Removing DDS references.

klepsydra-technologies · Oct 20, 2023 · 02cbcc9 · 02cbcc9
1 parent 5f6349a
commit 02cbcc9
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Showing 59 changed files with 96 additions and 2,357 deletions.
diff --git a/.github/actions/deps/action.yml b/.github/actions/deps/action.yml
@@ -0,0 +1,41 @@
+name: 'Install Dependencies'
+description: 'Install dependencies'
+runs:
+  using: "composite"
+
+  steps:
+    - name: Clone kpsr-sdk
+      uses: actions/checkout@v4
+      with:
+        repository: klepsydra-technologies/kpsr-sdk
+        ref: main
+        submodules: recursive
+        path: kpsr-sdk
+
+    - name: Build and install SDK
+      shell: bash
+      run: |
+        mkdir build && cd build/
+        cmake ..
+        make -j$(nproc)
+        make install
+        cd ../../ && rm -rf kpsr-sdk/
+      working-directory: kpsr-sdk
+
+    - name: Clone kpsr-core
+      uses: actions/checkout@v4
+      with:
+        repository: klepsydra-technologies/kpsr-core
+        ref: main
+        submodules: recursive
+        path: kpsr-core
+
+    - name: Build and install kpsr-core
+      shell: bash
+      run: |
+        mkdir build && cd build/
+        cmake -DKPSR_WITH_ZMQ=true -DKPSR_TEST_PERFORMANCE=true -DKPSR_WITH_SOCKET=true ../ 
+        make -j$(nproc)
+        make install
+        cd ../../ && rm -rf kpsr-core/
+      working-directory: kpsr-core
diff --git a/.github/workflows/push.yml b/.github/workflows/push.yml
@@ -29,12 +29,15 @@ jobs:
     container:
       image: ghcr.io/klepsydra-technologies/kpsrbase:1.0.0
     steps:
-      - uses: actions/checkout@v3
+      - name: Clone project
+        uses: actions/checkout@v4
         with:
           submodules: recursive
-          fetch-depth: 0
 
-      - name: Build
+      - name: Install Dependencies
+        uses: ./.github/actions/deps/
+
+      - name: Build project
         run: |
           git config --global --add safe.directory ${GITHUB_WORKSPACE}
           python3 -m pip install build --upgrade
@@ -47,21 +50,13 @@ jobs:
           python3 -m pip install pytest==7.0 --upgrade
           pytest
 
-      - name: Install Klepsydra SDK
-        run: |
-          git clone https://github.com/klepsydra-technologies/kpsr-core.git --recursive
-          cd kpsr-core && mkdir build && cd build
-          cmake .. -DKPSR_RUNTIME=On -DKPSR_ENABLE_TESTS=Off -DKPSR_WITH_ZMQ=On -DKPSR_WITH_DDS=Off
-          cmake --build .
-          cmake --build . --target install
-
       - name: Test codegen against klepsydra core
         timeout-minutes: 10
         run: |
           python3 -m pip install -I --find-links dist kpsr_codegen 
           mkdir build_cpptesting
           cd build_cpptesting
-          cmake -DKPSR_WITH_ZMQ=On -DKPSR_WITH_DDS=Off ../cpp_testing
+          cmake -DKPSR_WITH_ZMQ=On ../cpp_testing
           cmake --build .
           make test
 

diff --git a/README.md b/README.md
@@ -43,7 +43,6 @@ Run the cpp tests:
 
 See the [Tutorial](https://github.com/klepsydra-technologies/kpsr-tutorial/blob/main/tutorials/chapter3.md) for detailed usage of the tool.
