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158 lines
4.9 KiB
158 lines
4.9 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.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 adapted from the fastcdrgen tool. |
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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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@[if 1.5 <= fastrtpsgen_version <= 1.7]@ |
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#include "@(topic)_PubSubTypes.h" |
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@[else]@ |
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#include "@(topic)PubSubTypes.h" |
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@[end if]@ |
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#include <atomic> |
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#include <condition_variable> |
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#include <queue> |
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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(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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void run(); |
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bool hasMsg(); |
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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)_ getMsg(); |
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@[ else]@ |
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@(topic)_ 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) getMsg(); |
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@[ else]@ |
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@(topic) getMsg(); |
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@[ end if]@ |
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@[end if]@ |
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void unlockMsg(); |
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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), has_msg(false){}; |
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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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@[if 1.5 <= fastrtpsgen_version <= 1.7]@ |
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@[ if ros2_distro]@ |
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@(package)::msg::dds_::@(topic)_ msg; |
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@[ else]@ |
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@(topic)_ msg; |
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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) msg; |
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@[ else]@ |
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@(topic) msg; |
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@[ end if]@ |
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@[end if]@ |
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std::atomic_bool has_msg; |
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uint8_t topic_ID; |
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std::condition_variable* t_send_queue_cv; |
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std::mutex* t_send_queue_mutex; |
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std::queue<uint8_t>* t_send_queue; |
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std::condition_variable has_msg_cv; |
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std::mutex has_msg_mutex; |
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} m_listener; |
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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)_PubSubType myType; |
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@[ else]@ |
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@(topic)_PubSubType myType; |
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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)PubSubType myType; |
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@[ else]@ |
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@(topic)PubSubType myType; |
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@[ end if]@ |
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@[end if]@ |
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}; |
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#endif // _@(topic)__SUBSCRIBER_H_
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