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micrortps bridge: clean templates; add backwards compatibility; add ROS2 compatibility

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This commit is contained in:
TSC21
2019-10-02 10:40:37 +01:00
committed by Nuno Marques
parent 278d2fd21f
commit 1970ef875f
12 changed files with 147 additions and 113 deletions
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37
msg/templates/urtps/Publisher.cpp.em
View File

@@ -20,7 +20,7 @@ topic = alias if alias else spec.short_name
/****************************************************************************
*
* Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
* Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
* Copyright (C) 2018-2019 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:
@@ -54,7 +54,7 @@ topic = alias if alias else spec.short_name
* @@file @(topic)_Publisher.cpp
* This file contains the implementation of the publisher functions.
*
* This file was generated by the tool fastcdrgen.
* This file was adapted from the fastcdrgen tool.
*/
#include <fastrtps/participant/Participant.h>
@@ -64,7 +64,9 @@ topic = alias if alias else spec.short_name
#include <fastrtps/Domain.h>
@[if 1.5 < fastrtpsgen_version <= 1.7]@
#include <fastrtps/utils/eClock.h>
@[else]@
#include "@(topic)_Publisher.h"
@@ -76,26 +78,34 @@ topic = alias if alias else spec.short_name
bool @(topic)_Publisher::init()
{
// Create RTPSParticipant
ParticipantAttributes PParam;
PParam.rtps.builtin.domainId = 0;
@[if 1.5 < fastrtpsgen_version <= 1.7]@
PParam.rtps.builtin.leaseDuration = c_TimeInfinite;
@[else]@
PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite;
@[end if]@
PParam.rtps.setName("@(topic)_publisher"); //You can put here the name you want
mp_participant = Domain::createParticipant(PParam);
if(mp_participant == nullptr)
return false;
//Register the type
Domain::registerType(mp_participant, (TopicDataType*) &myType);
// Register the type
Domain::registerType(mp_participant, static_cast<TopicDataType*>(&myType));
// Create Publisher
PublisherAttributes Wparam;
Wparam.topic.topicKind = NO_KEY;
Wparam.topic.topicDataType = myType.getName(); //This type MUST be registered
@[if 1.5 < fastrtpsgen_version <= 1.7]@
Wparam.topic.topicName = "@(topic)_PubSubTopic";
mp_publisher = Domain::createPublisher(mp_participant, Wparam, (PublisherListener*) &m_listener);
@[else]@
Wparam.topic.topicName = "@(topic)PubSubTopic";
@[end if]@
@[if ros2_distro and ros2_distro != "ardent"]@
Wparam.topic.topicName = "rt/" + Wparam.topic.topicName;
@[end if]@
mp_publisher = Domain::createPublisher(mp_participant, Wparam, static_cast<PublisherListener*>(&m_listener));
if(mp_publisher == nullptr)
return false;
//std::cout << "Publisher created, waiting for Subscribers." << std::endl;
@@ -120,12 +130,15 @@ void @(topic)_Publisher::run()
{
while(m_listener.n_matched == 0)
{
eClock::my_sleep(250); // Sleep 250 ms
@[if 1.5 < fastrtpsgen_version <= 1.7]@
eClock::my_sleep(250); // Sleep 250 ms;
@[else]@
std::this_thread::sleep_for(std::chrono::milliseconds(250)); // Sleep 250 ms
@[end if]@
}
// Publication code
@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
@[if 1.5 < fastrtpsgen_version <= 1.7]@
@(topic)_ st;
@[else]@
@(topic) st;
@@ -154,7 +167,7 @@ void @(topic)_Publisher::run()
}while(std::cin >> ch);
}
@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
@[if 1.5 < fastrtpsgen_version <= 1.7]@
void @(topic)_Publisher::publish(@(topic)_* st)
@[else]@
void @(topic)_Publisher::publish(@(topic)* st)

