Some fixes

Tools/generate_microRTPS_bridge.py

@@ -74,8 +74,8 @@ def get_absolute_path(arg_parse_dir):
 # Parse arguments
 args = parser.parse_args()
 msg_folder = get_absolute_path(args.msgdir)
-msg_files_send = args.send
-msg_files_receive = args.receive
+msg_files_send = [get_absolute_path(msg) for msg in args.send]
+msg_files_receive = [get_absolute_path(msg) for msg in args.receive]
 agent = args.agent
 client = args.client
 del_tree = args.del_tree
@@ -162,22 +162,22 @@ def generate_agent(out_dir):
     # Final steps to install agent
     mkdir_p(agent_out_dir + "/fastrtpsgen")
     os.chdir(agent_out_dir + "/fastrtpsgen")
-    for idl_file in glob.glob( agent_out_dir + "/idl/*.idl"):
-        ret = os.system(fastrtpsgen_path + " -example x64Linux2.6gcc " + idl_file)
+    for idl_file in glob.glob(agent_out_dir + "/idl/*.idl"):
+        ret = subprocess.call(fastrtpsgen_path + " -d " + agent_out_dir + "/fastrtpsgen -example x64Linux2.6gcc " + idl_file, shell=True)
         if ret:
             raise Exception("fastrtpsgen not found. Specify the location of fastrtpsgen with the -f flag")
-
-    rm_wildcard(agent_out_dir + "/fastrtpsgen/*PubSubMain.cpp")
+    rm_wildcard(agent_out_dir + "/fastrtpsgen/*PubSubMain*")
     rm_wildcard(agent_out_dir + "/fastrtpsgen/makefile*")
     rm_wildcard(agent_out_dir + "/fastrtpsgen/*Publisher*")
     rm_wildcard(agent_out_dir + "/fastrtpsgen/*Subscriber*")
+    for f in glob.glob(agent_out_dir + "/fastrtpsgen/*.cxx"):
+        os.rename(f, f.replace(".cxx", ".cpp"))
     cp_wildcard(agent_out_dir + "/fastrtpsgen/*", agent_out_dir)
     if os.path.isdir(agent_out_dir + "/fastrtpsgen"):
         shutil.rmtree(agent_out_dir + "/fastrtpsgen")
     cp_wildcard(urtps_templates_dir + "/microRTPS_transport.*", agent_out_dir)
     os.rename(agent_out_dir + "/microRTPS_agent_CMakeLists.txt", agent_out_dir + "/CMakeLists.txt")
     mkdir_p(agent_out_dir + "/build")
-
     return 0
 
 def rm_wildcard(pattern):

Tools/px_generate_uorb_topic_files.py

@@ -165,7 +165,7 @@ def generate_idl_file(filename_msg, outputdir, templatedir, includepath):
 def generate_uRTPS_general(filename_send_msgs, filename_received_msgs,
                            outputdir, templatedir, includepath, template_name):
         """
-        Generates source file by UART msg content
+        Generates source file by msg content
         """
         em_globals_list = []
         if filename_send_msgs:

msg/templates/uorb/msg.cpp.template

@@ -84,18 +84,18 @@ ORB_DEFINE(@multi_topic, struct @uorb_struct, @(struct_size-padding_end_size),
 @{
 
 def print_info(field):
-    print "type: ", field.type, "name: ", field.name, "base_type: ", \
+    print("type: ", field.type, "name: ", field.name, "base_type: ", \
           field.base_type, "field.is_array:", ('0', '1')[field.is_array], " array_len: ", field.array_len, \
-          "is_builtin:", ('0', '1')[field.is_builtin], "is_header:", ('0', '1')[field.is_header]
+          "is_builtin:", ('0', '1')[field.is_builtin], "is_header:", ('0', '1')[field.is_header])
 
 def print_level_info(fields):
     for field in fields:
         print_info(field)
         if (not field.is_builtin):
-            print "\n"
+            print("\n")
             children_fields = get_children_fields(field.base_type, search_path)
             print_level_info(children_fields)
-            print "\n"
+            print("\n")
 
