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load RTPS msg IDs from a JSON file and remove uorb_rtps_message_ids.py

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This commit is contained in:
TSC21
2018-09-21 15:55:17 +02:00
committed by Beat Küng
parent 943bfbf93f
commit a323073456
7 changed files with 377 additions and 115 deletions
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msg/templates/urtps/RtpsTopics.cpp.template
+5 -4
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@@ -9,11 +9,12 @@
@# - msgs (List) list of all msg files
@###############################################
@{
import os
import genmsg.msgs
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/
from uorb_rtps_message_ids import * # 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]
@@ -88,7 +89,7 @@ void RtpsTopics::publish(uint8_t topic_ID, char data_buffer[], size_t len)
switch (topic_ID)
{
@[for topic in send_topics]@
case @(message_id(topic)): // @(topic)
case @(rtps_message_id(os.path.abspath('uorb_rtps_message_ids.json'), topic)): // @(topic)
{
@(topic)_ st;
eprosima::fastcdr::FastBuffer cdrbuffer(data_buffer, len);
@@ -116,7 +117,7 @@ bool RtpsTopics::hasMsg(uint8_t *topic_ID)
switch (_sub_topics[_next_sub_idx])
{
@[for topic in recv_topics]@
case @(message_id(topic)): if (_@(topic)_sub.hasMsg()) *topic_ID = @(message_id(topic)); break;
case @(rtps_message_id(os.path.abspath('uorb_rtps_message_ids.json'), topic)): if (_@(topic)_sub.hasMsg()) *topic_ID = @(rtps_message_id(os.path.abspath('uorb_rtps_message_ids.json'), topic)); break;
@[end for]@
default:
printf("Unexpected topic ID to check hasMsg\n");
@@ -140,7 +141,7 @@ bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr)
switch (topic_ID)
{
@[for topic in recv_topics]@
case @(message_id(topic)): // @(topic)
case @(rtps_message_id(os.path.abspath('uorb_rtps_message_ids.json'), topic)): // @(topic)
if (_@(topic)_sub.hasMsg())
{
@(topic)_ msg = _@(topic)_sub.getMsg();