Merge pull request #20 from micro-ROS/fix/crystal-package-list

Fix/crystal package list

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 +12,248 @@
 # 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
-  "Generates agent.refs according to the .msgs provided in the .repos" OFF
-  )
+# Set proyect name
+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(
-  TARGETS
-    ${PROJECT_NAME}
-  DESTINATION
-    lib/${PROJECT_NAME}
-  )
+# Set variables
+set(_OUTPUT_PATH "${CMAKE_CURRENT_BINARY_DIR}/python")
 
-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_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(_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(_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 "${_OUTPUT_PATH}/gen/DEFAULT_FASTRTPS_PROFILES.xml")
-  normalize_path(_DEFAULT_FASTRTPS_PROFILES_PATH "${_DEFAULT_FASTRTPS_PROFILES_PATH}")
+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 ${_PYTHON_PKG_TOOL} import *\n
-    "
-    )
+# Get colcon call dir
+get_filename_component(_COLCON_CALL_DIR "${PROJECT_BINARY_DIR}" DIRECTORY)
+get_filename_component(_COLCON_CALL_DIR "${_COLCON_CALL_DIR}" DIRECTORY)
 
-  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()
+message("Packages in '${_COLCON_CALL_DIR}: ${_packages}")
+
+
+# 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"
-      "${_PYTHON_SCRIPT_HEAD}for package in GetInterfacePackages(GetPackageList('${_COLCON_CALL_DIR}')): print ('%s,%s' % (package, GetPackageName(package)))"
-    OUTPUT_VARIABLE
-      _packages
-    RESULT_VARIABLE
-      _result
-    OUTPUT_STRIP_TRAILING_WHITESPACE
-    )
-
+  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 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 "")
-  foreach(package ${_packages})
+  # Generate list
+  string(REPLACE "\n" ";" ${package}_MSG_FILES ${${package}_MSG_FILES})
 
-    string(REPLACE "," ";" package ${package})
-    list(GET package 0 package_file)
-    list(GET package 1 package)
+endforeach()
 
-    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()
+# 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()
 
-    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(
-    COMMAND 
-      "${PYTHON_EXECUTABLE}" "${_XML_DEFAULT_READ_BIN}" "--default-xml-path" "${_RESOURCE_DIR}"
-    OUTPUT_VARIABLE
-      _XmlDoc
-    RESULT_VARIABLE
-      _result
+  # Skip this generation if there are no msgs to process
+  if(${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()
 
-  foreach(package ${_packages})
-    string(REPLACE "," ";" package ${package})
-    list(GET package 0 package_file)
-    list(GET package 1 package)
 
-    if(${package}_MSG_FILES STREQUAL "")
-      continue()
-    endif()
+  # Strore xml
+  set(_XmlDoc "${_XmlDoc}${_XmlGen}")
+  
+endforeach()
 
-    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 "${generator_arguments_file}"
-      OUTPUT_VARIABLE
-        _XmlGen
-      RESULT_VARIABLE
-        _result
-      )
+# Close profile 
+set (_XmlDoc "<profiles>\n${_XmlDoc}</profiles>\n")
 
-    if(NOT _result EQUAL 0)
-      message(FATAL_ERROR "Error in typesuppor generation") 
-    endif()
 
-    set(_XmlDoc "${_XmlDoc}${_XmlGen}")
+# Save 
+file(WRITE "${_DEFAULT_FASTRTPS_PROFILES_PATH}" "${_XmlDoc}")
 
-  endforeach()
 
-  set (_XmlDoc "<profiles>\n${_XmlDoc}</profiles>\n")
+# 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)
 
-  file(WRITE "${_DEFAULT_FASTRTPS_PROFILES_PATH}" "${_XmlDoc}")
-endif()
+  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/bin/Xml_interface_gen.py

@@ -7,7 +7,7 @@ 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 rosidl_parser import UnknownMessageType
 from micro_ros_agent import generate_XML
 
 

micro_ros_agent/micro_ros_agent/__init__.py

@@ -18,12 +18,12 @@ 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_adapter.parser import parse_message_file
-from rosidl_adapter.parser import parse_service_file
-from rosidl_adapter.parser import validate_field_types
+from rosidl_parser import parse_message_file
+from rosidl_parser import parse_service_file
+from rosidl_parser import validate_field_types
 
-from rosidl_cmake import generate_files
 
 def GetPackage(Dir):
     
