Removed termios and pseudoterminal on VxWorks

* Addapt to Dashing Diademata rosidl generation.

* Use new Micro XRCE-DDS agent library API.

* main.cpp update (#22)

* Update main.cpp according to the new version of Micro-XRCE-DDS-Agent.

* Apply suggestions from code review

Co-Authored-By: Borja Outerelo <borjaouterelo@gmail.com>

Co-authored-by: Borja Outerelo <borjaouterelo@gmail.com>

Co-authored-by: Julián Bermúdez Ortega <julianbermudez@eprosima.com>

.gitignore

@@ -0,0 +1,35 @@
+
+# Created by https://www.gitignore.io/api/qtcreator
+# Edit at https://www.gitignore.io/?templates=qtcreator
+
+### QtCreator ###
+# gitignore for Qt Creator like IDE for pure C/C++ project without Qt
+#
+# Reference: http://doc.qt.io/qtcreator/creator-project-generic.html
+
+
+
+# Qt Creator autogenerated files
+
+
+# A listing of all the files included in the project
+*.files
+
+# Include directories
+*.includes
+
+# Project configuration settings like predefined Macros
+*.config
+
+# Qt Creator settings
+*.creator
+
+# User project settings
+*.creator.user*
+
+# Qt Creator backups
+*.autosave
+
+# End of https://www.gitignore.io/api/qtcreator
+
+CMakeLists.txt.user

CMakeLists.txt

@@ -1,60 +0,0 @@
-# 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)
-
-
-# Find packages depencences
-find_package(ament_cmake REQUIRED)
-find_package(fastcdr REQUIRED CONFIG)
-find_package(fastrtps REQUIRED CONFIG)
-find_package(micrortps_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(micrortps_agent)
-
-
-# Install python files
-ament_python_install_package(${PROJECT_NAME})
-
-
-# Register package resource in order to be called when a new msg package is generated
-ament_index_register_resource("rosidl_typesupport_c")
-
-
-# Install the package.xml file, and generate code for ``find_package`` so that other packages can get information about this package.
-ament_package(
-  CONFIG_EXTRAS "micro_ros_agent-extras.cmake.in"
-)
-
-
-install(
-  PROGRAMS bin/micro_ros_agent
-  DESTINATION lib/micro_ros_agent
-)
-
-install(
-  DIRECTORY cmake resource
-  DESTINATION share/${PROJECT_NAME}
-)

LICENSE

@@ -0,0 +1,201 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
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+   8. Limitation of Liability. In no event and under no legal theory,
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+
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+   See the License for the specific language governing permissions and
+   limitations under the License.

README.md

@@ -1,2 +1,7 @@
-# micro-ros-agent
+# micro-ROS-Agent
+
+[![GitHub license](https://img.shields.io/github/license/microROS/micro-ROS-Agent.svg)](https://github.com/microROS/micro-ROS-Agent)
+[![GitHub release](https://img.shields.io/github/release/microROS/micro-ROS-Agent.svg)](https://github.com/microROS/micro-ROS-Agent/releases)
+
+ROS 2 package using Micro XRCE-DDS Agent.
 

bin/micro_ros_agent

@@ -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

@@ -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

@@ -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}")

micro_ros_agent/CHANGELOG.rst

@@ -0,0 +1,8 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package micro-ros_agent
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.0.1 (2019-04-24)
+-----------------
+* Initial release
+