 
-The options that can be provided to
 A simple help is available by passing the `-h` option:
 
 ```
@@ -52,7 +51,6 @@ kpsr_codegen [options]:
    Input directory: -i | --idir
    Output directory: -o | --odir
    Include path: -p | --include_path
-   Disable DDS: -d | --disable_dds
    Disable ZMQ: -z | --disable_zmq
    Disable ROS: -r | --disable_ros
    Configuration path: -c | --conf_path

diff --git a/cpp_testing/kpsr-build b/cpp_testing/kpsr-build
diff --git a/cpp_testing/modules/codegen/CMakeLists.txt b/cpp_testing/modules/codegen/CMakeLists.txt
@@ -21,13 +21,12 @@ SET(PROJ_NAME kpsr_${PROJ_MAIN_NAME})
 PROJECT(${PROJ_NAME})
 
 set(disableZmq "True")
-set(disableDds "True")
 
-KpsrEventGenerator("${CMAKE_CURRENT_SOURCE_DIR}/kidl_test1" "${CMAKE_CURRENT_SOURCE_DIR}/gen_test1" "klepsydra/codegen" "False" ${disableZmq} ${disableDds})
-KpsrEventGenerator("${CMAKE_CURRENT_SOURCE_DIR}/kidl_test2" "${CMAKE_CURRENT_SOURCE_DIR}/gen_test2" "klepsydra/codegen" "False" ${disableZmq} ${disableDds})
-KpsrEventGenerator("${CMAKE_CURRENT_SOURCE_DIR}/kidl_test3" "${CMAKE_CURRENT_SOURCE_DIR}/gen_test3" "klepsydra/codegen" "False" ${disableZmq} ${disableDds})
-KpsrEventGenerator("${CMAKE_CURRENT_SOURCE_DIR}/kidl_test4" "${CMAKE_CURRENT_SOURCE_DIR}/gen_test4" "klepsydra/codegen" "False" ${disableZmq} ${disableDds})
-KpsrEventGenerator("${CMAKE_CURRENT_SOURCE_DIR}/kidl_test5" "${CMAKE_CURRENT_SOURCE_DIR}/gen_test5" "klepsydra/codegen" "False" ${disableZmq} ${disableDds})
+KpsrEventGenerator("${CMAKE_CURRENT_SOURCE_DIR}/kidl_test1" "${CMAKE_CURRENT_SOURCE_DIR}/gen_test1" "klepsydra/codegen" "False" ${disableZmq})
+KpsrEventGenerator("${CMAKE_CURRENT_SOURCE_DIR}/kidl_test2" "${CMAKE_CURRENT_SOURCE_DIR}/gen_test2" "klepsydra/codegen" "False" ${disableZmq})
+KpsrEventGenerator("${CMAKE_CURRENT_SOURCE_DIR}/kidl_test3" "${CMAKE_CURRENT_SOURCE_DIR}/gen_test3" "klepsydra/codegen" "False" ${disableZmq})
+KpsrEventGenerator("${CMAKE_CURRENT_SOURCE_DIR}/kidl_test4" "${CMAKE_CURRENT_SOURCE_DIR}/gen_test4" "klepsydra/codegen" "False" ${disableZmq})
+KpsrEventGenerator("${CMAKE_CURRENT_SOURCE_DIR}/kidl_test5" "${CMAKE_CURRENT_SOURCE_DIR}/gen_test5" "klepsydra/codegen" "False" ${disableZmq})
 
 # Source
 #---------------------------------------------------#

diff --git a/cpp_testing/modules/codegen/kidl_test1/gps.yaml b/cpp_testing/modules/codegen/kidl_test1/gps.yaml
@@ -21,10 +21,6 @@ middlewares:
       include_file: <sensor_msgs/NavSatFix.h>
       ignore_fields:
           - seq
-    - type: DDS
-      class_name: kpsr_dds_geometry::GpsData
-      sequence_fields: 
-          - seq
     - type: ZMQ
 fields:
     - name   : seq

diff --git a/cpp_testing/modules/codegen/kidl_test1/header.yaml b/cpp_testing/modules/codegen/kidl_test1/header.yaml
@@ -19,10 +19,6 @@ middlewares:
       already_exists: true
       class_name: Header
       include_file: <std_msgs/Header.h>
-    - type: DDS
-      class_name: kpsr_dds_geometry::HeaderData
-      sequence_fields: 
-          - seq
     - type: ZMQ
 fields:
     - name   : seq

diff --git a/cpp_testing/modules/codegen/kidl_test1/imu.yaml b/cpp_testing/modules/codegen/kidl_test1/imu.yaml
@@ -21,10 +21,6 @@ middlewares:
       include_file: <sensor_msgs/Imu.h>
       ignore_fields:
           - seq
-    - type: DDS
-      class_name: kpsr_dds_geometry::ImuData
-      sequence_fields: 
-          - seq
     - type: ZMQ
 fields:
     - name   : seq

