remove packages which have been moved to other repos
This commit is contained in:
Dirk Thomas
parent
a0757ed0b4
commit
02cb3ebc5f
27 changed files with 0 additions and 1409 deletions
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@ -1,45 +0,0 @@
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cmake_minimum_required(VERSION 2.8.3)
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project(ros_dds_connext_dynamic)
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find_package(ament_cmake REQUIRED)
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find_package(ros_middleware_interface REQUIRED)
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find_package(rosidl_generator_cpp REQUIRED)
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find_package(ndds_cpp REQUIRED)
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#set(CONNEXT_INCLUDE_DIRS ${ndds_cpp_INCLUDE_DIRS})
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set(CONNEXT_INCLUDE_DIRS
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"/home/dthomas/RTI/ndds.5.1.0/include/ndds"
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"/home/dthomas/RTI/ndds.5.1.0/include"
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)
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#set(CONNEXT_LIBRARIES ${ndds_cpp_LIBRARIES})
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set(CONNEXT_LIBRARIES
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"/home/dthomas/RTI/ndds.5.1.0/lib/x64Linux2.6gcc4.4.5/libnddscppz.a"
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"/home/dthomas/RTI/ndds.5.1.0/lib/x64Linux2.6gcc4.4.5/libnddscz.a"
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"/home/dthomas/RTI/ndds.5.1.0/lib/x64Linux2.6gcc4.4.5/libnddscorez.a"
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)
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set(CONNEXT_DEFINITIONS ${ndds_cpp_DEFINITIONS})
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find_package(ros_dds_cpp_dynamic_typesupport REQUIRED)
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ament_export_dependencies(ros_dds_cpp_dynamic_typesupport)
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include_directories(${ros_dds_cpp_dynamic_typesupport_INCLUDE_DIRS})
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ament_export_dependencies(ros_middleware_interface rosidl_generator_cpp)
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ament_export_libraries(ros_dds_connext_dynamic dl pthread)
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ament_package()
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include_directories(${ros_middleware_interface_INCLUDE_DIRS} ${rosidl_generator_cpp_INCLUDE_DIRS} ${CONNEXT_INCLUDE_DIRS})
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link_directories("/home/dthomas/RTI/ndds.5.1.0/lib/x64Linux2.6gcc4.4.5")
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add_definitions(${CONNEXT_DEFINITIONS})
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add_library(ros_dds_connext_dynamic SHARED src/functions.cpp)
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target_link_libraries(ros_dds_connext_dynamic ${std_msgs_LIBRARIES} ${CONNEXT_LIBRARIES})
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install(
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TARGETS ros_dds_connext_dynamic
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LIBRARY DESTINATION lib
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ARCHIVE DESTINATION lib
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)
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<?xml version="1.0"?>
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<package format="2">
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<name>ros_dds_connext_dynamic</name>
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<version>0.0.0</version>
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<description>Implement the ROS middleware interface using RTI Connext DynammicData interface in C++.</description>
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<maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
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<license>Apache License 2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<build_depend>libndds51-dev</build_depend>
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<build_depend>ros_middleware_interface</build_depend>
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<build_depend>rosidl_generator_cpp</build_depend>
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<build_depend>ros_dds_cpp_dynamic_typesupport</build_depend>
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<build_export_depend>libndds51</build_export_depend>
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<build_export_depend>rosidl_generator_cpp</build_export_depend>
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<build_export_depend>ros_dds_cpp_dynamic_typesupport</build_export_depend>
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</package>
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#include <iostream>
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#include <stdexcept>
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#include "ndds/ndds_cpp.h"
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#include "rosidl_generator_cpp/MessageTypeSupport.h"
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#include "ros_middleware_interface/handles.h"
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#include "ros_dds_cpp_dynamic_typesupport/MessageTypeSupport.h"
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namespace ros_middleware_interface
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{
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const char * _rti_connext_dynamic_identifier = "connext_dynamic";
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ros_middleware_interface::NodeHandle create_node()
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{
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std::cout << "create_node()" << std::endl;
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std::cout << " create_node() get_instance" << std::endl;
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DDSDomainParticipantFactory* dpf_ = DDSDomainParticipantFactory::get_instance();
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if (!dpf_) {
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printf(" create_node() could not get participant factory\n");
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throw std::runtime_error("could not get participant factory");
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};
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DDS_DomainId_t domain = 23;
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std::cout << " create_node() create_participant" << std::endl;
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DDSDomainParticipant* participant = dpf_->create_participant(
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domain, DDS_PARTICIPANT_QOS_DEFAULT, NULL,
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DDS_STATUS_MASK_NONE);
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if (!participant) {
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printf(" create_node() could not create participant\n");
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throw std::runtime_error("could not create participant");
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};
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std::cout << " create_node() pass opaque node handle" << std::endl;
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ros_middleware_interface::NodeHandle node_handle = {
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_rti_connext_dynamic_identifier,
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participant
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};
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return node_handle;
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}
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struct CustomPublisherInfo {
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DDSDynamicDataTypeSupport * dynamic_data_type_support_;
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DDSDynamicDataWriter * dynamic_writer_;
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DDS_TypeCode * type_code_;
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ros_dds_cpp_dynamic_typesupport::MessageTypeSupportMembers * members_;
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DDS_DynamicData * dynamic_data;
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};
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ros_middleware_interface::PublisherHandle create_publisher(const ros_middleware_interface::NodeHandle& node_handle, const rosidl_generator_cpp::MessageTypeSupportHandle & type_support_handle, const char * topic_name)
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{
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std::cout << "create_publisher()" << std::endl;
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if (node_handle._implementation_identifier != _rti_connext_dynamic_identifier)
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{
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printf("node handle not from this implementation\n");
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printf("but from: %s\n", node_handle._implementation_identifier);
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throw std::runtime_error("node handle not from this implementation");
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}
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std::cout << "create_publisher() " << node_handle._implementation_identifier << std::endl;
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std::cout << " create_publisher() extract participant from opaque node handle" << std::endl;
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DDSDomainParticipant* participant = (DDSDomainParticipant*)node_handle._data;
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if (type_support_handle._implementation_identifier != ros_dds_cpp_dynamic_typesupport::_dynamic_identifier)
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{
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printf("type support not from this implementation\n");
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printf("but from: %s\n", type_support_handle._implementation_identifier);
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throw std::runtime_error("type support not from this implementation");
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}
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ros_dds_cpp_dynamic_typesupport::MessageTypeSupportMembers * members = (ros_dds_cpp_dynamic_typesupport::MessageTypeSupportMembers*)type_support_handle._data;
