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microRTPS_bridge: structural change to make possible to generate pub/sub code for multi-topics/aliased msgs

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This commit is contained in:
TSC21
2019-07-26 15:05:54 +02:00
committed by Beat Küng
parent a747116eab
commit 3d9f83a4f2
23 changed files with 290 additions and 153 deletions
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msg/templates/uorb_microcdr/microRTPS_client.cpp.em
+11 -10
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@@ -18,9 +18,11 @@ import gencpp
from px_generate_uorb_topic_helper import * # this is in Tools/
from px_generate_uorb_topic_files import MsgScope # this is in Tools/
topic_names = [single_spec.short_name for single_spec in spec]
send_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
topic_names = [s.short_name for idx, s in enumerate(spec)]
send_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
send_base_types = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
receive_base_types = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
}@
/****************************************************************************
*
@@ -108,11 +110,11 @@ void* send(void* /*unused*/)
if (updated)
{
// obtained data for the file descriptor
struct @(topic)_s data;
struct @(send_base_types[idx])_s data;
// copy raw data into local buffer
if (orb_copy(ORB_ID(@(topic)), fds[@(idx)], &data) == 0) {
/* payload is shifted by header length to make room for header*/
serialize_@(topic)(&writer, &data, &data_buffer[header_length], &length);
serialize_@(send_base_types[idx])(&writer, &data, &data_buffer[header_length], &length);
if (0 < (read = transport_node->write((char)@(rtps_message_id(ids, topic)), data_buffer, length)))
{
@@ -161,8 +163,8 @@ void micrortps_start_topics(struct timespec &begin, int &total_read, uint32_t &r
uint8_t topic_ID = 255;
// Declare received topics
@[for topic in recv_topics]@
struct @(topic)_s @(topic)_data;
@[for idx, topic in enumerate(recv_topics)]@
struct @(receive_base_types[idx])_s @(topic)_data;
orb_advert_t @(topic)_pub = nullptr;
@[end for]@
@@ -188,11 +190,10 @@ void micrortps_start_topics(struct timespec &begin, int &total_read, uint32_t &r
total_read += read;
switch (topic_ID)
{
@[for topic in recv_topics]@
@[for idx, topic in enumerate(recv_topics)]@
case @(rtps_message_id(ids, topic)):
{
deserialize_@(topic)(&reader, &@(topic)_data, data_buffer);
deserialize_@(receive_base_types[idx])(&reader, &@(topic)_data, data_buffer);
if (!@(topic)_pub) {
@(topic)_pub = orb_advertise(ORB_ID(@(topic)), &@(topic)_data);
} else {