111 lines
4.4 KiB
CMake
111 lines
4.4 KiB
CMake
rosbuild_find_ros_package(rospy)
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# Message-generation support.
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macro(genmsg_py)
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rosbuild_get_msgs(_msglist)
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set(_inlist "")
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set(_autogen "")
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set(genmsg_py_exe ${rospy_PACKAGE_PATH}/rosbuild/scripts/genmsg_py.py)
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foreach(_msg ${_msglist})
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# Construct the path to the .msg file
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set(_input ${PROJECT_SOURCE_DIR}/msg/${_msg})
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# Append it to a list, which we'll pass back to gensrv below
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list(APPEND _inlist ${_input})
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rosbuild_gendeps(${PROJECT_NAME} ${_msg})
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set(_output_py ${PROJECT_SOURCE_DIR}/src/${PROJECT_NAME}/msg/_${_msg})
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string(REPLACE ".msg" ".py" _output_py ${_output_py})
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# Add the rule to build the .py from the .msg.
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add_custom_command(OUTPUT ${_output_py}
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COMMAND ${genmsg_py_exe} --noinitpy ${_input}
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DEPENDS ${_input} ${genmsg_py_exe} ${gendeps_exe} ${${PROJECT_NAME}_${_msg}_GENDEPS} ${ROS_MANIFEST_LIST})
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list(APPEND _autogen ${_output_py})
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endforeach(_msg)
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if(_autogen)
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# Set up to create the __init__.py file that will import the .py
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# files created by the above loop. It can't run until those files are
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# generated, so it depends on them.
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set(_output_py ${PROJECT_SOURCE_DIR}/src/${PROJECT_NAME}/msg/__init__.py)
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add_custom_command(OUTPUT ${_output_py}
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COMMAND ${genmsg_py_exe} --initpy ${_inlist}
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DEPENDS ${_autogen})
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# A target that depends on generation of the __init__.py
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add_custom_target(ROSBUILD_genmsg_py DEPENDS ${_output_py})
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# Make our target depend on rosbuild_premsgsrvgen, to allow any
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# pre-msg/srv generation steps to be done first.
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add_dependencies(ROSBUILD_genmsg_py rosbuild_premsgsrvgen)
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# Add our target to the top-level genmsg target, which will be fired if
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# the user calls genmsg()
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add_dependencies(rospack_genmsg ROSBUILD_genmsg_py)
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# Also set up to clean the src/<project>/msg directory
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get_directory_property(_old_clean_files ADDITIONAL_MAKE_CLEAN_FILES)
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list(APPEND _old_clean_files ${PROJECT_SOURCE_DIR}/src/${PROJECT_NAME}/msg)
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set_directory_properties(PROPERTIES ADDITIONAL_MAKE_CLEAN_FILES "${_old_clean_files}")
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endif(_autogen)
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endmacro(genmsg_py)
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# Call the macro we just defined.
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genmsg_py()
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# Service-generation support.
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macro(gensrv_py)
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rosbuild_get_srvs(_srvlist)
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set(_inlist "")
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set(_autogen "")
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set(gensrv_py_exe ${rospy_PACKAGE_PATH}/rosbuild/scripts/gensrv_py.py)
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foreach(_srv ${_srvlist})
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# Construct the path to the .srv file
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set(_input ${PROJECT_SOURCE_DIR}/srv/${_srv})
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# Append it to a list, which we'll pass back to gensrv below
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list(APPEND _inlist ${_input})
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rosbuild_gendeps(${PROJECT_NAME} ${_srv})
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set(_output_py ${PROJECT_SOURCE_DIR}/src/${PROJECT_NAME}/srv/_${_srv})
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string(REPLACE ".srv" ".py" _output_py ${_output_py})
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# Add the rule to build the .py from the .srv
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add_custom_command(OUTPUT ${_output_py}
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COMMAND ${gensrv_py_exe} --noinitpy ${_input}
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DEPENDS ${_input} ${gensrv_py_exe} ${gendeps_exe} ${${PROJECT_NAME}_${_srv}_GENDEPS} ${ROS_MANIFEST_LIST})
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list(APPEND _autogen ${_output_py})
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endforeach(_srv)
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if(_autogen)
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# Set up to create the __init__.py file that will import the .py
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# files created by the above loop. It can't run until those files are
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# generated, so it depends on them.
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set(_output_py ${PROJECT_SOURCE_DIR}/src/${PROJECT_NAME}/srv/__init__.py)
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add_custom_command(OUTPUT ${_output_py}
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COMMAND ${gensrv_py_exe} --initpy ${_inlist}
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DEPENDS ${_autogen})
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# A target that depends on generation of the __init__.py
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add_custom_target(ROSBUILD_gensrv_py DEPENDS ${_output_py})
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# Make our target depend on rosbuild_premsgsrvgen, to allow any
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# pre-msg/srv generation steps to be done first.
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add_dependencies(ROSBUILD_gensrv_py rosbuild_premsgsrvgen)
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# Add our target to the top-level gensrv target, which will be fired if
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# the user calls gensrv()
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add_dependencies(rospack_gensrv ROSBUILD_gensrv_py)
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# Also set up to clean the src/<project>/srv directory
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get_directory_property(_old_clean_files ADDITIONAL_MAKE_CLEAN_FILES)
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list(APPEND _old_clean_files ${PROJECT_SOURCE_DIR}/src/${PROJECT_NAME}/srv)
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set_directory_properties(PROPERTIES ADDITIONAL_MAKE_CLEAN_FILES "${_old_clean_files}")
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endif(_autogen)
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endmacro(gensrv_py)
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# Call the macro we just defined.
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gensrv_py()
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