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microRTPS: templates: fix support for ROS2 Dashing

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This commit is contained in:
TSC21
2019-10-14 23:17:27 +01:00
committed by Nuno Marques
parent f91770f9cd
commit 97e1edc835
5 changed files with 55 additions and 26 deletions
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msg/templates/urtps/Publisher.cpp.em
+20 -8
View File
@@ -16,6 +16,7 @@ import gencpp
from px_generate_uorb_topic_helper import * # this is in Tools/ from px_generate_uorb_topic_helper import * # this is in Tools/
topic = alias if alias else spec.short_name topic = alias if alias else spec.short_name
ros2_distro = ros2_distro.decode("utf-8")
}@ }@
/**************************************************************************** /****************************************************************************
* *
@@ -80,7 +81,7 @@ bool @(topic)_Publisher::init()
// Create RTPSParticipant // Create RTPSParticipant
ParticipantAttributes PParam; ParticipantAttributes PParam;
PParam.rtps.builtin.domainId = 0; PParam.rtps.builtin.domainId = 0;
@[if 1.5 <= fastrtpsgen_version <= 1.7]@ @[if 1.5 <= fastrtpsgen_version <= 1.7 or ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" or ros2_distro == "dashing"]@
PParam.rtps.builtin.leaseDuration = c_TimeInfinite; PParam.rtps.builtin.leaseDuration = c_TimeInfinite;
@[else]@ @[else]@
PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite; PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite;
@@ -98,15 +99,26 @@ bool @(topic)_Publisher::init()
Wparam.topic.topicKind = NO_KEY; Wparam.topic.topicKind = NO_KEY;
Wparam.topic.topicDataType = myType.getName(); //This type MUST be registered Wparam.topic.topicDataType = myType.getName(); //This type MUST be registered
@[if 1.5 <= fastrtpsgen_version <= 1.7]@ @[if 1.5 <= fastrtpsgen_version <= 1.7]@
Wparam.topic.topicName = "@(topic)_PubSubTopic"; @[ if ros2_distro]@
@[else]@ @[ if ros2_distro == "ardent"]@
Wparam.topic.topicName = "@(topic)PubSubTopic";
@[end if]@
@[if ros2_distro]@
@[ if ros2_distro == "ardent"]@
Wparam.qos.m_partition.push_back("rt"); Wparam.qos.m_partition.push_back("rt");
Wparam.topic.topicName = "@(topic)_PubSubTopic";
@[ else]@
Wparam.topic.topicName = "rt/@(topic)_PubSubTopic";
@[ end if]@
@[ else]@ @[ else]@
Wparam.topic.topicName = "rt/" + Wparam.topic.topicName; Wparam.topic.topicName = "@(topic)_PubSubTopic";
@[ end if]@
@[else]@
@[ if ros2_distro]@
@[ if ros2_distro == "ardent"]@
Wparam.qos.m_partition.push_back("rt");
Wparam.topic.topicName = "@(topic)PubSubTopic";
@[ else]@
Wparam.topic.topicName = "rt/@(topic)PubSubTopic";
@[ end if]@
@[ else]@
Wparam.topic.topicName = "@(topic)PubSubTopic";
@[ end if]@ @[ end if]@
@[end if]@ @[end if]@
mp_publisher = Domain::createPublisher(mp_participant, Wparam, static_cast<PublisherListener*>(&m_listener)); mp_publisher = Domain::createPublisher(mp_participant, Wparam, static_cast<PublisherListener*>(&m_listener));
msg/templates/urtps/Publisher.h.em
+1
View File
@@ -16,6 +16,7 @@ import gencpp
from px_generate_uorb_topic_helper import * # this is in Tools/ from px_generate_uorb_topic_helper import * # this is in Tools/
topic = alias if alias else spec.short_name topic = alias if alias else spec.short_name
ros2_distro = ros2_distro.decode("utf-8")
}@ }@
/**************************************************************************** /****************************************************************************
* *
msg/templates/urtps/RtpsTopics.cpp.em
+13 -10
View File
@@ -19,6 +19,9 @@ from px_generate_uorb_topic_files import MsgScope # this is in Tools/
send_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND] send_topics = [(alias[idx] if alias[idx] else 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] recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
package = package[0]
fastrtpsgen_version = fastrtpsgen_version[0]
ros2_distro = ros2_distro[0].decode("utf-8")
}@ }@
/**************************************************************************** /****************************************************************************
* *
@@ -92,15 +95,15 @@ void RtpsTopics::publish(uint8_t topic_ID, char data_buffer[], size_t len)
@[for topic in send_topics]@ @[for topic in send_topics]@
case @(rtps_message_id(ids, topic)): // @(topic) case @(rtps_message_id(ids, topic)): // @(topic)
{ {
@[ if 1.5 <= fastrtpsgen_version[0] <= 1.7]@ @[ if 1.5 <= fastrtpsgen_version <= 1.7]@
@[ if ros2_distro[0]]@ @[ if ros2_distro]@
