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BorjaOutereloBorjaOuterelo
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v0.0.1-alpha (#6)
* Issue with windows paths solved. * Fixed issue when --merge-install is activated (Windows issue) * Updated to last version of Micoxrcedds Agent. (#3) * Restored removed code by accident (#4) * Refs #3842. Removes agent node.
1 parent 6b093d8 commit 8cb1bfe

3 files changed

Lines changed: 78 additions & 127 deletions

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‎uROS_Agent/CMakeLists.txt‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -67,7 +67,7 @@ normalize_path(_DEFAULT_FASTRTPS_PROFILES_PATH "${_DEFAULT_FASTRTPS_PROFILES_PAT
6767

6868

6969
# Get colcon call dir
70-
get_filename_component(_COLCON_CALL_DIR "${CMAKE_INSTALL_PREFIX}" DIRECTORY)
70+
get_filename_component(_COLCON_CALL_DIR "${PROJECT_BINARY_DIR}" DIRECTORY)
7171
get_filename_component(_COLCON_CALL_DIR "${_COLCON_CALL_DIR}" DIRECTORY)
7272

7373

‎uROS_Agent/src/main.cpp‎

Lines changed: 69 additions & 118 deletions
Original file line numberDiff line numberDiff line change
@@ -28,6 +28,7 @@
2828
#include <fcntl.h>
2929
#endif
3030

31+
#include <iterator>
3132
#include <iostream>
3233
#include <string>
3334
#include <limits>
@@ -37,10 +38,15 @@ void showHelp()
3738
{
3839
std::cout << "Usage: program <command>" << std::endl;
3940
std::cout << "List of commands:" << std::endl;
41+
#ifdef _WIN32
42+
std::cout << " udp <local_port>" << std::endl;
43+
std::cout << " tcp <local_port>" << std::endl;
44+
#else
4045
std::cout << " serial <device_name>" << std::endl;
4146
std::cout << " pseudo-serial" << std::endl;
4247
std::cout << " udp <local_port> [<discovery_port>]" << std::endl;
4348
std::cout << " tcp <local_port> [<discovery_port>]" << std::endl;
49+
#endif
4450
}
4551

4652
void initializationError()
@@ -50,7 +56,7 @@ void initializationError()
5056
std::exit(EXIT_FAILURE);
5157
}
5258

53-
uint16_t parsePort(const char* str_port)
59+
uint16_t parsePort(const std::string& str_port)
5460
{
5561
uint16_t valid_port = 0;
5662
try
@@ -70,73 +76,66 @@ uint16_t parsePort(const char* str_port)
7076
return valid_port;
7177
}
7278

73-
74-
class uros_agent : public rclcpp::Node
75-
{
76-
public:
77-
uros_agent() : Node("uROS_Agent")
78-
{
79-
}
80-
81-
~uros_agent()
82-
{
83-
}
84-
85-
private:
86-
87-
};
88-
89-
9079
int main(int argc, char** argv)
9180
{
92-
93-
#ifdef __unix__
94-
char exe_path[200];
95-
ssize_t count = readlink("/proc/self/exe", exe_path, sizeof(exe_path));
96-
if (count != -1) {
97-
chdir(dirname(exe_path));
98-
}
99-
#endif
100-
101-
bool initialized = false;
81+
eprosima::uxr::Server* server = nullptr;
82+
std::vector<std::string> cl(0);
10283

