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Add topic namespace support for micrortps agent generation

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Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This commit is contained in:
Jukka Laitinen
2020-11-26 12:34:56 +00:00
committed by Nuno Marques
parent ce8f4dece2
commit fdb4ede6c2
7 changed files with 46 additions and 25 deletions
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msg/templates/urtps/RtpsTopics.cpp.em
+3 -3
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@@ -56,13 +56,13 @@ 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)
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;
@[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)) {
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;
@@ -75,7 +75,7 @@ bool RtpsTopics::init(std::condition_variable* t_send_queue_cv, std::mutex* t_se
// Initialise publishers
std::cout << "\033[0;36m---- Publishers ----\033[0m" << std::endl;
@[for topic in send_topics]@
if (_@(topic)_pub.init()) {
if (_@(topic)_pub.init(ns)) {
std::cout << "- @(topic) publisher started" << std::endl;
@[ if topic == 'Timesync' or topic == 'timesync']@
_timesync->start(&_@(topic)_pub);