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microRTPS: add possibility to set HW or SW flow control; improve verbosity aesthetics

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This commit is contained in:
TSC21
2020-07-31 14:13:10 +01:00
committed by Nuno Marques
parent b2845c60d3
commit 2f4eff4c38
9 changed files with 158 additions and 125 deletions
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msg/templates/urtps/RtpsTopics.cpp.em
+6 -6
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@@ -60,7 +60,7 @@ bool RtpsTopics::init(std::condition_variable* t_send_queue_cv, std::mutex* t_se
{
@[if recv_topics]@
// Initialise subscribers
std::cout << "--- Subscribers ---" << std::endl;
std::cout << "\033[0;36m--- Subscribers ---\033[0m" << std::endl;
@[for topic in recv_topics]@
if (_@(topic)_sub.init(@(rtps_message_id(ids, topic)), t_send_queue_cv, t_send_queue_mutex, t_send_queue)) {
std::cout << "- @(topic) subscriber started" << std::endl;
@@ -69,11 +69,11 @@ bool RtpsTopics::init(std::condition_variable* t_send_queue_cv, std::mutex* t_se
return false;
}
@[end for]@
std::cout << "--------------------" << std::endl << std::endl;
std::cout << "\033[0;36m-----------------------\033[0m" << std::endl << std::endl;
@[end if]@
@[if send_topics]@
// Initialise publishers
std::cout << "---- Publishers ----" << std::endl;
std::cout << "\033[0;36m---- Publishers ----\033[0m" << std::endl;
@[for topic in send_topics]@
if (_@(topic)_pub.init()) {
std::cout << "- @(topic) publisher started" << std::endl;
@@ -85,7 +85,7 @@ bool RtpsTopics::init(std::condition_variable* t_send_queue_cv, std::mutex* t_se
return false;
}
@[end for]@
std::cout << "--------------------" << std::endl;
std::cout << "\033[0;36m-----------------------\033[0m" << std::endl;
@[end if]@
return true;
}
@@ -119,7 +119,7 @@ void RtpsTopics::publish(uint8_t topic_ID, char data_buffer[], size_t len)
break;
@[end for]@
default:
printf("Unexpected topic ID to publish\n");
printf("\033[1;33m[ micrortps_agent ]\tUnexpected topic ID to publish\033[0m\n");
break;
}
}
@@ -153,7 +153,7 @@ bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr)
break;
@[end for]@
default:
printf("Unexpected topic ID '%hhu' to getMsg\n", topic_ID);
printf("\033[1;33m[ micrortps_agent ]\tUnexpected topic ID '%hhu' to getMsg\033[0m\n", topic_ID);
break;
}