# 手动生成客户端和代理端代码

注意

This content is out of date due to the replacement of the Fast RTPS Bridge in PX4 main and releases after PX4 v1.13.

本主题演示如何手动生成客户端和代理的代码(而不是编译 PX4 时自动生成的)。

代码是使用 python 脚本生成的:/Tools/generate_microRTPS_bridge.py

首先禁用桥接代码的自动生成。 First disable automatic generation of bridge code. Set the variable GENERATE_RTPS_BRIDGE to off in the .cmake file for the target platform: :::

# 禁用自动桥接代码生成

First disable automatic generation of bridge code. Set the variable GENERATE_RTPS_BRIDGE to off in the .cmake file for the target platform:

set(GENERATE_RTPS_BRIDGE off)

# 使用 generate_microRTPS_bridge. py

The generate_microRTPS_bridge tool's command syntax is shown below:

$ cd /path/to/PX4/PX4-Autopilot/msg/tools
$ python generate_microRTPS_bridge.py -h
usage: generate_microRTPS_bridge.py [-h] [-a] [-c] [-i] [-j IDL_DIR] [-m] [-l]
                                    [-t MSGDIR] [-b UORB_TEMPLATES]
                                    [-q URTPS_TEMPLATES] [-y YAML_FILE]
                                    [-p PACKAGE] [-o AGENTDIR] [-u CLIENTDIR]
                                    [-f [FASTRTPSGEN]]
                                    [-g FASTRTPSGEN_INCLUDE]
                                    [-r [ROS2_DISTRO]] [--delete-tree]

optional arguments:
  -h, --help            show this help message and exit
  -a, --agent           Flag for generate the agent, by default is true if -c
                        is not specified
  -c, --client          Flag for generate the client, by default is true if -a
                        is not specified
  -i, --generate-idl    Flag for generate idl files for each msg
  -j IDL_DIR, --idl-dir IDL_DIR
                        IDL files dir
  -m, --mkdir-build     Flag to create 'build' dir
  -l, --generate-cmakelists
                        Flag to generate a CMakeLists.txt file for the micro-
                        RTPS agent
  -t MSGDIR, --topic-msg-dir MSGDIR
                        Topics message, by default using relative path 'msg/'
  -b UORB_TEMPLATES, --uorb-templates-dir UORB_TEMPLATES
                        uORB templates, by default using relative path to
                        msgdir 'templates/uorb_microcdr'
  -q URTPS_TEMPLATES, --urtps-templates-dir URTPS_TEMPLATES
                        uRTPS templates, by default using relative path to
                        msgdir 'templates/urtps'
  -y YAML_FILE, --rtps-ids-file YAML_FILE
                        RTPS msg IDs definition path, by default using
                        relative path to msgdir
                        'tools/uorb_rtps_message_ids.yaml'
  -p PACKAGE, --package PACKAGE
                        Msg package naming, by default px4
  -o AGENTDIR, --agent-outdir AGENTDIR
                        Agent output dir, by default using relative path
                        'src/modules/micrortps_bridge/micrortps_agent'
  -u CLIENTDIR, --client-outdir CLIENTDIR
                        Client output dir, by default using relative path
                        'src/modules/micrortps_bridge/micrortps_client'
  -f [FASTRTPSGEN], --fastrtpsgen-dir [FASTRTPSGEN]
                        fastrtpsgen installation dir, only needed if
                        fastrtpsgen is not in PATH, by default empty
  -g FASTRTPSGEN_INCLUDE, --fastrtpsgen-include FASTRTPSGEN_INCLUDE
                        directory(ies) to add to preprocessor include paths of
                        fastrtpsgen, by default empty
  -r [ROS2_DISTRO], --ros2-distro [ROS2_DISTRO]
                        ROS 2 distro, only required if generating the agent for
                        usage with ROS 2 nodes, by default empty
  --delete-tree         Delete dir tree output dir(s)

:::caution Using with --delete-tree option erases the content of the CLIENTDIR and the AGENTDIR before creating new files and folders. :::

