mirror of
https://github.com/micro-ROS/micro-ROS-Agent.git
synced 2026-09-06 09:55:15 +02:00
Refs #3561 - Generate uROS_Agent module
This commit is contained in:
Javier Moreno
@@ -0,0 +1,212 @@
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# Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# Set CMake version
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cmake_minimum_required(VERSION 3.5)
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# Set proyect name
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project(uros_agent)
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# Find packages depencences
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find_package(rosidl_cmake REQUIRED)
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find_package(ament_cmake REQUIRED)
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find_package(fastcdr REQUIRED CONFIG)
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find_package(fastrtps REQUIRED CONFIG)
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find_package(microxrcedds_agent REQUIRED CONFIG)
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find_package(ament_cmake_python REQUIRED)
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# Export dependencies to downstream packages
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ament_export_dependencies(fastcdr)
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ament_export_dependencies(fastrtps)
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ament_export_dependencies(microxrcedds_agent)
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# Set variables
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set(_OUTPUT_PATH "${CMAKE_CURRENT_BINARY_DIR}/python")
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set(_XML_INTERFACE_GEN_BIN "${_OUTPUT_PATH}/bin/Xml_interface_gen.py")
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normalize_path(_XML_INTERFACE_GEN_BIN "${_XML_INTERFACE_GEN_BIN}")
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set(_XML_DEFAULT_READ_BIN "${_OUTPUT_PATH}/bin/Xml_read_default_profiles.py")
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normalize_path(_XML_DEFAULT_READ_BIN "${_XML_DEFAULT_READ_BIN}")
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set(_PYTHON_PKG_TOOL ${PROJECT_NAME})
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set(_RESOURCE_DIR "${_OUTPUT_PATH}/resource")
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normalize_path(_RESOURCE_DIR "${_RESOURCE_DIR}")
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set(_DEFAULT_FASTRTPS_PROFILES_PATH "${_OUTPUT_PATH}/gen/DEFAULT_FASTRTPS_PROFILES.xml")
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normalize_path(_DEFAULT_FASTRTPS_PROFILES_PATH "${_DEFAULT_FASTRTPS_PROFILES_PATH}")
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# Get colcon call dir
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get_filename_component(_COLCON_CALL_DIR "${CMAKE_INSTALL_PREFIX}" DIRECTORY)
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get_filename_component(_COLCON_CALL_DIR "${_COLCON_CALL_DIR}" DIRECTORY)
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# Generate python header
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set(
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_PYTHON_SCRIPT_HEAD
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"
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import os\n
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import sys\n
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sys.path.append('${_OUTPUT_PATH}')\n
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from ${_PYTHON_PKG_TOOL} import *\n
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"
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)
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# Copy pyton files
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file(COPY "bin" "${_PYTHON_PKG_TOOL}" "resource" DESTINATION "${CMAKE_CURRENT_BINARY_DIR}/python")
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# Extract all packages and manifiest paths
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execute_process(
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COMMAND
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"${PYTHON_EXECUTABLE}"
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"-c"
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"${_PYTHON_SCRIPT_HEAD}for package in GetInterfacePackages(GetPackageList('${_COLCON_CALL_DIR}')): print ('%s,%s' % (package, GetPackageName(package)))"
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OUTPUT_VARIABLE _packages
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RESULT_VARIABLE _result
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OUTPUT_STRIP_TRAILING_WHITESPACE
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)
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if(NOT _result EQUAL 0)
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message(FATAL_ERROR "Error finding xml packages")
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endif()
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# Convert output to list
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string(REPLACE "\n" ";" _packages ${_packages})
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# Extract all msg from each package (stored in ${package}_MSG_FILES)
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set(ALL_MSG_FILES "")
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foreach(package ${_packages})
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# Extract info
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string(REPLACE "," ";" package ${package})
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list(GET package 0 package_file)
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list(GET package 1 package)
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# Get all msg files
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execute_process(
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COMMAND
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"${PYTHON_EXECUTABLE}"
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"-c"
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"${_PYTHON_SCRIPT_HEAD}for msg in GetInterfacePackageMsgs('${package_file}'): print ('%s' % msg)"
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OUTPUT_VARIABLE ${package}_MSG_FILES
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RESULT_VARIABLE _result
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OUTPUT_STRIP_TRAILING_WHITESPACE