micro_ros_agent/CMakeLists.txt

@@ -0,0 +1,200 @@
+# Copyright 2018-present 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.
+
+cmake_minimum_required(VERSION 3.5)
+
+option(UROSAGENT_GENERATE_PROFILE
+  "Generates agent.refs according to the .msgs provided in the .repos" OFF
+  )
+set(CMAKE_C_CLANG_TIDY clang-tidy -checks=*)
+
+project(micro_ros_agent LANGUAGES CXX)
+
+find_package(ament_cmake REQUIRED)
+find_package(microxrcedds_agent REQUIRED)
+
+add_executable(${PROJECT_NAME} src/main.cpp)
+
+target_link_libraries(${PROJECT_NAME}
+  PRIVATE
+    microxrcedds_agent
+    $<$<BOOL:$<PLATFORM_ID:Linux>>:rt>
+    $<$<BOOL:$<PLATFORM_ID:Linux>>:dl>
+  )
+
+set_target_properties(${PROJECT_NAME} PROPERTIES
+  CXX_STANDARD
+    11
+  CXX_STANDARD_REQUIRED
+    YES
+  )
+
+target_compile_options(${PROJECT_NAME}
+  PRIVATE
+    $<$<OR:$<CXX_COMPILER_ID:GNU>,$<CXX_COMPILER_ID:Clang>>:-Wall>
+    $<$<OR:$<CXX_COMPILER_ID:GNU>,$<CXX_COMPILER_ID:Clang>>:-Wextra>
+    $<$<OR:$<CXX_COMPILER_ID:GNU>,$<CXX_COMPILER_ID:Clang>>:-Wpedantic>
+  )
+
+ament_export_dependencies(microxrcedds_agent)
+
+ament_package()
+
+install(
+  TARGETS
+    ${PROJECT_NAME}
+  DESTINATION
+    lib/${PROJECT_NAME}
+  )
+
+if(UROSAGENT_GENERATE_PROFILE)
+  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 "${_DEFAULT_FASTRTPS_PROFILES_PATH}")
+
+  get_filename_component(_COLCON_CALL_DIR "${PROJECT_BINARY_DIR}" DIRECTORY)
+  get_filename_component(_COLCON_CALL_DIR "${_COLCON_CALL_DIR}" DIRECTORY)
+
+  set(_PYTHON_SCRIPT_HEAD
+    "
+    import os\n
+    import sys\n
+    sys.path.append('${_OUTPUT_PATH}')\n
+    from ${_PYTHON_PKG_TOOL} import *\n
+    "
+    )
+
+  file(
+    COPY
+      "bin" "${_PYTHON_PKG_TOOL}" "resource"
+    DESTINATION
+      "${CMAKE_CURRENT_BINARY_DIR}/python"
+    )
+
+  execute_process(
+    COMMAND
+      "${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()
+
+  string(REPLACE "\n" ";" _packages ${_packages})
+
+  set(ALL_MSG_FILES "")
+  foreach(package ${_packages})
+
+    string(REPLACE "," ";" package ${package})
+    list(GET package 0 package_file)
+    list(GET package 1 package)
+
+    execute_process(
+      COMMAND
+        "${PYTHON_EXECUTABLE}"
+        "-c"
+        "${_PYTHON_SCRIPT_HEAD}for msg in GetInterfacePackageMsgs('${package_file}'): print ('%s' % msg)"
+      OUTPUT_VARIABLE
+        ${package}_MSG_FILES
+      RESULT_VARIABLE
+        _result
+      OUTPUT_STRIP_TRAILING_WHITESPACE
+      )
+
+    if(NOT _result EQUAL 0)
+      message(FATAL_ERROR "Error finding .msg files")
+    endif()
+
+    if(${package}_MSG_FILES STREQUAL "")
+      continue()
+    endif()
+
+    string(REPLACE "\n" ";" ${package}_MSG_FILES ${${package}_MSG_FILES})
+
+  endforeach()
+
+  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()
+
+  foreach(package ${_packages})
+    string(REPLACE "," ";" package ${package})
+    list(GET package 0 package_file)
+    list(GET package 1 package)
+
+    if(${package}_MSG_FILES STREQUAL "")
+      continue()
+    endif()
+
+    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_process(
+      COMMAND
+        "${PYTHON_EXECUTABLE}" "${_XML_INTERFACE_GEN_BIN}" --generator-arguments-file "${generator_arguments_file}"
+      OUTPUT_VARIABLE
+        _XmlGen
+      RESULT_VARIABLE
+        _result
+      )
+
+    if(NOT _result EQUAL 0)
+      message(FATAL_ERROR "Error in typesuppor generation") 
+    endif()
+
+    set(_XmlDoc "${_XmlDoc}${_XmlGen}")
+
+  endforeach()
+
+  set (_XmlDoc "<profiles>\n${_XmlDoc}</profiles>\n")
+
+  file(WRITE "${_DEFAULT_FASTRTPS_PROFILES_PATH}" "${_XmlDoc}")
+endif()

micro_ros_agent/README.md

@@ -0,0 +1,31 @@
+# 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/__init__.py

@@ -1,241 +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.
-
-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')       
-
-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 shutil import copyfile
-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,
-    }
-
-
-    # Set file format
-    file_format = ".xml"
-    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)
-
-
-    # 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
-    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))
-
-
-            # Publisher
-            file_content  = "   <publisher 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 += "           <historyQos>\n"
-            file_content += "               <kind>KEEP_LAST</kind>\n"
-            file_content += "               <depth>5</depth>\n"
-            file_content += "           </historyQos>\n"
-            file_content += "           <durability>\n"
-            file_content += "               <kind>TRANSIENT_LOCAL</kind>\n"
-            file_content += "           </durability>\n"
-            file_content += "       </topic>\n"
-            file_content += "   </publisher>\n"
-
-
-            # Subscriber
-            file_content += "   <subscriber 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 += "           <historyQos>\n"
-            file_content += "               <kind>KEEP_LAST</kind>\n"
-            file_content += "               <depth>5</depth>\n"
-            file_content += "           </historyQos>\n"
-            file_content += "           <durability>\n"
-            file_content += "               <kind>TRANSIENT_LOCAL</kind>\n"
-            file_content += "           </durability>\n"
-            file_content += "       </topic>\n"
-            file_content += "   </subscriber>\n"
-
-
-            # Topic
-            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"
-
-
-            # 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()
-
-
-            # 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':
-
-            #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/bin/Xml_interface_gen.py

