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Rename package. (#12)

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This commit is contained in:
Borja Outerelo
2019-04-24 18:23:13 +02:00
committed by GitHub
parent 1ef5e1b177
commit f7f4bf405e
11 changed files with 681 additions and 5 deletions
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micro_ros_agent/CHANGELOG.rst
+8
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package micro-ros_agent
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
0.0.1 (2019-04-24)
-----------------
* Initial release
micro_ros_agent/CMakeLists.txt
+258
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# 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)
set(CMAKE_C_CLANG_TIDY clang-tidy -checks=*)
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# 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 "${_DEFAULT_FASTRTPS_PROFILES_PATH}")
# Get colcon call dir
get_filename_component(_COLCON_CALL_DIR "${PROJECT_BINARY_DIR}" 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}")
# Only compile uROS agent if rclcpp is found
find_package(rclcpp QUIET)
if (rclcpp_FOUND)
find_package(microxrcedds_agent_cmake_module REQUIRED)
find_package(MicroXRCEDDS_Agent REQUIRED MODULE)
add_executable(${PROJECT_NAME} src/main.cpp)
ament_target_dependencies(
${PROJECT_NAME}
rclcpp
microxrcedds_agent
)
# TODO(Javier) Temporal until thread error is solver
target_link_libraries(
${PROJECT_NAME}
microxrcedds_agent
)
else()
message("uROS agent node will be not build")
endif()
# Install the package.xml file, and generate code for ``find_package`` so that other packages can get information about this package.
ament_package()
# Only install if uROS_Agent is comiled
if (rclcpp_FOUND)
install(TARGETS
${PROJECT_NAME}
DESTINATION lib/${PROJECT_NAME}
)
endif()
#Install
install(
FILES "${_DEFAULT_FASTRTPS_PROFILES_PATH}"
DESTINATION lib/${PROJECT_NAME}
)
# Install package
#install(
# DIRECTORY cmake resource
# DESTINATION share/${PROJECT_NAME}
#)
micro_ros_agent/CMakeLists.txt.user
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<?xml version="1.0" encoding="UTF-8"?>
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<value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
<valuelist type="QVariantList" key="Analyzer.Valgrind.AddedSuppressionFiles"/>
<value type="bool" key="Analyzer.Valgrind.Callgrind.CollectBusEvents">false</value>
<value type="bool" key="Analyzer.Valgrind.Callgrind.CollectSystime">false</value>
<value type="bool" key="Analyzer.Valgrind.Callgrind.EnableBranchSim">false</value>
<value type="bool" key="Analyzer.Valgrind.Callgrind.EnableCacheSim">false</value>
<value type="bool" key="Analyzer.Valgrind.Callgrind.EnableEventToolTips">true</value>
<value type="double" key="Analyzer.Valgrind.Callgrind.MinimumCostRatio">0.01</value>
<value type="double" key="Analyzer.Valgrind.Callgrind.VisualisationMinimumCostRatio">10</value>
<value type="bool" key="Analyzer.Valgrind.FilterExternalIssues">true</value>
<value type="int" key="Analyzer.Valgrind.LeakCheckOnFinish">2</value>
<value type="int" key="Analyzer.Valgrind.NumCallers">25</value>
<valuelist type="QVariantList" key="Analyzer.Valgrind.RemovedSuppressionFiles"/>
<value type="int" key="Analyzer.Valgrind.SelfModifyingCodeDetection">1</value>
<value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
<value type="bool" key="Analyzer.Valgrind.ShowReachable">false</value>
<value type="bool" key="Analyzer.Valgrind.TrackOrigins">true</value>
<value type="QString" key="Analyzer.Valgrind.ValgrindExecutable">valgrind</value>
<valuelist type="QVariantList" key="Analyzer.Valgrind.VisibleErrorKinds">
<value type="int">0</value>
<value type="int">1</value>
<value type="int">2</value>
<value type="int">3</value>
<value type="int">4</value>
<value type="int">5</value>
<value type="int">6</value>
<value type="int">7</value>
<value type="int">8</value>
<value type="int">9</value>
<value type="int">10</value>
<value type="int">11</value>
<value type="int">12</value>
<value type="int">13</value>
<value type="int">14</value>
</valuelist>
<value type="int" key="PE.EnvironmentAspect.Base">2</value>
<valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
<value type="QString" key="ProjectExplorer.CustomExecutableRunConfiguration.Executable"></value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Custom Executable</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
<value type="QString" key="RunConfiguration.Arguments"></value>
<value type="uint" key="RunConfiguration.QmlDebugServerPort">3768</value>
<value type="bool" key="RunConfiguration.UseCppDebugger">false</value>
<value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
<value type="bool" key="RunConfiguration.UseMultiProcess">false</value>
<value type="bool" key="RunConfiguration.UseQmlDebugger">false</value>
<value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
<value type="QString" key="RunConfiguration.WorkingDirectory"></value>
<value type="QString" key="RunConfiguration.WorkingDirectory.default"></value>
</valuemap>
<value type="int" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
</valuemap>
</data>
<data>
<variable>ProjectExplorer.Project.TargetCount</variable>
<value type="int">2</value>
</data>
<data>
<variable>ProjectExplorer.Project.Updater.FileVersion</variable>
<value type="int">20</value>
</data>
<data>
<variable>Version</variable>
<value type="int">20</value>
</data>
</qtcreator>
micro_ros_agent/README.md
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# Micro ROS Agent
## Overview
This repository contains the Micro-ROS Agent package.