103-
#ifdef __unix__
104-
if(argc == 2 && (strcmp(argv[1], "-h") == 0 || strcmp(argv[1], "--help") == 0))
84+
if (1 == argc)
10585
{
10686
showHelp();
87+
std::cout << std::endl;
88+
std::cout << "Enter command: ";
89+
90+
std::string raw_cl;
91+
std::getline(std::cin, raw_cl);
92+
std::istringstream iss(raw_cl);
93+
cl.insert(cl.begin(), std::istream_iterator<std::string>(iss), std::istream_iterator<std::string>());
94+
std::cout << raw_cl << std::endl;
10795
}
108-
else if(argc >= 3 && strcmp(argv[1], "udp") == 0)
96+
else
10997
{
110-
std::cout << "UDP agent initialization... ";
111-
uint16_t port = parsePort(argv[2]);
112-
eprosima::uxr::UDPServer* udp_server = (argc == 4) //discovery port
113-
? new eprosima::uxr::UDPServer(port, parsePort(argv[3]))
114-
: new eprosima::uxr::UDPServer(port);
115-
if (udp_server->run())
98+
for (int i = 1; i < argc; ++i)
11699
{
117-
initialized = true;
100+
cl.push_back(argv[i]);
118101
}
119-
std::cout << ((!initialized) ? "ERROR" : "OK") << std::endl;
120102
}
121-
else if(argc >= 3 && strcmp(argv[1], "tcp") == 0)
103+
104+
if((1 == cl.size()) && (("-h" == cl[0]) || ("--help" == cl[0])))
105+
{
106+
showHelp();
107+
}
108+
else if((2 <= cl.size()) && ("udp" == cl[0]))
109+
{
110+
std::cout << "UDP agent initialization... ";
111+
uint16_t port = parsePort(cl[1]);
112+
#ifdef _WIN32
113+
server = new eprosima::uxr::UDPServer(port);
114+
#else
115+
server = (3 == cl.size()) //discovery port
116+
? new eprosima::uxr::UDPServer(port, parsePort(cl[2]))
117+
: new eprosima::uxr::UDPServer(port);
118+
#endif
119+
}
120+
else if((2 <= cl.size()) && ("tcp" == cl[0]))
122121
{
123122
std::cout << "TCP agent initialization... ";
124-
uint16_t port = parsePort(argv[2]);
125-
eprosima::uxr::TCPServer* tcp_server = (argc == 4) //discovery port
126-
? new eprosima::uxr::TCPServer(port, parsePort(argv[3]))
127-
: new eprosima::uxr::TCPServer(port);
128-
if (tcp_server->run())
129-
{
130-
initialized = true;
131-
}
132-
std::cout << ((!initialized) ? "ERROR" : "OK") << std::endl;
123+
uint16_t port = parsePort(cl[1]);
124+
#ifdef _WIN32
125+
server = new eprosima::uxr::TCPServer(port);
126+
#else
127+
server = (3 == cl.size()) //discovery port
128+
? new eprosima::uxr::TCPServer(port, parsePort(cl[2]))
129+
: new eprosima::uxr::TCPServer(port);
130+
#endif
133131
}
134-
else if(argc == 3 && strcmp(argv[1], "serial") == 0)
132+
#ifndef _WIN32
133+
else if((2 == cl.size()) && ("serial" == cl[0]))
135134
{
136135
std::cout << "Serial agent initialization... ";
137136

138137
/* Open serial device. */
139-
int fd = open(argv[2], O_RDWR | O_NOCTTY);
138+
int fd = open(cl[1].c_str(), O_RDWR | O_NOCTTY);
140139
if (0 < fd)
141140
{
142141
struct termios tty_config;
@@ -181,18 +180,12 @@ int main(int argc, char** argv)
181180

182181
if (0 == tcsetattr(fd, TCSANOW, &tty_config))
183182
{
184-
eprosima::uxr::SerialServer* serial_server = new eprosima::uxr::SerialServer(fd, 0);
185-
if (serial_server->run())
186-
{
187-
initialized = true;
188-
}
183+
server = new eprosima::uxr::SerialServer(fd, 0);
189184
}
190185
}
191186
}
192-
193-
std::cout << ((!initialized) ? "ERROR" : "OK") << std::endl;
194187
}
195-
else if (argc == 2 && strcmp(argv[1], "pseudo-serial") == 0)
188+
else if ((1 == cl.size()) && ("pseudo-serial" == cl[0]))
196189
{
197190
std::cout << "Pseudo-Serial initialization... ";
198191

@@ -208,78 +201,36 @@ int main(int argc, char** argv)
208201
cfmakeraw(&attr);
209202
tcflush(fd, TCIOFLUSH);
210203
tcsetattr(fd, TCSANOW, &attr);
204+
std::cout << "Device: " << dev << std::endl;
211205
}
212206
}
213-
214-
/* Launch server. */
215-
eprosima::uxr::SerialServer* serial_server = new eprosima::uxr::SerialServer(fd, 0x00);
216-
if (serial_server->run())
217-
{
218-
initialized = true;
219-
}
220-
221-
if (initialized)
222-
{
223-
std::cout << "OK" << std::endl;
224-
std::cout << "Device: " << dev << std::endl;
225-
}
226-
else
227-
{
228-
std::cout << "ERROR" << std::endl;
229-
}
207+
server = new eprosima::uxr::SerialServer(fd, 0x00);
230208
}
209+
#endif
231210
else
232211
{
233212
initializationError();
234213
}
235-
#elif _WIN32
236-
(void) argc;
237-
(void) argv;
238-
239-
std::string server_type = "";
240-
std::cout << "Select server type [udp|tcp]: ";
241-
std::cin >> server_type;
242214