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)
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if(NOT _result EQUAL 0)
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message(FATAL_ERROR "Error finding .msg files")
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endif()
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# Skip if there are no msgs to create
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if(${package}_MSG_FILES STREQUAL "")
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continue()
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endif()
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# Generate list
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string(REPLACE "\n" ";" ${package}_MSG_FILES ${${package}_MSG_FILES})
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endforeach()
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# Append defaul xml profiles
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execute_process(
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COMMAND "${PYTHON_EXECUTABLE}" "${_XML_DEFAULT_READ_BIN}" "--default-xml-path" "${_RESOURCE_DIR}"
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OUTPUT_VARIABLE _XmlDoc
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RESULT_VARIABLE _result
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)
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if(NOT _result EQUAL 0)
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message(FATAL_ERROR "Error in typesuppor generation")
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endif()
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# Create one xml for each message
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foreach(package ${_packages})
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string(REPLACE "," ";" package ${package})
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list(GET package 0 package_file)
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list(GET package 1 package)
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# Skip this generation if there are no msgs to process
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if(${package}_MSG_FILES STREQUAL "")
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continue()
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endif()
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# generate script argument file
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set(generator_arguments_file "${_OUTPUT_PATH}/XML_ArgFiles/${package}_Args.json")
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rosidl_write_generator_arguments(
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"${generator_arguments_file}"
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PACKAGE_NAME "${package}"
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ROS_INTERFACE_FILES "${${package}_MSG_FILES}"
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ROS_INTERFACE_DEPENDENCIES "NULL"
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OUTPUT_DIR "NULL"
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TEMPLATE_DIR "NULL"
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TARGET_DEPENDENCIES "NULL"
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ADDITIONAL_FILES ""
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)
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# execute python script
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execute_process(
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COMMAND "${PYTHON_EXECUTABLE}" "${_XML_INTERFACE_GEN_BIN}" --generator-arguments-file "${generator_arguments_file}"
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OUTPUT_VARIABLE _XmlGen
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RESULT_VARIABLE _result
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)
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if(NOT _result EQUAL 0)
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message(FATAL_ERROR "Error in typesuppor generation")
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endif()
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# Strore xml
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set(_XmlDoc "${_XmlDoc}${_XmlGen}")
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endforeach()
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# Close profile
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set (_XmlDoc "<profiles>\n${_XmlDoc}</profiles>\n")
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# Save
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file(WRITE "${_DEFAULT_FASTRTPS_PROFILES_PATH}" "${_XmlDoc}")
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# Install the package.xml file, and generate code for ``find_package`` so that other packages can get information about this package.
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ament_package()
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#Install
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install(
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FILES "${_DEFAULT_FASTRTPS_PROFILES_PATH}"
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DESTINATION "../microxrcedds_agent/bin"
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)
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# Install package
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#install(
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# DIRECTORY cmake resource
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# DESTINATION share/${PROJECT_NAME}
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#)
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@@ -0,0 +1,31 @@
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# Micro ROS Agent
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## Overview
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This repository contains the Micro-ROS Agent package.
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Micro-ROS Agent is a ROS 2 node that wraps the Micro XRCE-DDS Agent.
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For further information about Micro XRCE-DDS Agent click [here](https://github.com/eProsima/Micro-XRCE-DDS-Agent)
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This package is a part of the Micro-ROS project stack.
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For more information about Micro-ROS project click [here](https://microros.github.io/micro-ROS/).
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The node acts as a server between DDS Network and Micro-ROS nodes inside MCU.
