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fastrtps: clean up and fix template for client/agent code

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This commit is contained in:
TSC21
2018-06-11 22:54:58 +02:00
committed by Lorenz Meier
parent 3399ec9e73
commit 518daa4a8d
6 changed files with 40 additions and 38 deletions
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msg/templates/urtps/Subscriber.cpp.template
+11 -11
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@@ -48,7 +48,7 @@ topic = spec.short_name
*
****************************************************************************/
/*!
/*!
* @@file @(topic)_Subscriber.cpp
* This file contains the implementation of the subscriber functions.
*
@@ -72,26 +72,26 @@ topic = spec.short_name
bool @(topic)_Subscriber::init()
{
// Create RTPSParticipant
ParticipantAttributes PParam;
PParam.rtps.builtin.domainId = 0; //MUST BE THE SAME AS IN THE PUBLISHER
PParam.rtps.builtin.leaseDuration = c_TimeInfinite;
PParam.rtps.setName("Participant_subscriber"); //You can put the name you want
PParam.rtps.setName("@(topic)_subscriber"); //You can put the name you want
mp_participant = Domain::createParticipant(PParam);
if(mp_participant == nullptr)
return false;
//Register the type
Domain::registerType(mp_participant,(TopicDataType*) &myType);
Domain::registerType(mp_participant, (TopicDataType*) &myType);
// Create Subscriber
SubscriberAttributes Rparam;
Rparam.topic.topicKind = NO_KEY;
Rparam.topic.topicDataType = myType.getName(); //Must be registered before the creation of the subscriber
Rparam.topic.topicName = "@(topic)_PubSubTopic";
mp_subscriber = Domain::createSubscriber(mp_participant,Rparam,(SubscriberListener*)&m_listener);
Rparam.topic.topicName = "@(topic)";
mp_subscriber = Domain::createSubscriber(mp_participant, Rparam, (SubscriberListener*) &m_listener);
if(mp_subscriber == nullptr)
return false;
return true;
@@ -143,4 +143,4 @@ bool @(topic)_Subscriber::hasMsg()
{
m_listener.has_msg = false;
return m_listener.msg;
}
}