Changing to IPV6

micro_ros_agent/CMakeLists.txt

@@ -1,4 +1,4 @@
-# Copyright 2018-present Proyectos y Sistemas de Mantenimiento SL (eProsima).
+# 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.
@@ -12,189 +12,246 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+
+# Set CMake version 
 cmake_minimum_required(VERSION 3.5)
 
-option(UROSAGENT_GENERATE_PROFILE
+# Set proyect name
-  "Generates agent.refs according to the .msgs provided in the .repos" OFF
+project(micro_ros_agent)
-  )
+
+
 set(CMAKE_C_CLANG_TIDY clang-tidy -checks=*)
 
-project(micro_ros_agent LANGUAGES CXX)
+# 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(microxrcedds_agent REQUIRED)
+find_package(fastcdr REQUIRED CONFIG)
+find_package(fastrtps REQUIRED CONFIG)
+find_package(microxrcedds_agent REQUIRED CONFIG)
+find_package(ament_cmake_python 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>
-  )
 
+# Export dependencies to downstream packages
+ament_export_dependencies(fastcdr)
+ament_export_dependencies(fastrtps)
 ament_export_dependencies(microxrcedds_agent)
 
-ament_package()
 
-install(
+# Set variables
-  TARGETS
+set(_OUTPUT_PATH "${CMAKE_CURRENT_BINARY_DIR}/python")
-    ${PROJECT_NAME}
-  DESTINATION
-    lib/${PROJECT_NAME}
-  )
 
-if(UROSAGENT_GENERATE_PROFILE)
+set(_XML_INTERFACE_GEN_BIN "${_OUTPUT_PATH}/bin/Xml_interface_gen.py")
-  set(_OUTPUT_PATH "${CMAKE_CURRENT_BINARY_DIR}/python")
+normalize_path(_XML_INTERFACE_GEN_BIN "${_XML_INTERFACE_GEN_BIN}")
 
-  set(_XML_INTERFACE_GEN_BIN "${_OUTPUT_PATH}/bin/Xml_interface_gen.py")
+set(_XML_DEFAULT_READ_BIN "${_OUTPUT_PATH}/bin/Xml_read_default_profiles.py")
-  normalize_path(_XML_INTERFACE_GEN_BIN "${_XML_INTERFACE_GEN_BIN}")
+normalize_path(_XML_DEFAULT_READ_BIN "${_XML_DEFAULT_READ_BIN}")
 
-  set(_XML_DEFAULT_READ_BIN "${_OUTPUT_PATH}/bin/Xml_read_default_profiles.py")
+set(_PYTHON_PKG_TOOL ${PROJECT_NAME})
-  normalize_path(_XML_DEFAULT_READ_BIN "${_XML_DEFAULT_READ_BIN}")
 
-  set(_PYTHON_PKG_TOOL ${PROJECT_NAME})
+set(_RESOURCE_DIR "${_OUTPUT_PATH}/resource")
+normalize_path(_RESOURCE_DIR "${_RESOURCE_DIR}")
 
-  set(_RESOURCE_DIR "${_OUTPUT_PATH}/resource")
-  normalize_path(_RESOURCE_DIR "${_RESOURCE_DIR}")
 
-  set(_DEFAULT_FASTRTPS_PROFILES_PATH "${_OUTPUT_PATH}/gen/DEFAULT_FASTRTPS_PROFILES.xml")
+set(_DEFAULT_FASTRTPS_PROFILES_PATH "${_OUTPUT_PATH}/gen/DEFAULT_FASTRTPS_PROFILES.xml")
-  normalize_path(_DEFAULT_FASTRTPS_PROFILES_PATH "${_DEFAULT_FASTRTPS_PROFILES_PATH}")
+normalize_path(_DEFAULT_FASTRTPS_PROFILES_PATH "${_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
+# Get colcon call dir
-    "
+get_filename_component(_COLCON_CALL_DIR "${PROJECT_BINARY_DIR}" DIRECTORY)
-    import os\n
+get_filename_component(_COLCON_CALL_DIR "${_COLCON_CALL_DIR}" DIRECTORY)
-    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"
-    )
 
+# 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 ${package})
+  list(GET package 0 package_file)
+  list(GET package 1 package)
+
+
+  # Get all msg files
   execute_process(
-    COMMAND
+  COMMAND
-      "${PYTHON_EXECUTABLE}"
+  "${PYTHON_EXECUTABLE}"
-      "-c"
+  "-c"
-      "${_PYTHON_SCRIPT_HEAD}for package in GetInterfacePackages(GetPackageList('${_COLCON_CALL_DIR}')): print ('%s,%s' % (package, GetPackageName(package)))"
+  "${_PYTHON_SCRIPT_HEAD}for msg in GetInterfacePackageMsgs('${package_file}'): print ('%s' % msg)"
-    OUTPUT_VARIABLE
+  OUTPUT_VARIABLE ${package}_MSG_FILES
-      _packages
+  RESULT_VARIABLE _result
-    RESULT_VARIABLE
+  OUTPUT_STRIP_TRAILING_WHITESPACE
-      _result
+  )
-    OUTPUT_STRIP_TRAILING_WHITESPACE
-    )
-
   if(NOT _result EQUAL 0)
-    message(FATAL_ERROR "Error finding XML packages")
+    message(FATAL_ERROR "Error finding .msg files")
   endif()
 
