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199 lines
6.7 KiB
199 lines
6.7 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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@# - ids (List) list of all RTPS msg ids |
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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 = alias if alias else spec.short_name |
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try: |
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ros2_distro = ros2_distro.decode("utf-8") |
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except AttributeError: |
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pass |
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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) 2018-2019 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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/*! |
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* @@file @(topic)_Subscriber.cpp |
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* This file contains the implementation of the subscriber functions. |
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* |
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* This file was adapted from the fastcdrgen tool. |
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*/ |
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#include <fastrtps/participant/Participant.h> |
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#include <fastrtps/attributes/ParticipantAttributes.h> |
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#include <fastrtps/subscriber/Subscriber.h> |
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#include <fastrtps/attributes/SubscriberAttributes.h> |
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#include <fastrtps/Domain.h> |
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#include "@(topic)_Subscriber.h" |
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@(topic)_Subscriber::@(topic)_Subscriber() : mp_participant(nullptr), mp_subscriber(nullptr) {} |
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@(topic)_Subscriber::~@(topic)_Subscriber() { Domain::removeParticipant(mp_participant);} |
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bool @(topic)_Subscriber::init(uint8_t topic_ID, std::condition_variable* t_send_queue_cv, std::mutex* t_send_queue_mutex, std::queue<uint8_t>* t_send_queue) |
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{ |
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m_listener.topic_ID = topic_ID; |
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m_listener.t_send_queue_cv = t_send_queue_cv; |
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m_listener.t_send_queue_mutex = t_send_queue_mutex; |
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m_listener.t_send_queue = t_send_queue; |
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// Create RTPSParticipant |
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ParticipantAttributes PParam; |
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PParam.rtps.builtin.domainId = 0; // MUST BE THE SAME AS IN THE PUBLISHER |
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@[if 1.5 <= fastrtpsgen_version <= 1.7 or ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" or ros2_distro == "dashing"]@ |
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PParam.rtps.builtin.leaseDuration = c_TimeInfinite; |
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@[else]@ |
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PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite; |
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@[end if]@ |
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PParam.rtps.setName("@(topic)_subscriber"); //You can put the name you want |
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mp_participant = Domain::createParticipant(PParam); |
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if(mp_participant == nullptr) |
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return false; |
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//Register the type |
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Domain::registerType(mp_participant, static_cast<TopicDataType*>(&myType)); |
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// Create Subscriber |
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SubscriberAttributes Rparam; |
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Rparam.topic.topicKind = NO_KEY; |
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Rparam.topic.topicDataType = myType.getName(); //Must be registered before the creation of the subscriber |
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@[if ros2_distro]@ |
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@[ if ros2_distro == "ardent"]@ |
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Rparam.qos.m_partition.push_back("rt"); |
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Rparam.topic.topicName = "@(topic)_PubSubTopic"; |
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@[ else]@ |
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Rparam.topic.topicName = "rt/@(topic)_PubSubTopic"; |
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@[ end if]@ |
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@[else]@ |
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Rparam.topic.topicName = "@(topic)_PubSubTopic"; |
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@[end if]@ |
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mp_subscriber = Domain::createSubscriber(mp_participant, Rparam, static_cast<SubscriberListener*>(&m_listener)); |
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if(mp_subscriber == nullptr) |
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return false; |
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return true; |
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} |
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void @(topic)_Subscriber::SubListener::onSubscriptionMatched(Subscriber* sub, MatchingInfo& info) |
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{ |
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(void)sub; |
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if (info.status == MATCHED_MATCHING) |
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{ |
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n_matched++; |
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std::cout << "Subscriber matched" << std::endl; |
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} |
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else |
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{ |
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n_matched--; |
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std::cout << "Subscriber unmatched" << std::endl; |
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} |
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} |
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void @(topic)_Subscriber::SubListener::onNewDataMessage(Subscriber* sub) |
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{ |
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std::unique_lock<std::mutex> has_msg_lock(has_msg_mutex); |
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if(has_msg.load() == true) // Check if msg has been fetched |
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{ |
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has_msg_cv.wait(has_msg_lock); // Wait till msg has been fetched |
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} |
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has_msg_lock.unlock(); |
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// Take data |
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if(sub->takeNextData(&msg, &m_info)) |
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{ |
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if(m_info.sampleKind == ALIVE) |
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{ |
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std::unique_lock<std::mutex> lk(*t_send_queue_mutex); |
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++n_msg; |
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has_msg = true; |
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t_send_queue->push(topic_ID); |
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lk.unlock(); |
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t_send_queue_cv->notify_one(); |
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} |
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} |
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} |
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void @(topic)_Subscriber::run() |
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{ |
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std::cout << "Waiting for Data, press Enter to stop the Subscriber. "<<std::endl; |
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std::cin.ignore(); |
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std::cout << "Shutting down the Subscriber." << std::endl; |
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} |
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bool @(topic)_Subscriber::hasMsg() |
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{ |
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return m_listener.has_msg.load(); |
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} |
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@[if 1.5 <= fastrtpsgen_version <= 1.7]@ |
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@[ if ros2_distro]@ |
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@(package)::msg::dds_::@(topic)_ @(topic)_Subscriber::getMsg() |
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@[ else]@ |
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@(topic)_ @(topic)_Subscriber::getMsg() |
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@[ end if]@ |
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@[else]@ |
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@[ if ros2_distro]@ |
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@(package)::msg::@(topic) @(topic)_Subscriber::getMsg() |
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@[ else]@ |
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@(topic) @(topic)_Subscriber::getMsg() |
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@[ end if]@ |
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@[end if]@ |
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{ |
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return m_listener.msg; |
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} |
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void @(topic)_Subscriber::unlockMsg() |
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{ |
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std::unique_lock<std::mutex> has_msg_lock(m_listener.has_msg_mutex); |
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m_listener.has_msg = false; |
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has_msg_lock.unlock(); |
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m_listener.has_msg_cv.notify_one(); |
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}
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