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It receives and send messages from Micro-ROS nodes, and keep track of the Micro-ROS nodes exposing them to the ROS 2 network.
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The node interacts with DDS Global Data Space on behalf of the Micro-ROS nodes.
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## Package features
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### XML generation
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During the build process, the package looks for all ROS 2 messages to generate an initial list of XML profiles.
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These profiles can are referenced in the Agent-Client communication to avoid sending the full XML content.
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This reference mechanism can be switched on and off from the Micro XRCE-DDS middleware layer.
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### Agent-Client communication mechanism
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Communication between the Micro-ROS Agent and the Micro-ROS nodes supports two types of transport:
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- UDP.
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- SerialPort.
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All available configurations are supported directly by the Micro XRCE-DDS agent.
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For further information on how to configure the agent click [here](TODO).
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@@ -0,0 +1,30 @@
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#!/usr/bin/env python3
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import argparse
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import os
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import sys
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sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)),'..'))
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from rosidl_cmake import read_generator_arguments
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from rosidl_parser import UnknownMessageType
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from uros_agent import generate_XML
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def main(argv=sys.argv[1:]):
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parser = argparse.ArgumentParser(
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description='Generate the C interfaces for Micro RTPS.',
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formatter_class=argparse.ArgumentDefaultsHelpFormatter)
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parser.add_argument(
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'--generator-arguments-file',
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required=True,
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help='The location of the file containing the generator arguments')
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args = parser.parse_args(argv)
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generator_args = read_generator_arguments(args.generator_arguments_file)
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rc = generate_XML(generator_args)
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return rc
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if __name__ == '__main__':
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sys.exit(main())
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@@ -0,0 +1,26 @@
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#!/usr/bin/env python3
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import os
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import sys
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import argparse
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import xml.etree.ElementTree
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sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)),'..'))
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from uros_agent import *
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def main(argv=sys.argv[1:]):
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parser = argparse.ArgumentParser(
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description='Import default xml files',
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formatter_class=argparse.ArgumentDefaultsHelpFormatter)
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parser.add_argument(
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'--default-xml-path',
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required=True,
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help='The location of the default profiles')
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args = parser.parse_args(argv)
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ReadDefaultXMLs(args.default_xml_path)
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return 0
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if __name__ == '__main__':
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sys.exit(main())
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@@ -0,0 +1,32 @@
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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>uros_agent</name>
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<version>0.0.2</version>
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<description>DDS-XCRE agent implementation </description>
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<maintainer email="javiermoreno@eprosima.com">Javier Moreno</maintainer>
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<license>Apache License 2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<buildtool_export_depend>ament_cmake</buildtool_export_depend>
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<exec_depend>rosidl_parser</exec_depend>
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<depend>fastcdr</depend>
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<depend>fastrtps</depend>
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<depend>microxrcedds_agent</depend>
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<depend>rosidl_cmake</depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<group_depend>rosidl_interface_packages</group_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>
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@@ -0,0 +1,39 @@
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<participant profile_name="participant_profile">
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<rtps>
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<builtin>
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<leaseDuration>
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<durationbyname>INFINITE</durationbyname>
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</leaseDuration>
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<domainId>0</domainId>
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</builtin>
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<name>DataReader_participant_subscriber</name>
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</rtps>
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</participant>
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<publisher profile_name="publisher_profile">
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<topic>
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<kind>WITH_KEY</kind>
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<name>Square</name>
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<dataType>ShapeType</dataType>
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<historyQos>
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<kind>KEEP_LAST</kind>
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<depth>5</depth>
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</historyQos>
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<durability>
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<kind>TRANSIENT_LOCAL</kind>
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</durability>
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</topic>
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</publisher>
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<subscriber profile_name="subscriber_profile">
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<topic>
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<kind>WITH_KEY</kind>
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<name>Square</name>
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<dataType>ShapeType</dataType>
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<historyQos>
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<kind>KEEP_LAST</kind>
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<depth>5</depth>
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</historyQos>
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<durability>
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<kind>TRANSIENT_LOCAL</kind>
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</durability>
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</topic>
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</subscriber>
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@@ -0,0 +1,225 @@
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# Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
|
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#
|
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# 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
|
||||
#
|
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# 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.
