Merge branch 'developJ' into 'develop'

Develop j

See merge request eProsima/micro-ros-agent!1

CMakeLists.txt

@@ -0,0 +1,60 @@
+# Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+# Set CMake version 
+cmake_minimum_required(VERSION 3.5)
+
+
+# Set proyect name
+project(micro_ros_agent)
+
+
+# Find packages depencences
+find_package(ament_cmake REQUIRED)
+find_package(fastcdr REQUIRED CONFIG)
+find_package(fastrtps REQUIRED CONFIG)
+find_package(micrortps_agent REQUIRED CONFIG)
+find_package(ament_cmake_python REQUIRED)
+
+
+# Export dependencies to downstream packages
+ament_export_dependencies(fastcdr)
+ament_export_dependencies(fastrtps)
+ament_export_dependencies(micrortps_agent)
+
+
+# Install python files
+ament_python_install_package(${PROJECT_NAME})
+
+
+# Register package resource in order to be called when a new msg package is generated
+ament_index_register_resource("rosidl_typesupport_c")
+
+
+# Install the package.xml file, and generate code for ``find_package`` so that other packages can get information about this package.
+ament_package(
+  CONFIG_EXTRAS "micro_ros_agent-extras.cmake.in"
+)
+
+
+install(
+  PROGRAMS bin/micro_ros_agent
+  DESTINATION lib/micro_ros_agent
+)
+
+install(
+  DIRECTORY cmake resource
+  DESTINATION share/${PROJECT_NAME}
+)

bin/micro_ros_agent

@@ -0,0 +1,45 @@
+#!/usr/bin/env python3
+
+import argparse
+import os
+import sys
+
+from rosidl_cmake import read_generator_arguments
+from rosidl_parser import UnknownMessageType
+from micro_ros_agent import generate_micro_ros_agent_xml_support
+
+def is_valid_file(parser, file_name):
+    if not os.path.exists(file_name):
+        parser.error("File does not exist: '{0}'".format(file_name))
+    file_name_abs = os.path.abspath(file_name)
+    if not os.path.isfile(file_name_abs):
+        parser.error("Path exists but is not a file: '{0}'".format(file_name_abs))
+    return file_name
+
+
+def main(argv=sys.argv[1:]):
+    parser = argparse.ArgumentParser(
+        description='Generate xml files for micrortps agent.',
+        formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+    parser.add_argument(
+        '--generator-arguments-file',
+        required=True,
+        help='The location of the file containing the generator arguments')
+    args = parser.parse_args(argv)
+
+    generator_args = read_generator_arguments(args.generator_arguments_file)
+
+    try:
+        rc = generate_micro_ros_agent_xml_support(generator_args)
+        
+        return 0
+    except UnknownMessageType as e:
+        print(str(e), file=sys.stderr)
+        return 1
+    if rc:
+        return rc
+    return 0
+
+
+if __name__ == '__main__':
+    sys.exit(main())

