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microRTPS: simplify the attribution of the RTPS IDs by makiing it automatic

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1. The RTPS IDs are now automatically assigned to the topics
2. Only the topics that get defined to be sent or received in the urtps_bridge_topics.yaml (renamed, since now it doesn't contain IDs) receive the IDs
3. Any addition or removal on the urtps_bridge_topics.yaml file might update the topic IDs - this will require that the agent and the client ID list has to be in sync. This will further require a robustification of the way we check the IDs and the message definitions when starting the bridge.
This commit is contained in:
TSC21
2021-08-12 08:44:53 +02:00
committed by Nuno Marques
parent f557fbc99f
commit c478e2985a
19 changed files with 226 additions and 802 deletions
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msg/templates/uorb_microcdr/microRTPS_client.cpp.em
+2 -3
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@@ -15,7 +15,6 @@ import os
import genmsg.msgs
from px_generate_uorb_topic_helper import * # this is in Tools/
from px_generate_uorb_topic_files import MsgScope # this is in Tools/
topic_names = [s.short_name for s in spec]
@@ -153,7 +152,7 @@ void *send(void *args)
// copy raw data into local buffer. Payload is shifted by header length to make room for header
serialize_@(send_base_types[idx])(&writer, &@(topic)_data, &data_buffer[header_length], &length);
if (0 < (read = transport_node->write(static_cast<char>(@(rtps_message_id(ids, topic))), data_buffer, length))) {
if (0 < (read = transport_node->write(static_cast<char>(@(ids[0].index(topic) + 1)), data_buffer, length))) {
data->total_sent += read;
tx_last_sec_read += read;
++data->sent;
@@ -262,7 +261,7 @@ void micrortps_start_topics(const uint32_t &datarate, struct timespec &begin, ui
switch (topic_ID) {
@[ for idx, topic in enumerate(recv_topics)]@
case @(rtps_message_id(ids, topic)): {
case @(ids[0].index(topic) + 1): {
@(receive_base_types[idx])_s @(topic)_data;
deserialize_@(receive_base_types[idx])(&reader, &@(topic)_data, data_buffer);