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220 lines
7.8 KiB
220 lines
7.8 KiB
@############################################### |
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@# |
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@# EmPy template for generating RtpsTopics.h 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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@# - fastrtps_version (List[str]) FastRTPS version installed on the system |
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@# - package (List[str]) messages package name. Defaulted to 'px4' |
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@# - ros2_distro (List[str]) ROS2 distro name |
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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 packaging import version |
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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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package = package[0] |
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fastrtps_version = fastrtps_version[0] |
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try: |
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ros2_distro = ros2_distro[0].decode("utf-8") |
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except AttributeError: |
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ros2_distro = ros2_distro[0] |
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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 <fastcdr/Cdr.h> |
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#include <condition_variable> |
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#include <queue> |
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#include <type_traits> |
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#include "microRTPS_timesync.h" |
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@[for topic in send_topics]@ |
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#include "@(topic)_Publisher.h" |
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@[end for]@ |
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@[for topic in recv_topics]@ |
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#include "@(topic)_Subscriber.h" |
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@[end for]@ |
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@[for topic in (recv_topics + send_topics)]@ |
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@[ if version.parse(fastrtps_version) <= version.parse('1.7.2')]@ |
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@[ if ros2_distro]@ |
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using @(topic)_msg_t = @(package)::msg::dds_::@(topic)_; |
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@[ else]@ |
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using @(topic)_msg_t = @(topic)_; |
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@[ end if]@ |
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@[ else]@ |
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@[ if ros2_distro]@ |
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using @(topic)_msg_t = @(package)::msg::@(topic); |
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@[ else]@ |
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using @(topic)_msg_t = @(topic); |
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@[ end if]@ |
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@[ end if]@ |
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@[end for]@ |
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class RtpsTopics |
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{ |
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public: |
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bool init(std::condition_variable *t_send_queue_cv, std::mutex *t_send_queue_mutex, std::queue<uint8_t> *t_send_queue, |
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const std::string &ns); |
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void set_timesync(const std::shared_ptr<TimeSync> ×ync) { _timesync = timesync; }; |
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@[if send_topics]@ |
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template <typename T> |
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void sync_timestamp_of_incoming_data(T &msg); |
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void publish(const uint8_t topic_ID, char data_buffer[], size_t len); |
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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 sync_timestamp_of_outgoing_data(T &msg); |
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bool getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr); |
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@[end if]@ |
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private: |
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@[if send_topics]@ |
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/** Publishers **/ |
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@[for topic in send_topics]@ |
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@[ if topic == 'Timesync' or topic == 'timesync']@ |
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@(topic)_Publisher _@(topic)_pub; |
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@(topic)_Publisher _@(topic)_fmu_in_pub; |
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@[ else]@ |
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@(topic)_Publisher _@(topic)_pub; |
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@[ end if]@ |
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@[end for]@ |
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@[end if]@ |
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@[if recv_topics]@ |
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/** Subscribers **/ |
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@[for topic in recv_topics]@ |
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@(topic)_Subscriber _@(topic)_sub; |
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@[end for]@ |
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@[end if]@ |
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// SFINAE |
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template<typename T> struct hasTimestampSample{ |
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private: |
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template<typename U, |
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typename = decltype(std::declval<U>().timestamp_sample(int64_t()))> |
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static std::true_type detect(int); |
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template<typename U> |
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static std::false_type detect(...); |
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public: |
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static constexpr bool value = decltype(detect<T>(0))::value; |
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}; |
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template<typename T> |
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inline typename std::enable_if < !hasTimestampSample<T>::value, uint64_t >::type |
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getMsgTimestampSample_impl(const T *) { return 0; } |
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/** Msg metada Getters **/ |
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@[if version.parse(fastrtps_version) <= version.parse('1.7.2') or not ros2_distro]@ |
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template <class T> |
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inline uint64_t getMsgTimestamp(const T *msg) { return msg->timestamp_(); } |
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template<typename T> |
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inline typename std::enable_if<hasTimestampSample<T>::value, uint64_t>::type |
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getMsgTimestampSample_impl(const T *msg) { return msg->timestamp_sample_(); } |
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template <class T> |
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inline uint8_t getMsgSysID(const T *msg) { return msg->sys_id_(); } |
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template <class T> |
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inline uint8_t getMsgSeq(const T *msg) { return msg->seq_(); } |
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@[elif ros2_distro]@ |
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template <class T> |
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inline uint64_t getMsgTimestamp(const T *msg) { return msg->timestamp(); } |
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template<typename T> |
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inline typename std::enable_if<hasTimestampSample<T>::value, uint64_t>::type |
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getMsgTimestampSample_impl(const T *msg) { return msg->timestamp_sample(); } |
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template <class T> |
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inline uint8_t getMsgSysID(const T *msg) { return msg->sys_id(); } |
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template <class T> |
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inline uint8_t getMsgSeq(const T *msg) { return msg->seq(); } |
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@[end if]@ |
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template <class T> |
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inline uint64_t getMsgTimestampSample(const T *msg) { return getMsgTimestampSample_impl(msg); } |
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template<typename T> |
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inline typename std::enable_if <!hasTimestampSample<T>::value, void>::type |
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setMsgTimestampSample_impl(T *, const uint64_t &) {} |
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/** Msg metadata Setters **/ |
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@[if version.parse(fastrtps_version) <= version.parse('1.7.2') or not ros2_distro]@ |
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template <class T> |
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inline void setMsgTimestamp(T *msg, const uint64_t ×tamp) { msg->timestamp_() = timestamp; } |
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template <class T> |
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inline typename std::enable_if<hasTimestampSample<T>::value, void>::type |
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setMsgTimestampSample_impl(T *msg, const uint64_t ×tamp_sample) { msg->timestamp_sample_() = timestamp_sample; } |
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template <class T> |
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inline void setMsgSysID(T *msg, const uint8_t &sys_id) { msg->sys_id_() = sys_id; } |
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template <class T> |
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inline void setMsgSeq(T *msg, const uint8_t &seq) { msg->seq_() = seq; } |
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@[elif ros2_distro]@ |
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template <class T> |
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inline void setMsgTimestamp(T *msg, const uint64_t ×tamp) { msg->timestamp() = timestamp; } |
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template <class T> |
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inline typename std::enable_if<hasTimestampSample<T>::value, void>::type |
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setMsgTimestampSample_impl(T *msg, const uint64_t ×tamp_sample) { msg->timestamp_sample() = timestamp_sample; } |
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template <class T> |
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inline void setMsgSysID(T *msg, const uint8_t &sys_id) { msg->sys_id() = sys_id; } |
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template <class T> |
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inline void setMsgSeq(T *msg, const uint8_t &seq) { msg->seq() = seq; } |
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@[end if]@ |
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template <class T> |
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inline void setMsgTimestampSample(T *msg, const uint64_t ×tamp_sample) { setMsgTimestampSample_impl(msg, timestamp_sample); } |
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/** |
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* @@brief Timesync object ptr. |
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* This object is used to compuyte and apply the time offsets to the |
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* messages timestamps. |
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*/ |
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std::shared_ptr<TimeSync> _timesync; |
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};
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