Update IDL-Parser

[pablogs9]

No description provided.

[Ryanf55]

The change to support user-defined array sizes works great!

[srmainwaring]

@pablogs9, there may be an issue with this change which I had not picked up when using on macOS.

When using the feature/v3 branch to build the ArduPilot AP_DDS library there are errors such as the one below that do not appear in master. On macOS these do not cause the build to fail, and the generated code appears to work as expected. On Ubuntu the error is causing a build failure.

Loading templates...
Processing the file /Users/rhys/Code/ros2/humble/ros2-ardupilot/src/ardupilot/libraries/AP_DDS/Idl/sensor_msgs/msg/BatteryState.idl...
Generating Type definition files...
Adding dependency project /Users/rhys/Code/ros2/humble/ros2-ardupilot/src/ardupilot/libraries/AP_DDS/Idl/sensor_msgs/msg/Header.idl
Processing the file /Users/rhys/Code/ros2/humble/ros2-ardupilot/src/ardupilot/libraries/AP_DDS/Idl/sensor_msgs/msg/Header.idl...
clang: error: no such file or directory: '/Users/rhys/Code/ros2/humble/ros2-ardupilot/src/ardupilot/libraries/AP_DDS/Idl/sensor_msgs/msg/Header.idl'
clang: error: no input files
ERROR<callPreprocessor>: Preprocessor return an error 1
Adding dependency project /Users/rhys/Code/ros2/humble/ros2-ardupilot/src/ardupilot/libraries/AP_DDS/Idl/sensor_msgs/msg/Time.idl
Processing the file /Users/rhys/Code/ros2/humble/ros2-ardupilot/src/ardupilot/libraries/AP_DDS/Idl/sensor_msgs/msg/Time.idl...
clang: error: no such file or directory: '/Users/rhys/Code/ros2/humble/ros2-ardupilot/src/ardupilot/libraries/AP_DDS/Idl/sensor_msgs/msg/Time.idl'
clang: error: no input files
ERROR<callPreprocessor>: Preprocessor return an error 1

[pablogs9]

Could you provide instructions for replicating your issue @srmainwaring ?

[srmainwaring]

Could you provide instructions for replicating your issue @srmainwaring ?

The message was obtained when building ArduPilot (master branch) with DDS enabled, and this patch applied to the build of microxrcegen that is use in the build process. After following the usual ArduPilot setup instructions (https://ardupilot.org/dev/docs/building-the-code.html) the command to build is:

./waf configure --board sitl --enable-dds
./waf build

On macOS the errors are raised but the build continues. On the Ubuntu 22.04.03 arm64 server (docker) I was using to cross compile for RPi4. the build errors cause the build to fail.

[pablogs9]

@srmainwaring check 8bf8689, also you will need to add the root include path of your IDLs folder using using the argument -I [your include path]

[srmainwaring]

@pablogs9 - thanks for the patch. It has fixed the issue as far as I can tell.

The attached archive contains two docker files I used for testing in addition to running on macOS. The first is a base image, the second builds ArduPilot with DDS and applies the patch to the microxrcegen and runs that with a branch of ArduPilot using the new feature. Instructions for building in the docker files.

Dockerfiles.zip