cmake/micrortps_agent_xml_generator.cmake

@@ -0,0 +1,69 @@
+# Copyright 2016-2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+# list msg files 
+set(_ros_idl_files "")
+foreach(_idl_file ${rosidl_generate_interfaces_IDL_FILES})
+  get_filename_component(_extension "${_idl_file}" EXT)
+  # Skip .srv files
+  if(_extension STREQUAL ".msg")
+    list(APPEND _ros_idl_files "${_idl_file}")
+  endif()
+endforeach()
+
+
+# Set output dir
+set(_output_path "${CMAKE_CURRENT_BINARY_DIR}/../micro_ros_agent/xml_gen")
+
+
+# check if all templates exits
+set(target_dependencies
+  "${micro_ros_agent_BIN}"
+  "${micro_ros_agent_GENERATOR_FILES}"
+  ${rosidl_generate_interfaces_IDL_FILES}
+  ${_dependency_files})
+foreach(dep ${target_dependencies})
+  if(NOT EXISTS "${dep}")
+    message(FATAL_ERROR "Target dependency '${dep}' does not exist")
+  endif()
+endforeach()
+
+
+# generate script argument file 
+set(generator_arguments_file "${CMAKE_CURRENT_BINARY_DIR}/micro_ros_agent__arguments.json")
+rosidl_write_generator_arguments(
+  "${generator_arguments_file}"
+  PACKAGE_NAME "${PROJECT_NAME}"
+  ROS_INTERFACE_FILES "${rosidl_generate_interfaces_IDL_FILES}"
+  ROS_INTERFACE_DEPENDENCIES "${_dependencies}"
+  OUTPUT_DIR "${_output_path}"
+  TEMPLATE_DIR "${micro_ros_agent_DEFAULT_PROFILES_DIR}"
+  TARGET_DEPENDENCIES ${target_dependencies}
+  ADDITIONAL_FILES ${_dds_idl_files}
+)
+
+
+# Execute python script
+execute_process(
+                COMMAND ${PYTHON_EXECUTABLE} ${micro_ros_agent_BIN}
+                --generator-arguments-file "${generator_arguments_file}"
+                )
+
+
+#Install
+install(
+  DIRECTORY "${_output_path}/"
+  DESTINATION "../micrortps_agent/bin"
+)

micro_ros_agent-extras.cmake.in

@@ -0,0 +1,14 @@
+find_package(ament_cmake_core QUIET REQUIRED)
+ament_register_extension(
+  "rosidl_generate_interfaces"
+  "micro_ros_agent"
+  "micrortps_agent_xml_generator.cmake")
+
+set(micro_ros_agent_BIN "${micro_ros_agent_DIR}/../../../lib/micro_ros_agent/micro_ros_agent")
+normalize_path(micro_ros_agent_BIN "${micro_ros_agent_BIN}")
+
+set(micro_ros_agent_GENERATOR_FILES "${micro_ros_agent_DIR}/../../../@PYTHON_INSTALL_DIR@/micro_ros_agent/__init__.py")
+normalize_path(micro_ros_agent_GENERATOR_FILES "${micro_ros_agent_GENERATOR_FILES}")
+
+set(micro_ros_agent_DEFAULT_PROFILES_DIR "${micro_ros_agent_DIR}/../resource")
+normalize_path(micro_ros_agent_DEFAULT_PROFILES_DIR "${micro_ros_agent_DEFAULT_PROFILES_DIR}")