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std::string type_name = std::string(members->_package_name) + "/" + members->_message_name;
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std::cout << " create_publisher() create type code for " << type_name.c_str() << std::endl;
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DDS_TypeCode * type_code;
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{
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DDS_TypeCodeFactory * factory = NULL;
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DDS_ExceptionCode_t ex = DDS_NO_EXCEPTION_CODE;
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DDS_StructMemberSeq struct_members;
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factory = DDS_TypeCodeFactory::get_instance();
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if (!factory) {
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printf(" create_publisher() could not get typecode factory\n");
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throw std::runtime_error("could not get typecode factory");
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};
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type_code = factory->create_struct_tc(type_name.c_str(), struct_members, ex);
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for(unsigned long i = 0; i < members->_size; ++i)
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{
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const ros_dds_cpp_dynamic_typesupport::MessageTypeSupportMember * member = members->_members + i * sizeof(ros_dds_cpp_dynamic_typesupport::MessageTypeSupportMember);
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std::cout << " create_publisher() create type code - add member " << i << ": " << member->_name << "" << std::endl;
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const DDS_TypeCode * member_type_code;
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if (strcmp(member->_type, "int32") == 0)
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{
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member_type_code = factory->get_primitive_tc(DDS_TK_LONG);
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}
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else
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{
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printf("unknown type %s\n", member->_type);
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throw std::runtime_error("unknown type");
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}
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type_code->add_member(member->_name, DDS_TYPECODE_MEMBER_ID_INVALID, member_type_code,
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DDS_TYPECODE_NONKEY_REQUIRED_MEMBER, ex);
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}
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DDS_StructMemberSeq_finalize(&struct_members);
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}
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std::cout << " create_publisher() register type code" << std::endl;
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DDSDynamicDataTypeSupport* ddts = new DDSDynamicDataTypeSupport(
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type_code, DDS_DYNAMIC_DATA_TYPE_PROPERTY_DEFAULT);
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DDS_ReturnCode_t status = ddts->register_type(participant, type_name.c_str());
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if (status != DDS_RETCODE_OK) {
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printf("register_type() failed. Status = %d\n", status);
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throw std::runtime_error("register type failed");
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};
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DDS_PublisherQos publisher_qos;
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status = participant->get_default_publisher_qos(publisher_qos);
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if (status != DDS_RETCODE_OK) {
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printf("get_default_publisher_qos() failed. Status = %d\n", status);
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throw std::runtime_error("get default publisher qos failed");
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};
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std::cout << " create_publisher() create dds publisher" << std::endl;
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DDSPublisher* dds_publisher = participant->create_publisher(
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publisher_qos, NULL, DDS_STATUS_MASK_NONE);
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if (!dds_publisher) {
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printf(" create_publisher() could not create publisher\n");
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throw std::runtime_error("could not create publisher");
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};
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DDS_TopicQos default_topic_qos;
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status = participant->get_default_topic_qos(default_topic_qos);
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if (status != DDS_RETCODE_OK) {
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printf("get_default_topic_qos() failed. Status = %d\n", status);
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throw std::runtime_error("get default topic qos failed");
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};
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std::cout << " create_publisher() create topic" << std::endl;
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DDSTopic* topic = participant->create_topic(
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topic_name, type_name.c_str(), default_topic_qos, NULL,
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DDS_STATUS_MASK_NONE
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);
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if (!topic) {
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printf(" create_topic() could not create topic\n");
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throw std::runtime_error("could not create topic");
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};
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DDS_DataWriterQos default_datawriter_qos;
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status = participant->get_default_datawriter_qos(default_datawriter_qos);
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if (status != DDS_RETCODE_OK) {
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printf("get_default_datawriter_qos() failed. Status = %d\n", status);
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throw std::runtime_error("get default datawriter qos failed");
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};
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std::cout << " create_publisher() create data writer" << std::endl;
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DDSDataWriter* topic_writer = dds_publisher->create_datawriter(
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topic, default_datawriter_qos,
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NULL, DDS_STATUS_MASK_NONE);
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DDSDynamicDataWriter* dynamic_writer = DDSDynamicDataWriter::narrow(topic_writer);
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if (!dynamic_writer) {
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printf("narrow() failed.\n");
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throw std::runtime_error("narrow datawriter failed");
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};
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DDS_DynamicData * dynamic_data = ddts->create_data();
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std::cout << " create_publisher() build opaque publisher handle" << std::endl;
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CustomPublisherInfo* custom_publisher_info = new CustomPublisherInfo();
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custom_publisher_info->dynamic_data_type_support_ = ddts;
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custom_publisher_info->dynamic_writer_ = dynamic_writer;
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custom_publisher_info->type_code_ = type_code;
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custom_publisher_info->members_ = members;
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custom_publisher_info->dynamic_data = dynamic_data;
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ros_middleware_interface::PublisherHandle publisher_handle = {
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_rti_connext_dynamic_identifier,
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custom_publisher_info
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};
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return publisher_handle;
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}
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void publish(const ros_middleware_interface::PublisherHandle& publisher_handle, const void * ros_message)
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{
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//std::cout << "publish()" << std::endl;
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if (publisher_handle._implementation_identifier != _rti_connext_dynamic_identifier)
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{
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printf("publisher handle not from this implementation\n");
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printf("but from: %s\n", publisher_handle._implementation_identifier);
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throw std::runtime_error("publisher handle not from this implementation");
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}
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//std::cout << " publish() extract data writer and type code from opaque publisher handle" << std::endl;
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CustomPublisherInfo * custom_publisher_info = (CustomPublisherInfo*)publisher_handle._data;
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DDSDynamicDataTypeSupport* ddts = custom_publisher_info->dynamic_data_type_support_;
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DDSDynamicDataWriter * dynamic_writer = custom_publisher_info->dynamic_writer_;
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DDS_TypeCode * type_code = custom_publisher_info->type_code_;
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const ros_dds_cpp_dynamic_typesupport::MessageTypeSupportMembers * members = custom_publisher_info->members_;
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DDS_DynamicData * dynamic_data = custom_publisher_info->dynamic_data;
