fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-25 07:13:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

msg: RTPS: pass RTPS ID msg definition file as an EmPy global var

Browse Source
This commit is contained in:
TSC21
2018-09-24 19:28:40 +02:00
committed by Beat Küng
parent eac8f8813a
commit 0227ea3835
7 changed files with 44 additions and 57 deletions
Download Patch File Download Diff File Expand all files Collapse all files
msg/templates/uorb_microcdr/microRTPS_client.cpp.template
+2 -10
View File
@@ -20,14 +20,6 @@ from px_generate_uorb_topic_files import MsgScope # this is in Tools/
topic_names = [single_spec.short_name for single_spec in spec]
send_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
yaml_file = os.path.abspath('uorb_rtps_message_ids.yaml')
try:
msg_ids = parse_yaml_msg_id_file(yaml_file)
except OSError as e:
if e.errno == errno.ENOENT:
raise IOError(errno.ENOENT, os.strerror(errno.ENOENT), yaml_file)
else:
raise
}@
/****************************************************************************
*
@@ -120,7 +112,7 @@ void* send(void* /*unused*/)
/* payload is shifted by header length to make room for header*/
serialize_@(topic)(&MicroBufferWriter, &data, &data_buffer[header_length], &length);
if (0 < (read = transport_node->write((char)@(rtps_message_id(msg_ids, topic)), data_buffer, length)))
if (0 < (read = transport_node->write((char)@(rtps_message_id(ids, topic)), data_buffer, length)))
{
total_sent += read;
++sent;
@@ -196,7 +188,7 @@ void micrortps_start_topics(struct timespec &begin, int &total_read, uint32_t &r
{
@[for topic in recv_topics]@
case @(rtps_message_id(msg_ids, topic)):
case @(rtps_message_id(ids, topic)):
{
deserialize_@(topic)(&MicroBufferReader, &@(topic)_data, data_buffer);
if (!@(topic)_pub) {
msg/templates/urtps/RtpsTopics.cpp.template
+3 -11
View File
@@ -19,14 +19,6 @@ from px_generate_uorb_topic_files import MsgScope # this is in Tools/
topic_names = [single_spec.short_name for single_spec in spec]
send_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
yaml_file = os.path.abspath('uorb_rtps_message_ids.yaml')
try:
msg_ids = parse_yaml_msg_id_file(yaml_file)
except OSError as e:
if e.errno == errno.ENOENT:
raise IOError(errno.ENOENT, os.strerror(errno.ENOENT), yaml_file)
else:
raise
}@
/****************************************************************************
*
@@ -97,7 +89,7 @@ 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(msg_ids, topic)): // @(topic)
case @(rtps_message_id(ids, topic)): // @(topic)
{
@(topic)_ st;
eprosima::fastcdr::FastBuffer cdrbuffer(data_buffer, len);
@@ -125,7 +117,7 @@ bool RtpsTopics::hasMsg(uint8_t *topic_ID)
switch (_sub_topics[_next_sub_idx])
{
@[for topic in recv_topics]@
case @(rtps_message_id(msg_ids, topic)): if (_@(topic)_sub.hasMsg()) *topic_ID = @(rtps_message_id(msg_ids, topic)); break;
case @(rtps_message_id(ids, topic)): if (_@(topic)_sub.hasMsg()) *topic_ID = @(rtps_message_id(ids, topic)); break;
@[end for]@
default:
printf("Unexpected topic ID to check hasMsg\n");
@@ -149,7 +141,7 @@ bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr)
switch (topic_ID)
{
@[for topic in recv_topics]@
case @(rtps_message_id(msg_ids, topic)): // @(topic)
case @(rtps_message_id(ids, topic)): // @(topic)
if (_@(topic)_sub.hasMsg())
{
@(topic)_ msg = _@(topic)_sub.getMsg();
msg/templates/urtps/RtpsTopics.h.template
+1 -9
View File
@@ -19,14 +19,6 @@ from px_generate_uorb_topic_files import MsgScope # this is in Tools/
topic_names = [single_spec.short_name for single_spec in spec]
send_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
yaml_file = os.path.abspath('uorb_rtps_message_ids.yaml')
try:
msg_ids = parse_yaml_msg_id_file(yaml_file)
except OSError as e:
if e.errno == errno.ENOENT:
raise IOError(errno.ENOENT, os.strerror(errno.ENOENT), yaml_file)
else:
raise
}@
/****************************************************************************
*
@@ -97,7 +89,7 @@ private:
unsigned _next_sub_idx = 0;
char _sub_topics[@(len(recv_topics))] = {
@[for topic in recv_topics]@
@(rtps_message_id(msg_ids, topic)), // @(topic)
@(rtps_message_id(ids, topic)), // @(topic)
@[end for]@
};
@[end if]@