micro_ros_agent/__init__.py

@@ -0,0 +1,241 @@
+# Copyright 2016-2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import struct
+import os
+import sys
+
+if os.name == 'nt':
+    import win32con
+    import win32file
+    import pywintypes
+    __overlapped = pywintypes.OVERLAPPED()
+elif os.name == 'posix':
+    import fcntl
+else:
+    raise RuntimeError('PortaLocker only defined for nt and posix platforms')       
+
+from rosidl_cmake import convert_camel_case_to_lower_case_underscore
+from rosidl_cmake import expand_template
+from rosidl_cmake import extract_message_types
+from rosidl_cmake import get_newest_modification_time
+from rosidl_parser import parse_message_file
+from rosidl_parser import parse_service_file
+from rosidl_parser import validate_field_types
+from shutil import copyfile
+from pathlib import Path
+
+
+def generate_micro_ros_agent_xml_support(args):    
+    pkg_name = args['package_name']
+    known_msg_types = extract_message_types(
+        pkg_name, args['ros_interface_files'], args.get('ros_interface_dependencies', []))
+
+    functions = {
+        'get_header_filename_from_msg_name': convert_camel_case_to_lower_case_underscore,
+    }
+
+
+    # Set file format
+    file_format = ".xml"
+    ros2_prefix = "rt/"
+
+
+    # Check destination dir
+    dest_dir = args['output_dir']
+    if not os.path.exists(dest_dir):
+        os.makedirs(dest_dir)
+
+
+    # Check source dir
+    srcs_dir = os.path.join(dest_dir, "srcs")
+    if not os.path.exists(srcs_dir):
+        os.makedirs(srcs_dir)
+
+
+    # Copy all included xml files
+    for filename in os.listdir(args['template_dir']):
+        if filename.endswith(file_format): 
+            template_src_path = os.path.join(args['template_dir'], filename)
+            template_dest_path = os.path.join(srcs_dir, filename)
+            if not os.path.isfile(template_dest_path):
+                copyfile(template_src_path, template_dest_path)
+        
+        
+    # Iterate throw all msgs/srvs
+    for idl_file in args['ros_interface_files']:
+        extension = os.path.splitext(idl_file)[1]
+        if extension == '.msg':
+            spec = parse_message_file(pkg_name, idl_file)
+            validate_field_types(spec, known_msg_types)
+            subfolder = os.path.basename(os.path.dirname(idl_file))
+
+            data = {
+                'spec': spec,
+                'pkg': spec.base_type.pkg_name,
+                'msg': spec.msg_name,
+                'type': spec.base_type.type,
+                'subfolder': subfolder,
+            }
+            data.update(functions)
+
+
+            # Generate source file path
+            src_file = os.path.join(srcs_dir, "%s_%s_%s.xml" % (spec.base_type.pkg_name, subfolder, spec.msg_name))
+
+
+            # Publisher
+            file_content  = "   <publisher profile_name=\"%s_%s_%s_p\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
+            file_content += "       <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
+            file_content += "           <kind>NO_KEY</kind>\n"
+            file_content += "           <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
+            file_content += "           <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
+            file_content += "           <historyQos>\n"
+            file_content += "               <kind>KEEP_LAST</kind>\n"
+            file_content += "               <depth>5</depth>\n"
+            file_content += "           </historyQos>\n"
+            file_content += "           <durability>\n"
+            file_content += "               <kind>TRANSIENT_LOCAL</kind>\n"
+            file_content += "           </durability>\n"
+            file_content += "       </topic>\n"
+            file_content += "   </publisher>\n"
+
+
+            # Subscriber
+            file_content += "   <subscriber profile_name=\"%s_%s_%s_s\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
+            file_content += "       <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
+            file_content += "           <kind>NO_KEY</kind>\n"
+            file_content += "           <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
+            file_content += "           <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
+            file_content += "           <historyQos>\n"
+            file_content += "               <kind>KEEP_LAST</kind>\n"
+            file_content += "               <depth>5</depth>\n"
+            file_content += "           </historyQos>\n"
+            file_content += "           <durability>\n"
+            file_content += "               <kind>TRANSIENT_LOCAL</kind>\n"
+            file_content += "           </durability>\n"
+            file_content += "       </topic>\n"
+            file_content += "   </subscriber>\n"
+
+
+            # Topic
+            file_content += "   <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
+            file_content += "       <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
+            file_content += "       <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
+            file_content += "   </topic>\n"
+
+
+            # Write file content
+            fd1 = open(src_file, "w")
+            if os.name == 'nt':
+                # Lock
+                hfile1 = win32file._get_osfhandle(fd1.fileno())
+                win32file.LockFileEx(hfile1, win32con.LOCKFILE_EXCLUSIVE_LOCK, 0, -0x10000, __overlapped)
+                
+                # Write
+                fd1.write(file_content)
+                
+                # Unlock
+                win32file.UnlockFileEx(hfile1, 0, -0x10000, __overlapped)
+            elif os.name == 'posix':
+                # Lock
+                fcntl.flock(fd1.fileno(), fcntl.LOCK_EX)
+                
+                # Write
+                fd1.write(file_content)
+                
+                # Unlock
+                fcntl.flock(fd1.fileno(), fcntl.LOCK_UN)
+            fd1.close()
+
+
+            # Open collect file
+            collec_file = os.path.join(args['output_dir'], "DEFAULT_FASTRTPS_PROFILES.xml")
+            fd2 = open(collec_file, "w")
+            if os.name == 'nt':
+                # Lock
+                hfile2 = win32file._get_osfhandle(fd2.fileno())
+                win32file.LockFileEx(hfile2, win32con.LOCKFILE_EXCLUSIVE_LOCK, 0, -0x10000, __overlapped)
+                
+                # Generate head
+                fd2.write("<profiles>\n")
+                
+                # Append all files contents
+                for filename in os.listdir(srcs_dir):
+                    if filename.endswith(".xml"): 
+                        # Open
+                        fd3 = open(os.path.join(srcs_dir, filename), "r+")
+                        
+                        # Lock
+                        hfile3 = win32file._get_osfhandle(fd3.fileno())
+                        win32file.LockFileEx(hfile3, win32con.LOCKFILE_EXCLUSIVE_LOCK, 0, -0x10000, __overlapped)
+                        
+                        # Write
+                        fd2.write(fd3.read())
+                        
+                        # Unlock
+                        win32file.UnlockFileEx(hfile3, 0, -0x10000, __overlapped)
+                        fd3.close()
+                
+                # Generate tail
+                fd2.write("</profiles>\n") 
+                
+                # UnLock
+                win32file.UnlockFileEx(hfile2, 0, -0x10000, __overlapped)
+            elif os.name == 'posix':
+                # Lock
+                fcntl.flock(fd2.fileno(), fcntl.LOCK_EX)
+                
+                # Generate head
+                fd2.write("<profiles>\n")
+                
+                # Append all files contents
+                for filename in os.listdir(srcs_dir):
+                    if filename.endswith(".xml"): 
+                        # Open
+                        fd3 = open(os.path.join(srcs_dir, filename), "r+")
+                        
+                        # Lock
+                        fcntl.flock(fd3, fcntl.LOCK_EX)
+                        
+                        # Write
+                        fd2.write(fd3.read())
+                        
+                        # Unlock
+                        fcntl.flock(fd3.fileno(), fcntl.LOCK_UN)
+                        
+                        # Close
+                        fd3.close()
+                
+                # Generate tail
+                fd2.write("</profiles>\n") 
+
+                # UnLock
+                fcntl.flock(fd2.fileno(), fcntl.LOCK_UN)
+            # Close file
+            fd2.close()
+
+
+        #elif extension == '.srv':
+
+            #data = {'spec': spec}
+            #data.update(functions)
+
+            #if not os.path.exists(args['output_dir']):
+            #    os.makedirs(args['output_dir'])
+
+            #f = open(os.path.join(args['output_dir'], 'demofile.txt'), 'w+')
+            #f.write("%s\n" % spec)
+            #f.close()
+    return 0