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//std::cout << " publish() create " << members->_package_name << "/" << members->_message_name << " and populate dynamic data" << std::endl;
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//DDS_DynamicData dynamic_data(type_code, DDS_DYNAMIC_DATA_PROPERTY_DEFAULT);
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//DDS_DynamicData * dynamic_data = ddts->create_data();
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for(unsigned long i = 0; i < members->_size; ++i)
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{
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const ros_dds_cpp_dynamic_typesupport::MessageTypeSupportMember * member = members->_members + i * sizeof(ros_dds_cpp_dynamic_typesupport::MessageTypeSupportMember);
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//std::cout << " publish() set member " << i << ": " << member->_name << "" << std::endl;
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DDS_TypeCode * member_type_code;
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if (strcmp(member->_type, "int32") == 0)
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{
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long value = *((int*)((char*)ros_message + member->_offset));
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//std::cout << " publish() set member " << i << ": " << member->_name << " = " << value << std::endl;
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DDS_ReturnCode_t status = dynamic_data->set_long(member->_name, DDS_DYNAMIC_DATA_MEMBER_ID_UNSPECIFIED, value);
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if (status != DDS_RETCODE_OK) {
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printf("set_long() failed. Status = %d\n", status);
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throw std::runtime_error("set member failed");
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};
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}
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else
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{
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printf("unknown type %s\n", member->_type);
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throw std::runtime_error("unknown type");
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}
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}
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//std::cout << " publish() write dynamic data" << std::endl;
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DDS_ReturnCode_t status = dynamic_writer->write(*dynamic_data, DDS_HANDLE_NIL);
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if (status != DDS_RETCODE_OK) {
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printf("write() failed. Status = %d\n", status);
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throw std::runtime_error("write failed");
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};
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//ddts->delete_data(dynamic_data);
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}
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}
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@ -1,57 +0,0 @@
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cmake_minimum_required(VERSION 2.8.3)
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project(ros_dds_connext_static)
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find_package(ament_cmake REQUIRED)
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find_package(ros_middleware_interface REQUIRED)
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find_package(rosidl_generator_cpp REQUIRED)
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find_package(rosidl_generator_dds_connext_cpp REQUIRED)
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find_package(ndds_cpp REQUIRED)
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#set(CONNEXT_INCLUDE_DIRS ${ndds_cpp_INCLUDE_DIRS})
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set(CONNEXT_INCLUDE_DIRS
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"/home/dthomas/RTI/ndds.5.1.0/include/ndds"
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"/home/dthomas/RTI/ndds.5.1.0/include"
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)
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#set(CONNEXT_LIBRARIES ${ndds_cpp_LIBRARIES})
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set(CONNEXT_LIBRARIES
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|
||||||
"/home/dthomas/RTI/ndds.5.1.0/lib/x64Linux2.6gcc4.4.5/libnddscppz.a"
|
|
||||||
"/home/dthomas/RTI/ndds.5.1.0/lib/x64Linux2.6gcc4.4.5/libnddscz.a"
|
|
||||||
"/home/dthomas/RTI/ndds.5.1.0/lib/x64Linux2.6gcc4.4.5/libnddscorez.a"
|
|
||||||
)
|
|
||||||
set(CONNEXT_DEFINITIONS ${ndds_cpp_DEFINITIONS})
|
|
||||||
|
|
||||||
ament_export_definitions(${CONNEXT_DEFINITIONS})
|
|
||||||
ament_export_dependencies(ros_middleware_interface rosidl_generator_cpp rosidl_generator_dds_connext_cpp)
|
|
||||||
ament_export_include_directories(include ${CONNEXT_INCLUDE_DIRS})
|
|
||||||
ament_export_libraries(ros_dds_connext_static dl pthread)
|
|
||||||
|
|
||||||
ament_python_install_package(${PROJECT_NAME})
|
|
||||||
|
|
||||||
ament_package(
|
|
||||||
CONFIG_EXTRAS "ros_dds_connext_static-extras.cmake"
|
|
||||||
)
|
|
||||||
|
|
||||||
include_directories(include ${ros_middleware_interface_INCLUDE_DIRS} ${rosidl_generator_cpp_INCLUDE_DIRS} ${rosidl_generator_dds_connext_cpp_INCLUDE_DIRS} ${CONNEXT_INCLUDE_DIRS})
|
|
||||||
link_directories("/home/dthomas/RTI/ndds.5.1.0/lib/x64Linux2.6gcc4.4.5")
|
|
||||||
add_definitions(${CONNEXT_DEFINITIONS})
|
|
||||||
add_library(ros_dds_connext_static SHARED src/functions.cpp)
|
|
||||||
target_link_libraries(ros_dds_connext_static ${std_msgs_LIBRARIES} ${rosidl_generator_dds_connext_cpp_LIBRARIES} ${CONNEXT_LIBRARIES})
|
|
||||||
|
|
||||||
install(
|
|
||||||
PROGRAMS bin/ros_dds_connext_static
|
|
||||||
DESTINATION lib/ros_dds_connext_static
|
|
||||||
)
|
|
||||||
install(
|
|
||||||
DIRECTORY cmake resource
|
|
||||||
DESTINATION share/${PROJECT_NAME}
|
|
||||||
)
|
|
||||||
install(
|
|
||||||
DIRECTORY include/
|
|
||||||
DESTINATION include
|
|
||||||
)
|
|
||||||
install(
|
|
||||||
TARGETS ros_dds_connext_static
|
|
||||||
LIBRARY DESTINATION lib
|
|
||||||
ARCHIVE DESTINATION lib
|
|
||||||
)
|
|
||||||
|
|
@ -1,45 +0,0 @@
|
||||||
#!/usr/bin/env python3
|
|
||||||
|
|
||||||
import argparse
|
|
||||||
import sys
|
|
||||||
|
|
||||||
from ros_dds_connext_static import generate_cpp
|
|
||||||
|
|
||||||
|
|
||||||
def main(argv=sys.argv[1:]):
|
|
||||||
parser = argparse.ArgumentParser(
|
|
||||||
description='Generate the C++ type support to statically handle ROS messages.',
|
|
||||||
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
|
|
||||||
parser.add_argument(
|
|
||||||
'--pkg-name',
|
|
||||||
required=True,
|
|
||||||
help='The package name to generate interfaces for')
|
|
||||||
parser.add_argument(
|
|
||||||
'--interface-files',
|
|
||||||
nargs='*',
|
|
||||||
help='The ROS interface files')
|
|
||||||
parser.add_argument(
|
|
||||||
'--deps',
|
|
||||||
nargs='*',
|
|
||||||
help="The dependencies (each as '<pkgname>:<abs_interface_file>')")
|
|
||||||
parser.add_argument(
|
|
||||||
'--output-dir',
|
|
||||||
required=True,
|
|
||||||
help='The location of the generated C++ interfaces')
|
|
||||||
parser.add_argument(
|
|
||||||
'--template-dir',
|
|
||||||
required=True,
|
|
||||||
help='The location of the template files')
|
|
||||||
args = parser.parse_args(argv)
|
|
||||||
|
|
||||||
return generate_cpp(
|
|
||||||
args.pkg_name,
|
|
||||||
args.interface_files,
|
|
||||||
args.deps,
|
|
||||||
args.output_dir,
|
|
||||||
args.template_dir,
|
|
||||||
)
|
|
||||||
|
|
||||||
|
|
||||||
if __name__ == '__main__':
|
|
||||||
sys.exit(main())
|
|
||||||
|
|
@ -1,61 +0,0 @@
|
||||||
message(" - ros_dds_connext_static_generate_interfaces.cmake")
|
|
||||||
message(" - target: ${rosidl_generate_interfaces_TARGET}")
|
|
||||||
message(" - interface files: ${rosidl_generate_interfaces_IDL_FILES}")
|
|
||||||
message(" - dependency package names: ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES}")
|
|
||||||
|
|
||||||
set(_output_path "${CMAKE_CURRENT_BINARY_DIR}/ros_dds_connext_static/${PROJECT_NAME}")
|
|
||||||
set(_generated_files "")
|
|
||||||
foreach(_idl_file ${rosidl_generate_interfaces_IDL_FILES})
|
|
||||||
get_filename_component(name "${_idl_file}" NAME_WE)
|
|
||||||
list(APPEND _generated_files
|
|
||||||
"${_output_path}/${name}_TypeSupport.h"
|
|
||||||
)
|
|
||||||
endforeach()
|
|
||||||
|
|
||||||
set(_dependency_files "")
|
|
||||||
set(_dependencies "")
|
|
||||||
foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
|
|
||||||
foreach(_idl_file ${${_pkg_name}_INTERFACE_FILES})
|
|
||||||
set(_abs_idl_file "${${_pkg_name}_DIR}/../${_idl_file}")
|
|
||||||
list(APPEND _dependency_files "${_abs_idl_file}")
|
|
||||||
list(APPEND _dependencies "${_pkg_name}:${_abs_idl_file}")
|
|
||||||
endforeach()
|
|
||||||
endforeach()
|
|
||||||
|
|
||||||
message(" - generated files: ${_generated_files}")
|
|
||||||
message(" - dependencies: ${_dependencies}")
|
|
||||||
|
|
||||||
add_custom_command(
|
|
||||||
OUTPUT ${_generated_files}
|
|
||||||
COMMAND ${PYTHON_EXECUTABLE} ${ros_dds_connext_static_BIN}
|
|
||||||
--pkg-name ${PROJECT_NAME}
|
|
||||||
--interface-files ${rosidl_generate_interfaces_IDL_FILES}
|
|
||||||
--deps ${_dependencies}
|
|
||||||
--output-dir ${_output_path}
|
|
||||||
--template-dir ${ros_dds_connext_static_TEMPLATE_DIR}
|
|
||||||
DEPENDS
|
|
||||||
${ros_dds_connext_static_BIN}
|
|
||||||
${ros_dds_connext_static_DIR}/../../../${PYTHON_INSTALL_DIR}/ros_dds_connext_static/__init__.py
|
|
||||||
${ros_dds_connext_static_TEMPLATE_DIR}/msg_TypeSupport.h.template
|
|
||||||
${rosidl_generate_interfaces_IDL_FILES}
|
|
||||||
${_dependency_files}
|
|
||||||
COMMENT "Generating C++ code for interfaces"
|
|
||||||
VERBATIM
|
|
||||||
)
|
|
||||||
|
|
||||||
add_custom_target(
|
|
||||||
${rosidl_generate_interfaces_TARGET}_cpp_connext_static
|
|
||||||
DEPENDS
|
|
||||||
${_generated_files}
|
|
||||||
)
|
|
||||||
add_dependencies(
|
|
||||||
${rosidl_generate_interfaces_TARGET}
|
|
||||||
${rosidl_generate_interfaces_TARGET}_cpp_connext_static
|
|
||||||
)
|
|
||||||
|
|
||||||
install(
|
|
||||||
FILES ${_generated_files}
|
|
||||||
DESTINATION "include/${PROJECT_NAME}"
|
|
||||||
)
|
|
||||||
|
|
||||||
ament_export_include_directories(include)
|
|
||||||
|
|
@ -1,27 +0,0 @@
|
||||||
|
|
||||||
#ifndef __ros_dds_connext_static__MessageTypeSupport__h__
|
|
||||||
#define __ros_dds_connext_static__MessageTypeSupport__h__
|
|
||||||
|
|
||||||
class DDSDomainParticipant;
|
|
||||||
class DDSDataWriter;
|
|
||||||
|
|
||||||
namespace ros_middleware_interface
|
|
||||||
{
|
|
||||||
|
|
||||||
extern const char * _rti_connext_identifier;