|
||||
|
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import os
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import sys
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import xml.etree.ElementTree
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from rosidl_cmake import convert_camel_case_to_lower_case_underscore
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from rosidl_cmake import expand_template
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from rosidl_cmake import extract_message_types
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from rosidl_cmake import get_newest_modification_time
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from rosidl_parser import parse_message_file
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from rosidl_parser import parse_service_file
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from rosidl_parser import validate_field_types
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def GetPackage(Dir):
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# ignore?
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for f in os.listdir(Dir):
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full_path = os.path.join(Dir, f)
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if os.path.isfile(full_path):
|
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if f == "COLCON_IGNORE":
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return "COLCON_IGNORE"
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# found package
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found_package_path = ""
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for f in os.listdir(Dir):
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if f == "package.xml":
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found_package_path = os.path.join(Dir, f)
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found_package_path = os.path.abspath(found_package_path)
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break
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||||
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return found_package_path
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def GetPackageList(Dir):
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package_list = []
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package_path = GetPackage(Dir)
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||||
|
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if package_path == "":
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for f in os.listdir(Dir):
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full_path = os.path.join(Dir, f)
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if os.path.isdir(full_path):
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for l in GetPackageList(full_path):
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package_list.append(l)
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elif package_path != "COLCON_IGNORE":
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package_list.append(package_path)
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||||
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return package_list
|
||||
|
||||
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def GetInterfacePackages(packages_list):
|
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package_interface_list = []
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for package in packages_list:
|
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xml_root = xml.etree.ElementTree.parse(package).getroot()
|
||||
for element in xml_root.findall('member_of_group'):
|
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if element.text == "rosidl_interface_packages":
|
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package_interface_list.append(package)
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return package_interface_list
|
||||
|
||||
|
||||
def GetPackageName(package_path):
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xml_root = xml.etree.ElementTree.parse(package_path).getroot()
|
||||
xml_name_elements = xml_root.findall('name')
|
||||
if len(xml_name_elements) != 1:
|
||||
return ""
|
||||
else:
|
||||
return xml_name_elements[0].text
|
||||
|
||||
|
||||
def GetInterfacePackageMsgs(package_path):
|
||||
msg_list = []
|
||||
package_dir = os.path.dirname(package_path)
|
||||
for root, dirs, files in os.walk(package_dir):
|
||||
for file in files:
|
||||
if file.endswith(".msg"):
|
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full_path = os.path.join(root, file)
|
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msg_list.append(full_path)
|
||||
|
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return msg_list
|
||||
|
||||
def GetInterfacePackageSrvs(package_path):
|
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msg_list = []
|
||||
package_dir = os.path.dirname(package_path)
|
||||
for root, dirs, files in os.walk(package_dir):
|
||||
for file in files:
|
||||
if file.endswith(".srv"):
|
||||
full_path = os.path.join(root, file)
|
||||
msg_list.append(full_path)
|
||||
|
||||
return msg_list
|
||||
|
||||
|
||||
def ReadDefaultXMLs(Path):
|
||||
for f in os.listdir(Path):
|
||||
full_path = os.path.join(Path, f)
|
||||
if os.path.isfile(full_path) and f.endswith(".xml"):
|
||||
#xml_root = xml.etree.ElementTree.parse(full_path).getroot()
|
||||
#if xml_root.iselement():
|
||||
fd = open(full_path)
|
||||
print ("%s" % fd.read())
|
||||
fd.close()
|
||||
|
||||
|
||||
|
||||
def generate_XML(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
|
||||
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)
|
||||
|
||||
|
||||
|
||||
# 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
|
||||
print ("%s" % file_content)
|
||||
|
||||
|
||||
|
||||
#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
|
||||
Reference in New Issue
Block a user