  • The arguments --send/-s and --receive/-r specify the uORB topics that can be sent/received from PX4. Code will only be generated for specified messages. 将仅为指定的消息生成代码。
  • 输出显示在 CLIENTDIR (默认情况下 src/modules/micrortps_bridge/micrortps_client</0 >) 和 <code>AGENTDIR (默认情况下 -u src/modules/micrortps_bridge/micrortps_agent</0 >) 中。</li> <li>如果未指定标志 <code>-a-c,则将生成并安装客户端和代理。
  • 如果未在默认位置(-f /path/to/fastrtps/installation/bin)安装 Fast rtps,则可能需要 -f 选项。

可以在此处找到网桥的手动生成的代码(默认情况下):

$ cd /path/to/PX4/Firmware
$ python Tools/generate_microRTPS_bridge.py -s msg/sensor_baro.msg -r msg/sensor_combined.msg

# 生成代码

Code is generated for the Client, Agent, CDR serialization/deserialization of uORB messages, and the definition of the associated RTPS messages (IDL files).

Manually generated code for the bridge can be found here (by default):

  • 客户端: src/modules/micrortps_bridge/micrortps_client/
  • 代理端: src/modules/micrortps_bridge/micrortps_agent/

# uORB 序列化代码

FastRTSP 使用 IDL 文件来定义 RTPS 消息的结构(在本例中,映射到 uORB 主题的 RTPS 消息)。 FastRTSP uses IDL files to define the structure of RTPS messages (in this case, RTPS messages that map to uORB topics). They are used to generate code for the Agent, and FastRTSP applications that need to publish/subscribe to uORB topics.

void serialize_sensor_combined(const struct sensor_combined_s *input, char *output, uint32_t *length, struct microCDR *microCDRWriter);
void deserialize_sensor_combined(struct sensor_combined_s *output, char *input, struct microCDR *microCDRReader);

# RTPS 报文 IDL 文件

IDL files are generated from the uORB .msg files (for selected uORB topics) in the generation of the bridge. These can be found in: src/modules/micrortps_bridge/micrortps_agent/idl/

Fast DDS uses IDL files to define the structure of RTPS/DDS messages (in this case, RTPS/DDS messages that map to uORB topics). They are used to generate code for the Agent, and Fast DDS applications that need to publish/subscribe to uORB topics.

IDL

files are compiled to C++ by the fastrtpsgen tool.

# 代码生成验证

The manually generated Client code is built and used in exactly the same way as automatically generated Client code.

Agent directory:

$ tree src/modules/micrortps_bridge/micrortps_agent
src/modules/micrortps_bridge/micrortps_agent
├── build
├── CMakeLists.txt
├── idl
│   ├── sensor_baro_.idl
│   └── sensor_combined_.idl
├── microRTPS_agent.cpp
├── microRTPS_transport.cpp
├── microRTPS_transport.h
├── RtpsTopics.cpp
├── RtpsTopics.h
├── sensor_baro_.cpp
├── sensor_baro_.h
├── sensor_baro_Publisher.cpp
├── sensor_baro_Publisher.h
├── sensor_baro_PubSubTypes.cpp
├── sensor_baro_PubSubTypes.h
├── sensor_combined_.cpp
├── sensor_combined_.h
├── sensor_combined_PubSubTypes.cpp
├── sensor_combined_PubSubTypes.h
├── sensor_combined_Subscriber.cpp
└── sensor_combined_Subscriber.h
 2 directories, 20 files

Client directory:

$ tree src/modules/micrortps_bridge/micrortps_client
src/modules/micrortps_bridge/micrortps_client
├── CMakeLists.txt
├── microRTPS_client.cpp
├── microRTPS_client_dummy.cpp
├── microRTPS_client_main.cpp
├── microRTPS_transport.cpp
└── microRTPS_transport.h
 0 directories, 4 files

# 构建并使用代码

The manually generated Client code is built and used in exactly the same way as automatically generated Client code.

Specifically, once manually generated, the Client source code is compiled and built into the PX4 Firmware as part of the normal build process. For example, to compile the code and include it in Firmware for NuttX/Pixhawk targets:

make px4_fmu-v4_default upload

注解

You must first disable automatic bridge code generation so that the toolchain uses the manually generated source code (and does not attempt to regenerate it).

The manually generated Agent code is also compiled and used in the same way as the automatically generated code. The only difference is that the manually source code is created in src/modules/micrortps_bridge/micrortps_agent instead of build/BUILDPLATFORM/src/modules/micrortps_bridge/micrortps_agent/.