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
namespace ros_dds_connext_static
|
|
||||||
{
|
|
||||||
|
|
||||||
typedef struct MessageTypeSupportCallbacks {
|
|
||||||
const char * _package_name;
|
|
||||||
const char * _message_name;
|
|
||||||
void (*_register_type)(DDSDomainParticipant * participant, const char * type_name);
|
|
||||||
void (*_publish)(DDSDataWriter * topic_writer, const void * ros_message);
|
|
||||||
} MessageTypeSupportCallbacks;
|
|
||||||
|
|
||||||
} // namespace ros_dds_connext_static
|
|
||||||
|
|
||||||
#endif // __ros_dds_connext_static__MessageTypeSupport__h__
|
|
||||||
|
|
@ -1,25 +0,0 @@
|
||||||
<?xml version="1.0"?>
|
|
||||||
<package format="2">
|
|
||||||
<name>ros_dds_connext_static</name>
|
|
||||||
<version>0.0.0</version>
|
|
||||||
<description>Implement the ROS middleware interface using RTI Connext static code generation in C++.</description>
|
|
||||||
<maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
|
|
||||||
<license>Apache License 2.0</license>
|
|
||||||
|
|
||||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
|
||||||
<buildtool_depend>ament_cmake_python</buildtool_depend>
|
|
||||||
<buildtool_depend>rosidl_cmake</buildtool_depend>
|
|
||||||
|
|
||||||
<buildtool_export_depend>ament_cmake</buildtool_export_depend>
|
|
||||||
<buildtool_export_depend>rosidl_cmake</buildtool_export_depend>
|
|
||||||
|
|
||||||
<build_depend>libndds51-dev</build_depend>
|
|
||||||
<build_depend>ros_middleware_interface</build_depend>
|
|
||||||
<build_depend>rosidl_generator_cpp</build_depend>
|
|
||||||
<build_depend>rosidl_generator_dds_connext_cpp</build_depend>
|
|
||||||
<build_depend>rosidl_generator_dds_idl</build_depend>
|
|
||||||
|
|
||||||
<build_export_depend>libndds51</build_export_depend>
|
|
||||||
<build_export_depend>rosidl_generator_cpp</build_export_depend>
|
|
||||||
<build_export_depend>rosidl_generator_dds_connext_cpp</build_export_depend>
|
|
||||||
</package>
|
|
||||||
|
|
@ -1,126 +0,0 @@
|
||||||
@###############################################
|
|
||||||
@#
|
|
||||||
@# ROS message type support code generation for C++
|
|
||||||
@#
|
|
||||||
@# EmPy template for generating <msg>_TypeSupport.h files
|
|
||||||
@#
|
|
||||||
@###############################################
|
|
||||||
@# Start of Template
|
|
||||||
@#
|
|
||||||
@# Context:
|
|
||||||
@# - spec (rosidl_parser.MessageSpecification)
|
|
||||||
@# Parsed specification of the .msg file
|
|
||||||
@###############################################
|
|
||||||
|
|
||||||
#ifndef __@(spec.base_type.pkg_name)__@(spec.base_type.type)_TypeSupport__h__
|
|
||||||
#define __@(spec.base_type.pkg_name)__@(spec.base_type.type)_TypeSupport__h__
|
|
||||||
|
|
||||||
#include <iostream>
|
|
||||||
|
|
||||||
#include "@(spec.base_type.pkg_name)/@(spec.base_type.type)_Struct.h"
|
|
||||||
#include "@(spec.base_type.pkg_name)/dds_idl/@(spec.base_type.type)_Support.h"
|
|
||||||
#include "rosidl_generator_cpp/MessageTypeSupport.h"
|
|
||||||
#include "ros_dds_connext_static/MessageTypeSupport.h"
|
|
||||||
|
|
||||||
namespace @(spec.base_type.pkg_name)
|
|
||||||
{
|
|
||||||
|
|
||||||
namespace type_support
|
|
||||||
{
|
|
||||||
|
|
||||||
void register_type__@(spec.base_type.type)(DDSDomainParticipant * participant, const char * type_name)
|
|
||||||
{
|
|
||||||
std::cout << " @(spec.base_type.pkg_name)::type_support::register_type__@(spec.base_type.type)()" << std::endl;
|
|
||||||
@(spec.base_type.pkg_name)::dds_idl::@(spec.base_type.type)_TypeSupport::register_type(participant, type_name);
|
|
||||||
}
|
|
||||||
|
|
||||||
void convert_ros_message_to_dds__@(spec.base_type.type)(const void * untyped_ros_message, @(spec.base_type.pkg_name)::dds_idl::@(spec.base_type.type)_& dds_message)
|
|
||||||
{
|
|
||||||
//std::cout << " @(spec.base_type.pkg_name)::type_support::convert_ros_message_to_dds__@(spec.base_type.type)()" << std::endl;
|
|
||||||
const @(spec.base_type.pkg_name)::@(spec.base_type.type) & ros_message = *(const @(spec.base_type.pkg_name)::@(spec.base_type.type) *)untyped_ros_message;
|
|
||||||
@[for field in spec.fields]@
|
|
||||||
// field.name @(field.name)
|
|
||||||
// field.type @(field.type)
|
|
||||||
// field.type.is_array @(field.type.is_array)
|
|
||||||
@[if field.type.array_size]@
|
|
||||||
// field.type.array_size @(field.type.array_size)
|
|
||||||
@[else]@
|
|
||||||
// field.type.array_size dynamic
|
|
||||||
@[end if]@
|
|
||||||
@[if field.type.is_array]@
|
|
||||||
{
|
|
||||||
@[if field.type.array_size]@
|
|
||||||
size_t size = @(field.type.array_size);
|
|
||||||
@[else]@
|
|
||||||
size_t size = ros_message.@(field.name).size();
|
|
||||||
dds_message.@(field.name)_.length(size);
|
|
||||||
@[end if]@
|
|
||||||
for (size_t i = 0; i < size; i++) {
|
|
||||||
@[if field.type.is_primitive_type()]@
|
|
||||||
dds_message.@(field.name)_[i] = ros_message.@(field.name)[i];
|
|
||||||
@[else]@
|
|
||||||
::dds_impl::DDSTypeResolver<@(field.type.pkg_name)::@(field.type.type)>::convert_ros_message_to_dds(ros_message.@(field.name)[i], dds_message.@(field.name)_[i]);
|
|
||||||
@[end if]@
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@[elif field.type.is_primitive_type()]@
|
|
||||||
dds_message.@(field.name)_ = ros_message.@(field.name);
|
|
||||||
@[else]@
|
|
||||||
::dds_impl::DDSTypeResolver<@(field.type.pkg_name)::@(field.type.type)>::convert_ros_message_to_dds(ros_message.@(field.name), dds_message.@(field.name)_);
|
|
||||||
@[end if]@
|
|
||||||
|
|
||||||
@[end for]@
|
|
||||||
}
|
|
||||||
|
|
||||||
void publish__@(spec.base_type.type)(DDSDataWriter * topic_writer, const void * ros_message)
|
|
||||||
{
|
|
||||||
//std::cout << " @(spec.base_type.pkg_name)::type_support::publish__@(spec.base_type.type)()" << std::endl;
|
|
||||||
|
|
||||||
//@(spec.base_type.pkg_name)::dds_idl::@(spec.base_type.type)_ dds_message;
|
|
||||||
@(spec.base_type.pkg_name)::dds_idl::@(spec.base_type.type)_ * dds_message = @(spec.base_type.pkg_name)::dds_idl::@(spec.base_type.type)_TypeSupport::create_data();
|
|
||||||
convert_ros_message_to_dds__@(spec.base_type.type)(ros_message, *dds_message);
|
|
||||||
|
|
||||||
@(spec.base_type.pkg_name)::dds_idl::@(spec.base_type.type)_DataWriter * data_writer = @(spec.base_type.pkg_name)::dds_idl::@(spec.base_type.type)_DataWriter::narrow(topic_writer);
|
|
||||||
//std::cout << " @(spec.base_type.pkg_name)::type_support::publish__@(spec.base_type.type)() write dds message" << std::endl;
|
|
||||||
DDS_ReturnCode_t status = data_writer->write(*dds_message, DDS_HANDLE_NIL);
|
|
||||||
if (status != DDS_RETCODE_OK) {
|
|
||||||
printf("write() failed. Status = %d\n", status);
|
|
||||||
throw std::runtime_error("write failed");
|
|
||||||
};
|
|
||||||
|
|
||||||
@(spec.base_type.pkg_name)::dds_idl::@(spec.base_type.type)_TypeSupport::delete_data(dds_message);
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
static ros_dds_connext_static::MessageTypeSupportCallbacks callbacks = {
|
|
||||||
"@(spec.base_type.pkg_name)",
|
|
||||||
"@(spec.base_type.type)",
|
|
||||||
®ister_type__@(spec.base_type.type),
|
|
||||||
&publish__@(spec.base_type.type)
|
|
||||||
};
|
|
||||||
|
|
||||||
static rosidl_generator_cpp::MessageTypeSupportHandle handle = {
|
|
||||||
ros_middleware_interface::_rti_connext_identifier,
|
|
||||||
&callbacks
|
|
||||||
};
|
|
||||||
|
|
||||||
} // namespace type_support
|
|
||||||
|
|
||||||
} // namespace @(spec.base_type.pkg_name)
|
|
||||||
|
|
||||||
|
|
||||||
namespace rosidl_generator_cpp
|
|
||||||
{
|
|
||||||
|
|
||||||
template<>
|
|
||||||
struct MessageTypeSupport<@(spec.base_type.pkg_name)::@(spec.base_type.type)>
|
|
||||||
{
|
|
||||||
static const rosidl_generator_cpp::MessageTypeSupportHandle& get_type_support_handle()
|
|
||||||
{
|
|
||||||
return @(spec.base_type.pkg_name)::type_support::handle;
|
|
||||||
}
|
|
||||||
};
|
|
||||||
|
|
||||||
} // namespace rosidl_generator_cpp
|
|
||||||
|
|
||||||
#endif // __@(spec.base_type.pkg_name)__@(spec.base_type.type)_TypeSupport__h__
|
|
||||||
|
|
@ -1,12 +0,0 @@
|
||||||
# copied from ros_dds_connext_static/ros_dds_connext_static-extras.cmake
|
|
||||||
|
|
||||||
find_package(ament_cmake_core REQUIRED)
|
|
||||||
# TODO
|
|
||||||
# instead of being an extension for "rosidl_generate_interfaces"
|
|
||||||
# this should be an extension of "rosidl_generator_cpp"
|
|
||||||
# which can then ensure that there is only one
|
|
||||||
ament_register_extension("rosidl_generate_interfaces" "ros_dds_connext_static"
|
|
||||||
"ros_dds_connext_static_generate_interfaces.cmake")
|
|
||||||
|
|
||||||
set(ros_dds_connext_static_BIN "${ros_dds_connext_static_DIR}/../../../lib/ros_dds_connext_static/ros_dds_connext_static")
|
|
||||||
set(ros_dds_connext_static_TEMPLATE_DIR "${ros_dds_connext_static_DIR}/../resource")
|
|
||||||
|
|
@ -1,95 +0,0 @@
|
||||||
import em
|
|
||||||
import os
|
|
||||||
|
|
||||||
from rosidl_parser import parse_message_file
|
|
||||||
|
|
||||||
|
|
||||||
def generate_cpp(pkg_name, interface_files, deps, output_dir, template_dir):
|
|
||||||
mapping = {
|
|
||||||
os.path.join(template_dir, 'msg_TypeSupport.h.template'): '%s_TypeSupport.h',
|
|
||||||
}
|
|
||||||
for template_file in mapping.keys():
|
|
||||||
assert(os.path.exists(template_file))
|
|
||||||
|
|
||||||
try:
|
|
||||||
os.makedirs(output_dir)
|
|
||||||
except FileExistsError:
|
|
||||||
pass
|
|
||||||
|
|
||||||
for idl_file in interface_files:
|
|
||||||
spec = parse_message_file(pkg_name, idl_file)
|
|
||||||
for template_file, generated_filename in mapping.items():
|
|
||||||
generated_file = os.path.join(output_dir, generated_filename % spec.base_type.type)
|
|
||||||
print('Generating: %s' % generated_file)
|
|
||||||
|
|
||||||
try:
|
|
||||||
# TODO only touch generated file if its content actually changes
|
|
||||||
ofile = open(generated_file, 'w')
|
|
||||||
# TODO reuse interpreter
|
|
||||||
interpreter = em.Interpreter(
|
|
||||||
output=ofile,
|
|
||||||
options={
|
|
||||||
em.RAW_OPT: True,
|
|
||||||
em.BUFFERED_OPT: True,
|
|
||||||
},
|
|
||||||
globals={'spec': spec},
|
|
||||||
)
|
|
||||||
interpreter.file(open(template_file))
|
|
||||||
interpreter.shutdown()
|
|
||||||
except Exception:
|
|
||||||
os.remove(generated_file)
|
|
||||||
raise
|
|
||||||
|
|
||||||
return 0
|
|
||||||
|
|
||||||
|
|
||||||
MSG_TYPE_TO_CPP = {
|
|
||||||
'bool': 'uint8_t',
|
|
||||||
'float32': 'float',
|
|
||||||
'float64': 'double',
|
|
||||||
'uint8': 'uint8_t',
|
|
||||||
'int8': 'int8_t',
|
|
||||||
'uint16': 'uint16_t',
|
|
||||||
'int16': 'int16_t',
|
|
||||||
'uint32': 'uint32_t',
|
|
||||||
'int32': 'int32_t',
|
|
||||||
'uint64': 'uint64_t',
|
|
||||||
'int64': 'int64_t',
|
|
||||||
'string': 'std::basic_string<char, std::char_traits<char>, ' +
|
|
||||||
'typename ContainerAllocator::template rebind<char>::other>',
|
|
||||||
'byte': 'int8_t',
|
|
||||||
'char': 'uint8_t',
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
def msg_type_to_cpp(type_):
|
|
||||||
"""
|
|
||||||
Convert a message type into the C++ declaration.