@@ -214,4 +214,4 @@ def generate_XML(args):
             #f = open(os.path.join(args['output_dir'], 'demofile.txt'), 'w+')
             #f.write("%s\n" % spec)
             #f.close()
-    return 0
+    return 0

micro_ros_agent/package.xml

@@ -10,11 +10,22 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_export_depend>ament_cmake</buildtool_export_depend>
 
-  <depend>microxrcedds_agent</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>

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.
@@ -12,76 +13,225 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <uxr/agent/utils/CLI.hpp>
-#include <csignal>
+#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)
 {
-#ifndef _WIN32
-    sigset_t signals;
-    sigemptyset(&signals);
-    if(sigaddset(&signals, SIGINT) && sigaddset(&signals, SIGTERM))
+    eprosima::uxr::Server* server = nullptr;
+    std::vector<std::string> cl(0);
+
+    if (1 == argc)
     {
-        std::cerr << "Wrong signalset" << std::endl;
-        std::exit(EXIT_FAILURE);
+        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;
     }
-    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)
+    else
     {
-        cli_input.append(argv[i]);
-        cli_input.append(" ");
-    }
-
-    while (true)
-    {
-        try
+        for (int i = 1; i < argc; ++i)
         {
-            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);
+            cl.push_back(argv[i]);
         }
     }
 
-#ifdef  _WIN32
-    /* Waiting until exit. */
-    std::cin.clear();
-    char exit_flag = 0;
-    while ('q' != exit_flag)
+    if((1 == cl.size()) && (("-h" == cl[0]) || ("--help" == cl[0])))
     {
-        std::cin >> exit_flag;
+        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
-    /* Wait for SIGTERM/SIGINT instead, as reading from stdin may be redirected to /dev/null. */
-    int n_signal = 0;
-    sigwait(&signals, &n_signal);
+        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;
 }

microxrcedds_agent_cmake_module/CHANGELOG.rst

@@ -0,0 +1,7 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package microxrcedds_agent_cmake_module
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.0.1 (2019-04-24)
+------------------
+* Initial release

microxrcedds_agent_cmake_module/CMakeLists.txt

@@ -0,0 +1,32 @@
+# 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.
+
+cmake_minimum_required(VERSION 3.5)
+
+project(microxrcedds_agent_cmake_module)
+
+find_package(ament_cmake REQUIRED)
+
+if(BUILD_TESTING)
+    find_package(ament_lint_auto REQUIRED)
+    ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package(
+    CONFIG_EXTRAS "microxrcedds_agent_cmake_module-extras.cmake"
+)
+
+install(DIRECTORY cmake
+    DESTINATION share/${PROJECT_NAME}
+)