@(package[0])::msg::dds_::@(topic)_ st; @(package)::msg::dds_::@(topic)_ st;
@[ else]@ @[ else]@
@(topic)_ st; @(topic)_ st;
@[ end if]@ @[ end if]@
@[ else]@ @[ else]@
@[ if ros2_distro[0]]@ @[ if ros2_distro]@
@(package[0])::msg::@(topic) st; @(package)::msg::@(topic) st;
@[ else]@ @[ else]@
@(topic) st; @(topic) st;
@[ end if]@ @[ end if]@
@@ -157,15 +160,15 @@ bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr)
case @(rtps_message_id(ids, topic)): // @(topic) case @(rtps_message_id(ids, topic)): // @(topic)
if (_@(topic)_sub.hasMsg()) if (_@(topic)_sub.hasMsg())
{ {
@[ if 1.5 <= fastrtpsgen_version[0] <= 1.7]@ @[ if 1.5 <= fastrtpsgen_version <= 1.7]@
@[ if ros2_distro[0]]@ @[ if ros2_distro]@
@(package[0])::msg::dds_::@(topic)_ msg = _@(topic)_sub.getMsg(); @(package)::msg::dds_::@(topic)_ msg = _@(topic)_sub.getMsg();
@[ else]@ @[ else]@
@(topic)_ msg = _@(topic)_sub.getMsg(); @(topic)_ msg = _@(topic)_sub.getMsg();
@[ end if]@ @[ end if]@
@[ else]@ @[ else]@
@[ if ros2_distro[0]]@ @[ if ros2_distro]@
@(package[0])::msg::@(topic) msg = _@(topic)_sub.getMsg(); @(package)::msg::@(topic) msg = _@(topic)_sub.getMsg();
@[ else]@ @[ else]@
@(topic) msg = _@(topic)_sub.getMsg(); @(topic) msg = _@(topic)_sub.getMsg();
@[ end if]@ @[ end if]@
msg/templates/urtps/Subscriber.cpp.em
+20 -8
View File
@@ -16,6 +16,7 @@ import gencpp
from px_generate_uorb_topic_helper import * # this is in Tools/ from px_generate_uorb_topic_helper import * # this is in Tools/
topic = alias if alias else spec.short_name topic = alias if alias else spec.short_name
ros2_distro = ros2_distro.decode("utf-8")
}@ }@
/**************************************************************************** /****************************************************************************
* *
@@ -75,7 +76,7 @@ bool @(topic)_Subscriber::init()
// Create RTPSParticipant // Create RTPSParticipant
ParticipantAttributes PParam; ParticipantAttributes PParam;
PParam.rtps.builtin.domainId = 0; // MUST BE THE SAME AS IN THE PUBLISHER PParam.rtps.builtin.domainId = 0; // MUST BE THE SAME AS IN THE PUBLISHER
@[if 1.5 <= fastrtpsgen_version <= 1.7]@ @[if 1.5 <= fastrtpsgen_version <= 1.7 or ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" or ros2_distro == "dashing"]@
PParam.rtps.builtin.leaseDuration = c_TimeInfinite; PParam.rtps.builtin.leaseDuration = c_TimeInfinite;
@[else]@ @[else]@
PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite; PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite;
@@ -93,15 +94,26 @@ bool @(topic)_Subscriber::init()
Rparam.topic.topicKind = NO_KEY; Rparam.topic.topicKind = NO_KEY;
Rparam.topic.topicDataType = myType.getName(); //Must be registered before the creation of the subscriber Rparam.topic.topicDataType = myType.getName(); //Must be registered before the creation of the subscriber
@[if 1.5 <= fastrtpsgen_version <= 1.7]@ @[if 1.5 <= fastrtpsgen_version <= 1.7]@
Rparam.topic.topicName = "@(topic)_PubSubTopic"; @[ if ros2_distro]@
@[else]@ @[ if ros2_distro == "ardent"]@
Rparam.topic.topicName = "@(topic)PubSubTopic";
@[end if]@
@[if ros2_distro]@
@[ if ros2_distro == "ardent"]@
Rparam.qos.m_partition.push_back("rt"); Rparam.qos.m_partition.push_back("rt");
Rparam.topic.topicName = "@(topic)_PubSubTopic";
@[ else]@
Rparam.topic.topicName = "rt/@(topic)_PubSubTopic";
@[ end if]@
@[ else]@ @[ else]@
Rparam.topic.topicName = "rt/" + Rparam.topic.topicName; Rparam.topic.topicName = "@(topic)_PubSubTopic";
@[ end if]@
@[else]@
@[ if ros2_distro]@
@[ if ros2_distro == "ardent"]@
Rparam.qos.m_partition.push_back("rt");
Rparam.topic.topicName = "@(topic)PubSubTopic";
@[ else]@
Rparam.topic.topicName = "rt/@(topic)PubSubTopic";
@[ end if]@
@[ else]@
Rparam.topic.topicName = "@(topic)PubSubTopic";
@[ end if]@ @[ end if]@
@[end if]@ @[end if]@
mp_subscriber = Domain::createSubscriber(mp_participant, Rparam, static_cast<SubscriberListener*>(&m_listener)); mp_subscriber = Domain::createSubscriber(mp_participant, Rparam, static_cast<SubscriberListener*>(&m_listener));
msg/templates/urtps/Subscriber.h.em
+1
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@@ -16,6 +16,7 @@ import gencpp
from px_generate_uorb_topic_helper import * # this is in Tools/ from px_generate_uorb_topic_helper import * # this is in Tools/
topic = alias if alias else spec.short_name topic = alias if alias else spec.short_name
ros2_distro = ros2_distro.decode("utf-8")
}@ }@
/**************************************************************************** /****************************************************************************
* *