|
|
||||||
|
|
||||||
Example input: uint32, std_msgs/String
|
|
||||||
Example output: uint32_t, std_msgs::String_<ContainerAllocator>
|
|
||||||
|
|
||||||
@param type: The message type
|
|
||||||
@type type: rosidl_parser.Type
|
|
||||||
"""
|
|
||||||
cpp_type = None
|
|
||||||
if type_.is_primitive_type():
|
|
||||||
cpp_type = MSG_TYPE_TO_CPP[type_.type]
|
|
||||||
else:
|
|
||||||
cpp_type = '::%s::%s_<ContainerAllocator> ' % \
|
|
||||||
(type_.pkg_name, type_.type)
|
|
||||||
|
|
||||||
if type_.is_array:
|
|
||||||
if type_.array_size is None:
|
|
||||||
return 'std::vector<%s, typename ContainerAllocator::template ' + \
|
|
||||||
'rebind<%s>::other > ' % (cpp_type, cpp_type)
|
|
||||||
else:
|
|
||||||
return 'boost::array<%s, %s> ' % (cpp_type, type_.array_size)
|
|
||||||
else:
|
|
||||||
return cpp_type
|
|
||||||
|
|
||||||
|
|
||||||
def escape_string(s):
|
|
||||||
s = s.replace('\\', '\\\\')
|
|
||||||
s = s.replace('"', '\\"')
|
|
||||||
return s
|
|
||||||
|
|
@ -1,155 +0,0 @@
|
||||||
#include <iostream>
|
|
||||||
#include <stdexcept>
|
|
||||||
|
|
||||||
#include "ndds/ndds_cpp.h"
|
|
||||||
|
|
||||||
#include "rosidl_generator_cpp/MessageTypeSupport.h"
|
|
||||||
#include "ros_middleware_interface/handles.h"
|
|
||||||
#include "ros_dds_connext_static/MessageTypeSupport.h"
|
|
||||||
|
|
||||||
namespace ros_middleware_interface
|
|
||||||
{
|
|
||||||
|
|
||||||
const char * _rti_connext_identifier = "connext_static";
|
|
||||||
|
|
||||||
ros_middleware_interface::NodeHandle create_node()
|
|
||||||
{
|
|
||||||
std::cout << "create_node()" << std::endl;
|
|
||||||
|
|
||||||
std::cout << " create_node() get_instance" << std::endl;
|
|
||||||
DDSDomainParticipantFactory* dpf_ = DDSDomainParticipantFactory::get_instance();
|
|
||||||
if (!dpf_) {
|
|
||||||
printf(" create_node() could not get participant factory\n");
|
|
||||||
throw std::runtime_error("could not get participant factory");
|
|
||||||
};
|
|
||||||
|
|
||||||
DDS_DomainId_t domain = 23;
|
|
||||||
|
|
||||||
std::cout << " create_node() create_participant" << std::endl;
|
|
||||||
DDSDomainParticipant* participant = dpf_->create_participant(
|
|
||||||
domain, DDS_PARTICIPANT_QOS_DEFAULT, NULL,
|
|
||||||
DDS_STATUS_MASK_NONE);
|
|
||||||
if (!participant) {
|
|
||||||
printf(" create_node() could not create participant\n");
|
|
||||||
throw std::runtime_error("could not create participant");
|
|
||||||
};
|
|
||||||
|
|
||||||
std::cout << " create_node() pass opaque node handle" << std::endl;
|
|
||||||
|
|
||||||
ros_middleware_interface::NodeHandle node_handle = {
|
|
||||||
_rti_connext_identifier,
|
|
||||||
participant
|
|
||||||
};
|
|
||||||
return node_handle;
|
|
||||||
}
|
|
||||||
|
|
||||||
struct CustomPublisherInfo {
|
|
||||||
DDSDataWriter * topic_writer_;
|
|
||||||
ros_dds_connext_static::MessageTypeSupportCallbacks * callbacks_;
|
|
||||||
};
|
|
||||||
|
|
||||||
ros_middleware_interface::PublisherHandle create_publisher(const ros_middleware_interface::NodeHandle& node_handle, const rosidl_generator_cpp::MessageTypeSupportHandle & type_support_handle, const char * topic_name)
|
|
||||||
{
|
|
||||||
std::cout << "create_publisher()" << std::endl;
|
|
||||||
|
|
||||||
if (node_handle._implementation_identifier != _rti_connext_identifier)
|
|
||||||
{
|
|
||||||
printf("node handle not from this implementation\n");
|
|
||||||
printf("but from: %s\n", node_handle._implementation_identifier);
|
|
||||||
throw std::runtime_error("node handle not from this implementation");
|
|
||||||
}
|
|
||||||
|
|
||||||
std::cout << "create_publisher() " << node_handle._implementation_identifier << std::endl;
|
|
||||||
|
|
||||||
std::cout << " create_publisher() extract participant from opaque node handle" << std::endl;
|
|
||||||
DDSDomainParticipant* participant = (DDSDomainParticipant*)node_handle._data;
|
|
||||||
|
|
||||||
ros_dds_connext_static::MessageTypeSupportCallbacks * callbacks = (ros_dds_connext_static::MessageTypeSupportCallbacks*)type_support_handle._data;
|
|
||||||
std::string type_name = std::string(callbacks->_package_name) + "/" + callbacks->_message_name;
|
|
||||||
|
|
||||||
|
|
||||||
std::cout << " create_publisher() invoke register callback" << std::endl;
|
|
||||||
callbacks->_register_type(participant, type_name.c_str());
|
|
||||||
|
|
||||||
|
|
||||||
DDS_PublisherQos publisher_qos;
|
|
||||||
DDS_ReturnCode_t status = participant->get_default_publisher_qos(publisher_qos);
|
|
||||||
if (status != DDS_RETCODE_OK) {
|
|
||||||
printf("get_default_publisher_qos() failed. Status = %d\n", status);
|
|
||||||
throw std::runtime_error("get default publisher qos failed");
|
|
||||||
};
|
|
||||||
|
|
||||||
std::cout << " create_publisher() create dds publisher" << std::endl;
|
|
||||||
DDSPublisher* dds_publisher = participant->create_publisher(
|
|
||||||
publisher_qos, NULL, DDS_STATUS_MASK_NONE);
|
|
||||||
if (!dds_publisher) {
|
|
||||||
printf(" create_publisher() could not create publisher\n");
|
|
||||||
throw std::runtime_error("could not create publisher");
|
|
||||||
};
|
|
||||||
|
|
||||||
|
|
||||||
DDS_TopicQos default_topic_qos;
|
|
||||||
status = participant->get_default_topic_qos(default_topic_qos);
|
|
||||||
if (status != DDS_RETCODE_OK) {
|
|
||||||
printf("get_default_topic_qos() failed. Status = %d\n", status);
|
|
||||||
throw std::runtime_error("get default topic qos failed");
|
|
||||||
};
|
|
||||||
|
|
||||||
std::cout << " create_publisher() create topic" << std::endl;
|
|
||||||
DDSTopic* topic = participant->create_topic(
|
|
||||||
topic_name, type_name.c_str(), default_topic_qos, NULL,
|
|
||||||
DDS_STATUS_MASK_NONE
|
|
||||||
);
|
|
||||||
if (!topic) {
|
|
||||||
printf(" create_topic() could not create topic\n");
|
|
||||||
throw std::runtime_error("could not create topic");
|
|
||||||
};
|
|
||||||
|
|
||||||
|
|
||||||
DDS_DataWriterQos default_datawriter_qos;
|
|
||||||
status = participant->get_default_datawriter_qos(default_datawriter_qos);
|
|
||||||
if (status != DDS_RETCODE_OK) {
|
|
||||||
printf("get_default_datawriter_qos() failed. Status = %d\n", status);
|
|
||||||
throw std::runtime_error("get default datawriter qos failed");
|
|
||||||
};
|
|
||||||
|
|
||||||
std::cout << " create_publisher() create data writer" << std::endl;
|
|
||||||
DDSDataWriter* topic_writer = dds_publisher->create_datawriter(
|
|
||||||
topic, default_datawriter_qos,
|
|
||||||
NULL, DDS_STATUS_MASK_NONE);
|
|
||||||
|
|
||||||
|
|
||||||
std::cout << " create_publisher() build opaque publisher handle" << std::endl;
|
|
||||||
CustomPublisherInfo* custom_publisher_info = new CustomPublisherInfo();
|
|
||||||
custom_publisher_info->topic_writer_ = topic_writer;
|
|
||||||
custom_publisher_info->callbacks_ = callbacks;
|
|
||||||
|
|
||||||
ros_middleware_interface::PublisherHandle publisher_handle = {
|
|
||||||
_rti_connext_identifier,
|
|
||||||
custom_publisher_info
|
|
||||||
};
|
|
||||||
return publisher_handle;
|
|
||||||
}
|
|
||||||
|
|
||||||
