mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-20 15:13:34 +08:00
microRTPS: agent: match the code style from the PX4 Firmware
This commit is contained in:
TSC21
@@ -24,7 +24,7 @@ package = package[0]
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
|
||||
* Copyright (c) 2018-2019 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2018-2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions are met:
|
||||
@@ -56,113 +56,127 @@ package = package[0]
|
||||
|
||||
#include "RtpsTopics.h"
|
||||
|
||||
bool RtpsTopics::init(std::condition_variable* t_send_queue_cv, std::mutex* t_send_queue_mutex, std::queue<uint8_t>* t_send_queue, const std::string& ns)
|
||||
bool RtpsTopics::init(std::condition_variable *t_send_queue_cv, std::mutex *t_send_queue_mutex,
|
||||
std::queue<uint8_t> *t_send_queue, const std::string &ns)
|
||||
{
|
||||
@[if recv_topics]@
|
||||
// Initialise subscribers
|
||||
std::cout << "\033[0;36m--- Subscribers ---\033[0m" << std::endl;
|
||||
// Initialise subscribers
|
||||
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, ns)) {
|
||||
std::cout << "- @(topic) subscriber started" << std::endl;
|
||||
} else {
|
||||
std::cerr << "Failed starting @(topic) subscriber" << std::endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
if (_@(topic)_sub.init(@(rtps_message_id(ids, topic)), t_send_queue_cv, t_send_queue_mutex, t_send_queue, ns)) {
|
||||
std::cout << "- @(topic) subscriber started" << std::endl;
|
||||
|
||||
} else {
|
||||
std::cerr << "Failed starting @(topic) subscriber" << std::endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
@[end for]@
|
||||
std::cout << "\033[0;36m-----------------------\033[0m" << std::endl << std::endl;
|
||||
std::cout << "\033[0;36m-----------------------\033[0m" << std::endl << std::endl;
|
||||
@[end if]@
|
||||
@[if send_topics]@
|
||||
// Initialise publishers
|
||||
std::cout << "\033[0;36m---- Publishers ----\033[0m" << std::endl;
|
||||
// Initialise publishers
|
||||
std::cout << "\033[0;36m---- Publishers ----\033[0m" << std::endl;
|
||||
@[for topic in send_topics]@
|
||||
if (_@(topic)_pub.init(ns)) {
|
||||
std::cout << "- @(topic) publisher started" << std::endl;
|
||||
|
||||
if (_@(topic)_pub.init(ns)) {
|
||||
std::cout << "- @(topic) publisher started" << std::endl;
|
||||
@[ if topic == 'Timesync' or topic == 'timesync']@
|
||||
_timesync->start(&_@(topic)_pub);
|
||||
_timesync->start(&_@(topic)_pub);
|
||||
@[ end if]@
|
||||
} else {
|
||||
std::cerr << "ERROR starting @(topic) publisher" << std::endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
} else {
|
||||
std::cerr << "ERROR starting @(topic) publisher" << std::endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
@[end for]@
|
||||
std::cout << "\033[0;36m-----------------------\033[0m" << std::endl;
|
||||
std::cout << "\033[0;36m-----------------------\033[0m" << std::endl;
|
||||
@[end if]@
|
||||
return true;
|
||||
return true;
|
||||
}
|
||||
|
||||
@[if send_topics]@
|
||||
void RtpsTopics::publish(uint8_t topic_ID, char data_buffer[], size_t len)
|
||||
{
|
||||
switch (topic_ID)
|
||||
{
|
||||
switch (topic_ID) {
|
||||
@[for topic in send_topics]@
|
||||
case @(rtps_message_id(ids, topic)): // @(topic)
|
||||
{
|
||||
@(topic)_msg_t st;
|
||||
eprosima::fastcdr::FastBuffer cdrbuffer(data_buffer, len);
|
||||
eprosima::fastcdr::Cdr cdr_des(cdrbuffer);
|
||||
st.deserialize(cdr_des);
|
||||
@[ if topic == 'Timesync' or topic == 'timesync']@
|
||||
_timesync->processTimesyncMsg(&st);
|
||||
|
||||
if (getMsgSysID(&st) == 1) {
|
||||
@[ end if]@
|
||||
// apply timestamp offset
|
||||
uint64_t timestamp = getMsgTimestamp(&st);
|
||||
uint64_t timestamp_sample = getMsgTimestampSample(&st);
|
||||
_timesync->subtractOffset(timestamp);
|
||||
setMsgTimestamp(&st, timestamp);
|
||||
_timesync->subtractOffset(timestamp_sample);
|
||||
setMsgTimestampSample(&st, timestamp_sample);
|
||||
_@(topic)_pub.publish(&st);
|
||||
case @(rtps_message_id(ids, topic)): { // @(topic)
