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micrortps bridge: clean templates; add backwards compatibility; add ROS2 compatibility

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This commit is contained in:
TSC21
2019-10-04 16:56:03 +01:00
committed by Nuno Marques
parent 278d2fd21f
commit 1970ef875f
12 changed files with 147 additions and 113 deletions
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msg/templates/urtps/Subscriber.cpp.em
+20 -12
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@@ -20,7 +20,7 @@ topic = alias if alias else spec.short_name
/****************************************************************************
*
* Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
* Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
* Copyright (C) 2018-2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
@@ -54,7 +54,7 @@ topic = alias if alias else spec.short_name
* @@file @(topic)_Subscriber.cpp
* This file contains the implementation of the subscriber functions.
*
* This file was generated by the tool fastcdrgen.
* This file was adapted from the fastcdrgen tool.
*/
#include <fastrtps/participant/Participant.h>
@@ -66,7 +66,6 @@ topic = alias if alias else spec.short_name
#include "@(topic)_Subscriber.h"
@(topic)_Subscriber::@(topic)_Subscriber() : mp_participant(nullptr), mp_subscriber(nullptr) {}
@(topic)_Subscriber::~@(topic)_Subscriber() { Domain::removeParticipant(mp_participant);}
@@ -74,26 +73,34 @@ topic = alias if alias else spec.short_name
bool @(topic)_Subscriber::init()
{
// Create RTPSParticipant
ParticipantAttributes PParam;
PParam.rtps.builtin.domainId = 0; //MUST BE THE SAME AS IN THE PUBLISHER
PParam.rtps.builtin.domainId = 0; // MUST BE THE SAME AS IN THE PUBLISHER
@[if 1.5 < fastrtpsgen_version <= 1.7]@
PParam.rtps.builtin.leaseDuration = c_TimeInfinite;
@[else]@
PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite;
@[end if]@
PParam.rtps.setName("@(topic)_subscriber"); //You can put the name you want
mp_participant = Domain::createParticipant(PParam);
if(mp_participant == nullptr)
return false;
//Register the type
Domain::registerType(mp_participant, (TopicDataType*) &myType);
Domain::registerType(mp_participant, static_cast<TopicDataType*>(&myType));
// Create Subscriber
SubscriberAttributes Rparam;
Rparam.topic.topicKind = NO_KEY;
Rparam.topic.topicDataType = myType.getName(); //Must be registered before the creation of the subscriber
@[if 1.5 < fastrtpsgen_version <= 1.7]@
Rparam.topic.topicName = "@(topic)_PubSubTopic";
mp_subscriber = Domain::createSubscriber(mp_participant, Rparam, (SubscriberListener*) &m_listener);
@[else]@
Rparam.topic.topicName = "@(topic)PubSubTopic";
@[end if]@
@[if ros2_distro and ros2_distro != "ardent"]@
Rparam.topic.topicName = "rt/" + Wparam.topic.topicName;
@[end if]@
mp_subscriber = Domain::createSubscriber(mp_participant, Rparam, static_cast<SubscriberListener*>(&m_listener));
if(mp_subscriber == nullptr)
return false;
return true;
@@ -101,6 +108,8 @@ bool @(topic)_Subscriber::init()
void @(topic)_Subscriber::SubListener::onSubscriptionMatched(Subscriber* sub, MatchingInfo& info)
{
(void)sub;
if (info.status == MATCHED_MATCHING)
{
n_matched++;
@@ -116,8 +125,7 @@ void @(topic)_Subscriber::SubListener::onSubscriptionMatched(Subscriber* sub, Ma
void @(topic)_Subscriber::SubListener::onNewDataMessage(Subscriber* sub)
{
// Take data
if(sub->takeNextData(&msg, &m_info))
@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
@[if 1.5 < fastrtpsgen_version <= 1.7]@
@(topic)_ st;
@[else]@
@(topic) st;
@@ -148,7 +156,7 @@ bool @(topic)_Subscriber::hasMsg()
return m_listener.has_msg;
}
@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
@[if 1.5 < fastrtpsgen_version <= 1.7]@
@(topic)_ @(topic)_Subscriber::getMsg()
@[else]@
@(topic) @(topic)_Subscriber::getMsg()