void publish(const ros_middleware_interface::PublisherHandle& publisher_handle, const void * ros_message)
|
|
||||||
{
|
|
||||||
//std::cout << "publish()" << std::endl;
|
|
||||||
|
|
||||||
if (publisher_handle._implementation_identifier != _rti_connext_identifier)
|
|
||||||
{
|
|
||||||
printf("publisher handle not from this implementation\n");
|
|
||||||
printf("but from: %s\n", publisher_handle._implementation_identifier);
|
|
||||||
throw std::runtime_error("publisher handle not from this implementation");
|
|
||||||
}
|
|
||||||
|
|
||||||
//std::cout << " publish() extract data writer and type code from opaque publisher handle" << std::endl;
|
|
||||||
CustomPublisherInfo * custom_publisher_info = (CustomPublisherInfo*)publisher_handle._data;
|
|
||||||
DDSDataWriter * topic_writer = custom_publisher_info->topic_writer_;
|
|
||||||
const ros_dds_connext_static::MessageTypeSupportCallbacks * callbacks = custom_publisher_info->callbacks_;
|
|
||||||
|
|
||||||
|
|
||||||
//std::cout << " publish() invoke publish callback" << std::endl;
|
|
||||||
callbacks->_publish(topic_writer, ros_message);
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
@ -1,28 +0,0 @@
|
||||||
cmake_minimum_required(VERSION 2.8.3)
|
|
||||||
|
|
||||||
project(ros_dds_cpp_dynamic_typesupport)
|
|
||||||
|
|
||||||
find_package(ament_cmake REQUIRED)
|
|
||||||
find_package(ament_cmake_python REQUIRED)
|
|
||||||
|
|
||||||
ament_export_dependencies(rosidl_cmake)
|
|
||||||
ament_export_include_directories(include)
|
|
||||||
|
|
||||||
ament_python_install_package(${PROJECT_NAME})
|
|
||||||
|
|
||||||
ament_package(
|
|
||||||
CONFIG_EXTRAS "ros_dds_cpp_dynamic_typesupport-extras.cmake"
|
|
||||||
)
|
|
||||||
|
|
||||||
install(
|
|
||||||
PROGRAMS bin/ros_dds_cpp_dynamic_typesupport
|
|
||||||
DESTINATION lib/ros_dds_cpp_dynamic_typesupport
|
|
||||||
)
|
|
||||||
install(
|
|
||||||
DIRECTORY cmake resource
|
|
||||||
DESTINATION share/${PROJECT_NAME}
|
|
||||||
)
|
|
||||||
install(
|
|
||||||
DIRECTORY include/
|
|
||||||
DESTINATION include
|
|
||||||
)
|
|
||||||
|
|
@ -1,45 +0,0 @@
|
||||||
#!/usr/bin/env python3
|
|
||||||
|
|
||||||
import argparse
|
|
||||||
import sys
|
|
||||||
|
|
||||||
from ros_dds_cpp_dynamic_typesupport import generate_cpp
|
|
||||||
|
|
||||||
|
|
||||||
def main(argv=sys.argv[1:]):
|
|
||||||
parser = argparse.ArgumentParser(
|
|
||||||
description='Generate the C++ type support to dynamically handle ROS messages.',
|
|
||||||
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
|
|
||||||
parser.add_argument(
|
|
||||||
'--pkg-name',
|
|
||||||
required=True,
|
|
||||||
help='The package name to generate interfaces for')
|
|
||||||
parser.add_argument(
|
|
||||||
'--interface-files',
|
|
||||||
nargs='*',
|
|
||||||
help='The ROS interface files')
|
|
||||||
parser.add_argument(
|
|
||||||
'--deps',
|
|
||||||
nargs='*',
|
|
||||||
help="The dependencies (each as '<pkgname>:<abs_interface_file>')")
|
|
||||||
parser.add_argument(
|
|
||||||
'--output-dir',
|
|
||||||
required=True,
|
|
||||||
help='The location of the generated C++ interfaces')
|
|
||||||
parser.add_argument(
|
|
||||||
'--template-dir',
|
|
||||||
required=True,
|
|
||||||
help='The location of the template files')
|
|
||||||
args = parser.parse_args(argv)
|
|
||||||
|
|
||||||
return generate_cpp(
|
|
||||||
args.pkg_name,
|
|
||||||
args.interface_files,
|
|
||||||
args.deps,
|
|
||||||
args.output_dir,
|
|
||||||
args.template_dir,
|
|
||||||
)
|
|
||||||
|
|
||||||
|
|
||||||
if __name__ == '__main__':
|
|
||||||
sys.exit(main())
|
|
||||||
|
|
@ -1,61 +0,0 @@
|
||||||
message(" - ros_dds_cpp_dynamic_typesupport_generate_interfaces.cmake")
|
|
||||||
message(" - target: ${rosidl_generate_interfaces_TARGET}")
|
|
||||||
message(" - interface files: ${rosidl_generate_interfaces_IDL_FILES}")
|
|
||||||
message(" - dependency package names: ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES}")
|
|
||||||
|
|
||||||
set(_output_path "${CMAKE_CURRENT_BINARY_DIR}/ros_dds_cpp_dynamic_typesupport/${PROJECT_NAME}")
|
|
||||||
set(_generated_files "")
|
|
||||||
foreach(_idl_file ${rosidl_generate_interfaces_IDL_FILES})
|
|
||||||
get_filename_component(name "${_idl_file}" NAME_WE)
|
|
||||||
list(APPEND _generated_files
|
|
||||||
"${_output_path}/${name}_TypeSupport.h"
|
|
||||||
)
|
|
||||||
endforeach()
|
|
||||||
|
|
||||||
set(_dependency_files "")
|
|
||||||
set(_dependencies "")
|
|
||||||
foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
|
|
||||||
foreach(_idl_file ${${_pkg_name}_INTERFACE_FILES})
|
|
||||||
set(_abs_idl_file "${${_pkg_name}_DIR}/../${_idl_file}")
|
|
||||||
list(APPEND _dependency_files "${_abs_idl_file}")
|
|
||||||
list(APPEND _dependencies "${_pkg_name}:${_abs_idl_file}")
|
|
||||||
endforeach()
|
|
||||||
endforeach()
|
|
||||||
|
|
||||||
message(" - generated files: ${_generated_files}")
|
|
||||||
message(" - dependencies: ${_dependencies}")
|
|
||||||
|
|
||||||
add_custom_command(
|
|
||||||
OUTPUT ${_generated_files}
|
|
||||||
COMMAND ${PYTHON_EXECUTABLE} ${ros_dds_cpp_dynamic_typesupport_BIN}
|
|
||||||
--pkg-name ${PROJECT_NAME}
|
|
||||||
--interface-files ${rosidl_generate_interfaces_IDL_FILES}
|
|
||||||
--deps ${_dependencies}
|
|
||||||
--output-dir ${_output_path}
|
|
||||||
--template-dir ${ros_dds_cpp_dynamic_typesupport_TEMPLATE_DIR}
|
|
||||||
DEPENDS
|
|
||||||
${ros_dds_cpp_dynamic_typesupport_BIN}
|
|
||||||
${ros_dds_cpp_dynamic_typesupport_DIR}/../../../${PYTHON_INSTALL_DIR}/ros_dds_cpp_dynamic_typesupport/__init__.py
|
|
||||||
${ros_dds_cpp_dynamic_typesupport_TEMPLATE_DIR}/msg_TypeSupport.h.template
|
|
||||||
${rosidl_generate_interfaces_IDL_FILES}
|
|
||||||
${_dependency_files}
|
|
||||||
COMMENT "Generating C++ code for interfaces"
|
|
||||||
VERBATIM
|
|
||||||
)
|
|
||||||
|
|
||||||
add_custom_target(
|
|
||||||
${rosidl_generate_interfaces_TARGET}_cpp_dynamic_typesupport
|
|
||||||
DEPENDS
|
|
||||||
${_generated_files}
|
|
||||||
)
|
|
||||||
add_dependencies(
|
|
||||||
${rosidl_generate_interfaces_TARGET}
|
|
||||||
${rosidl_generate_interfaces_TARGET}_cpp_dynamic_typesupport
|
|
||||||
)
|
|
||||||
|
|
||||||
install(
|
|
||||||
FILES ${_generated_files}
|
|
||||||
DESTINATION "include/${PROJECT_NAME}"
|
|
||||||
)
|
|
||||||
|
|
||||||
ament_export_include_directories(include)
|
|
||||||
|
|
@ -1,25 +0,0 @@
|
||||||
|
|
||||||
#ifndef __ros_dds_cpp_dynamic_typesupport__MessageTypeSupport__h__
|
|
||||||
#define __ros_dds_cpp_dynamic_typesupport__MessageTypeSupport__h__
|
|
||||||
|
|
||||||
namespace ros_dds_cpp_dynamic_typesupport
|
|
||||||
{
|
|
||||||
|
|
||||||
const char * _dynamic_identifier = "dynamic";
|
|
||||||
|
|
||||||
typedef struct MessageTypeSupportMember {
|
|
||||||
const char * _name;
|
|
||||||
const char * _type;
|
|
||||||
unsigned long _offset;
|
|
||||||
} MessageTypeSupportMember;
|
|
||||||
|
|
||||||
typedef struct MessageTypeSupportMembers {
|
|
||||||
const char * _package_name;
|
|
||||||
const char * _message_name;
|
|
||||||
