Refactor CMakeLists.txt. (#28)

* 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>

micro_ros_agent/CMakeLists.txt

@@ -1,4 +1,4 @@
-# Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+# 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.
@@ -12,246 +12,189 @@
 # 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)
-
-
+option(UROSAGENT_GENERATE_PROFILE
+  "Generates agent.refs according to the .msgs provided in the .repos" OFF
+  )
 set(CMAKE_C_CLANG_TIDY clang-tidy -checks=*)
 
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
+project(micro_ros_agent LANGUAGES CXX)
 
-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)
+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>
+  )
 
-# Export dependencies to downstream packages
-ament_export_dependencies(fastcdr)
-ament_export_dependencies(fastrtps)
 ament_export_dependencies(microxrcedds_agent)
 
+ament_package()
 
-# 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 ""
+install(
+  TARGETS
+    ${PROJECT_NAME}
+  DESTINATION
+    lib/${PROJECT_NAME}
   )
 
+if(UROSAGENT_GENERATE_PROFILE)
+  set(_OUTPUT_PATH "${CMAKE_CURRENT_BINARY_DIR}/python")
 
-   # execute python script
-   execute_process(
-    COMMAND "${PYTHON_EXECUTABLE}" "${_XML_INTERFACE_GEN_BIN}" --generator-arguments-file "${generator_arguments_file}"
-    OUTPUT_VARIABLE _XmlGen
-    RESULT_VARIABLE _result
+  set(_XML_INTERFACE_GEN_BIN "${_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)
 
-  # Strore xml
-  set(_XmlDoc "${_XmlDoc}${_XmlGen}")
-  
-endforeach()
+    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 ""
+    )
 
-# Close profile 
-set (_XmlDoc "<profiles>\n${_XmlDoc}</profiles>\n")
+     execute_process(
+      COMMAND
+        "${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()
 
-# Save 
-file(WRITE "${_DEFAULT_FASTRTPS_PROFILES_PATH}" "${_XmlDoc}")
+    set(_XmlDoc "${_XmlDoc}${_XmlGen}")
 
+  endforeach()
 
-# Only compile uROS agent if rclcpp is found
-find_package(rclcpp QUIET)
-if (rclcpp_FOUND)
-  find_package(microxrcedds_agent REQUIRED)
+  set (_XmlDoc "<profiles>\n${_XmlDoc}</profiles>\n")
 
-  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/${PROJECT_NAME}
-#)
+  file(WRITE "${_DEFAULT_FASTRTPS_PROFILES_PATH}" "${_XmlDoc}")
+endif()

micro_ros_agent/package.xml

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

@@ -1,5 +1,4 @@
-
-// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+// 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.
@@ -14,9 +13,21 @@
 // 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");
@@ -24,11 +35,13 @@ int main(int argc, char** argv)
     app.get_formatter()->column_width(42);
 
     /* CLI subcommands. */
-    eprosima::uxr::cli::UDPv6Subcommand udp_subcommand(app);
-    eprosima::uxr::cli::TCPv6Subcommand tcp_subcommand(app);
+    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);
 #ifndef _WIN32
-    eprosima::uxr::cli::SerialSubcommand serial_subcommand(app);
-    eprosima::uxr::cli::PseudoSerialSubcommand pseudo_serial_subcommand(app);
+    eprosima::uxr::cli::TermiosSubcommand serial_subcommand(app);
+    eprosima::uxr::cli::PseudoTerminalSubcommand pseudo_serial_subcommand(app);
 #endif
     eprosima::uxr::cli::ExitSubcommand exit_subcommand(app);
 
@@ -57,6 +70,7 @@ int main(int argc, char** argv)
         }
     }
 
+#ifdef  _WIN32
     /* Waiting until exit. */
     std::cin.clear();
     char exit_flag = 0;
@@ -64,6 +78,10 @@ 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;
 }