package.xml

@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>micro_ros_agent</name>
+  <version>0.0.1</version>
+  <description>DDS-XCRE agent implementation </description>
+  <maintainer email="javiermoreno@eprosima.com">Javier Moreno</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_export_depend>ament_cmake</buildtool_export_depend>
+
+  <exec_depend>rosidl_parser</exec_depend>
+
+  <depend>fastcdr</depend>
+  <depend>fastrtps</depend>
+  <depend>micrortps_agent</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_typesupport_c_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
+
+
+
+

resource/StaticValues.xml

@@ -0,0 +1,39 @@
+  <participant profile_name="participant_profile">
+    <rtps>
+      <builtin>
+      <leaseDuration>
+        <durationbyname>INFINITE</durationbyname>
+      </leaseDuration>
+        <domainId>0</domainId>
+      </builtin>
+      <name>DataReader_participant_subscriber</name>
+    </rtps>
+  </participant>
+  <publisher profile_name="publisher_profile">
+    <topic>
+      <kind>WITH_KEY</kind>
+      <name>Square</name>
+      <dataType>ShapeType</dataType>
+      <historyQos>
+        <kind>KEEP_LAST</kind>
+        <depth>5</depth>
+      </historyQos>
+      <durability>
+        <kind>TRANSIENT_LOCAL</kind>
+      </durability>
+    </topic>
+  </publisher>
+  <subscriber profile_name="subscriber_profile">
+    <topic>
+      <kind>WITH_KEY</kind>
+      <name>Square</name>
+      <dataType>ShapeType</dataType>
+      <historyQos>
+        <kind>KEEP_LAST</kind>
+        <depth>5</depth>
+      </historyQos>
+      <durability>
+        <kind>TRANSIENT_LOCAL</kind>
+      </durability>
+    </topic>
+  </subscriber>