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187 lines
6.3 KiB
187 lines
6.3 KiB
@############################################### |
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@# |
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@# EmPy template for generating RtpsTopics.cpp file |
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@# |
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@############################################### |
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@# Start of Template |
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@# |
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@# Context: |
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@# - spec (msggen.MsgSpec) Parsed specification of the .msg file |
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@############################################### |
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@{ |
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import genmsg.msgs |
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import os |
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from px_generate_uorb_topic_files import MsgScope # this is in Tools/ |
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send_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND] |
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recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE] |
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}@ |
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/**************************************************************************** |
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* |
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* Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima). |
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* Copyright (c) 2018-2021 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright notice, this |
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* list of conditions and the following disclaimer. |
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* |
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* 2. Redistributions in binary form must reproduce the above copyright notice, |
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* this list of conditions and the following disclaimer in the documentation |
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* and/or other materials provided with the distribution. |
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* |
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* 3. Neither the name of the copyright holder nor the names of its contributors |
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* may be used to endorse or promote products derived from this software without |
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* specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE |
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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#include "RtpsTopics.h" |
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bool RtpsTopics::init(std::condition_variable *t_send_queue_cv, std::mutex *t_send_queue_mutex, |
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std::queue<uint8_t> *t_send_queue, const std::string &ns) |
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{ |
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@[if recv_topics]@ |
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// Initialise subscribers |
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std::cout << "\033[0;36m--- Subscribers ---\033[0m" << std::endl; |
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@[for topic in recv_topics]@ |
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if (_@(topic)_sub.init(@(msgs[0].index(topic) + 1), t_send_queue_cv, t_send_queue_mutex, t_send_queue, ns)) { |
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std::cout << "- @(topic) subscriber started" << std::endl; |
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} else { |
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std::cerr << "Failed starting @(topic) subscriber" << std::endl; |
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return false; |
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} |
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@[end for]@ |
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std::cout << "\033[0;36m-----------------------\033[0m" << std::endl << std::endl; |
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@[end if]@ |
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@[if send_topics]@ |
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// Initialise publishers |
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std::cout << "\033[0;36m---- Publishers ----\033[0m" << std::endl; |
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@[for topic in send_topics]@ |
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@[ if topic == 'Timesync' or topic == 'timesync']@ |
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if (_@(topic)_pub.init(ns)) { |
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if (_@(topic)_fmu_in_pub.init(ns, std::string("fmu/timesync/in"))) { |
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_timesync->start(&_@(topic)_fmu_in_pub); |
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std::cout << "- @(topic) publishers started" << std::endl; |
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} |
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@[ elif topic == 'TimesyncStatus' or topic == 'timesync_status']@ |
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if (_@(topic)_pub.init(ns, std::string("timesync_status"))) { |
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_timesync->init_status_pub(&_@(topic)_pub); |
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std::cout << "- @(topic) publisher started" << std::endl; |
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@[ else]@ |
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if (_@(topic)_pub.init(ns)) { |
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std::cout << "- @(topic) publisher started" << std::endl; |
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@[ end if]@ |
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} else { |
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std::cerr << "ERROR starting @(topic) publisher" << std::endl; |
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return false; |
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} |
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@[end for]@ |
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std::cout << "\033[0;36m-----------------------\033[0m" << std::endl; |
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@[end if]@ |
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return true; |
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} |
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@[if send_topics]@ |
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template <typename T> |
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void RtpsTopics::sync_timestamp_of_incoming_data(T &msg) { |
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uint64_t timestamp = getMsgTimestamp(&msg); |
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uint64_t timestamp_sample = getMsgTimestampSample(&msg); |
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_timesync->subtractOffset(timestamp); |
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setMsgTimestamp(&msg, timestamp); |
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_timesync->subtractOffset(timestamp_sample); |
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setMsgTimestampSample(&msg, timestamp_sample); |
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} |
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void RtpsTopics::publish(const uint8_t topic_ID, char data_buffer[], size_t len) |
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{ |
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switch (topic_ID) { |
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@[for topic in send_topics]@ |
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case @(msgs[0].index(topic) + 1): { // @(topic) publisher |
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@(topic)_msg_t st; |
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eprosima::fastcdr::FastBuffer cdrbuffer(data_buffer, len); |
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eprosima::fastcdr::Cdr cdr_des(cdrbuffer); |
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st.deserialize(cdr_des); |
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@[ if topic == 'Timesync' or topic == 'timesync']@ |
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_timesync->processTimesyncMsg(&st, &_@(topic)_pub); |
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@[ end if]@ |
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// apply timestamp offset |
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sync_timestamp_of_incoming_data(st); |
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_@(topic)_pub.publish(&st); |
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} |
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break; |
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@[end for]@ |
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default: |
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printf("\033[1;33m[ micrortps_agent ]\tUnexpected topic ID '%hhu' to publish. Please make sure the agent is capable of parsing the message associated to the topic ID '%hhu'\033[0m\n", |
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topic_ID, topic_ID); |
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break; |
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} |
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} |
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@[end if]@ |
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@[if recv_topics]@ |
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template <typename T> |
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void RtpsTopics::sync_timestamp_of_outgoing_data(T &msg) { |
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uint64_t timestamp = getMsgTimestamp(&msg); |
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uint64_t timestamp_sample = getMsgTimestampSample(&msg); |
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_timesync->addOffset(timestamp); |
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setMsgTimestamp(&msg, timestamp); |
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_timesync->addOffset(timestamp_sample); |
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setMsgTimestampSample(&msg, timestamp_sample); |
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} |
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bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr) |
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{ |
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bool ret = false; |
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switch (topic_ID) { |
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@[for topic in recv_topics]@ |
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case @(msgs[0].index(topic) + 1): // @(topic) subscriber |
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if (_@(topic)_sub.hasMsg()) { |
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@(topic)_msg_t msg = _@(topic)_sub.getMsg(); |
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// apply timestamp offset |
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sync_timestamp_of_outgoing_data(msg); |
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msg.serialize(scdr); |
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ret = true; |
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_@(topic)_sub.unlockMsg(); |
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} |
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break; |
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@[end for]@ |
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default: |
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printf("\033[1;33m[ micrortps_agent ]\tUnexpected topic ID '%hhu' to getMsg. Please make sure the agent is capable of parsing the message associated to the topic ID '%hhu'\033[0m\n", |
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topic_ID, topic_ID); |
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break; |
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} |
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return ret; |
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} |
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@[end if]@
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