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122 lines
4.1 KiB
122 lines
4.1 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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from packaging import version |
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import genmsg.msgs |
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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)_Publisher.h |
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* This header file contains the declaration of the publisher 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)__PUBLISHER_H_ |
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#define _@(topic)__PUBLISHER_H_ |
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#include <fastrtps/fastrtps_fwd.h> |
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#include <fastrtps/publisher/PublisherListener.h> |
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@[if version.parse(fastrtps_version) <= version.parse('1.7.2')]@ |
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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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using namespace eprosima::fastrtps; |
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using namespace eprosima::fastrtps::rtps; |
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@[if version.parse(fastrtps_version) <= version.parse('1.7.2')]@ |
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@[ if ros2_distro]@ |
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using @(topic)_msg_t = @(package)::msg::dds_::@(topic)_; |
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using @(topic)_msg_datatype = @(package)::msg::dds_::@(topic)_PubSubType; |
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@[ else]@ |
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using @(topic)_msg_t = @(topic)_; |
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using @(topic)_msg_datatype = @(topic)_PubSubType; |
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@[ end if]@ |
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@[else]@ |
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@[ if ros2_distro]@ |
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using @(topic)_msg_t = @(package)::msg::@(topic); |
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using @(topic)_msg_datatype = @(package)::msg::@(topic)PubSubType; |
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@[ else]@ |
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using @(topic)_msg_t = @(topic); |
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using @(topic)_msg_datatype = @(topic)PubSubType; |
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@[ end if]@ |
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@[end if]@ |
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class @(topic)_Publisher |
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{ |
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public: |
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@(topic)_Publisher(); |
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virtual ~@(topic)_Publisher(); |
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bool init(const std::string& ns); |
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void run(); |
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void publish(@(topic)_msg_t* st); |
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private: |
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Participant *mp_participant; |
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Publisher *mp_publisher; |
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class PubListener : public PublisherListener |
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{ |
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public: |
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PubListener() : n_matched(0){}; |
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~PubListener(){}; |
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void onPublicationMatched(Publisher* pub, MatchingInfo& info); |
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int n_matched; |
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} m_listener; |
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@(topic)_msg_datatype @(topic)DataType; |
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}; |
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#endif // _@(topic)__PUBLISHER_H_
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