diff --git a/cpp_testing/modules/codegen/kidl_test1/quaternion.yaml b/cpp_testing/modules/codegen/kidl_test1/quaternion.yaml
@@ -21,10 +21,6 @@ middlewares:
       include_file: <geometry_msgs/Quaternion.h>
       ignore_fields:
           - seq
-    - type: DDS
-      class_name: kpsr_dds_geometry::QuaternionData
-      sequence_fields: 
-          - seq
     - type: ZMQ
 fields:
     - name   : seq

diff --git a/cpp_testing/modules/codegen/kidl_test1/vector3.yaml b/cpp_testing/modules/codegen/kidl_test1/vector3.yaml
@@ -21,10 +21,6 @@ middlewares:
       include_file: <geometry_msgs/Vector3.h>
       ignore_fields:
           - seq
-    - type: DDS
-      class_name: kpsr_dds_geometry::Vector3Data
-      sequence_fields: 
-          - seq
     - type: ZMQ
 fields:
     - name   : seq

diff --git a/cpp_testing/modules/codegen/kidl_test2/primitive_types_array.yaml b/cpp_testing/modules/codegen/kidl_test2/primitive_types_array.yaml
@@ -19,10 +19,6 @@ middlewares:
       project_name: kpsr_ros_codegen
       already_exists: false
       class_name: PrimitiveTypesArray
-    - type: DDS
-      class_name: kpsr_dds_codegen::PrimitiveTypesArrayData
-      sequence_fields: 
-          - seq
     - type: ZMQ
 fields:
     - name   : seq

diff --git a/cpp_testing/modules/codegen/kidl_test2/primitive_types_basic.yaml b/cpp_testing/modules/codegen/kidl_test2/primitive_types_basic.yaml
@@ -19,10 +19,6 @@ middlewares:
       project_name: kpsr_ros_codegen
       already_exists: false
       class_name: PrimitiveTypesBasic
-    - type: DDS
-      class_name: kpsr_dds_codegen::PrimitiveTypesBasicData
-      sequence_fields: 
-          - seq
     - type: ZMQ
 fields:
     - name   : seq

diff --git a/cpp_testing/modules/codegen/kidl_test2/primitive_types_vector.yaml b/cpp_testing/modules/codegen/kidl_test2/primitive_types_vector.yaml
@@ -19,10 +19,6 @@ middlewares:
       project_name: kpsr_ros_codegen
       already_exists: false
       class_name: PrimitiveTypesVector
-    - type: DDS
-      class_name: kpsr_dds_codegen::PrimitiveTypesVectorData
-      sequence_fields: 
-          - seq
     - type: ZMQ
 fields:
     - name   : seq

diff --git a/cpp_testing/modules/codegen/kidl_test2/primitive_types_vector_pointer.yaml b/cpp_testing/modules/codegen/kidl_test2/primitive_types_vector_pointer.yaml
@@ -19,10 +19,6 @@ middlewares:
       project_name: kpsr_ros_codegen
       already_exists: false
       class_name: PrimitiveTypesVectorPointer
-    - type: DDS
-      class_name: kpsr_dds_codegen::PrimitiveTypesVectorPointerData
-      sequence_fields: 
-          - seq
 fields:
     - name   : seq
       type   : uint32

diff --git a/cpp_testing/modules/codegen/kidl_test2/primitive_types_vector_shared_pointer.yaml b/cpp_testing/modules/codegen/kidl_test2/primitive_types_vector_shared_pointer.yaml
@@ -19,10 +19,6 @@ middlewares:
       project_name: kpsr_ros_codegen
       already_exists: false
       class_name: PrimitiveTypesVectorSharedPtr
-    - type: DDS
-      class_name: kpsr_dds_codegen::PrimitiveTypesVectorSharedPtrData
-      sequence_fields: 
-          - seq
     - type: ZMQ
 fields:
     - name   : seq

diff --git a/cpp_testing/modules/codegen/kidl_test3/composition_type.yaml b/cpp_testing/modules/codegen/kidl_test3/composition_type.yaml
@@ -18,10 +18,6 @@ middlewares:
       project_name: kpsr_ros_codegen
       already_exists: false
       class_name: CompositionType
-    - type: DDS
-      class_name: kpsr_dds_codegen::CompositionTypeData