microxrcedds_agent_cmake_module/cmake/Modules/FindMicroXRCEDDS_Agent.cmake

@@ -0,0 +1,124 @@
+# 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.
+
+###############################################################################
+#
+# CMake module for finding eProsima MICROXRCEDDS_AGENT.
+#
+# Output variables:
+#
+# - MicroXRCEDDS_Agent_FOUND: flag indicating if the package was found
+# - MicroXRCEDDS_Agent_INCLUDE_DIR: Paths to the header files
+#
+# Example usage:
+#
+#   find_package(uros_agent_cmake_module REQUIRED)
+#   find_package(MicroXRCEDDS_Agent MODULE)
+#   # use MicroXRCEDDS_Agent_* variables
+#
+###############################################################################
+
+# lint_cmake: -convention/filename, -package/stdargs
+
+set(MicroXRCEDDS_Agent_FOUND FALSE)
+
+find_package(microxrcedds_agent REQUIRED CONFIG)
+find_package(fastcdr REQUIRED CONFIG)
+find_package(fastrtps REQUIRED CONFIG)
+
+find_path(MicroXRCEDDS_Agent_INCLUDE_DIR NAMES uxr)
+
+string(REGEX MATCH "^[0-9]+\\.[0-9]+" microxrcedds_agent_MAJOR_MINOR_VERSION "${microxrcedds_agent_VERSION}")
+string(REGEX MATCH "^[0-9]+\\.[0-9]+" fastcdr_MAJOR_MINOR_VERSION "${fastcdr_VERSION}")
+string(REGEX MATCH "^[0-9]+\\.[0-9]+" fastrtps_MAJOR_MINOR_VERSION "${fastrtps_VERSION}")
+
+##
+find_library(MicroXRCEDDS_Agent_LIBRARY_RELEASE
+  NAMES microxrcedds_agent-${microxrcedds_agent_MAJOR_MINOR_VERSION} microxrcedds_agent)
+
+find_library(MicroXRCEDDS_Agent_LIBRARY_DEBUG
+  NAMES microxrcedds_agentd-${microxrcedds_agent_MAJOR_MINOR_VERSION} microxrcedds_agentd)
+
+if(MicroXRCEDDS_Agent_LIBRARY_RELEASE AND MicroXRCEDDS_Agent_LIBRARY_DEBUG)
+    set(MicroXRCEDDS_Agent_LIBRARIES
+        optimized ${MicroXRCEDDS_Agent_LIBRARY_RELEASE}
+        debug ${MicroXRCEDDS_Agent_LIBRARY_DEBUG}
+    )
+elseif(MicroXRCEDDS_Agent_LIBRARY_RELEASE)
+    set(MicroXRCEDDS_Agent_LIBRARIES
+        ${MicroXRCEDDS_Agent_LIBRARY_RELEASE}
+    )
+elseif(MicroXRCEDDS_Agent_LIBRARY_DEBUG)
+    set(MicroXRCEDDS_Agent_LIBRARIES
+        ${MicroXRCEDDS_Agent_LIBRARY_DEBUG}
+    )
+else()
+    set(MicroXRCEDDS_Agent_LIBRARIES "")
+endif()
+
+##
+find_library(FastRTPS_LIBRARY_RELEASE
+  NAMES fastrtps-${fastrtps_MAJOR_MINOR_VERSION} fastrtps)
+
+find_library(FastRTPS_LIBRARY_DEBUG
+  NAMES fastrtpsd-${fastrtps_MAJOR_MINOR_VERSION} fastrtpsd)
+
+if(FastRTPS_LIBRARY_RELEASE AND FastRTPS_LIBRARY_DEBUG)
+    set(FastRTPS_LIBRARIES
+        optimized ${FastRTPS_LIBRARY_RELEASE}
+        debug ${FastRTPS_LIBRARY_DEBUG}
+    )
+elseif(FastRTPS_LIBRARY_RELEASE)
+    set(FastRTPS_LIBRARIES
+        ${MicroXRCEDDS_Agent_LIBRARY_RELEASE}
+    )
+elseif(FastRTPS_LIBRARY_DEBUG)
+    set(FastRTPS_LIBRARIES
+        ${MicroXRCEDDS_Agent_LIBRARY_DEBUG}
+    )
+else()
+    set(FastRTPS_LIBRARIES "")
+endif()
+
+##
+find_library(FastCDR_LIBRARY_RELEASE
+  NAMES fastcdr-${fastcdr_MAJOR_MINOR_VERSION} fastcdr)
+
+find_library(FastCDR_LIBRARY_DEBUG
+  NAMES fastcdrd-${fastcdr_MAJOR_MINOR_VERSION} fastcdrd)
+
+if(FastCDR_LIBRARY_RELEASE AND FastCDR_LIBRARY_DEBUG)
+    set(FastCDR_LIBRARIES
+        optimized ${FastCDR_LIBRARY_RELEASE}
+        debug ${FastCDR_LIBRARY_DEBUG}
+    )
+elseif(FastCDR_LIBRARY_RELEASE)
+    set(FastCDR_LIBRARIES
+        ${FastCDR_LIBRARY_RELEASE}
+    )
+elseif(FastCDR_LIBRARY_DEBUG)
+    set(FastCDR_LIBRARIES
+        ${FastCDR_LIBRARY_DEBUG}
+    )
+else()
+    set(FastCDR_LIBRARIES "")
+endif()
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(MicroXRCEDDS_Agent
+        FOUND_VAR MicroXRCEDDS_Agent_FOUND
+  REQUIRED_VARS
+        MicroXRCEDDS_Agent_INCLUDE_DIR
+        MicroXRCEDDS_Agent_LIBRARIES
+)

microxrcedds_agent_cmake_module/microxrcedds_agent_cmake_module-extras.cmake

@@ -0,0 +1,16 @@
+# 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.
+
+list(INSERT CMAKE_MODULE_PATH 0
+    "${microxrcedds_agent_cmake_module_DIR}/Modules")

microxrcedds_agent_cmake_module/package.xml

@@ -0,0 +1,22 @@
+<?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>microxrcedds_agent_cmake_module</name>
+  <version>0.0.1</version>
+  <description>Provide CMake module to find eProsima Micro XRCE-DDS Agent</description>
+  <maintainer email="borjaouterelo@eprosima.com">Borja Outerelo</maintainer>
+  <license>Apache License 2.0</license>
+  <author>Borja Outerelo</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <build_depend>microxrcedds_agent</build_depend>
+  <build_export_depend>microxrcedds_agent</build_export_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>