Micro-ROS Agent is a ROS 2 node that wraps the Micro XRCE-DDS Agent.
For further information about Micro XRCE-DDS Agent click [here](https://github.com/eProsima/Micro-XRCE-DDS-Agent)
This package is a part of the Micro-ROS project stack.
For more information about Micro-ROS project click [here](https://microros.github.io/micro-ROS/).
The node acts as a server between DDS Network and Micro-ROS nodes inside MCU.
It receives and send messages from Micro-ROS nodes, and keep track of the Micro-ROS nodes exposing them to the ROS 2 network.
The node interacts with DDS Global Data Space on behalf of the Micro-ROS nodes.
## Package features
### XML generation
During the build process, the package looks for all ROS 2 messages to generate an initial list of XML profiles.
These profiles can are referenced in the Agent-Client communication to avoid sending the full XML content.
This reference mechanism can be switched on and off from the Micro XRCE-DDS middleware layer.
### Agent-Client communication mechanism
Communication between the Micro-ROS Agent and the Micro-ROS nodes supports two types of transport:
- UDP.
- SerialPort.
All available configurations are supported directly by the Micro XRCE-DDS agent.
For further information on how to configure the agent click [here](TODO).
micro_ros_agent/bin/Xml_interface_gen.py
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#!/usr/bin/env python3
import argparse
import os
import sys
sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)),'..'))
from rosidl_cmake import read_generator_arguments
from rosidl_parser import UnknownMessageType
from micro_ros_agent import generate_XML
def main(argv=sys.argv[1:]):
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)
rc = generate_XML(generator_args)
return rc
if __name__ == '__main__':
sys.exit(main())
micro_ros_agent/bin/Xml_read_default_profiles.py
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#!/usr/bin/env python3
import os
import sys
import argparse
import xml.etree.ElementTree
sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)),'..'))
from micro_ros_agent import *
def main(argv=sys.argv[1:]):
parser = argparse.ArgumentParser(
description='Import default xml files',
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument(
'--default-xml-path',
required=True,
help='The location of the default profiles')
args = parser.parse_args(argv)
ReadDefaultXMLs(args.default_xml_path)
return 0
if __name__ == '__main__':
sys.exit(main())
micro_ros_agent/micro_ros_agent/__init__.py
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# Copyright 2016 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 os
import sys
import xml.etree.ElementTree
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
def GetPackage(Dir):
# ignore?
for f in os.listdir(Dir):
full_path = os.path.join(Dir, f)
if os.path.isfile(full_path):
if f == "COLCON_IGNORE":
return "COLCON_IGNORE"
# found package
found_package_path = ""
for f in os.listdir(Dir):
if f == "package.xml":
found_package_path = os.path.join(Dir, f)
found_package_path = os.path.abspath(found_package_path)
break
return found_package_path.replace("\\", "/")
def GetPackageList(Dir):
package_list = []
package_path = GetPackage(Dir)
if package_path == "":
for f in os.listdir(Dir):
full_path = os.path.join(Dir, f)
if os.path.isdir(full_path):
for l in GetPackageList(full_path):
package_list.append(l)
elif package_path != "COLCON_IGNORE":
package_list.append(package_path)
return package_list
def GetInterfacePackages(packages_list):
package_interface_list = []
for package in packages_list:
xml_root = xml.etree.ElementTree.parse(package).getroot()
for element in xml_root.findall('member_of_group'):
if element.text == "rosidl_interface_packages":
package_interface_list.append(package)
return package_interface_list
def GetPackageName(package_path):
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"):
full_path = os.path.join(root, file)
msg_list.append(full_path.replace("\\", "/"))
return msg_list
def GetInterfacePackageSrvs(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(".srv"):
full_path = os.path.join(root, file)
msg_list.append(full_path.replace("\\", "/"))
