python rti dds API调试

参考官网：RTI Connext DDS Python AP

一、 执行configuration.py失败

运行 configuration.py 脚本遇到的问题

python configure.py <platform> 

platform: 
ubuntu: x64Linux3gcc5.4.0 
windows: x64Win64VS2017

 

1.检查rti安装目录下是否有该文件，如果没有则重新安装rti

Windows：xxx\rti_connext_dds-6.1.0\lib\x64Win64VS2017

Linux：/home/dongxuchai/rti_workspace/6.1.0/lib/x64Linux3gcc5.4.0

2.检查环境变量是否有NDDSHOME

Windows：设置在系统环境变量中（如：xxx\rti_connext_dds-6.1.0）

Linux：export NDDSHOME=/home/dongxuchai/rti_connext_dds-6.1.0/

 

二、idl转换成xml

rtiddsgen -convertToXml your_types.idl

INFO com.rti.ndds.nddsgen.Main Running rtiddsgen version 3.1.0, please wait ...
ERROR com.rti.ndds.nddsgen.Main Fail: java.lang.Exception: The preprocessor 'CL.EXE' cannot be found in your path.

 

可以先通过everything查找是否有cl.exe程序，cl.exe程序是visual studio里面C++开发包含的一个程序

如果安装了visual studio依然报错，可以尝试切换成visual studio 2017版本

 

三、多个idl转成xml

python dds使用的数据格式是XML,idl之间存在相互依赖关系,在使用python实现dds通信的时候需要需要把多个idl合成一个XML

import argparse
import os
import sys
import xml.etree.ElementTree as ElementTree


class IDLToXML:
    generator = '/home/cdx/rti_connext_dds-6.1.1/bin/rtiddsgen'

    def __init__(self, directory, destination):
        self.directory_ = directory
        self.destination_ = destination
        self.include_list_ = []
        print(self.directory_, self.destination_)
        if not os.path.isdir(self.destination_):
            os.mkdir(self.destination_)

    def FindIDLs(self, directory):
        idl_files = []
        for root, folders, files in os.walk(directory):
            print(directory, root.replace(directory + os.sep, ''))
            for file in files:
                if os.path.splitext(file)[-1] == '.idl':
                    idl_files.append((root.replace(directory + os.sep, ''), file))
        return idl_files

    def ToXML(self, sub_root, sub_dir, file):
        xml_file = self.destination_ + os.sep + sub_dir + os.sep + file
        content = ElementTree.parse(xml_file)
        if xml_file in self.include_list_:
            return
        self.include_list_.append(xml_file)
        for node in list(content.getroot()):
            if node.tag.find('include') == -1:
                sub_root.append(node)
            else:
                self.ToXML(sub_root, sub_dir, node.attrib['file'])

    def run(self):
        root = ElementTree.Element('dds')
        root.text = '\n'
        tree = ElementTree.ElementTree(root)
        sub_root = ElementTree.Element('types')
        sub_root.text = '\n'
        root.append(sub_root)
        idl_files = self.FindIDLs(self.directory_)
        xml_files = []
        for sub_dir, file in idl_files:
            xml_file_dir = self.destination_ + os.sep + sub_dir
            os.makedirs(xml_file_dir, exist_ok=True)
            cmd = '{0} -convertToXml {1} -d {2}'.format(self.generator,
                                                        '\"{0}\"'.format(self.directory_ + os.sep + sub_dir + os.sep + file),
                                                        xml_file_dir)
            print('---- Converting ' + file + ' ----')
            os.system(cmd)
            xml_files.append((sub_dir, os.path.splitext(file)[0] + '.xml'))
        for sub_dir, file in xml_files:
            self.include_list_.clear()
            self.ToXML(sub_root, sub_dir, file)
        os.system('rm -r {0}{1}*'.format(self.destination_, os.sep))
        tree.write(self.destination_ + os.sep + os.path.basename(self.directory_) + '.xml',
                   encoding='utf-8',
                   xml_declaration=True)


if __name__ == '__main__':
    test = IDLToXML(directory=sys.argv[1], destination=sys.argv[2])
    test.run()