Refs #3561 - Generate uROS_Agent module

2026-09-06 18:05:17 +02:00 · 2018-10-19 10:45:56 +02:00
parent 45c4a698c3
commit bb1fe9561c
11 changed files with 193 additions and 0 deletions
@@ -0,0 +1,212 @@
+# 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(uros_agent)
+
+
+# Find packages depencences
+find_package(rosidl_cmake REQUIRED)
+find_package(ament_cmake REQUIRED)
+find_package(fastcdr REQUIRED CONFIG)
+find_package(fastrtps REQUIRED CONFIG)
+find_package(microxrcedds_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(microxrcedds_agent)
+
+
+# Set variables
+set(_OUTPUT_PATH "${CMAKE_CURRENT_BINARY_DIR}/python")
+
+set(_XML_INTERFACE_GEN_BIN "${_OUTPUT_PATH}/bin/Xml_interface_gen.py")
+normalize_path(_XML_INTERFACE_GEN_BIN "${_XML_INTERFACE_GEN_BIN}")
+
+set(_XML_DEFAULT_READ_BIN "${_OUTPUT_PATH}/bin/Xml_read_default_profiles.py")
+normalize_path(_XML_DEFAULT_READ_BIN "${_XML_DEFAULT_READ_BIN}")
+
+set(_PYTHON_PKG_TOOL ${PROJECT_NAME})
+
+set(_RESOURCE_DIR "${_OUTPUT_PATH}/resource")
+normalize_path(_RESOURCE_DIR "${_RESOURCE_DIR}")
+
+
+set(_DEFAULT_FASTRTPS_PROFILES_PATH "${_OUTPUT_PATH}/gen/DEFAULT_FASTRTPS_PROFILES.xml")
+normalize_path(_DEFAULT_FASTRTPS_PROFILES_PATH "${_DEFAULT_FASTRTPS_PROFILES_PATH}")
+
+
+# Get colcon call dir
+get_filename_component(_COLCON_CALL_DIR "${CMAKE_INSTALL_PREFIX}" DIRECTORY)
+get_filename_component(_COLCON_CALL_DIR "${_COLCON_CALL_DIR}" DIRECTORY)
+
+
+# Generate python header
+set(
+_PYTHON_SCRIPT_HEAD
+"
+import os\n
+import sys\n
+sys.path.append('${_OUTPUT_PATH}')\n
+from ${_PYTHON_PKG_TOOL} import *\n
+"
+)
+
+
+# Copy pyton files  
+file(COPY "bin" "${_PYTHON_PKG_TOOL}" "resource" DESTINATION "${CMAKE_CURRENT_BINARY_DIR}/python")
+
+
+# Extract all packages and manifiest paths
+execute_process(
+  COMMAND
+  "${PYTHON_EXECUTABLE}"
+  "-c"
+  "${_PYTHON_SCRIPT_HEAD}for package in GetInterfacePackages(GetPackageList('${_COLCON_CALL_DIR}')): print ('%s,%s' % (package, GetPackageName(package)))"
+  OUTPUT_VARIABLE _packages
+  RESULT_VARIABLE _result
+  OUTPUT_STRIP_TRAILING_WHITESPACE
+)
+if(NOT _result EQUAL 0)
+  message(FATAL_ERROR "Error finding xml packages")
+endif()
+
+
+# Convert output to list
+string(REPLACE "\n" ";" _packages ${_packages})
+
+
+# Extract all msg from each package (stored in ${package}_MSG_FILES)
+set(ALL_MSG_FILES "")
+foreach(package ${_packages})
+  
+  # Extract info
+  string(REPLACE "," ";" package ${package})
+  list(GET package 0 package_file)
+  list(GET package 1 package)
+
+
+  # Get all msg files
+  execute_process(
+  COMMAND
+  "${PYTHON_EXECUTABLE}"
+  "-c"
+  "${_PYTHON_SCRIPT_HEAD}for msg in GetInterfacePackageMsgs('${package_file}'): print ('%s' % msg)"
+  OUTPUT_VARIABLE ${package}_MSG_FILES
+  RESULT_VARIABLE _result
+  OUTPUT_STRIP_TRAILING_WHITESPACE
+  )
+  if(NOT _result EQUAL 0)
+    message(FATAL_ERROR "Error finding .msg files")
+  endif()
+
+  # Skip if there are no msgs to create
+  if(${package}_MSG_FILES STREQUAL "")
+    continue()
+  endif()
+
+  # Generate list
+  string(REPLACE "\n" ";" ${package}_MSG_FILES ${${package}_MSG_FILES})
+
+endforeach()
+
+
+# Append defaul xml profiles
+execute_process(
+  COMMAND "${PYTHON_EXECUTABLE}" "${_XML_DEFAULT_READ_BIN}" "--default-xml-path" "${_RESOURCE_DIR}"
+  OUTPUT_VARIABLE _XmlDoc
+  RESULT_VARIABLE _result
+  )
+if(NOT _result EQUAL 0)
+  message(FATAL_ERROR "Error in typesuppor generation") 
+endif()
+
+
+# Create one xml for each message
+foreach(package ${_packages})
+  string(REPLACE "," ";" package ${package})
+  list(GET package 0 package_file)
+  list(GET package 1 package)
+
+
+  # Skip this generation if there are no msgs to process
+  if(${package}_MSG_FILES STREQUAL "")
+    continue()
+  endif()
+
+
+
+  # generate script argument file 
+  set(generator_arguments_file "${_OUTPUT_PATH}/XML_ArgFiles/${package}_Args.json")
+  rosidl_write_generator_arguments(
+    "${generator_arguments_file}"
+    PACKAGE_NAME "${package}"
+    ROS_INTERFACE_FILES "${${package}_MSG_FILES}"
+    ROS_INTERFACE_DEPENDENCIES "NULL"
+    OUTPUT_DIR "NULL"
+    TEMPLATE_DIR "NULL"
+    TARGET_DEPENDENCIES "NULL"
+    ADDITIONAL_FILES ""
+  )
+
+
+   # execute python script
+   execute_process(
+    COMMAND "${PYTHON_EXECUTABLE}" "${_XML_INTERFACE_GEN_BIN}" --generator-arguments-file "${generator_arguments_file}"
+    OUTPUT_VARIABLE _XmlGen
+    RESULT_VARIABLE _result
+    )
+  if(NOT _result EQUAL 0)
+    message(FATAL_ERROR "Error in typesuppor generation") 
+  endif()
+
+
+  # Strore xml
+  set(_XmlDoc "${_XmlDoc}${_XmlGen}")
+  
+endforeach()
+
+
+# Close profile 
+set (_XmlDoc "<profiles>\n${_XmlDoc}</profiles>\n")
+
+
+# Save 
+file(WRITE "${_DEFAULT_FASTRTPS_PROFILES_PATH}" "${_XmlDoc}")
+
+
+
+# Install the package.xml file, and generate code for ``find_package`` so that other packages can get information about this package.
+ament_package()
+
+
+#Install
+install(
+  FILES "${_DEFAULT_FASTRTPS_PROFILES_PATH}"
+  DESTINATION "../microxrcedds_agent/bin"
+)
+
+
+# Install package
+#install(
+#  DIRECTORY cmake resource
+#  DESTINATION share/${PROJECT_NAME}
+#)