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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/RtpsTopics.cpp.em
+11 -4
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@@ -80,12 +80,19 @@ bool RtpsTopics::init(std::condition_variable *t_send_queue_cv, std::mutex *t_se
std::cout << "\033[0;36m---- Publishers ----\033[0m" << std::endl;
@[for topic in send_topics]@
@[ if topic == 'Timesync' or topic == 'timesync']@
if (_@(topic)_pub.init(ns)) {
if (_@(topic)_fmu_in_pub.init(ns, std::string("fmu/timesync/in"))) {
_timesync->start(&_@(topic)_fmu_in_pub);
std::cout << "- @(topic) publishers started" << std::endl;
}
@[ elif topic == 'TimesyncStatus' or topic == 'timesync_status']@
if (_@(topic)_pub.init(ns, std::string("timesync_status"))) {
_timesync->init_status_pub(&_@(topic)_pub);
std::cout << "- @(topic) publisher started" << std::endl;
@[ else]@
if (_@(topic)_pub.init(ns)) {
std::cout << "- @(topic) publisher started" << std::endl;
@[ if topic == 'Timesync' or topic == 'timesync']@
_timesync->start(&_@(topic)_pub);
@[ elif topic == 'TimesyncStatus' or topic == 'timesync_status']@
_timesync->init_status_pub(&_@(topic)_pub);
@[ end if]@
} else {