mirror of
https://github.com/micro-ROS/micro-ROS-Agent.git
synced 2026-09-06 09:55:15 +02:00
Merge branch 'developJ' into 'develop'
Develop j See merge request eProsima/micro-ros-agent!1
This commit is contained in:
Borja Outerelo
@@ -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}
|
||||
)
|
||||
@@ -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)
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||||
|
||||
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())
|
||||
@@ -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
|
||||
"${micro_ros_agent_BIN}"
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||||
"${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(
|
||||
"${generator_arguments_file}"
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||||
PACKAGE_NAME "${PROJECT_NAME}"
|
||||
ROS_INTERFACE_FILES "${rosidl_generate_interfaces_IDL_FILES}"
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||||
ROS_INTERFACE_DEPENDENCIES "${_dependencies}"
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||||
OUTPUT_DIR "${_output_path}"
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||||
TEMPLATE_DIR "${micro_ros_agent_DEFAULT_PROFILES_DIR}"
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||||
TARGET_DEPENDENCIES ${target_dependencies}
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||||
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 "${_output_path}/"
|
||||
DESTINATION "../micrortps_agent/bin"
|
||||
)
|
||||
@@ -0,0 +1,14 @@
|
||||
find_package(ament_cmake_core QUIET REQUIRED)
|
||||
ament_register_extension(
|
||||
"rosidl_generate_interfaces"
|
||||
"micro_ros_agent"
|
||||
"micrortps_agent_xml_generator.cmake")
|
||||
|
||||
set(micro_ros_agent_BIN "${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}")
|
||||
@@ -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
|
||||
+31
@@ -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>
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -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>
|
||||
Reference in New Issue
Block a user