fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-17 06:53:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
msg/templates/urtps/Subscriber.cpp.em
+16 -7
View File
@@ -13,6 +13,7 @@
@{
from packaging import version
import genmsg.msgs
import re
from px_generate_uorb_topic_helper import * # this is in Tools/
@@ -21,6 +22,17 @@ 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()
}@
/****************************************************************************
*
@@ -88,7 +100,8 @@ using SharedMemTransportDescriptor = eprosima::fastdds::rtps::SharedMemTransport
}
bool @(topic)_Subscriber::init(uint8_t topic_ID, std::condition_variable *t_send_queue_cv,
std::mutex *t_send_queue_mutex, std::queue<uint8_t> *t_send_queue, const std::string &ns)
std::mutex *t_send_queue_mutex, std::queue<uint8_t> *t_send_queue, const std::string &ns,
std::string topic_name)
{
m_listener.topic_ID = topic_ID;
m_listener.t_send_queue_cv = t_send_queue_cv;
@@ -162,19 +175,15 @@ bool @(topic)_Subscriber::init(uint8_t topic_ID, std::condition_variable *t_send
@[ if ros2_distro == "ardent"]@
Rparam.qos.m_partition.push_back("rt");
std::string topicName = ns;
topicName.append("@(topic)_PubSubTopic");
Rparam.topic.topicName = topicName;
@[ else]@
std::string topicName = "rt/";
topicName.append(ns);
topicName.append("@(topic)_PubSubTopic");
Rparam.topic.topicName = topicName;
@[ end if]@
@[else]@
std::string topicName = ns;
topicName.append("@(topic)PubSubTopic");
Rparam.topic.topicName = topicName;
@[end if]@
topic_name.empty() ? topicName.append("fmu/@(topic_name)/in") : topicName.append(topic_name);
Rparam.topic.topicName = topicName;
mp_subscriber = Domain::createSubscriber(mp_participant, Rparam, static_cast<SubscriberListener *>(&m_listener));
if (mp_subscriber == nullptr) {