|
||||
@(topic)_msg_t st;
|
||||
eprosima::fastcdr::FastBuffer cdrbuffer(data_buffer, len);
|
||||
eprosima::fastcdr::Cdr cdr_des(cdrbuffer);
|
||||
st.deserialize(cdr_des);
|
||||
@[ if topic == 'Timesync' or topic == 'timesync']@
|
||||
}
|
||||
_timesync->processTimesyncMsg(&st);
|
||||
|
||||
if (getMsgSysID(&st) == 1) {
|
||||
@[ end if]@
|
||||
}
|
||||
break;
|
||||
// apply timestamp offset
|
||||
uint64_t timestamp = getMsgTimestamp(&st);
|
||||
uint64_t timestamp_sample = getMsgTimestampSample(&st);
|
||||
_timesync->subtractOffset(timestamp);
|
||||
setMsgTimestamp(&st, timestamp);
|
||||
_timesync->subtractOffset(timestamp_sample);
|
||||
setMsgTimestampSample(&st, timestamp_sample);
|
||||
_@(topic)_pub.publish(&st);
|
||||
@[ if topic == 'Timesync' or topic == 'timesync']@
|
||||
}
|
||||
|
||||
@[ end if]@
|
||||
}
|
||||
break;
|
||||
@[end for]@
|
||||
default:
|
||||
printf("\033[1;33m[ micrortps_agent ]\tUnexpected topic ID '%hhu' to publish Please make sure the agent is capable of parsing the message associated to the topic ID '%hhu'\033[0m\n", topic_ID, topic_ID);
|
||||
break;
|
||||
}
|
||||
|
||||
default:
|
||||
printf("\033[1;33m[ micrortps_agent ]\tUnexpected topic ID '%hhu' to publish Please make sure the agent is capable of parsing the message associated to the topic ID '%hhu'\033[0m\n",
|
||||
topic_ID, topic_ID);
|
||||
break;
|
||||
}
|
||||
}
|
||||
@[end if]@
|
||||
@[if recv_topics]@
|
||||
|
||||
bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr)
|
||||
{
|
||||
bool ret = false;
|
||||
switch (topic_ID)
|
||||
{
|
||||
@[for topic in recv_topics]@
|
||||
case @(rtps_message_id(ids, topic)): // @(topic)
|
||||
if (_@(topic)_sub.hasMsg())
|
||||
{
|
||||
@(topic)_msg_t msg = _@(topic)_sub.getMsg();
|
||||
@[ if topic == 'Timesync' or topic == 'timesync']@
|
||||
if (getMsgSysID(&msg) == 0) {
|
||||
@[ end if]@
|
||||
// apply timestamps offset
|
||||
uint64_t timestamp = getMsgTimestamp(&msg);
|
||||
uint64_t timestamp_sample = getMsgTimestampSample(&msg);
|
||||
_timesync->addOffset(timestamp);
|
||||
setMsgTimestamp(&msg, timestamp);
|
||||
_timesync->addOffset(timestamp_sample);
|
||||
setMsgTimestampSample(&msg, timestamp_sample);
|
||||
msg.serialize(scdr);
|
||||
ret = true;
|
||||
@[ if topic == 'Timesync' or topic == 'timesync']@
|
||||
}
|
||||
@[ end if]@
|
||||
_@(topic)_sub.unlockMsg();
|
||||
}
|
||||
break;
|
||||
@[end for]@
|
||||
default:
|
||||
printf("\033[1;33m[ micrortps_agent ]\tUnexpected topic ID '%hhu' to getMsg. Please make sure the agent is capable of parsing the message associated to the topic ID '%hhu'\033[0m\n", topic_ID, topic_ID);
|
||||
break;
|
||||
}
|
||||
bool ret = false;
|
||||
|
||||
return ret;
|
||||
switch (topic_ID) {
|
||||
@[for topic in recv_topics]@
|
||||
|
||||
case @(rtps_message_id(ids, topic)): // @(topic)
|
||||
if (_@(topic)_sub.hasMsg()) {
|
||||
@(topic)_msg_t msg = _@(topic)_sub.getMsg();
|
||||
@[ if topic == 'Timesync' or topic == 'timesync']@
|
||||
|
||||
if (getMsgSysID(&msg) == 0) {
|
||||
@[ end if]@
|
||||
// apply timestamps offset
|
||||
uint64_t timestamp = getMsgTimestamp(&msg);
|
||||
uint64_t timestamp_sample = getMsgTimestampSample(&msg);
|
||||
_timesync->addOffset(timestamp);
|
||||
setMsgTimestamp(&msg, timestamp);
|
||||
_timesync->addOffset(timestamp_sample);
|
||||
setMsgTimestampSample(&msg, timestamp_sample);
|
||||
msg.serialize(scdr);
|
||||
ret = true;
|
||||
@[ if topic == 'Timesync' or topic == 'timesync']@
|
||||
}
|
||||
|
||||
@[ end if]@
|
||||
_@(topic)_sub.unlockMsg();
|
||||
}
|
||||
|
||||
break;
|
||||
@[end for]@
|
||||
|
||||
default:
|
||||
printf("\033[1;33m[ micrortps_agent ]\tUnexpected topic ID '%hhu' to getMsg. Please make sure the agent is capable of parsing the message associated to the topic ID '%hhu'\033[0m\n",
|
||||
topic_ID, topic_ID);
|
||||
break;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
@[end if]@
|
||||
|
||||
Reference in New Issue
Block a user