From ca735a1d51668260f3726ec49833b34030d33940 Mon Sep 17 00:00:00 2001 From: Shun Hasegawa Date: Wed, 17 Apr 2019 22:00:35 +0900 Subject: [PATCH] Move idl python to CATKIN_GLOBAL_PYTHON_DESTINATION --- hironx_ros_bridge/CMakeLists.txt | 2 +- .../cmake/rtmbuild_from_dir.cmake | 22 ++++++++++--------- hironx_ros_bridge/setup.py | 2 +- .../src/hironx_ros_bridge/hironx_client.py | 5 ++--- .../hrpsys_315_1_9/hrpsys/.gitignore | 2 -- .../hrpsys_315_1_9/hrpsys/__init__.py | 2 -- 6 files changed, 16 insertions(+), 19 deletions(-) delete mode 100644 hironx_ros_bridge/src/hironx_ros_bridge/hrpsys_315_1_9/hrpsys/.gitignore delete mode 100644 hironx_ros_bridge/src/hironx_ros_bridge/hrpsys_315_1_9/hrpsys/__init__.py diff --git a/hironx_ros_bridge/CMakeLists.txt b/hironx_ros_bridge/CMakeLists.txt index 93a9a3d3..9a964966 100644 --- a/hironx_ros_bridge/CMakeLists.txt +++ b/hironx_ros_bridge/CMakeLists.txt @@ -21,7 +21,7 @@ catkin_package( ) # generate idl for old impedance controller -rtmbuild_genidl_from_dir(idl_315_1_9 315_1_9 src/hironx_ros_bridge/hrpsys_315_1_9/hrpsys) +rtmbuild_genidl_from_dir(idl_315_1_9 315_1_9) # generate bridge for old impedance controller rtmbuild_genbridge() diff --git a/hironx_ros_bridge/cmake/rtmbuild_from_dir.cmake b/hironx_ros_bridge/cmake/rtmbuild_from_dir.cmake index eeff7848..465e5854 100644 --- a/hironx_ros_bridge/cmake/rtmbuild_from_dir.cmake +++ b/hironx_ros_bridge/cmake/rtmbuild_from_dir.cmake @@ -177,7 +177,7 @@ endmacro(rtmbuild_init_from_dir) # add suffix given as argument to lib of CORBA skeleton and stub # generate idl python in dir given as argument # macro(rtmbuild_genidl) -macro(rtmbuild_genidl_from_dir _idl_dir _lib_suffix _output_idl_py_dir) +macro(rtmbuild_genidl_from_dir _idl_dir _lib_suffix) message("[rtmbuild_genidl_from_dir] add_custom_command for idl files in package ${PROJECT_NAME}") set(_autogen "") @@ -187,7 +187,7 @@ macro(rtmbuild_genidl_from_dir _idl_dir _lib_suffix _output_idl_py_dir) set(_output_lib_dir ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_LIB_DESTINATION}) # generate idl python in dir given as argument # set(_output_python_dir ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_PYTHON_DESTINATION}/${PROJECT_NAME}) - set(_output_idl_py_dir_abs ${PROJECT_SOURCE_DIR}/${_output_idl_py_dir}) + set(_output_idl_py_dir ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_PYTHON_DESTINATION}/${PROJECT_NAME}/${_idl_dir}) else() # use idl dir name given as argument # set(_output_dir ${PROJECT_SOURCE_DIR}/idl_gen) @@ -198,7 +198,7 @@ macro(rtmbuild_genidl_from_dir _idl_dir _lib_suffix _output_idl_py_dir) set(_output_lib_dir ${PROJECT_SOURCE_DIR}/${_idl_dir}_gen/lib) # generate idl python in dir given as argument # set(_output_python_dir ${PROJECT_SOURCE_DIR}/src/${PROJECT_NAME}) - set(_output_idl_py_dir_abs ${PROJECT_SOURCE_DIR}/${_output_idl_py_dir}) + set(_output_idl_py_dir ${PROJECT_SOURCE_DIR}/src/${PROJECT_NAME}/${_idl_dir}) # use idl dir name given as argument # include_directories(${PROJECT_SOURCE_DIR}/idl_gen/cpp/) include_directories(${PROJECT_SOURCE_DIR}/${_idl_dir}_gen/cpp/) @@ -216,7 +216,7 @@ macro(rtmbuild_genidl_from_dir _idl_dir _lib_suffix _output_idl_py_dir) message("[rtmbuild_genidl_from_dir] - _output_lib_dir : ${_output_lib_dir}") # generate idl python in dir given as argument # message("[rtmbuild_genidl] - _output_python_dir : ${_output_python_dir}") - message("[rtmbuild_genidl_from_dir] - _output_idl_py_dir_abs: ${_output_idl_py_dir_abs}") + message("[rtmbuild_genidl_from_dir] - _output_idl_py_dir: ${_output_idl_py_dir}") ## RTMBUILD_${PROJECT_NAME}_genrpc) depends on each RTMBUILD_${PROJECT_NAME}_${_idl_name}_genrpc) add_custom_target(RTMBUILD_${PROJECT_NAME}_genrpc) @@ -237,7 +237,7 @@ macro(rtmbuild_genidl_from_dir _idl_dir _lib_suffix _output_idl_py_dir) set(_output_idl_hh ${_output_cpp_dir}/${_idl_dir}/${_idl_name}.hh) # generate idl python in dir given as argument # set(_output_idl_py ${_output_python_dir}/${_idl_name}_idl.py) - set(_output_idl_py ${_output_idl_py_dir_abs}/${_idl_name}_idl.py) + set(_output_idl_py ${_output_idl_py_dir}/${_idl_name}_idl.py) # use idl dir name given as argument # set(_output_stub_h ${_output_cpp_dir}/idl/${_idl_name}Stub.h) # set(_output_skel_h ${_output_cpp_dir}/idl/${_idl_name}Skel.h) @@ -312,16 +312,18 @@ macro(rtmbuild_genidl_from_dir _idl_dir _lib_suffix _output_idl_py_dir) set(_rtm_idlc_py_dir /tmp/rtm_idlc_py_${PROJECT_NAME}_${_rand_str}) set(_rtm_idlc_idl_py_files "") foreach(_output_idl_py ${_output_idl_py_files}) - string(REPLACE ${_output_idl_py_dir_abs} ${_rtm_idlc_py_dir} _rtm_idlc_idl_py ${_output_idl_py}) + string(REPLACE ${_output_idl_py_dir} ${_rtm_idlc_py_dir} _rtm_idlc_idl_py ${_output_idl_py}) list(APPEND _rtm_idlc_idl_py_files ${_rtm_idlc_idl_py}) endforeach(_output_idl_py) - add_custom_target(RTMBUILD_${PROJECT_NAME}_genpy DEPENDS ${_output_idl_py_files}) - add_custom_command(OUTPUT ${_output_idl_py_files} + set(_output_idl_py_dir_init "${_output_idl_py_dir}/__init__.py") + add_custom_target(RTMBUILD_${PROJECT_NAME}_genpy DEPENDS ${_output_idl_py_files} ${_output_idl_py_dir_init}) + add_custom_command(OUTPUT ${_output_idl_py_files} ${_output_idl_py_dir_init} COMMAND mkdir -p ${_rtm_idlc_py_dir} COMMAND echo \"${rtm_idlc} -bpython -I${rtm_idldir} -C${_rtm_idlc_py_dir} ${${PROJECT_NAME}_idl_files}\" COMMAND ${rtm_idlc} -bpython -I${rtm_idldir} -C${_rtm_idlc_py_dir} ${${PROJECT_NAME}_idl_files} - COMMAND mkdir -p ${_output_idl_py_dir_abs} - COMMAND cp ${_rtm_idlc_idl_py_files} ${_output_idl_py_dir_abs} + COMMAND mkdir -p ${_output_idl_py_dir} + COMMAND touch ${_output_idl_py_dir_init} + COMMAND cp ${_rtm_idlc_idl_py_files} ${_output_idl_py_dir} COMMAND rm -rf ${_rtm_idlc_py_dir} COMMENT "Generating python/idl from ${${PROJECT_NAME}_idl_files}" DEPENDS ${${PROJECT_NAME}_idl_files}) diff --git a/hironx_ros_bridge/setup.py b/hironx_ros_bridge/setup.py index 78630d35..de9f3df1 100644 --- a/hironx_ros_bridge/setup.py +++ b/hironx_ros_bridge/setup.py @@ -5,7 +5,7 @@ # fetch values from package.xml setup_args = generate_distutils_setup( - packages=['hironx_ros_bridge', 'hironx_ros_bridge.testutil', 'hironx_ros_bridge.hrpsys_315_1_9.hrpsys'], + packages=['hironx_ros_bridge', 'hironx_ros_bridge.testutil'], package_dir={'': 'src'}) setup(**setup_args) diff --git a/hironx_ros_bridge/src/hironx_ros_bridge/hironx_client.py b/hironx_ros_bridge/src/hironx_ros_bridge/hironx_client.py index 8fb58583..0c9204ca 100644 --- a/hironx_ros_bridge/src/hironx_ros_bridge/hironx_client.py +++ b/hironx_ros_bridge/src/hironx_ros_bridge/hironx_client.py @@ -344,10 +344,9 @@ def init(self, robotname="HiroNX(Robot)0", url=""): if self.ms and self.ms.ref and len(self.ms.ref.get_component_profiles()) > 0: print self.configurator_name, " version = ", self.ms.ref.get_component_profiles()[0].version if self.ms and self.ms.ref and len(self.ms.ref.get_component_profiles()) > 0 and StrictVersion(self.ms.ref.get_component_profiles()[0].version) < StrictVersion('315.2.0'): - sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), 'hrpsys_315_1_9/hrpsys')) delete_module('ImpedanceControllerService_idl') - import AbsoluteForceSensorService_idl - import ImpedanceControllerService_idl + import hironx_ros_bridge.idl_315_1_9.AbsoluteForceSensorService_idl + import hironx_ros_bridge.idl_315_1_9.ImpedanceControllerService_idl # HrpsysConfigurator.init(self, robotname=robotname, url=url) self.sensors = self.getSensors(url) diff --git a/hironx_ros_bridge/src/hironx_ros_bridge/hrpsys_315_1_9/hrpsys/.gitignore b/hironx_ros_bridge/src/hironx_ros_bridge/hrpsys_315_1_9/hrpsys/.gitignore deleted file mode 100644 index 4bd91291..00000000 --- a/hironx_ros_bridge/src/hironx_ros_bridge/hrpsys_315_1_9/hrpsys/.gitignore +++ /dev/null @@ -1,2 +0,0 @@ -# For rtmbuild -*_idl.py diff --git a/hironx_ros_bridge/src/hironx_ros_bridge/hrpsys_315_1_9/hrpsys/__init__.py b/hironx_ros_bridge/src/hironx_ros_bridge/hrpsys_315_1_9/hrpsys/__init__.py deleted file mode 100644 index cdb66cdd..00000000 --- a/hironx_ros_bridge/src/hironx_ros_bridge/hrpsys_315_1_9/hrpsys/__init__.py +++ /dev/null @@ -1,2 +0,0 @@ -import sys, os -sys.path.append(os.path.dirname(__file__))