-  string(REPLACE "\n" ";" _packages ${_packages})
+  # Skip if there are no msgs to create
+  if(${package}_MSG_FILES STREQUAL "")
+    continue()
+  endif()
 
-  set(ALL_MSG_FILES "")
+  # Generate list
-  foreach(package ${_packages})
+  string(REPLACE "\n" ";" ${package}_MSG_FILES ${${package}_MSG_FILES})
 
-    string(REPLACE "," ";" package ${package})
+endforeach()
-    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)
+# Append defaul xml profiles
-      message(FATAL_ERROR "Error finding .msg files")
+execute_process(
-    endif()
+  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()
 
-    if(${package}_MSG_FILES STREQUAL "")
-      continue()
-    endif()
 
-    string(REPLACE "\n" ";" ${package}_MSG_FILES ${${package}_MSG_FILES})
+# Create one xml for each message
+foreach(package ${_packages})
+  string(REPLACE "," ";" package ${package})
+  list(GET package 0 package_file)
+  list(GET package 1 package)
 
-  endforeach()
 
-  execute_process(
+  # Skip this generation if there are no msgs to process
-    COMMAND 
+  if(${package}_MSG_FILES STREQUAL "")
-      "${PYTHON_EXECUTABLE}" "${_XML_DEFAULT_READ_BIN}" "--default-xml-path" "${_RESOURCE_DIR}"
+    continue()
-    OUTPUT_VARIABLE
+  endif()
-      _XmlDoc
+
-    RESULT_VARIABLE
+
-      _result
+
+  # 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()
 
-  foreach(package ${_packages})
-    string(REPLACE "," ";" package ${package})
-    list(GET package 0 package_file)
-    list(GET package 1 package)
 
-    if(${package}_MSG_FILES STREQUAL "")
+  # Strore xml
-      continue()
+  set(_XmlDoc "${_XmlDoc}${_XmlGen}")
-    endif()
   
-    set(generator_arguments_file "${_OUTPUT_PATH}/XML_ArgFiles/${package}_Args.json")
+endforeach()
-    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)
+# Close profile 
-      message(FATAL_ERROR "Error in typesuppor generation") 
+set (_XmlDoc "<profiles>\n${_XmlDoc}</profiles>\n")
-    endif()
 
-    set(_XmlDoc "${_XmlDoc}${_XmlGen}")
 
-  endforeach()
+# Save 
+file(WRITE "${_DEFAULT_FASTRTPS_PROFILES_PATH}" "${_XmlDoc}")
 
-  set (_XmlDoc "<profiles>\n${_XmlDoc}</profiles>\n")
 
-  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 REQUIRED)
+
+  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/package.xml

@@ -10,11 +10,22 @@
   <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</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>

micro_ros_agent/src/main.cpp

@@ -1,4 +1,5 @@
-// Copyright 2017-present Proyectos y Sistemas de Mantenimiento SL (eProsima).
+
+// 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.
@@ -13,21 +14,9 @@
 // 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");
@@ -35,13 +24,11 @@ int main(int argc, char** argv)
     app.get_formatter()->column_width(42);
 
     /* CLI subcommands. */
-    eprosima::uxr::cli::UDPv4Subcommand udpv4_subcommand(app);
+    eprosima::uxr::cli::UDPv6Subcommand udp_subcommand(app);
-    eprosima::uxr::cli::UDPv6Subcommand udpv6_subcommand(app);
+    eprosima::uxr::cli::TCPv6Subcommand tcp_subcommand(app);
-    eprosima::uxr::cli::TCPv4Subcommand tcpv4_subcommand(app);
-    eprosima::uxr::cli::TCPv6Subcommand tcpv6_subcommand(app);
 #ifndef _WIN32
-    eprosima::uxr::cli::TermiosSubcommand serial_subcommand(app);
+    eprosima::uxr::cli::SerialSubcommand serial_subcommand(app);
-    eprosima::uxr::cli::PseudoTerminalSubcommand pseudo_serial_subcommand(app);
+    eprosima::uxr::cli::PseudoSerialSubcommand pseudo_serial_subcommand(app);
 #endif
     eprosima::uxr::cli::ExitSubcommand exit_subcommand(app);
 
@@ -70,7 +57,6 @@ int main(int argc, char** argv)
         }
     }
 
-#ifdef  _WIN32
     /* Waiting until exit. */
     std::cin.clear();
     char exit_flag = 0;
@@ -78,10 +64,6 @@ int main(int argc, char** argv)
     {
         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;
 }