@@ -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_adapter.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

@@ -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 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

@@ -0,0 +1,217 @@
+# 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 get_newest_modification_time
+from rosidl_adapter.parser import parse_message_file
+from rosidl_adapter.parser import parse_service_file
+from rosidl_adapter.parser import validate_field_types
+
+from rosidl_cmake import generate_files
+
+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

@@ -4,23 +4,17 @@
   <name>micro_ros_agent</name>
   <version>0.0.1</version>
   <description>DDS-XCRE agent implementation </description>
-  <maintainer email="javiermoreno@eprosima.com">Javier Moreno</maintainer>
+  <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>microxrcedds_agent</depend>
-
-  <depend>fastcdr</depend>
-  <depend>fastrtps</depend>
-  <depend>micrortps_agent</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>

micro_ros_agent/resource/StaticValues.xml

@@ -0,0 +1,24 @@
+    <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

@@ -0,0 +1,29 @@
+    <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

@@ -0,0 +1,87 @@
+// Copyright 2017-present 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.
+
+#include <uxr/agent/utils/CLI.hpp>
+#include <csignal>
+
+int main(int argc, char** argv)
+{
+#ifndef _WIN32
+    sigset_t signals;
+    sigemptyset(&signals);
+    if(sigaddset(&signals, SIGINT) && sigaddset(&signals, SIGTERM))
+    {
+        std::cerr << "Wrong signalset" << std::endl;
+        std::exit(EXIT_FAILURE);
+    }
+    sigprocmask( SIG_BLOCK, &signals, nullptr );
+#endif
+
+
+    /* CLI application. */
+    CLI::App app("micro-ROS Agent");
+    app.require_subcommand(1, 1);
+    app.get_formatter()->column_width(42);
+
+    /* CLI subcommands. */
+    eprosima::uxr::cli::UDPv4Subcommand udpv4_subcommand(app);
+    eprosima::uxr::cli::UDPv6Subcommand udpv6_subcommand(app);
+    eprosima::uxr::cli::TCPv4Subcommand tcpv4_subcommand(app);
+    eprosima::uxr::cli::TCPv6Subcommand tcpv6_subcommand(app);
+#if !defined(_WIN32) && !defined(__VXWORKS__)
+    eprosima::uxr::cli::TermiosSubcommand serial_subcommand(app);
+    eprosima::uxr::cli::PseudoTerminalSubcommand pseudo_serial_subcommand(app);
+#endif
+    eprosima::uxr::cli::ExitSubcommand exit_subcommand(app);
+
+    /* CLI parse. */
+    std::string cli_input{};
+    for (int i = 1; i < argc; ++i)
+    {
+        cli_input.append(argv[i]);
+        cli_input.append(" ");
+    }
+
+    while (true)
+    {
+        try
+        {
+            app.parse(cli_input);
+            break;
+        }
+        catch (const CLI::ParseError& e)
+        {
+            app.exit(e);
+            std::cin.clear();
+            std::cout << std::endl;
+            std::cout << "Enter command: ";
+            std::getline(std::cin, cli_input);
+        }
+    }
+
+#ifdef  _WIN32
+    /* Waiting until exit. */
+    std::cin.clear();
+    char exit_flag = 0;
+    while ('q' != exit_flag)
+    {
+        std::cin >> exit_flag;
+    }
+#else
+    /* Wait for SIGTERM/SIGINT instead, as reading from stdin may be redirected to /dev/null. */
+    int n_signal = 0;
+    sigwait(&signals, &n_signal);
+#endif
+    return 0;
+}

resource/StaticValues.xml

@@ -1,39 +0,0 @@
-  <participant profile_name="participant_profile">
-    <rtps>
-      <builtin>
-      <leaseDuration>
-        <durationbyname>INFINITE</durationbyname>
-      </leaseDuration>
-        <domainId>0</domainId>
-      </builtin>
-      <name>DataReader_participant_subscriber</name>
-    </rtps>
-  </participant>
-  <publisher profile_name="publisher_profile">
-    <topic>
-      <kind>WITH_KEY</kind>
-      <name>Square</name>
-      <dataType>ShapeType</dataType>
-      <historyQos>
-        <kind>KEEP_LAST</kind>
-        <depth>5</depth>
-      </historyQos>
-      <durability>
-        <kind>TRANSIENT_LOCAL</kind>
-      </durability>
-    </topic>
-  </publisher>
-  <subscriber profile_name="subscriber_profile">
-    <topic>
-      <kind>WITH_KEY</kind>
-      <name>Square</name>
-      <dataType>ShapeType</dataType>
-      <historyQos>
-        <kind>KEEP_LAST</kind>
-        <depth>5</depth>
-      </historyQos>
-      <durability>
-        <kind>TRANSIENT_LOCAL</kind>
-      </durability>
-    </topic>
-  </subscriber>