243-
if ("udp" == server_type)
215+
if (nullptr != server)
244216
{
245-
uint16_t port = 0;
246-
std::cout << "Select port: ";
247-
std::cin >> port;
248-
249-
std::cout << "UDP agent initialization.... ";
250-
eprosima::uxr::UDPServer* udp_server = new eprosima::uxr::UDPServer(port);
251-
if (udp_server->run())
217+
/* Launch server. */
218+
if (server->run())
252219
{
253-
initialized = true;
220+
std::cout << "OK" << std::endl;
221+
std::cin.clear();
222+
char exit_flag = 0;
223+
while ('q' != exit_flag)
224+
{
225+
std::cout << "Enter 'q' for exit" << std::endl;
226+
std::cin >> exit_flag;
227+
}
228+
server->stop();
254229
}
255-
std::cout << ((!initialized) ? "ERROR" : "OK") << std::endl;
256-
}
257-
else if ("tcp" == server_type)
258-
{
259-
uint16_t port = 0;
260-
std::cout << "Select port: ";
261-
std::cin >> port;
262-
263-
std::cout << "UDP agent initialization.... ";
264-
eprosima::uxr::TCPServer* tcp_server = new eprosima::uxr::TCPServer(port);
265-
if (tcp_server->run())
230+
else
266231
{
267-
initialized = true;
232+
std::cout << "ERROR" << std::endl;
268233
}
269-
std::cout << ((!initialized) ? "ERROR" : "OK") << std::endl;
270-
}
271-
else
272-
{
273-
std::cout << "Error server type" << std::endl;
274-
}
275-
276-
#endif
277-
278-
if(initialized)
279-
{
280-
rclcpp::init(argc, argv);
281-
rclcpp::spin(std::make_shared<uros_agent>());
282-
rclcpp::shutdown();
283234
}
284235

285236
return 0;

‎uROS_Agent/uros_agent/__init__.py‎

Lines changed: 8 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -43,7 +43,7 @@ def GetPackage(Dir):
4343
break
4444

4545

46-
return found_package_path
46+
return found_package_path.replace("\\", "/")
4747

4848

4949
def GetPackageList(Dir):
@@ -58,7 +58,7 @@ def GetPackageList(Dir):
5858
package_list.append(l)
5959
elif package_path != "COLCON_IGNORE":
6060
package_list.append(package_path)
61-
61+
6262
return package_list
6363

6464

@@ -70,7 +70,7 @@ def GetInterfacePackages(packages_list):
7070
if element.text == "rosidl_interface_packages":
7171
package_interface_list.append(package)
7272
return package_interface_list
73-
73+
7474

7575
def GetPackageName(package_path):
7676
xml_root = xml.etree.ElementTree.parse(package_path).getroot()
@@ -88,8 +88,8 @@ def GetInterfacePackageMsgs(package_path):
8888
for file in files:
8989
if file.endswith(".msg"):
9090
full_path = os.path.join(root, file)
91-
msg_list.append(full_path)
92-
91+
msg_list.append(full_path.replace("\\", "/"))
92+
9393
return msg_list
9494

9595
def GetInterfacePackageSrvs(package_path):
@@ -99,8 +99,8 @@ def GetInterfacePackageSrvs(package_path):
9999
for file in files:
100100
if file.endswith(".srv"):
101101
full_path = os.path.join(root, file)
102-
msg_list.append(full_path)
103-
102+
msg_list.append(full_path.replace("\\", "/"))
103+
104104
return msg_list
105105

106106

@@ -113,7 +113,7 @@ def ReadDefaultXMLs(Path):
113113
fd = open(full_path)
114114
print ("%s" % fd.read())
115115
fd.close()
116-
116+
117117

118118

119119
def generate_XML(args):

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