 def walk_through_parsed_fields():
     print_level_info(spec.parsed_fields())
@@ -111,9 +111,9 @@ def add_serialize_functions(fields, scope_name):
         if (not field.is_header):
             if (field.is_builtin):
                 if (not field.is_array):
-                    print "\tserialize"+str(get_serialization_type_name(field.type))+"(input->"+scope_name+str(field.name)+", microCDRWriter);"
+                    print("\tserialize"+str(get_serialization_type_name(field.type))+"(input->"+scope_name+str(field.name)+", microCDRWriter);")
                 else:
-                    print "\tserialize"+str(get_serialization_type_name(field.base_type))+"Array(input->"+scope_name+str(field.name)+", "+str(field.array_len)+", microCDRWriter);"
+                    print("\tserialize"+str(get_serialization_type_name(field.base_type))+"Array(input->"+scope_name+str(field.name)+", "+str(field.array_len)+", microCDRWriter);")
             else:
                 name = field.name
                 children_fields = get_children_fields(field.base_type, search_path)
@@ -129,10 +129,10 @@ def add_deserialize_functions(fields, scope_name):
         if (not field.is_header):
             if (field.is_builtin):
                 if (not field.is_array):
-                    print "\tdeserialize"+str(get_serialization_type_name(field.type))+"(&output->"+scope_name+str(field.name)+", microCDRReader);"
+                    print("\tdeserialize"+str(get_serialization_type_name(field.type))+"(&output->"+scope_name+str(field.name)+", microCDRReader);")
                 else:
                     for i in xrange(field.array_len):
-                        print "\tdeserialize"+str(get_serialization_type_name(field.base_type))+"(&output->"+scope_name+str(field.name)+ str('[%d]' %i) +", microCDRReader);"
+                        print("\tdeserialize"+str(get_serialization_type_name(field.base_type))+"(&output->"+scope_name+str(field.name)+ str('[%d]' %i) +", microCDRReader);")
             else:
                 name = field.name
                 children_fields = get_children_fields(field.base_type, search_path)

msg/templates/urtps/RtpsTopics.cpp.template

@@ -83,7 +83,7 @@ bool RtpsTopics::init()
 }
 
 @[if send_topics]@
-void RtpsTopics::publish(char topic_ID, char data_buffer[], size_t len)
+void RtpsTopics::publish(uint8_t topic_ID, char data_buffer[], size_t len)
 {
     switch (topic_ID)
     {
@@ -106,7 +106,7 @@ void RtpsTopics::publish(char topic_ID, char data_buffer[], size_t len)
 @[end if]@
 @[if recv_topics]@
 
-bool RtpsTopics::hasMsg(char *topic_ID)
+bool RtpsTopics::hasMsg(uint8_t *topic_ID)
 {
     if (nullptr == topic_ID) return false;
 
@@ -134,7 +134,7 @@ bool RtpsTopics::hasMsg(char *topic_ID)
     return true;
 }
 
-bool RtpsTopics::getMsg(const char topic_ID, eprosima::fastcdr::Cdr &scdr)
+bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr)
 {
     bool ret = false;
     switch (topic_ID)

msg/templates/urtps/RtpsTopics.h.template

@@ -64,11 +64,11 @@ class RtpsTopics {
 public:
     bool init();
 @[if send_topics]@
-    void publish(char topic_ID, char data_buffer[], size_t len);
+    void publish(uint8_t topic_ID, char data_buffer[], size_t len);
 @[end if]@
 @[if recv_topics]@
-    bool hasMsg(char *topic_ID);
-    bool getMsg(const char topic_ID, eprosima::fastcdr::Cdr &scdr);
+    bool hasMsg(uint8_t *topic_ID);
+    bool getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr);
 @[end if]@
 
 private:

msg/templates/urtps/microRTPS_agent.cpp.template

@@ -229,7 +229,7 @@ int main(int argc, char** argv)
     int received = 0, loop = 0;
     int length = 0, total_read = 0;
     bool receiving = false;
-    char topic_ID = 255;
+    uint8_t topic_ID = 255;
     std::chrono::time_point<std::chrono::steady_clock> start, end;
 @[end if]@
 

