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update micro-CDR version and msg templates to fit the up to date version

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This commit is contained in:
TSC21
2018-12-02 10:35:25 +01:00
committed by Lorenz Meier
parent 3e57067b35
commit c25d122f12
5 changed files with 29 additions and 31 deletions
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msg/templates/uorb_microcdr/microRTPS_client.cpp.template
+11 -10
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@@ -24,7 +24,8 @@ recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgSc
}@
/****************************************************************************
*
* Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
* Copyright (c) 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
* Copyright (c) 2018 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:
@@ -62,7 +63,7 @@ recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgSc
#include <ctime>
#include <pthread.h>
#include <microcdr/microcdr.h>
#include <ucdr/microcdr.h>
#include <px4_time.h>
#include <uORB/uORB.h>
@@ -91,10 +92,10 @@ void* send(void* /*unused*/)
orb_set_interval(fds[@(idx)], _options.update_time_ms);
@[end for]@
// MicroBuffer to serialized using the user defined buffer
MicroBuffer MicroBufferWriter;
// ucdrBuffer to serialize using the user defined buffer
ucdrBuffer writer;
header_length=transport_node->get_header_length();
init_micro_buffer(&MicroBufferWriter, (uint8_t*)&data_buffer[header_length], BUFFER_SIZE - header_length);
ucdr_init_buffer(&writer, (uint8_t*)&data_buffer[header_length], BUFFER_SIZE - header_length);
struct timespec begin;
px4_clock_gettime(CLOCK_REALTIME, &begin);
@@ -111,7 +112,7 @@ void* send(void* /*unused*/)
// 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)(&MicroBufferWriter, &data, &data_buffer[header_length], &length);
serialize_@(topic)(&writer, &data, &data_buffer[header_length], &length);
if (0 < (read = transport_node->write((char)@(rtps_message_id(ids, topic)), data_buffer, length)))
{
@@ -165,9 +166,9 @@ void micrortps_start_topics(struct timespec &begin, int &total_read, uint32_t &r
orb_advert_t @(topic)_pub = nullptr;
@[end for]@
// MicroBuffer to deserialized using the user defined buffer
MicroBuffer MicroBufferReader;
init_micro_buffer(&MicroBufferReader, (uint8_t*)data_buffer, BUFFER_SIZE);
// ucdrBuffer to deserialize using the user defined buffer
ucdrBuffer reader;
ucdr_init_buffer(&reader, (uint8_t*)data_buffer, BUFFER_SIZE);
@[end if]@
px4_clock_gettime(CLOCK_REALTIME, &begin);
@@ -191,7 +192,7 @@ void micrortps_start_topics(struct timespec &begin, int &total_read, uint32_t &r
case @(rtps_message_id(ids, topic)):
{
deserialize_@(topic)(&MicroBufferReader, &@(topic)_data, data_buffer);
deserialize_@(topic)(&reader, &@(topic)_data, data_buffer);
if (!@(topic)_pub) {
@(topic)_pub = orb_advertise(ORB_ID(@(topic)), &@(topic)_data);
} else {