Changing to IPV6

micro_ros_agent/CMakeLists.txt

@@ -208,8 +208,7 @@ 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_cmake_module REQUIRED)
+  find_package(microxrcedds_agent REQUIRED)
-  find_package(MicroXRCEDDS_Agent REQUIRED MODULE)
 
   add_executable(${PROJECT_NAME} src/main.cpp)
   ament_target_dependencies(

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_parser import UnknownMessageType
+from rosidl_adapter.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_parser import parse_message_file
+from rosidl_adapter.parser import parse_message_file
-from rosidl_parser import parse_service_file
+from rosidl_adapter.parser import parse_service_file
-from rosidl_parser import validate_field_types
+from rosidl_adapter.parser import validate_field_types
 
+from rosidl_cmake import generate_files
 
 def GetPackage(Dir):
     

micro_ros_agent/package.xml

@@ -14,7 +14,7 @@
 
   <depend>fastcdr</depend>
   <depend>fastrtps</depend>
-  <depend>microxrcedds_agent_cmake_module</depend>
+  <depend>microxrcedds_agent</depend>
   <depend>rosidl_cmake</depend>
   
   <build_depend>rclcpp</build_depend>

micro_ros_agent/src/main.cpp

@@ -13,225 +13,57 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifdef _WIN32
+#include <uxr/agent/utils/CLI.hpp>
-#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)
 {
-    eprosima::uxr::Server* server = nullptr;
-    std::vector<std::string> cl(0);
 
-    if (1 == argc)
+    /* CLI application. */
-    {
+    CLI::App app("micro-ROS Agent");
-        showHelp();
+    app.require_subcommand(1, 1);
-        std::cout << std::endl;
+    app.get_formatter()->column_width(42);
-        std::cout << "Enter command: ";
 
-        std::string raw_cl;
+    /* CLI subcommands. */
-        std::getline(std::cin, raw_cl);
+    eprosima::uxr::cli::UDPv6Subcommand udp_subcommand(app);
-        std::istringstream iss(raw_cl);
+    eprosima::uxr::cli::TCPv6Subcommand tcp_subcommand(app);
-        cl.insert(cl.begin(), std::istream_iterator<std::string>(iss), std::istream_iterator<std::string>());
-        std::cout << raw_cl << std::endl;
-    }
-    else
-    {
-        for (int i = 1; i < argc; ++i)
-        {
-            cl.push_back(argv[i]);
-        }
-    }
-
-    if((1 == cl.size()) && (("-h" == cl[0]) || ("--help" == cl[0])))
-    {
-        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
-        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]))
+    eprosima::uxr::cli::SerialSubcommand serial_subcommand(app);
-    {
+    eprosima::uxr::cli::PseudoSerialSubcommand pseudo_serial_subcommand(app);
-        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
+    eprosima::uxr::cli::ExitSubcommand exit_subcommand(app);
+
+    /* CLI parse. */
+    std::string cli_input{};
+    for (int i = 1; i < argc; ++i)
     {
-        initializationError();
+        cli_input.append(argv[i]);
+        cli_input.append(" ");
     }
 
-    if (nullptr != server)
+    while (true)
     {
-        /* Launch server. */
+        try
-        if (server->run())
         {
-            std::cout << "OK" << std::endl;
+            app.parse(cli_input);
+            break;
+        }
+        catch (const CLI::ParseError& e)
+        {
+            app.exit(e);
             std::cin.clear();
-            char exit_flag = 0;
+            std::cout << std::endl;
-            while ('q' != exit_flag)
+            std::cout << "Enter command: ";
-            {
+            std::getline(std::cin, cli_input);
-                std::cout << "Enter 'q' for exit" << std::endl;
-                std::cin >> exit_flag;
-            }
-            server->stop();
-        }
-        else
-        {
-            std::cout << "ERROR" << std::endl;
         }
     }
 
+    /* Waiting until exit. */
+    std::cin.clear();
+    char exit_flag = 0;
+    while ('q' != exit_flag)
+    {
+        std::cin >> exit_flag;
+    }
+
     return 0;
 }

microxrcedds_agent_cmake_module/CHANGELOG.rst

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

microxrcedds_agent_cmake_module/CMakeLists.txt

@@ -1,32 +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.
-
-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

@@ -1,124 +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.
-
-###############################################################################
-#
-# 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

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

microxrcedds_agent_cmake_module/package.xml

@@ -1,22 +0,0 @@
-<?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>micro-xrce-dds-agent</build_depend>
-  <build_export_depend>micro-xrce-dds-agent</build_export_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>