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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/microRTPS_agent.cpp.em
+12 -9
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@@ -107,22 +107,24 @@ struct options {
bool sw_flow_control = false;
bool hw_flow_control = false;
bool verbose_debug = false;
std::string ns = "";
} _options;
static void usage(const char *name)
{
printf("usage: %s [options]\n\n"
" -t <transport> [UART|UDP] Default UART\n"
" -d <device> UART device. Default /dev/ttyACM0\n"
" -w <sleep_time_us> Time in us for which each iteration sleep. Default 1ms\n"
" -b <baudrate> UART device baudrate. Default 460800\n"
" -d <device> UART device. Default /dev/ttyACM0\n"
" -f <sw flow control> Activates UART link SW flow control\n"
" -h <hw flow control> Activates UART link HW flow control\n"
" -i <ip_address> Target IP for UDP. Default 127.0.0.1\n"
" -n <namespace> ROS 2 topics namespace. Identifies the vehicle in a multi-agent network\n"
" -p <poll_ms> Time in ms to poll over UART. Default 1ms\n"
" -r <reception port> UDP port for receiving. Default 2019\n"
" -s <sending port> UDP port for sending. Default 2020\n"
" -i <ip_address> Target IP for UDP. Default 127.0.0.1\n"
" -f <sw flow control> Activates UART link SW flow control\n"
" -h <hw flow control> Activates UART link HW flow control\n"
" -v <debug verbosity> Add more verbosity\n",
" -t <transport> [UART|UDP] Default UART\n"
" -v <debug verbosity> Add more verbosity\n"
" -w <sleep_time_us> Time in us for which each iteration sleep. Default 1ms\n",
name);
}
@@ -130,7 +132,7 @@ static int parse_options(int argc, char **argv)
{
int ch;
while ((ch = getopt(argc, argv, "t:d:w:b:p:r:s:i:fhv")) != EOF)
while ((ch = getopt(argc, argv, "t:d:w:b:p:r:s:i:fhvn:")) != EOF)
{
switch (ch)
{
@@ -147,6 +149,7 @@ static int parse_options(int argc, char **argv)
case 'f': _options.sw_flow_control = true; break;
case 'h': _options.hw_flow_control = true; break;
case 'v': _options.verbose_debug = true; break;
case 'n': if (nullptr != optarg) _options.ns = std::string(optarg) + "/"; break;
default:
usage(argv[0]);
return -1;
@@ -273,7 +276,7 @@ int main(int argc, char** argv)
topics.set_timesync(timeSync);
@[if recv_topics]@
topics.init(&t_send_queue_cv, &t_send_queue_mutex, &t_send_queue);
topics.init(&t_send_queue_cv, &t_send_queue_mutex, &t_send_queue, _options.ns);
@[end if]@
running = true;