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https://github.com/micro-ROS/micro-ROS-Agent.git
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Refs #3366. XML generator works fine. The path of the generated xml may need to be changed.
This commit is contained in:
Javier Moreno
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# Copyright 2016 Open Source Robotics Foundation, Inc.
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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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import os
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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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from pathlib import Path
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def generate_micro_ros_agent_xml_support(args):
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pkg_name = args['package_name']
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known_msg_types = extract_message_types(
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pkg_name, args['ros_interface_files'], args.get('ros_interface_dependencies', []))
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functions = {
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'get_header_filename_from_msg_name': convert_camel_case_to_lower_case_underscore,
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}
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for idl_file in args['ros_interface_files']:
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extension = os.path.splitext(idl_file)[1]
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if extension == '.msg':
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spec = parse_message_file(pkg_name, idl_file)
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validate_field_types(spec, known_msg_types)
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subfolder = os.path.basename(os.path.dirname(idl_file))
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data = {
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'spec': spec,
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'pkg': spec.base_type.pkg_name,
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'msg': spec.msg_name,
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'type': spec.base_type.type,
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'subfolder': subfolder,
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}
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data.update(functions)
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# Make destinatino dir
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if not os.path.exists(args['output_dir']):
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os.makedirs(args['output_dir'])
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# Check if publixher exists
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pub_file_path = "/root/install/publisher.xml"
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pub_file = Path(pub_file_path)
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if not pub_file.is_file():
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publ = open(pub_file_path, 'a')
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publ.write("<profiles>\n")
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else:
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publ = open(pub_file_path)
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lines = publ.readlines()
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publ.close()
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publ = open(pub_file_path,'w')
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publ.writelines([item for item in lines[:-1]])
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#publ = open(os.path.join(args['output_dir'], 'publisher.xml'), 'w+')
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#publ = open('/root/install/publisher.xml', 'a')
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publ.write(" <publisher profile_name=\"default_xrce_publisher_profile\">\n")
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publ.write(" <topic>\n")
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publ.write(" <kind>NO_KEY</kind>\n")
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publ.write(" <name>%sPubSubTopic</name>\n" % (spec.msg_name))
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publ.write(" <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name))
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publ.write(" <historyQos>\n")
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publ.write(" <kind>KEEP_LAST</kind>\n")
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publ.write(" <depth>5</depth>\n")
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publ.write(" </historyQos>\n")
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publ.write(" <durability>\n")
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publ.write(" <kind>TRANSIENT_LOCAL</kind>\n")
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publ.write(" </durability>\n")
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publ.write(" </topic>\n")
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publ.write(" </publisher>\n")
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publ.write("</profiles>\n")
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publ.close()
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# Check if subcriber exists
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subs_file_path = "/root/install/subscriber.xml"
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subs_file = Path(subs_file_path)
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if not subs_file.is_file():
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subs = open(subs_file_path, 'a')
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subs.write("<profiles>\n")
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else:
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subs = open(subs_file_path)
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lines = subs.readlines()
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subs.close()
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subs = open(subs_file_path,'w')
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subs.writelines([item for item in lines[:-1]])
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#subs = open(os.path.join(args['output_dir'], 'subscriber.xml'), 'w+')
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#subs = open('/root/install/subscriber.xml', 'a')
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#subs.write("<profiles>\n")
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subs.write(" <subscriber profile_name=\"default_xrce_subscriber_profile\">\n")
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subs.write(" <topic>\n")
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subs.write(" <kind>NO_KEY</kind>\n")
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subs.write(" <name>%sPubSubTopic</name>\n" % (spec.msg_name))
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subs.write(" <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name))
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subs.write(" <historyQos>\n")
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subs.write(" <kind>KEEP_LAST</kind>\n")
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subs.write(" <depth>5</depth>\n")
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subs.write(" </historyQos>\n")
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subs.write(" <durability>\n")
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subs.write(" <kind>TRANSIENT_LOCAL</kind>\n")
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subs.write(" </durability>\n")
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subs.write(" </topic>\n")
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subs.write(" </subscriber>\n")
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subs.write("</profiles>\n")
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subs.close()
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# Check if topic exists
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topi_file_path = "/root/install/topic.xml"
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topi_file = Path(topi_file_path)
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if not topi_file.is_file():
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topi = open(topi_file_path, 'a')
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topi.write("<dds>\n")
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else:
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topi = open(topi_file_path)
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lines = topi.readlines()
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topi.close()
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topi = open(topi_file_path,'w')
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topi.writelines([item for item in lines[:-1]])
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#topi = open(os.path.join(args['output_dir'], 'topic.xml'), 'w+')
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#topi = open('/root/install/topic.xml', 'a')
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#topi.write("<dds>\n")
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topi.write(" <topic>\n")
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topi.write(" <name>%sPubSubTopic</name>\n" % (spec.msg_name))
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topi.write(" <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name))
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topi.write(" </topic>\n")
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topi.write("</dds>\n")
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topi.close()
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#elif extension == '.srv':
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#data = {'spec': spec}
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#data.update(functions)
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#if not os.path.exists(args['output_dir']):
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# os.makedirs(args['output_dir'])
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#f = open(os.path.join(args['output_dir'], 'demofile.txt'), 'w+')
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#f.write("%s\n" % spec)
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#f.close()
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return 0
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