You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
164 lines
5.4 KiB
164 lines
5.4 KiB
@############################################### |
|
@# |
|
@# EmPy template for generating RtpsTopics.cpp file |
|
@# |
|
@############################################### |
|
@# Start of Template |
|
@# |
|
@# Context: |
|
@# - msgs (List) list of all msg files |
|
@# - ids (List) list of all RTPS msg ids |
|
@############################################### |
|
@{ |
|
import os |
|
|
|
import genmsg.msgs |
|
import gencpp |
|
from px_generate_uorb_topic_helper import * # this is in Tools/ |
|
from px_generate_uorb_topic_files import MsgScope # this is in Tools/ |
|
|
|
send_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND] |
|
recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE] |
|
package = package[0] |
|
fastrtpsgen_version = fastrtpsgen_version[0] |
|
try: |
|
ros2_distro = ros2_distro[0].decode("utf-8") |
|
except AttributeError: |
|
ros2_distro = ros2_distro[0] |
|
}@ |
|
/**************************************************************************** |
|
* |
|
* Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima). |
|
* Copyright (c) 2018-2019 PX4 Development Team. All rights reserved. |
|
* |
|
* Redistribution and use in source and binary forms, with or without |
|
* modification, are permitted provided that the following conditions are met: |
|
* |
|
* 1. Redistributions of source code must retain the above copyright notice, this |
|
* list of conditions and the following disclaimer. |
|
* |
|
* 2. Redistributions in binary form must reproduce the above copyright notice, |
|
* this list of conditions and the following disclaimer in the documentation |
|
* and/or other materials provided with the distribution. |
|
* |
|
* 3. Neither the name of the copyright holder nor the names of its contributors |
|
* may be used to endorse or promote products derived from this software without |
|
* specific prior written permission. |
|
* |
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
|
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
|
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
|
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE |
|
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
|
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
|
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
|
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
|
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
|
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
|
* POSSIBILITY OF SUCH DAMAGE. |
|
* |
|
****************************************************************************/ |
|
|
|
#include "RtpsTopics.h" |
|
|
|
bool RtpsTopics::init(std::condition_variable* t_send_queue_cv, std::mutex* t_send_queue_mutex, std::queue<uint8_t>* t_send_queue) |
|
{ |
|
@[if recv_topics]@ |
|
// Initialise subscribers |
|
@[for topic in recv_topics]@ |
|
if (_@(topic)_sub.init(@(rtps_message_id(ids, topic)), t_send_queue_cv, t_send_queue_mutex, t_send_queue)) { |
|
std::cout << "@(topic) subscriber started" << std::endl; |
|
} else { |
|
std::cout << "ERROR starting @(topic) subscriber" << std::endl; |
|
return false; |
|
} |
|
|
|
@[end for]@ |
|
@[end if]@ |
|
@[if send_topics]@ |
|
// Initialise publishers |
|
@[for topic in send_topics]@ |
|
if (_@(topic)_pub.init()) { |
|
std::cout << "@(topic) publisher started" << std::endl; |
|
} else { |
|
std::cout << "ERROR starting @(topic) publisher" << std::endl; |
|
return false; |
|
} |
|
|
|
@[end for]@ |
|
@[end if]@ |
|
return true; |
|
} |
|
|
|
@[if send_topics]@ |
|
void RtpsTopics::publish(uint8_t topic_ID, char data_buffer[], size_t len) |
|
{ |
|
switch (topic_ID) |
|
{ |
|
@[for topic in send_topics]@ |
|
case @(rtps_message_id(ids, topic)): // @(topic) |
|
{ |
|
@[ if 1.5 <= fastrtpsgen_version <= 1.7]@ |
|
@[ if ros2_distro]@ |
|
@(package)::msg::dds_::@(topic)_ st; |
|
@[ else]@ |
|
@(topic)_ st; |
|
@[ end if]@ |
|
@[ else]@ |
|
@[ if ros2_distro]@ |
|
@(package)::msg::@(topic) st; |
|
@[ else]@ |
|
@(topic) st; |
|
@[ end if]@ |
|
@[ end if]@ |
|
eprosima::fastcdr::FastBuffer cdrbuffer(data_buffer, len); |
|
eprosima::fastcdr::Cdr cdr_des(cdrbuffer); |
|
st.deserialize(cdr_des); |
|
_@(topic)_pub.publish(&st); |
|
} |
|
break; |
|
@[end for]@ |
|
default: |
|
printf("Unexpected topic ID to publish\n"); |
|
break; |
|
} |
|
} |
|
@[end if]@ |
|
@[if recv_topics]@ |
|
|
|
bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr) |
|
{ |
|
bool ret = false; |
|
switch (topic_ID) |
|
{ |
|
@[for topic in recv_topics]@ |
|
case @(rtps_message_id(ids, topic)): // @(topic) |
|
if (_@(topic)_sub.hasMsg()) |
|
{ |
|
@[ if 1.5 <= fastrtpsgen_version <= 1.7]@ |
|
@[ if ros2_distro]@ |
|
@(package)::msg::dds_::@(topic)_ msg = _@(topic)_sub.getMsg(); |
|
@[ else]@ |
|
@(topic)_ msg = _@(topic)_sub.getMsg(); |
|
@[ end if]@ |
|
@[ else]@ |
|
@[ if ros2_distro]@ |
|
@(package)::msg::@(topic) msg = _@(topic)_sub.getMsg(); |
|
@[ else]@ |
|
@(topic) msg = _@(topic)_sub.getMsg(); |
|
@[ end if]@ |
|
@[ end if]@ |
|
msg.serialize(scdr); |
|
ret = true; |
|
_@(topic)_sub.unlockMsg(); |
|
} |
|
break; |
|
@[end for]@ |
|
default: |
|
printf("Unexpected topic ID '%hhu' to getMsg\n", topic_ID); |
|
break; |
|
} |
|
|
|
return ret; |
|
} |
|
@[end if]@
|
|
|