-      sequence_fields: 
-          - seq
     - type: ZMQ
 enums:
     - enum_name: kpsr::codegen::NewEnum

diff --git a/cpp_testing/modules/codegen/kidl_test3/header.yaml b/cpp_testing/modules/codegen/kidl_test3/header.yaml
@@ -19,10 +19,6 @@ middlewares:
       already_exists: true
       class_name: Header
       include_file: <std_msgs/Header.h>
-    - type: DDS
-      class_name: kpsr_dds_geometry::HeaderData
-      sequence_fields: 
-          - seq
     - type: ZMQ
 fields:
     - name   : seq

diff --git a/cpp_testing/modules/codegen/kidl_test3/vector3.yaml b/cpp_testing/modules/codegen/kidl_test3/vector3.yaml
@@ -21,10 +21,6 @@ middlewares:
       include_file: <geometry_msgs/Vector3.h>
       ignore_fields:
           - seq
-    - type: DDS
-      class_name: kpsr_dds_geometry::Vector3Data
-      sequence_fields: 
-          - seq
     - type: ZMQ
 fields:
     - name   : seq

diff --git a/cpp_testing/modules/codegen/kidl_test3/vector4.yaml b/cpp_testing/modules/codegen/kidl_test3/vector4.yaml
@@ -18,8 +18,6 @@ middlewares:
       project_name: kpsr_ros_codegen
       already_exists: false
       class_name: Vector4
-    - type: DDS
-      class_name: kpsr_dds_codegen::Vector4Data
     - type: ZMQ
 fields:
     - name   : a

diff --git a/cpp_testing/modules/codegen/kidl_test4/vector4.yaml b/cpp_testing/modules/codegen/kidl_test4/vector4.yaml
@@ -19,10 +19,6 @@ middlewares:
       project_name: kpsr_ros_codegen
       already_exists: false
       class_name: InheritanceVector4
-    - type: DDS
-      class_name: kpsr_dds_codegen::InheritanceVector4Data
-      sequence_fields: 
-          - d
     - type: ZMQ
 fields:
     - name   : d

diff --git a/cpp_testing/modules/codegen/kidl_test5/composition_type_related.yaml b/cpp_testing/modules/codegen/kidl_test5/composition_type_related.yaml
@@ -18,10 +18,6 @@ middlewares:
       project_name: kpsr_ros_codegen
       already_exists: false
       class_name: CompositionTypeRelated
-    - type: DDS
-      class_name: kpsr_dds_codegen::CompositionTypeRelatedData
-      sequence_fields: 
-          - seq
     - type: ZMQ
 enums:
     - enum_name: kpsr::codegen::NewEnum
@@ -74,4 +70,4 @@ fields:
     - name   : quat
       type   : kpsr::geometry::Quaternion
     - name   : gpsData
-      type   : kpsr::geometry::Gps
+      type   : kpsr::geometry::Gps
diff --git a/cpp_testing/modules/codegen/kidl_test5/header.yaml b/cpp_testing/modules/codegen/kidl_test5/header.yaml
@@ -19,10 +19,6 @@ middlewares:
       already_exists: true
       class_name: Header
       include_file: <std_msgs/Header.h>
-    - type: DDS
-      class_name: kpsr_dds_geometry::HeaderData
-      sequence_fields: 
-          - seq
     - type: ZMQ
 fields:
     - name   : seq

diff --git a/cpp_testing/modules/codegen/kidl_test5/related_class.yaml b/cpp_testing/modules/codegen/kidl_test5/related_class.yaml
@@ -22,11 +22,6 @@ related_classes:
           class_name: Quaternion
           include_file: <geometry_msgs/Quaternion.h>
           mapper_include_file: <geometry_msgs/quaternion_ros_mapper.h>
-        - type: DDS
-          class_name: kpsr_dds_geometry::QuaternionData
-          already_exists: true
-          mapper_include_file: <klepsydra/codegen/dds/quaternion_dds_mapper.h>
-          idl_file: "quaternion_data.idl"
         - type: ZMQ
           serializer_include_file: <klepsydra/codegen/cereal/quaternion_serializer.h>
     - class_name: kpsr::geometry::Gps
