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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/Subscriber.cpp.em
+14 -5
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@@ -81,7 +81,7 @@ except AttributeError:
Domain::removeParticipant(mp_participant);
}
bool @(topic)_Subscriber::init(uint8_t topic_ID, std::condition_variable* t_send_queue_cv, std::mutex* t_send_queue_mutex, std::queue<uint8_t>* t_send_queue)
bool @(topic)_Subscriber::init(uint8_t topic_ID, std::condition_variable* t_send_queue_cv, std::mutex* t_send_queue_mutex, std::queue<uint8_t>* t_send_queue, const std::string& ns)
{
m_listener.topic_ID = topic_ID;
m_listener.t_send_queue_cv = t_send_queue_cv;
@@ -100,7 +100,9 @@ bool @(topic)_Subscriber::init(uint8_t topic_ID, std::condition_variable* t_send
@[else]@
PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite;
@[end if]@
PParam.rtps.setName("@(topic)_subscriber");
std::string nodeName = ns;
nodeName.append("@(topic)_subscriber");
PParam.rtps.setName(nodeName.c_str());
mp_participant = Domain::createParticipant(PParam);
if(mp_participant == nullptr)
return false;
@@ -115,12 +117,19 @@ bool @(topic)_Subscriber::init(uint8_t topic_ID, std::condition_variable* t_send
@[if ros2_distro]@
@[ if ros2_distro == "ardent"]@
Rparam.qos.m_partition.push_back("rt");
Rparam.topic.topicName = "@(topic)_PubSubTopic";
std::string topicName = ns;
topicName.append("@(topic)_PubSubTopic");
Rparam.topic.topicName = topicName;
@[ else]@
Rparam.topic.topicName = "rt/@(topic)_PubSubTopic";
std::string topicName = "rt/";
topicName.append(ns);
topicName.append("@(topic)_PubSubTopic");
Rparam.topic.topicName = topicName;
@[ end if]@
@[else]@
Rparam.topic.topicName = "@(topic)PubSubTopic";
std::string topicName = ns;
topicName.append("@(topic)PubSubTopic");
Rparam.topic.topicName = topicName;
@[end if]@
mp_subscriber = Domain::createSubscriber(mp_participant, Rparam, static_cast<SubscriberListener*>(&m_listener));
if(mp_subscriber == nullptr)