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))
# Data writer
#file_content = " <dds>\n"
file_content = " <data_writer 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 += " </topic>\n"
file_content += " </data_writer>\n"
#file_content += " </dds>\n"
# Data reader
#file_content += " <dds>\n"
file_content += " <data_reader 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 += " </topic>\n"
file_content += " </data_reader>\n"
#file_content += " </dds>\n"
# Topic
#file_content += " <dds>\n"
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"
#file_content += " </dds>\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
micro_ros_agent/package.xml
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<?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="borjaouterelo@eprosima.com">Borja Outerelo</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>microxrcedds_agent_cmake_module</depend>
<depend>rosidl_cmake</depend>
<build_depend>rclcpp</build_depend>
<exec_depend>rclcpp</exec_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<group_depend>rosidl_interface_packages</group_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>
micro_ros_agent/resource/StaticValues.xml
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<participant profile_name="participant_profile">
<rtps>
<name>participant_profile</name>
</rtps>
</participant>
<data_writer profile_name="shapetype_data_writer">
<topic>
<kind>WITH_KEY</kind>
<name>Square</name>
<dataType>ShapeType</dataType>
</topic>
</data_writer>
<data_reader profile_name="shapetype_data_reader">
<topic>
<kind>WITH_KEY</kind>
<name>Square</name>
<dataType>ShapeType</dataType>
</topic>
</data_reader>
<topic profile_name="shapetype_topic">
<kind>WITH_KEY</kind>
<name>Square</name>
<dataType>ShapeType</dataType>
</topic>
micro_ros_agent/resource/rclcpp.xml
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<topic profile_name="parameter_events_t">
<name>rt/parameter_events</name>
<dataType>rcl_interfaces::msg::dds_::ParameterEvent_</dataType>
</topic>
<topic profile_name="clock_t">
<name>rt/clock</name>
<dataType>rosgraph_msgs::msg::dds_::Clock_</dataType>
</topic>
<data_writer profile_name="parameter_events_p">
<topic>
<kind>NO_KEY</kind>
<name>rt/parameter_events</name>
<dataType>rcl_interfaces::msg::dds_::ParameterEvent_</dataType>
</topic>
</data_writer>
<data_reader profile_name="clock_s">
<topic>
<kind>NO_KEY</kind>
<name>rt/clock</name>
<dataType>rosgraph_msgs::msg::dds_::Clock_</dataType>
</topic>
</data_reader>
<data_reader profile_name="parameter_events_s">
<topic>
<kind>NO_KEY</kind>
<name>rt/parameter_events</name>
<dataType>rcl_interfaces::msg::dds_::ParameterEvent_</dataType>
</topic>
</data_reader>
micro_ros_agent/src/main.cpp
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// 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.
#ifdef _WIN32
#include <uxr/agent/transport/udp/UDPServerWindows.hpp>
#include <uxr/agent/transport/tcp/TCPServerWindows.hpp>
#elif __unix__
#include <unistd.h>
#include <libgen.h>
#include <uxr/agent/transport/serial/SerialServerLinux.hpp>
#include <uxr/agent/transport/udp/UDPServerLinux.hpp>
#include <uxr/agent/transport/tcp/TCPServerLinux.hpp>
#include <termios.h>
#include <fcntl.h>
#endif
#include <iterator>
#include <iostream>
#include <string>
#include <limits>
#include "rclcpp/rclcpp.hpp"
void showHelp()
{
std::cout << "Usage: program <command>" << std::endl;
std::cout << "List of commands:" << std::endl;
#ifdef _WIN32
std::cout << " udp <local_port>" << std::endl;
std::cout << " tcp <local_port>" << std::endl;
#else
std::cout << " serial <device_name>" << std::endl;
std::cout << " pseudo-serial" << std::endl;
std::cout << " udp <local_port> [<discovery_port>]" << std::endl;
std::cout << " tcp <local_port> [<discovery_port>]" << std::endl;
#endif
}
void initializationError()
{
std::cout << "Error: Invalid arguments." << std::endl;
showHelp();
std::exit(EXIT_FAILURE);
}
uint16_t parsePort(const std::string& str_port)
{
uint16_t valid_port = 0;
try
{
int port = std::stoi(str_port);
if(port > (std::numeric_limits<uint16_t>::max)())
{
std::cout << "Error: port number '" << port << "out of range." << std::endl;