@@ -38,10 +33,5 @@ related_classes:
           class_name: NavSatFix
           include_file: <sensor_msgs/NavSatFix.h>
           mapper_include_file: <sensor_msgs/gps_ros_mapper.h>
-        - type: DDS
-          class_name: kpsr_dds_geometry::GpsData
-          already_exists: True
-          mapper_include_file: <klepsydra/codegen/dds/gps_dds_mapper.h>
-          idl_file: "gps_data.idl"
         - type: ZMQ
           serializer_include_file: <klepsydra/codegen/cereal/gps_serializer.h>
diff --git a/cpp_testing/modules/codegen/kidl_test5/vector3.yaml b/cpp_testing/modules/codegen/kidl_test5/vector3.yaml
@@ -21,10 +21,6 @@ middlewares:
       include_file: <geometry_msgs/Vector3.h>
       ignore_fields:
           - seq
-    - type: DDS
-      class_name: kpsr_dds_geometry::Vector3Data
-      sequence_fields: 
-          - seq
     - type: ZMQ
 fields:
     - name   : seq

diff --git a/cpp_testing/modules/codegen/kidl_test5/vector4.yaml b/cpp_testing/modules/codegen/kidl_test5/vector4.yaml
@@ -18,8 +18,6 @@ middlewares:
       project_name: kpsr_ros_codegen
       already_exists: false
       class_name: Vector4
-    - type: DDS
-      class_name: kpsr_dds_codegen::Vector4Data
     - type: ZMQ
 fields:
     - name   : a

diff --git a/cpp_testing/tests/CMakeLists.txt b/cpp_testing/tests/CMakeLists.txt
@@ -34,10 +34,3 @@ add_subdirectory(${PROJ_MAIN_NAME}_tests)
 IF(KPSR_WITH_ZMQ)
    ADD_SUBDIRECTORY(zmq_${PROJ_MAIN_NAME}_tests)
 ENDIF()
-IF(KPSR_WITH_DDS)
-  include (MacroConnext)
-  find_package (RTIConnextDDS REQUIRED)
-  ADD_SUBDIRECTORY(dds_${PROJ_MAIN_NAME}_tests_1_2)
-  ADD_SUBDIRECTORY(dds_${PROJ_MAIN_NAME}_tests_3_4)
-  ADD_SUBDIRECTORY(dds_${PROJ_MAIN_NAME}_tests_1_5)
-ENDIF()
diff --git a/cpp_testing/tests/codegen_tests/CMakeLists.txt b/cpp_testing/tests/codegen_tests/CMakeLists.txt
@@ -22,11 +22,11 @@ PROJECT(${PROJ_NAME})
 
 # Source
 #---------------------------------------------------#
-KpsrEventGenerator("${CMAKE_SOURCE_DIR}/modules/codegen/kidl_test1" "${CMAKE_CURRENT_SOURCE_DIR}/gen_test1" "klepsydra/codegen" "True" "True" "True")
-KpsrEventGenerator("${CMAKE_SOURCE_DIR}/modules/codegen/kidl_test2" "${CMAKE_CURRENT_SOURCE_DIR}/gen_test2" "klepsydra/codegen" "True" "True" "True")
-KpsrEventGenerator("${CMAKE_SOURCE_DIR}/modules/codegen/kidl_test3" "${CMAKE_CURRENT_SOURCE_DIR}/gen_test3" "klepsydra/codegen" "True" "True" "True")
-KpsrEventGenerator("${CMAKE_SOURCE_DIR}/modules/codegen/kidl_test4" "${CMAKE_CURRENT_SOURCE_DIR}/gen_test4" "klepsydra/codegen" "True" "True" "True")
-KpsrEventGenerator("${CMAKE_SOURCE_DIR}/modules/codegen/kidl_test5" "${CMAKE_CURRENT_SOURCE_DIR}/gen_test5" "klepsydra/codegen" "True" "True" "True")
+KpsrEventGenerator("${CMAKE_SOURCE_DIR}/modules/codegen/kidl_test1" "${CMAKE_CURRENT_SOURCE_DIR}/gen_test1" "klepsydra/codegen" "True" "True")
+KpsrEventGenerator("${CMAKE_SOURCE_DIR}/modules/codegen/kidl_test2" "${CMAKE_CURRENT_SOURCE_DIR}/gen_test2" "klepsydra/codegen" "True" "True")
+KpsrEventGenerator("${CMAKE_SOURCE_DIR}/modules/codegen/kidl_test3" "${CMAKE_CURRENT_SOURCE_DIR}/gen_test3" "klepsydra/codegen" "True" "True")
+KpsrEventGenerator("${CMAKE_SOURCE_DIR}/modules/codegen/kidl_test4" "${CMAKE_CURRENT_SOURCE_DIR}/gen_test4" "klepsydra/codegen" "True" "True")
+KpsrEventGenerator("${CMAKE_SOURCE_DIR}/modules/codegen/kidl_test5" "${CMAKE_CURRENT_SOURCE_DIR}/gen_test5" "klepsydra/codegen" "True" "True")
 
 FILE(GLOB ${PROJ_NAME}_SRC
     "src/*.cpp"