mirror of
https://github.com/micro-ROS/micro-ROS-Agent.git
synced 2026-09-06 09:55:15 +02:00
Refs #3366. XML generator works fine. The path of the generated xml may need to be changed.
This commit is contained in:
Javier Moreno
+36
-6
@@ -18,7 +18,7 @@ cmake_minimum_required(VERSION 3.5)
|
||||
|
||||
|
||||
# Set proyect name
|
||||
project(micro-ros-agent)
|
||||
project(micro_ros_agent)
|
||||
|
||||
|
||||
# Find packages depencences
|
||||
@@ -28,7 +28,7 @@ find_package(fastcdr REQUIRED CONFIG)
|
||||
find_package(fastrtps REQUIRED CONFIG)
|
||||
find_package(micrortps_agent REQUIRED CONFIG)
|
||||
|
||||
#find_package(ament_cmake_python REQUIRED)
|
||||
find_package(ament_cmake_python REQUIRED)
|
||||
|
||||
|
||||
# Export dependencies to downstream packages
|
||||
@@ -36,8 +36,38 @@ ament_export_dependencies(fastcdr)
|
||||
ament_export_dependencies(fastrtps)
|
||||
ament_export_dependencies(micrortps_agent)
|
||||
|
||||
#ament_export_dependencies(rosidl_cmake)
|
||||
#ament_export_dependencies(rosidl_generator_c)
|
||||
#ament_export_dependencies(rosidl_generator_dds_idl)
|
||||
ament_export_dependencies(rosidl_cmake)
|
||||
ament_export_dependencies(rosidl_generator_c)
|
||||
ament_export_dependencies(rosidl_generator_dds_idl)
|
||||
|
||||
ament_package()
|
||||
|
||||
#ament_export_include_directories(include)
|
||||
|
||||
# Install python files
|
||||
ament_python_install_package(${PROJECT_NAME})
|
||||
|
||||
|
||||
ament_index_register_resource("rosidl_typesupport_c")
|
||||
|
||||
|
||||
# Install the package.xml file, and generate code for
|
||||
# ``find_package`` so that other packages can get information about
|
||||
# this package.
|
||||
#
|
||||
# :param CONFIG_EXTRAS: a list of CMake files containing extra stuff
|
||||
# that should be accessible to users of this package after
|
||||
# ``find_package``\ -ing it.
|
||||
ament_package(
|
||||
CONFIG_EXTRAS "micro_ros_agent-extras.cmake.in"
|
||||
)
|
||||
|
||||
|
||||
install(
|
||||
PROGRAMS bin/micro_ros_agent
|
||||
DESTINATION lib/micro_ros_agent
|
||||
)
|
||||
|
||||
install(
|
||||
DIRECTORY cmake resource
|
||||
DESTINATION share/${PROJECT_NAME}
|
||||
)
|
||||
@@ -0,0 +1,51 @@
|
||||
#!/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_typesupport_micrortps_c
|
||||
|
||||
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:]):
|
||||
|
||||
print "-------------------------B-------------"
|
||||
return 0
|
||||
|
||||
parser = argparse.ArgumentParser(
|
||||
description='Generate the C interfaces for Micro RTPS.',
|
||||
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_typesupport_micrortps_c(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__':
|
||||
print "-------------------------C-------------"
|
||||
|
||||
sys.exit(main())
|
||||
@@ -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())
|
||||
@@ -0,0 +1,62 @@
|
||||
# Copyright 2014-2015 Open Source Robotics Foundation, Inc.
|
||||
#
|
||||
# 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/${PROJECT_NAME}")
|
||||
|
||||
|
||||
# check if all templates exits
|
||||
set(target_dependencies
|
||||
"${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_TEMPLATE_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}"
|
||||
)
|
||||
@@ -0,0 +1,11 @@
|
||||
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}")