msg/templates/urtps/msg.idl.template

@@ -61,9 +61,9 @@ def get_idl_type_name(field_type):
 def add_msg_field(field):
     if (not field.is_header):
         if (not field.is_array):
-            print '\t' + str(get_idl_type_name(field.type)) + ' ' + field.name + ';'
+            print('\t' + str(get_idl_type_name(field.type)) + ' ' + field.name + ';')
         else:
-            print '\t' + str(get_idl_type_name(field.base_type)) + ' ' + field.name + '[' +str(field.array_len)+ '];'
+            print('\t' + str(get_idl_type_name(field.base_type)) + ' ' + field.name + '[' +str(field.array_len)+ '];')
 
 def add_msg_fields():
     # sort fields (using a stable sort) as in the declaration of the type

src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt

@@ -31,10 +31,13 @@
 #
 ############################################################################
 
-find_program(FASTRTPSGEN fastrtpsgen)
-if(NOT FASTRTPSGEN)
-	message(WARNING "WARNING: Unable to find fastrtpsgen")
-	set(GENERATE_RTPS_BRIDGE off)
+if(NOT GENERATE_RTPS_BRIDGE MATCHES "off")
+    find_program(FASTRTPSGEN fastrtpsgen
+                 PATHS $ENV{FASTRTPSGEN_DIR})
+    if(NOT FASTRTPSGEN)
+        message(WARNING "WARNING: Unable to find fastrtpsgen")
+        set(GENERATE_RTPS_BRIDGE off)
+    endif()
 endif()
 
 if(GENERATE_RTPS_BRIDGE MATCHES "off")
@@ -79,28 +82,28 @@ else()
     if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_topics}" STREQUAL "")
         set(topic_bridge_files_out microRTPS_client.cpp microRTPS_transport.cpp microRTPS_transport.h)
 
-	set(send_topic_files_opt)
-        if (NOT "${send_topic_files}" STREQUAL "")
-            set(send_topic_opt "-s")
-        endif()
+    set(send_topic_files_opt)
+    if (NOT "${send_topic_files}" STREQUAL "")
+        set(send_topic_opt "-s")
+    endif()
 
-	set(receive_topic_files_opt)
-        if (NOT "${receive_topic_files}" STREQUAL "")
-            set(receive_topic_opt "-r")
-        endif()
+    set(receive_topic_files_opt)
+    if (NOT "${receive_topic_files}" STREQUAL "")
+        set(receive_topic_opt "-r")
+    endif()
 
-        add_custom_command(OUTPUT ${topic_bridge_files_out}
-            COMMAND ${PYTHON_EXECUTABLE}
-            ${PX4_SOURCE_DIR}/Tools/generate_microRTPS_bridge.py
-            -f $ENV{FASTRTPSGEN_DIR}
-            ${send_topic_opt} ${send_topic_files}
-            ${receive_topic_opt} ${receive_topic_files}
-            -t ${topic_msg_path}
-            -u ${msg_out_path}
-            DEPENDS ${DEPENDS} ${send_topic_files} ${receive_topic_files}
-            COMMENT "Generating RTPS topic bridge"
-            VERBATIM
-            )
+    add_custom_command(OUTPUT ${topic_bridge_files_out}
+        COMMAND ${PYTHON_EXECUTABLE}
+        ${PX4_SOURCE_DIR}/Tools/generate_microRTPS_bridge.py
+        -f $ENV{FASTRTPSGEN_DIR}
+        ${send_topic_opt} ${send_topic_files}
+        ${receive_topic_opt} ${receive_topic_files}
+        -t ${topic_msg_path}
+        -u ${msg_out_path}
+        DEPENDS ${DEPENDS} ${send_topic_files} ${receive_topic_files}
+        COMMENT "Generating RTPS topic bridge"
+        VERBATIM
+        )
     endif()
 
 px4_add_module(