initializationError();
}
valid_port = uint16_t(port);
}
catch (const std::invalid_argument& )
{
initializationError();
}
return valid_port;
}
int main(int argc, char** argv)
{
eprosima::uxr::Server* server = nullptr;
std::vector<std::string> cl(0);
if (1 == argc)
{
showHelp();
std::cout << std::endl;
std::cout << "Enter command: ";
std::string raw_cl;
std::getline(std::cin, raw_cl);
std::istringstream iss(raw_cl);
cl.insert(cl.begin(), std::istream_iterator<std::string>(iss), std::istream_iterator<std::string>());
std::cout << raw_cl << std::endl;
}
else
{
for (int i = 1; i < argc; ++i)
{
cl.push_back(argv[i]);
}
}
if((1 == cl.size()) && (("-h" == cl[0]) || ("--help" == cl[0])))
{
showHelp();
}
else if((2 <= cl.size()) && ("udp" == cl[0]))
{
std::cout << "UDP agent initialization... ";
uint16_t port = parsePort(cl[1]);
#ifdef _WIN32
server = new eprosima::uxr::UDPServer(port);
#else
server = (3 == cl.size()) //discovery port
? new eprosima::uxr::UDPServer(port, parsePort(cl[2]))
: new eprosima::uxr::UDPServer(port);
#endif
}
else if((2 <= cl.size()) && ("tcp" == cl[0]))
{
std::cout << "TCP agent initialization... ";
uint16_t port = parsePort(cl[1]);
#ifdef _WIN32
server = new eprosima::uxr::TCPServer(port);
#else
server = (3 == cl.size()) //discovery port
? new eprosima::uxr::TCPServer(port, parsePort(cl[2]))
: new eprosima::uxr::TCPServer(port);
#endif
}
#ifndef _WIN32
else if((2 == cl.size()) && ("serial" == cl[0]))
{
std::cout << "Serial agent initialization... ";
/* Open serial device. */
int fd = open(cl[1].c_str(), O_RDWR | O_NOCTTY);
if (0 < fd)
{
struct termios tty_config;
memset(&tty_config, 0, sizeof(tty_config));
if (0 == tcgetattr(fd, &tty_config))
{
/* Setting CONTROL OPTIONS. */
tty_config.c_cflag |= CREAD; // Enable read.
tty_config.c_cflag |= CLOCAL; // Set local mode.
tty_config.c_cflag &= ~PARENB; // Disable parity.
tty_config.c_cflag &= ~CSTOPB; // Set one stop bit.
tty_config.c_cflag &= ~CSIZE; // Mask the character size bits.
tty_config.c_cflag |= CS8; // Set 8 data bits.
tty_config.c_cflag &= ~CRTSCTS; // Disable hardware flow control.
/* Setting LOCAL OPTIONS. */
tty_config.c_lflag &= ~ICANON; // Set non-canonical input.
tty_config.c_lflag &= ~ECHO; // Disable echoing of input characters.
tty_config.c_lflag &= ~ECHOE; // Disable echoing the erase character.
tty_config.c_lflag &= ~ISIG; // Disable SIGINTR, SIGSUSP, SIGDSUSP and SIGQUIT signals.
/* Setting INPUT OPTIONS. */
tty_config.c_iflag &= ~IXON; // Disable output software flow control.
tty_config.c_iflag &= ~IXOFF; // Disable input software flow control.
tty_config.c_iflag &= ~INPCK; // Disable parity check.
tty_config.c_iflag &= ~ISTRIP; // Disable strip parity bits.
tty_config.c_iflag &= ~IGNBRK; // No ignore break condition.
tty_config.c_iflag &= ~IGNCR; // No ignore carrier return.
tty_config.c_iflag &= ~INLCR; // No map NL to CR.
tty_config.c_iflag &= ~ICRNL; // No map CR to NL.
/* Setting OUTPUT OPTIONS. */
tty_config.c_oflag &= ~OPOST; // Set raw output.
/* Setting OUTPUT CHARACTERS. */
tty_config.c_cc[VMIN] = 10;
tty_config.c_cc[VTIME] = 1;
/* Setting BAUD RATE. */
cfsetispeed(&tty_config, B115200);
cfsetospeed(&tty_config, B115200);
if (0 == tcsetattr(fd, TCSANOW, &tty_config))
{
server = new eprosima::uxr::SerialServer(fd, 0);
}
}
}
}
else if ((1 == cl.size()) && ("pseudo-serial" == cl[0]))
{
std::cout << "Pseudo-Serial initialization... ";
/* Open pseudo-terminal. */
char* dev = NULL;
int fd = posix_openpt(O_RDWR | O_NOCTTY);
if (-1 != fd)
{
if (grantpt(fd) == 0 && unlockpt(fd) == 0 && (dev = ptsname(fd)))
{
struct termios attr;
tcgetattr(fd, &attr);
cfmakeraw(&attr);
tcflush(fd, TCIOFLUSH);
tcsetattr(fd, TCSANOW, &attr);
std::cout << "Device: " << dev << std::endl;
}
}
server = new eprosima::uxr::SerialServer(fd, 0x00);
}
#endif
else
{
initializationError();
}
if (nullptr != server)
{
/* Launch server. */
if (server->run())
{
std::cout << "OK" << std::endl;
std::cin.clear();
char exit_flag = 0;
while ('q' != exit_flag)
{
std::cout << "Enter 'q' for exit" << std::endl;
std::cin >> exit_flag;
}
server->stop();
}
else
{
std::cout << "ERROR" << std::endl;
}
}
return 0;
}