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microRTPS: agent: split FMU input from output topics in Pubs/Subs

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This commit is contained in:
TSC21
2021-08-12 08:44:53 +02:00
committed by Nuno Marques
parent d31b7feb31
commit 25dbffe1aa
6 changed files with 50 additions and 20 deletions
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msg/templates/urtps/Publisher.cpp.em
+16 -7
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@@ -13,14 +13,27 @@
@{
from packaging import version
import genmsg.msgs
import re
from px_generate_uorb_topic_helper import * # this is in Tools/
topic = alias if alias else spec.short_name
try:
ros2_distro = ros2_distro.decode("utf-8")
except AttributeError:
pass
topic_name = topic
# For ROS, use the topic pattern convention defined in
# http://wiki.ros.org/ROS/Patterns/Conventions
if ros2_distro:
topic_name_split = re.sub( r"([A-Z])", r" \1", topic).split()
topic_name = topic_name_split[0]
for w in topic_name_split[1:]:
topic_name += "_" + w
topic_name = topic_name.lower()
}@
/****************************************************************************
*
@@ -87,7 +100,7 @@ using SharedMemTransportDescriptor = eprosima::fastdds::rtps::SharedMemTransport
Domain::removeParticipant(mp_participant);
}
bool @(topic)_Publisher::init(const std::string &ns)
bool @(topic)_Publisher::init(const std::string &ns, std::string topic_name)
{
// Create RTPSParticipant
ParticipantAttributes PParam;
@@ -156,21 +169,17 @@ bool @(topic)_Publisher::init(const std::string &ns)
@[ if ros2_distro == "ardent"]@
Wparam.qos.m_partition.push_back("rt");
std::string topicName = ns;
topicName.append("@(topic)_PubSubTopic");
Wparam.topic.topicName = topicName;
@[ else]@
std::string topicName = "rt/";
topicName.append(ns);
topicName.append("@(topic)_PubSubTopic");
Wparam.topic.topicName = topicName;
@[ end if]@
// ROS2 default publish mode QoS policy
Wparam.qos.m_publishMode.kind = ASYNCHRONOUS_PUBLISH_MODE;
@[else]@
std::string topicName = ns;
topicName.append("@(topic)PubSubTopic");
Wparam.topic.topicName = topicName;
@[end if]@
topic_name.empty() ? topicName.append("fmu/@(topic_name)/out") : topicName.append(topic_name);
Wparam.topic.topicName = topicName;
mp_publisher = Domain::createPublisher(mp_participant, Wparam, static_cast<PublisherListener *>(&m_listener));
if (mp_publisher == nullptr) {