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first push on supporting ROS2 Dashing and IDL 4.2

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This commit is contained in:
TSC21
2019-10-04 16:56:03 +01:00
committed by Nuno Marques
parent f885d2274a
commit 278d2fd21f
12 changed files with 152 additions and 54 deletions
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msg/templates/urtps/Publisher.cpp.em
+8
View File
@@ -125,7 +125,11 @@ void @(topic)_Publisher::run()
// Publication code
@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
@(topic)_ st;
@[else]@
@(topic) st;
@[end if]@
/* Initialize your structure here */
@@ -150,7 +154,11 @@ void @(topic)_Publisher::run()
}while(std::cin >> ch);
}
@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
void @(topic)_Publisher::publish(@(topic)_* st)
@[else]@
void @(topic)_Publisher::publish(@(topic)* st)
@[end if]@
{
mp_publisher->write(st);
}
msg/templates/urtps/Publisher.h.em
+12
View File
@@ -64,7 +64,11 @@ topic = alias if alias else spec.short_name
#include <fastrtps/fastrtps_fwd.h>
#include <fastrtps/publisher/PublisherListener.h>
@[if float(fastrtps_version) < 1.9]@
#include "@(topic)_PubSubTypes.h"
@[else]@
#include "@(topic)PubSubTypes.h"
@[end if]@
using namespace eprosima::fastrtps;
using namespace eprosima::fastrtps::rtps;
@@ -76,7 +80,11 @@ public:
virtual ~@(topic)_Publisher();
bool init();
void run();
@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
void publish(@(topic)_* st);
@[else]@
void publish(@(topic)* st);
@[end if]@
private:
Participant *mp_participant;
Publisher *mp_publisher;
@@ -89,7 +97,11 @@ private:
void onPublicationMatched(Publisher* pub, MatchingInfo& info);
int n_matched;
} m_listener;
@[if float(fastrtps_version) < 1.9]@
@(topic)_PubSubType myType;
@[else]@
@(topic)PubSubType myType;
@[end if]@
};
#endif // _@(topic)__PUBLISHER_H_
msg/templates/urtps/RtpsTopics.cpp.em
+8
View File
@@ -92,7 +92,11 @@ void RtpsTopics::publish(uint8_t topic_ID, char data_buffer[], size_t len)
@[for topic in send_topics]@
case @(rtps_message_id(ids, topic)): // @(topic)
{
@[ if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
@(topic)_ st;
@[ else]@
@(topic) st;
@[ end if]@
eprosima::fastcdr::FastBuffer cdrbuffer(data_buffer, len);
eprosima::fastcdr::Cdr cdr_des(cdrbuffer);
st.deserialize(cdr_des);
@@ -145,7 +149,11 @@ bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr)
case @(rtps_message_id(ids, topic)): // @(topic)
if (_@(topic)_sub.hasMsg())
{
@[ if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
@(topic)_ msg = _@(topic)_sub.getMsg();
@[ else]@
@(topic) msg = _@(topic)_sub.getMsg();
@[ end if]@
msg.serialize(scdr);
ret = true;
}
msg/templates/urtps/Subscriber.cpp.em
+11
View File
@@ -117,6 +117,13 @@ 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]@
@(topic)_ st;
@[else]@
@(topic) st;
@[end if]@
if(sub->takeNextData(&st, &m_info))
{
if(m_info.sampleKind == ALIVE)
{
@@ -141,7 +148,11 @@ 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]@
@(topic)_ @(topic)_Subscriber::getMsg()
@[else]@
@(topic) @(topic)_Subscriber::getMsg()
@[end if]@
{
m_listener.has_msg = false;
return m_listener.msg;
msg/templates/urtps/Subscriber.h.em
+16
View File
@@ -64,7 +64,11 @@ topic = alias if alias else spec.short_name
#include <fastrtps/fastrtps_fwd.h>
#include <fastrtps/subscriber/SubscriberListener.h>
#include <fastrtps/subscriber/SampleInfo.h>
@[if float(fastrtps_version) < 1.9]@
#include "@(topic)_PubSubTypes.h"
@[else]@
#include "@(topic)PubSubTypes.h"
@[end if]@
using namespace eprosima::fastrtps;
using namespace eprosima::fastrtps::rtps;
@@ -77,7 +81,11 @@ public:
bool init();
void run();
bool hasMsg();
@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
@(topic)_ getMsg();
@[else]@
@(topic) getMsg();
@[end if]@
private:
Participant *mp_participant;
Subscriber *mp_subscriber;
@@ -92,11 +100,19 @@ private:
SampleInfo_t m_info;
int n_matched;
int n_msg;
@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
@(topic)_ msg;
@[else]@
@(topic) msg;
@[end if]@
bool has_msg = false;
} m_listener;
@[if float(fastrtps_version) < 1.9]@
@(topic)_PubSubType myType;
@[else]@
@(topic)PubSubType myType;
@[end if]@
};
#endif // _@(topic)__SUBSCRIBER_H_
msg/templates/urtps/msg.idl.em
+29 -3
View File
@@ -57,7 +57,11 @@ def get_include_directives(spec):
if genmsg.msgs.is_valid_constant_type(genmsg.msgs.bare_msg_type(field.type)):
continue
builtin_type = str(field.base_type).replace('px4/', '')
@[if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
include_directive = '#include "%s_.idl"' % builtin_type
@[else]@
include_directive = '#include "%s.idl"' % builtin_type
@[end if]@
builtin_types.add(builtin_type)
include_directives.add(include_directive)
return sorted(include_directives)
@@ -74,10 +78,17 @@ def get_idl_type_name(field_type):
def add_msg_field(field):
if (not field.is_header):
if field.is_array:
@[if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
print(' {0}__{1}_array_{2} {3}_;'.format(topic, str(get_idl_type_name(field.base_type)).replace(" ", "_"), str(field.array_len), field.name))
else:
base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
print(' {0} {1}_;'.format(base_type, field.name))
@[else]@
print(' {0}__{1}_array_{2} {3};'.format(topic, str(get_idl_type_name(field.base_type)).replace(" ", "_"), str(field.array_len), field.name))
else:
base_type = get_idl_type_name(field.base_type) if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
print(' {0} {1};'.format(base_type, field.name))
@[end if]@
def add_msg_fields():
@@ -88,6 +99,11 @@ def add_msg_fields():
def add_array_typedefs():
for field in spec.parsed_fields():
if not field.is_header and field.is_array:
@[if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else
@[else]@
base_type = get_idl_type_name(field.base_type) if get_idl_type_name(field.base_type) in builtin_types else
@[end if]@
base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
array_type = 'typedef {0} {1}__{2}_array_{3}[{4}];'.format(base_type, topic, get_idl_type_name(field.base_type).replace(" ", "_"), field.array_len, field.array_len)
if array_type not in array_types:
@@ -109,18 +125,28 @@ def add_msg_constants():
@#############################
@# Include dependency messages
@#############################
@[for line in get_include_directives(spec)]
@(line)
@[end for]
@[for line in get_include_directives(spec)]@
@(line)@
@[end for]@
@# Constants
@add_msg_constants()
@# Array types
@add_array_typedefs()
@[if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
struct @(topic)_
@[else]@
struct @(topic)
@[end if]@
{
@add_msg_fields()
@[if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
}; // struct @(topic)_
#pragma keylist @(topic)_
@[else]@
}; // struct @(topic)
#pragma keylist @(topic)
@[end if]@
#endif // __@(topic)__idl__