unsigned long _size;
|
|
||||||
const MessageTypeSupportMember * _members;
|
|
||||||
} MessageTypeSupportMembers;
|
|
||||||
|
|
||||||
} // namespace ros_dds_cpp_dynamic_typesupport
|
|
||||||
|
|
||||||
#endif // __ros_dds_cpp_dynamic_typesupport__MessageTypeSupport__h__
|
|
||||||
|
|
@ -1,15 +0,0 @@
|
||||||
<?xml version="1.0"?>
|
|
||||||
<package format="2">
|
|
||||||
<name>ros_dds_cpp_dynamic_typesupport</name>
|
|
||||||
<version>0.0.0</version>
|
|
||||||
<description>Generate the message type support for dynamic message construction in C++.</description>
|
|
||||||
<maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
|
|
||||||
<license>Apache License 2.0</license>
|
|
||||||
|
|
||||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
|
||||||
<buildtool_depend>ament_cmake_python</buildtool_depend>
|
|
||||||
<buildtool_depend>rosidl_cmake</buildtool_depend>
|
|
||||||
|
|
||||||
<buildtool_export_depend>ament_cmake</buildtool_export_depend>
|
|
||||||
<buildtool_export_depend>rosidl_cmake</buildtool_export_depend>
|
|
||||||
</package>
|
|
||||||
|
|
@ -1,75 +0,0 @@
|
||||||
@###############################################
|
|
||||||
@#
|
|
||||||
@# ROS message type support code generation for C++
|
|
||||||
@#
|
|
||||||
@# EmPy template for generating <msg>_TypeSupport.h files
|
|
||||||
@#
|
|
||||||
@###############################################
|
|
||||||
@# Start of Template
|
|
||||||
@#
|
|
||||||
@# Context:
|
|
||||||
@# - spec (rosidl_parser.MessageSpecification)
|
|
||||||
@# Parsed specification of the .msg file
|
|
||||||
@###############################################
|
|
||||||
|
|
||||||
#ifndef __@(spec.base_type.pkg_name)__@(spec.base_type.type)_TypeSupport__h__
|
|
||||||
#define __@(spec.base_type.pkg_name)__@(spec.base_type.type)_TypeSupport__h__
|
|
||||||
|
|
||||||
#include "@(spec.base_type.pkg_name)/@(spec.base_type.type)_Struct.h"
|
|
||||||
#include "rosidl_generator_cpp/MessageTypeSupport.h"
|
|
||||||
#include "ros_dds_cpp_dynamic_typesupport/MessageTypeSupport.h"
|
|
||||||
|
|
||||||
namespace @(spec.base_type.pkg_name)
|
|
||||||
{
|
|
||||||
|
|
||||||
namespace type_support
|
|
||||||
{
|
|
||||||
|
|
||||||
static ros_dds_cpp_dynamic_typesupport::MessageTypeSupportMember member_array[@(len(spec.fields))] = {
|
|
||||||
@{
|
|
||||||
for index, field in enumerate(spec.fields):
|
|
||||||
print(' {')
|
|
||||||
|
|
||||||
print(' "%s",' % field.name)
|
|
||||||
print(' "%s",' % field.type.type) # TODO use type id
|
|
||||||
print(' __builtin_offsetof(%s::%s, %s)' % (spec.base_type.pkg_name, spec.base_type.type, field.name))
|
|
||||||
|
|
||||||
if index < len(spec.fields) - 1:
|
|
||||||
print(' },')
|
|
||||||
else:
|
|
||||||
print(' }')
|
|
||||||
}@
|
|
||||||
};
|
|
||||||
|
|
||||||
static ros_dds_cpp_dynamic_typesupport::MessageTypeSupportMembers members = {
|
|
||||||
"@(spec.base_type.pkg_name)",
|
|
||||||
"@(spec.base_type.type)",
|
|
||||||
@(len(spec.fields)),
|
|
||||||
member_array
|
|
||||||
};
|
|
||||||
|
|
||||||
static rosidl_generator_cpp::MessageTypeSupportHandle handle = {
|
|
||||||
ros_dds_cpp_dynamic_typesupport::_dynamic_identifier,
|
|
||||||
&members
|
|
||||||
};
|
|
||||||
|
|
||||||
} // namespace type_support
|
|
||||||
|
|
||||||
} // namespace @(spec.base_type.pkg_name)
|
|
||||||
|
|
||||||
|
|
||||||
namespace rosidl_generator_cpp
|
|
||||||
{
|
|
||||||
|
|
||||||
template<>
|
|
||||||
struct MessageTypeSupport<@(spec.base_type.pkg_name)::@(spec.base_type.type)>
|
|
||||||
{
|
|
||||||
static const rosidl_generator_cpp::MessageTypeSupportHandle& get_type_support_handle()
|
|
||||||
{
|
|
||||||
return @(spec.base_type.pkg_name)::type_support::handle;
|
|
||||||
}
|
|
||||||
};
|
|
||||||
|
|
||||||
} // namespace rosidl_generator_cpp
|
|
||||||
|
|
||||||
#endif // __@(spec.base_type.pkg_name)__@(spec.base_type.type)_TypeSupport__h__
|
|
||||||
|
|
@ -1,12 +0,0 @@
|
||||||
# copied from ros_dds_cpp_dynamic_typesupport/ros_dds_cpp_dynamic_typesupport-extras.cmake
|
|
||||||
|
|
||||||
find_package(ament_cmake_core REQUIRED)
|
|
||||||
# TODO
|
|
||||||
# instead of being an extension for "rosidl_generate_interfaces"
|
|
||||||
# this should be an extension of "rosidl_generator_cpp"
|
|
||||||
# which can then ensure that there is only one
|
|
||||||
ament_register_extension("rosidl_generate_interfaces" "ros_dds_cpp_dynamic_typesupport"
|
|
||||||
"ros_dds_cpp_dynamic_typesupport_generate_interfaces.cmake")
|
|
||||||
|
|
||||||
set(ros_dds_cpp_dynamic_typesupport_BIN "${ros_dds_cpp_dynamic_typesupport_DIR}/../../../lib/ros_dds_cpp_dynamic_typesupport/ros_dds_cpp_dynamic_typesupport")
|
|
||||||
set(ros_dds_cpp_dynamic_typesupport_TEMPLATE_DIR "${ros_dds_cpp_dynamic_typesupport_DIR}/../resource")
|
|
||||||
|
|
@ -1,95 +0,0 @@
|
||||||
import em
|
|
||||||
import os
|
|
||||||
|
|
||||||
from rosidl_parser import parse_message_file
|
|
||||||
|
|
||||||
|
|
||||||
def generate_cpp(pkg_name, interface_files, deps, output_dir, template_dir):
|
|
||||||
mapping = {
|
|
||||||
os.path.join(template_dir, 'msg_TypeSupport.h.template'): '%s_TypeSupport.h',
|
|
||||||
}
|
|
||||||
for template_file in mapping.keys():
|
|
||||||
assert(os.path.exists(template_file))
|
|
||||||
|
|
||||||
try:
|
|
||||||
os.makedirs(output_dir)
|
|
||||||
except FileExistsError:
|
|
||||||
pass
|
|
||||||
|
|
||||||
for idl_file in interface_files:
|
|
||||||
spec = parse_message_file(pkg_name, idl_file)
|
|
||||||
for template_file, generated_filename in mapping.items():
|
|
||||||
generated_file = os.path.join(output_dir, generated_filename % spec.base_type.type)
|
|
||||||
print('Generating: %s' % generated_file)
|
|
||||||
|
|
||||||
try:
|
|
||||||
# TODO only touch generated file if its content actually changes
|
|
||||||
ofile = open(generated_file, 'w')
|
|
||||||
# TODO reuse interpreter
|
|
||||||
interpreter = em.Interpreter(
|
|
||||||
output=ofile,
|
|
||||||
options={
|
|
||||||
em.RAW_OPT: True,
|
|
||||||
em.BUFFERED_OPT: True,
|
|
||||||
},
|
|
||||||
globals={'spec': spec},
|
|
||||||
)
|
|
||||||
interpreter.file(open(template_file))
|
|
||||||
interpreter.shutdown()
|
|
||||||
except Exception:
|
|
||||||
os.remove(generated_file)
|
|
||||||
raise
|
|
||||||
|
|
||||||
return 0
|
|
||||||
|
|
||||||
|
|
||||||
MSG_TYPE_TO_CPP = {
|
|
||||||
'bool': 'uint8_t',
|
|
||||||
'float32': 'float',
|
|
||||||
'float64': 'double',
|
|
||||||
'uint8': 'uint8_t',
|
|
||||||
'int8': 'int8_t',
|
|
||||||
'uint16': 'uint16_t',
|
|
||||||
'int16': 'int16_t',
|
|
||||||
'uint32': 'uint32_t',
|
|
||||||
'int32': 'int32_t',
|
|
||||||
'uint64': 'uint64_t',
|
|
||||||
'int64': 'int64_t',
|
|
||||||
'string': 'std::basic_string<char, std::char_traits<char>, ' +
|
|
||||||
'typename ContainerAllocator::template rebind<char>::other>',
|
|
||||||
'byte': 'int8_t',
|
|
||||||
'char': 'uint8_t',
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
def msg_type_to_cpp(type_):
|
|
||||||
"""
|
|
||||||
Convert a message type into the C++ declaration.
