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Refs #3459.

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This commit is contained in:
Javier Moreno
2018-10-04 09:14:22 +02:00
parent 1d106a8945
commit ffc3c372be
8 changed files with 327 additions and 261 deletions
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CMakeLists.txt
+169 -16
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@@ -18,10 +18,11 @@ cmake_minimum_required(VERSION 3.5)
# Set proyect name
project(micro_ros_agent)
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)
@@ -35,26 +36,178 @@ ament_export_dependencies(fastrtps)
ament_export_dependencies(micrortps_agent)
# Install python files
ament_python_install_package(${PROJECT_NAME})
# Set variables
set(_OUTPUT_PATH "${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 "${_RESOURCE_DIR}")
# Register package resource in order to be called when a new msg package is generated
ament_index_register_resource("rosidl_typesupport_c")
set(_DEFAULT_FASTRTPS_PROFILES_PATH "${_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(
CONFIG_EXTRAS "micro_ros_agent-extras.cmake.in"
ament_package()
#Install
install(
FILES "${_DEFAULT_FASTRTPS_PROFILES_PATH}"
DESTINATION "../micrortps_agent/bin"
)
install(
PROGRAMS bin/micro_ros_agent
DESTINATION lib/micro_ros_agent
)
install(
DIRECTORY cmake resource
DESTINATION share/${PROJECT_NAME}
)
# Install package
#install(
# DIRECTORY cmake resource
# DESTINATION share/${PROJECT_NAME}
#)
bin/Xml_interface_gen.py
+30
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@@ -0,0 +1,30 @@
#!/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 uros_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())
bin/Xml_read_default_profiles.py
+26
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@@ -0,0 +1,26 @@
#!/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 uros_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())
bin/micro_ros_agent
-45
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@@ -1,45 +0,0 @@
#!/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())
cmake/micrortps_agent_xml_generator.cmake
-69
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@@ -1,69 +0,0 @@
# Copyright 2016-2018 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.
# 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/xml_gen")
# 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_DEFAULT_PROFILES_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}"
)
#Install
install(
DIRECTORY "${_output_path}/"
DESTINATION "../micrortps_agent/bin"
)
micro_ros_agent-extras.cmake.in
-14
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@@ -1,14 +0,0 @@
find_package(ament_cmake_core QUIET REQUIRED)
ament_register_extension(
"rosidl_generate_interfaces"
"micro_ros_agent"
"micrortps_agent_xml_generator.cmake")
set(micro_ros_agent_BIN "${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 "${micro_ros_agent_GENERATOR_FILES}")
set(micro_ros_agent_DEFAULT_PROFILES_DIR "${micro_ros_agent_DIR}/../resource")
normalize_path(micro_ros_agent_DEFAULT_PROFILES_DIR "${micro_ros_agent_DEFAULT_PROFILES_DIR}")
