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100 lines
3.3 KiB
100 lines
3.3 KiB
@############################################### |
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@# |
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@# EmPy template for generating <msg>_uRTPS_UART.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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@# - msgs (List) list of all msg files |
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@# - multi_topics (List) list of all multi-topic names |
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@############################################### |
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@{ |
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import genmsg.msgs |
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import gencpp |
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from px_generate_uorb_topic_helper import * # this is in Tools/ |
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topic = spec.short_name |
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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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* |
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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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/*! |
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* @@file @(topic)_Subscriber.h |
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* This header file contains the declaration of the subscriber functions. |
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* |
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* This file was generated by the tool fastcdrgen. |
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*/ |
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#ifndef _@(topic)__SUBSCRIBER_H_ |
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#define _@(topic)__SUBSCRIBER_H_ |
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#include <fastrtps/fastrtps_fwd.h> |
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#include <fastrtps/subscriber/SubscriberListener.h> |
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#include <fastrtps/subscriber/SampleInfo.h> |
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#include "@(topic)_PubSubTypes.h" |
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using namespace eprosima::fastrtps; |
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using namespace eprosima::fastrtps::rtps; |
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class @(topic)_Subscriber |
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{ |
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public: |
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@(topic)_Subscriber(); |
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virtual ~@(topic)_Subscriber(); |
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bool init(); |
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void run(); |
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bool hasMsg(); |
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@(topic)_ getMsg(); |
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private: |
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Participant *mp_participant; |
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Subscriber *mp_subscriber; |
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class SubListener : public SubscriberListener |
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{ |
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public: |
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SubListener() : n_matched(0), n_msg(0){}; |
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~SubListener(){}; |
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void onSubscriptionMatched(Subscriber* sub, MatchingInfo& info); |
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void onNewDataMessage(Subscriber* sub); |
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SampleInfo_t m_info; |
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int n_matched; |
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int n_msg; |
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@(topic)_ msg; |
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bool has_msg = false; |
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} m_listener; |
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@(topic)_PubSubType myType; |
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}; |
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#endif // _@(topic)__SUBSCRIBER_H_
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