMPL_FILE)
px_generate_uorb_topic_files.generate_topic_file(
msg_file, out_dir, urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT,
uRTPS_PUBLISHER_H_TEMPL_FILE)
if msg_files_receive:
for msg_file in msg_files_receive:
px_generate_uorb_topic_files.generate_idl_file(
msg_file, out_dir + "/idl", urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT)
px_generate_uorb_topic_files.generate_topic_file(
msg_file, out_dir, urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT,
uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
px_generate_uorb_topic_files.generate_topic_file(
msg_file, out_dir, urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT,
uRTPS_SUBSCRIBER_H_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(
msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(
msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT,
uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(
msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT,
uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
px_generate_uorb_topic_files.generate_uRTPS_general(
msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
px_generate_uorb_topic_files.INCL_DEFAULT,
uRTPS_AGENT_CMAKELIST_TEMPL_FILE)
# Final steps to install agent
mkdir_p(agent_out_dir + "/fastrtpsgen")
os.chdir(agent_out_dir + "/fastrtpsgen")
for idl_file in glob.glob(agent_out_dir + "/idl/*.idl"):
ret = subprocess.call(fastrtpsgen_path + " -d " + agent_out_dir +
"/fastrtpsgen -example x64Linux2.6gcc " +
idl_file,
shell=True)
if ret:
raise Exception(
"fastrtpsgen not found. Specify the location of fastrtpsgen with the -f flag"
)
rm_wildcard(agent_out_dir + "/fastrtpsgen/*PubSubMain*")
rm_wildcard(agent_out_dir + "/fastrtpsgen/makefile*")
rm_wildcard(agent_out_dir + "/fastrtpsgen/*Publisher*")
rm_wildcard(agent_out_dir + "/fastrtpsgen/*Subscriber*")
for f in glob.glob(agent_out_dir + "/fastrtpsgen/*.cxx"):
os.rename(f, f.replace(".cxx", ".cpp"))
cp_wildcard(agent_out_dir + "/fastrtpsgen/*", agent_out_dir)
if os.path.isdir(agent_out_dir + "/fastrtpsgen"):
shutil.rmtree(agent_out_dir + "/fastrtpsgen")
cp_wildcard(urtps_templates_dir + "/microRTPS_transport.*", agent_out_dir)
os.rename(agent_out_dir + "/microRTPS_agent_CMakeLists.txt",
agent_out_dir + "/CMakeLists.txt")
mkdir_p(agent_out_dir + "/build")
return 0