package.xml
+4 -3
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@@ -1,8 +1,8 @@
<?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>
<name>uros_agent</name>
<version>0.0.2</version>
<description>DDS-XCRE agent implementation </description>
<maintainer email="javiermoreno@eprosima.com">Javier Moreno</maintainer>
<license>Apache License 2.0</license>
@@ -15,11 +15,12 @@
<depend>fastcdr</depend>
<depend>fastrtps</depend>
<depend>micrortps_agent</depend>
<depend>rosidl_cmake</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>
<group_depend>rosidl_interface_packages</group_depend>
<export>
<build_type>ament_cmake</build_type>
micro_ros_agent/__init__.py → uros_agent/__init__.py
+98 -114
View File
@@ -1,4 +1,4 @@
# Copyright 2016-2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
# 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.
@@ -12,19 +12,9 @@
# See the License for the specific language governing permissions and
# limitations under the License.
import struct
import os
import sys
if os.name == 'nt':
import win32con
import win32file
import pywintypes
__overlapped = pywintypes.OVERLAPPED()
elif os.name == 'posix':
import fcntl
else:
raise RuntimeError('PortaLocker only defined for nt and posix platforms')
import xml.etree.ElementTree
from rosidl_cmake import convert_camel_case_to_lower_case_underscore
from rosidl_cmake import expand_template
@@ -33,14 +23,103 @@ 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 shutil import copyfile
from pathlib import Path
def generate_micro_ros_agent_xml_support(args):
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
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)
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)
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', []))
#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,
@@ -48,7 +127,6 @@ def generate_micro_ros_agent_xml_support(args):
# Set file format
file_format = ".xml"
ros2_prefix = "rt/"
@@ -63,14 +141,6 @@ def generate_micro_ros_agent_xml_support(args):
if not os.path.exists(srcs_dir):
os.makedirs(srcs_dir)
# Copy all included xml files
for filename in os.listdir(args['template_dir']):
if filename.endswith(file_format):
template_src_path = os.path.join(args['template_dir'], filename)
template_dest_path = os.path.join(srcs_dir, filename)
if not os.path.isfile(template_dest_path):
copyfile(template_src_path, template_dest_path)
# Iterate throw all msgs/srvs
@@ -78,7 +148,7 @@ def generate_micro_ros_agent_xml_support(args):
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)
#validate_field_types(spec, known_msg_types)
subfolder = os.path.basename(os.path.dirname(idl_file))
data = {
@@ -137,95 +207,9 @@ def generate_micro_ros_agent_xml_support(args):
# Write file content
fd1 = open(src_file, "w")
if os.name == 'nt':
# Lock
hfile1 = win32file._get_osfhandle(fd1.fileno())
win32file.LockFileEx(hfile1, win32con.LOCKFILE_EXCLUSIVE_LOCK, 0, -0x10000, __overlapped)
# Write
fd1.write(file_content)
# Unlock
win32file.UnlockFileEx(hfile1, 0, -0x10000, __overlapped)
elif os.name == 'posix':
# Lock
fcntl.flock(fd1.fileno(), fcntl.LOCK_EX)
# Write
fd1.write(file_content)
# Unlock
fcntl.flock(fd1.fileno(), fcntl.LOCK_UN)
fd1.close()
print ("%s" % file_content)
# Open collect file
collec_file = os.path.join(args['output_dir'], "DEFAULT_FASTRTPS_PROFILES.xml")
fd2 = open(collec_file, "w")
if os.name == 'nt':
# Lock
hfile2 = win32file._get_osfhandle(fd2.fileno())
win32file.LockFileEx(hfile2, win32con.LOCKFILE_EXCLUSIVE_LOCK, 0, -0x10000, __overlapped)
# Generate head
fd2.write("<profiles>\n")
# Append all files contents
for filename in os.listdir(srcs_dir):
if filename.endswith(".xml"):
# Open
fd3 = open(os.path.join(srcs_dir, filename), "r+")
# Lock
hfile3 = win32file._get_osfhandle(fd3.fileno())
win32file.LockFileEx(hfile3, win32con.LOCKFILE_EXCLUSIVE_LOCK, 0, -0x10000, __overlapped)
# Write
fd2.write(fd3.read())
# Unlock
win32file.UnlockFileEx(hfile3, 0, -0x10000, __overlapped)
fd3.close()
# Generate tail
fd2.write("</profiles>\n")
# UnLock
win32file.UnlockFileEx(hfile2, 0, -0x10000, __overlapped)
elif os.name == 'posix':
# Lock
fcntl.flock(fd2.fileno(), fcntl.LOCK_EX)
# Generate head
fd2.write("<profiles>\n")
# Append all files contents
for filename in os.listdir(srcs_dir):
if filename.endswith(".xml"):
# Open
fd3 = open(os.path.join(srcs_dir, filename), "r+")
# Lock
fcntl.flock(fd3, fcntl.LOCK_EX)
# Write
fd2.write(fd3.read())
# Unlock
fcntl.flock(fd3.fileno(), fcntl.LOCK_UN)
# Close
fd3.close()
# Generate tail
fd2.write("</profiles>\n")
# UnLock
fcntl.flock(fd2.fileno(), fcntl.LOCK_UN)
# Close file
fd2.close()
#elif extension == '.srv':