|
||||
@@ -0,0 +1,162 @@
|
||||
# Copyright 2016 Open Source Robotics Foundation, Inc.
|
||||
#
|
||||
# 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 os
|
||||
|
||||
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 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,
|
||||
}
|
||||
|
||||
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)
|
||||
|
||||
|
||||
# Make destinatino dir
|
||||
if not os.path.exists(args['output_dir']):
|
||||
os.makedirs(args['output_dir'])
|
||||
|
||||
# Check if publixher exists
|
||||
pub_file_path = "/root/install/publisher.xml"
|
||||
pub_file = Path(pub_file_path)
|
||||
if not pub_file.is_file():
|
||||
publ = open(pub_file_path, 'a')
|
||||
publ.write("<profiles>\n")
|
||||
else:
|
||||
publ = open(pub_file_path)
|
||||
lines = publ.readlines()
|
||||
publ.close()
|
||||
publ = open(pub_file_path,'w')
|
||||
publ.writelines([item for item in lines[:-1]])
|
||||
|
||||
|
||||
#publ = open(os.path.join(args['output_dir'], 'publisher.xml'), 'w+')
|
||||
#publ = open('/root/install/publisher.xml', 'a')
|
||||
publ.write(" <publisher profile_name=\"default_xrce_publisher_profile\">\n")
|
||||
publ.write(" <topic>\n")
|
||||
publ.write(" <kind>NO_KEY</kind>\n")
|
||||
publ.write(" <name>%sPubSubTopic</name>\n" % (spec.msg_name))
|
||||
publ.write(" <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name))
|
||||
publ.write(" <historyQos>\n")
|
||||
publ.write(" <kind>KEEP_LAST</kind>\n")
|
||||
publ.write(" <depth>5</depth>\n")
|
||||
publ.write(" </historyQos>\n")
|
||||
publ.write(" <durability>\n")
|
||||
publ.write(" <kind>TRANSIENT_LOCAL</kind>\n")
|
||||
publ.write(" </durability>\n")
|
||||
publ.write(" </topic>\n")
|
||||
publ.write(" </publisher>\n")
|
||||
publ.write("</profiles>\n")
|
||||
publ.close()
|
||||
|
||||
|
||||
|
||||
# Check if subcriber exists
|
||||
subs_file_path = "/root/install/subscriber.xml"
|
||||
subs_file = Path(subs_file_path)
|
||||
if not subs_file.is_file():
|
||||
subs = open(subs_file_path, 'a')
|
||||
subs.write("<profiles>\n")
|
||||
else:
|
||||
subs = open(subs_file_path)
|
||||
lines = subs.readlines()
|
||||
subs.close()
|
||||
subs = open(subs_file_path,'w')
|
||||
subs.writelines([item for item in lines[:-1]])
|
||||
|
||||
|
||||
#subs = open(os.path.join(args['output_dir'], 'subscriber.xml'), 'w+')
|
||||
#subs = open('/root/install/subscriber.xml', 'a')
|
||||
#subs.write("<profiles>\n")
|
||||
subs.write(" <subscriber profile_name=\"default_xrce_subscriber_profile\">\n")
|
||||
subs.write(" <topic>\n")
|
||||
subs.write(" <kind>NO_KEY</kind>\n")
|
||||
subs.write(" <name>%sPubSubTopic</name>\n" % (spec.msg_name))
|
||||
subs.write(" <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name))
|
||||
subs.write(" <historyQos>\n")
|
||||
subs.write(" <kind>KEEP_LAST</kind>\n")
|
||||
subs.write(" <depth>5</depth>\n")
|
||||
subs.write(" </historyQos>\n")
|
||||
subs.write(" <durability>\n")
|
||||
subs.write(" <kind>TRANSIENT_LOCAL</kind>\n")
|
||||
subs.write(" </durability>\n")
|
||||
subs.write(" </topic>\n")
|
||||
subs.write(" </subscriber>\n")
|
||||
subs.write("</profiles>\n")
|
||||
subs.close()
|
||||
|
||||
|
||||
# Check if topic exists
|
||||
topi_file_path = "/root/install/topic.xml"
|
||||
topi_file = Path(topi_file_path)
|
||||
if not topi_file.is_file():
|
||||
topi = open(topi_file_path, 'a')
|
||||
topi.write("<dds>\n")
|
||||
else:
|
||||
topi = open(topi_file_path)
|
||||
lines = topi.readlines()
|
||||
topi.close()
|
||||
topi = open(topi_file_path,'w')
|
||||
topi.writelines([item for item in lines[:-1]])
|
||||
|
||||
|
||||
#topi = open(os.path.join(args['output_dir'], 'topic.xml'), 'w+')
|
||||
#topi = open('/root/install/topic.xml', 'a')
|
||||
#topi.write("<dds>\n")
|
||||
topi.write(" <topic>\n")
|
||||
topi.write(" <name>%sPubSubTopic</name>\n" % (spec.msg_name))
|
||||
topi.write(" <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name))
|
||||
topi.write(" </topic>\n")
|
||||
topi.write("</dds>\n")
|
||||
topi.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
|
||||
+28
-3
@@ -1,23 +1,48 @@
|
||||
<?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>
|
||||
<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_ros</buildtool_depend>
|
||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
||||
<buildtool_depend>rosidl_cmake</buildtool_depend>
|
||||
<buildtool_depend>rosidl_generator_c</buildtool_depend>
|
||||
<buildtool_depend>rosidl_generator_dds_idl</buildtool_depend>
|
||||
|
||||
<buildtool_export_depend>ament_cmake</buildtool_export_depend>
|
||||
<buildtool_export_depend>rosidl_cmake</buildtool_export_depend>
|
||||
|
||||
<buildtool_export_depend>rosidl_generator_c</buildtool_export_depend>
|
||||
<buildtool_export_depend>rosidl_generator_dds_idl</buildtool_export_depend>
|
||||
|
||||
<build_export_depend>rmw</build_export_depend>
|
||||
|
||||
<exec_depend>rosidl_parser</exec_depend>
|
||||
<exec_depend>rosidl_typesupport_interface</exec_depend>
|
||||
|
||||
<depend>fastcdr</depend>
|
||||
<depend>fastrtps</depend>
|
||||
<depend>micrortps_agent</depend>
|
||||
|
||||
|
||||
|
||||
<exec_depend>rosidl_parser</exec_depend>
|
||||
<exec_depend>rosidl_typesupport_interface</exec_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>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user