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97 lines
3.3 KiB
97 lines
3.3 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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@# - msgs (List) list of all msg files |
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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 os |
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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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from px_generate_uorb_topic_files import MsgScope # this is in Tools/ |
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topic_names = [single_spec.short_name for single_spec in spec] |
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send_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND] |
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recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE] |
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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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#include <fastcdr/Cdr.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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class RtpsTopics { |
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public: |
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bool init(); |
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@[if send_topics]@ |
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void publish(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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bool hasMsg(uint8_t *topic_ID); |
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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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@(topic)_Publisher _@(topic)_pub; |
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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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unsigned _next_sub_idx = 0; |
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char _sub_topics[@(len(recv_topics))] = { |
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@[for topic in recv_topics]@ |
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@(rtps_message_id(ids, topic)), // @(topic) |
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@[end for]@ |
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}; |
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@[end if]@ |
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};
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