|
|
||||||
|
|
||||||
Example input: uint32, std_msgs/String
|
|
||||||
Example output: uint32_t, std_msgs::String_<ContainerAllocator>
|
|
||||||
|
|
||||||
@param type: The message type
|
|
||||||
@type type: rosidl_parser.Type
|
|
||||||
"""
|
|
||||||
cpp_type = None
|
|
||||||
if type_.is_primitive_type():
|
|
||||||
cpp_type = MSG_TYPE_TO_CPP[type_.type]
|
|
||||||
else:
|
|
||||||
cpp_type = '::%s::%s_<ContainerAllocator> ' % \
|
|
||||||
(type_.pkg_name, type_.type)
|
|
||||||
|
|
||||||
if type_.is_array:
|
|
||||||
if type_.array_size is None:
|
|
||||||
return 'std::vector<%s, typename ContainerAllocator::template ' + \
|
|
||||||
'rebind<%s>::other > ' % (cpp_type, cpp_type)
|
|
||||||
else:
|
|
||||||
return 'boost::array<%s, %s> ' % (cpp_type, type_.array_size)
|
|
||||||
else:
|
|
||||||
return cpp_type
|
|
||||||
|
|
||||||
|
|
||||||
def escape_string(s):
|
|
||||||
s = s.replace('\\', '\\\\')
|
|
||||||
s = s.replace('"', '\\"')
|
|
||||||
return s
|
|
||||||
|
|
@ -1,14 +0,0 @@
|
||||||
cmake_minimum_required(VERSION 2.8.3)
|
|
||||||
|
|
||||||
project(ros_middleware_interface)
|
|
||||||
|
|
||||||
find_package(ament_cmake REQUIRED)
|
|
||||||
|
|
||||||
ament_export_include_directories(include)
|
|
||||||
|
|
||||||
ament_package()
|
|
||||||
|
|
||||||
install(
|
|
||||||
DIRECTORY include/
|
|
||||||
DESTINATION include
|
|
||||||
)
|
|
||||||
|
|
@ -1,19 +0,0 @@
|
||||||
#ifndef __ros_middleware_interface__functions__h__
|
|
||||||
#define __ros_middleware_interface__functions__h__
|
|
||||||
|
|
||||||
#include "rosidl_generator_cpp/MessageTypeSupport.h"
|
|
||||||
|
|
||||||
#include "handles.h"
|
|
||||||
|
|
||||||
namespace ros_middleware_interface
|
|
||||||
{
|
|
||||||
|
|
||||||
NodeHandle create_node();
|
|
||||||
|
|
||||||
PublisherHandle create_publisher(const NodeHandle& node_handle, const rosidl_generator_cpp::MessageTypeSupportHandle & type_support_handle, const char * topic_name);
|
|
||||||
|
|
||||||
void publish(const PublisherHandle& publisher_handle, const void * ros_message);
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
#endif // __ros_middleware_interface__functions__h__
|
|
||||||
|
|
@ -1,19 +0,0 @@
|
||||||
#ifndef __ros_middleware_interface__handles__h__
|
|
||||||
#define __ros_middleware_interface__handles__h__
|
|
||||||
|
|
||||||
namespace ros_middleware_interface
|
|
||||||
{
|
|
||||||
|
|
||||||
typedef struct NodeHandle {
|
|
||||||
const char * _implementation_identifier;
|
|
||||||
void * _data;
|
|
||||||
} NodeHandle;
|
|
||||||
|
|
||||||
typedef struct PublisherHandle {
|
|
||||||
const char * _implementation_identifier;
|
|
||||||
void * _data;
|
|
||||||
} PublisherHandle;
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
#endif // __ros_middleware_interface__handles__h__
|
|
||||||
|
|
@ -1,12 +0,0 @@
|
||||||
<?xml version="1.0"?>
|
|
||||||
<package format="2">
|
|
||||||
<name>ros_middleware_interface</name>
|
|
||||||
<version>0.0.0</version>
|
|
||||||
<description>The ros_middleware_interface package</description>
|
|
||||||
<maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
|
|
||||||
<license>Apache License 2.0</license>
|
|
||||||
|
|
||||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
|
||||||
|
|
||||||
<build_export_depend>rosidl_generator_cpp</build_export_depend>
|
|
||||||
</package>
|
|
||||||
|
|
@ -1,24 +0,0 @@
|
||||||
cmake_minimum_required(VERSION 2.8.3)
|
|
||||||
|
|
||||||
project(userland)
|
|
||||||
|
|
||||||
set(CMAKE_CXX_FLAGS "-std=c++0x -Wall")
|
|
||||||
|
|
||||||
find_package(ros_middleware_interface REQUIRED)
|
|
||||||
find_package(ros_dds_connext_dynamic REQUIRED)
|
|
||||||
|
|
||||||
find_package(ament_cmake REQUIRED)
|
|
||||||
find_package(rclcpp REQUIRED)
|
|
||||||
find_package(std_msgs REQUIRED)
|
|
||||||
|
|
||||||
ament_package()
|
|
||||||
|
|
||||||
include_directories(${rclcpp_INCLUDE_DIRS} ${std_msgs_INCLUDE_DIRS})
|
|
||||||
add_definitions(${rclcpp_DEFINITIONS})
|
|
||||||
add_executable(userland src/main.cpp)
|
|
||||||
target_link_libraries(userland ${rclcpp_LIBRARIES} ${std_msgs_LIBRARIES})
|
|
||||||
|
|
||||||
install(
|
|
||||||
TARGETS userland
|
|
||||||
DESTINATION bin
|
|
||||||
)
|
|
||||||
|
|
@ -1,16 +0,0 @@
|
||||||
<?xml version="1.0"?>
|
|
||||||
<package format="2">
|
|
||||||
<name>userland</name>
|
|
||||||
<version>0.0.0</version>
|
|
||||||
<description>The userland package</description>
|
|
||||||
<maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
|
|
||||||
<license>Apache License 2.0</license>
|
|
||||||
|
|
||||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
|
||||||
|
|
||||||
<build_depend>rclcpp</build_depend>
|
|
||||||
<build_depend>std_msgs</build_depend>
|
|
||||||
|
|
||||||
<exec_depend>rclcpp</exec_depend>
|
|
||||||
<exec_depend>std_msgs</exec_depend>
|
|
||||||
</package>
|
|
||||||
|
|
@ -1,34 +0,0 @@
|
||||||
#include <iostream>
|
|
||||||
#include <sys/time.h>
|
|
||||||
|
|
||||||
#include "rclcpp/Node.h"
|
|
||||||
#include "rclcpp/Publisher.h"
|
|
||||||
#include "std_msgs/Int32.h"
|
|
||||||
|
|
||||||
|
|
||||||
int main(int argc, char** argv)
|
|
||||||
{
|
|
||||||
rclcpp::Node* n = create_node();
|
|
||||||
rclcpp::Publisher<std_msgs::Int32>* p = n->create_publisher<std_msgs::Int32>("topic_name");
|
|
||||||
std_msgs::Int32 ros_msg;
|
|
||||||
|
|
||||||
int number_of_msgs = 1000000;
|
|
||||||
|
|
||||||
timespec start;
|
|
||||||
clock_gettime(CLOCK_REALTIME, &start);
|
|
||||||
|
|
||||||
for (int i = 1; i < number_of_msgs; ++i) {
|
|
||||||
ros_msg.data = i;
|
|
||||||
p->publish(ros_msg);
|
|
||||||
if (i % 100000 == 0) {
|
|
||||||
std::cout << "published ros msg #" << i << std::endl;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
timespec end;
|
|
||||||
clock_gettime(CLOCK_REALTIME, &end);
|
|
||||||
|
|
||||||
std::cout << (end.tv_sec - start.tv_sec) << "." << (end.tv_nsec - start.tv_nsec) << std::endl;
|
|
||||||
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
Loading…
Add table
Add a link
Reference in a new issue