10
msg/templates/urtps/Publisher.h.em
View File

@@ -20,7 +20,7 @@ topic = alias if alias else spec.short_name
/****************************************************************************
*
* Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
* Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
* Copyright (C) 2018-2019 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:
@@ -54,7 +54,7 @@ topic = alias if alias else spec.short_name
* @@file @(topic)_Publisher.h
* This header file contains the declaration of the publisher functions.
*
* This file was generated by the tool fastcdrgen.
* This file was adapted from the fastcdrgen tool.
*/
@@ -64,7 +64,7 @@ topic = alias if alias else spec.short_name
#include <fastrtps/fastrtps_fwd.h>
#include <fastrtps/publisher/PublisherListener.h>
@[if float(fastrtps_version) < 1.9]@
@[if 1.5 < fastrtpsgen_version <= 1.7]@
#include "@(topic)_PubSubTypes.h"
@[else]@
#include "@(topic)PubSubTypes.h"
@@ -80,7 +80,7 @@ public:
virtual ~@(topic)_Publisher();
bool init();
void run();
@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
@[if 1.5 < fastrtpsgen_version <= 1.7]@
void publish(@(topic)_* st);
@[else]@
void publish(@(topic)* st);
@@ -97,7 +97,7 @@ private:
void onPublicationMatched(Publisher* pub, MatchingInfo& info);
int n_matched;
} m_listener;
@[if float(fastrtps_version) < 1.9]@
@[if 1.5 < fastrtpsgen_version <= 1.7]@
@(topic)_PubSubType myType;
@[else]@
@(topic)PubSubType myType;

6
msg/templates/urtps/RtpsTopics.cpp.em
View File

@@ -23,7 +23,7 @@ recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumer
/****************************************************************************
*
* Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
* Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
* Copyright (C) 2018-2019 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:
@@ -92,7 +92,7 @@ void RtpsTopics::publish(uint8_t topic_ID, char data_buffer[], size_t len)
@[for topic in send_topics]@
case @(rtps_message_id(ids, topic)): // @(topic)
{
@[ if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
@[ if 1.5 < fastrtpsgen_version <= 1.7]@
@(topic)_ st;
@[ else]@
@(topic) st;
@@ -149,7 +149,7 @@ bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr)
case @(rtps_message_id(ids, topic)): // @(topic)
if (_@(topic)_sub.hasMsg())
{
@[ if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
@[ if 1.5 < fastrtpsgen_version <= 1.7]@
@(topic)_ msg = _@(topic)_sub.getMsg();
@[ else]@
@(topic) msg = _@(topic)_sub.getMsg();

2
msg/templates/urtps/RtpsTopics.h.em
View File

@@ -23,7 +23,7 @@ recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumer
/****************************************************************************
*
* Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
* Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
* Copyright (C) 2018-2019 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:

32
msg/templates/urtps/Subscriber.cpp.em
View File

@@ -20,7 +20,7 @@ topic = alias if alias else spec.short_name
/****************************************************************************
*
* Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
* Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
* Copyright (C) 2018-2019 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:
@@ -54,7 +54,7 @@ topic = alias if alias else spec.short_name
* @@file @(topic)_Subscriber.cpp
* This file contains the implementation of the subscriber functions.
*
* This file was generated by the tool fastcdrgen.
* This file was adapted from the fastcdrgen tool.
*/
#include <fastrtps/participant/Participant.h>
@@ -66,7 +66,6 @@ topic = alias if alias else spec.short_name
#include "@(topic)_Subscriber.h"
@(topic)_Subscriber::@(topic)_Subscriber() : mp_participant(nullptr), mp_subscriber(nullptr) {}
@(topic)_Subscriber::~@(topic)_Subscriber() { Domain::removeParticipant(mp_participant);}
@@ -74,26 +73,34 @@ topic = alias if alias else spec.short_name
bool @(topic)_Subscriber::init()
{
// Create RTPSParticipant
ParticipantAttributes PParam;
PParam.rtps.builtin.domainId = 0; //MUST BE THE SAME AS IN THE PUBLISHER
PParam.rtps.builtin.domainId = 0; // MUST BE THE SAME AS IN THE PUBLISHER
@[if 1.5 < fastrtpsgen_version <= 1.7]@
PParam.rtps.builtin.leaseDuration = c_TimeInfinite;
@[else]@
PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite;
@[end if]@
PParam.rtps.setName("@(topic)_subscriber"); //You can put the name you want
mp_participant = Domain::createParticipant(PParam);
if(mp_participant == nullptr)
return false;
//Register the type
Domain::registerType(mp_participant, (TopicDataType*) &myType);
Domain::registerType(mp_participant, static_cast<TopicDataType*>(&myType));
// Create Subscriber
SubscriberAttributes Rparam;
Rparam.topic.topicKind = NO_KEY;
Rparam.topic.topicDataType = myType.getName(); //Must be registered before the creation of the subscriber
@[if 1.5 < fastrtpsgen_version <= 1.7]@
Rparam.topic.topicName = "@(topic)_PubSubTopic";
mp_subscriber = Domain::createSubscriber(mp_participant, Rparam, (SubscriberListener*) &m_listener);
@[else]@
Rparam.topic.topicName = "@(topic)PubSubTopic";
@[end if]@
@[if ros2_distro and ros2_distro != "ardent"]@
Rparam.topic.topicName = "rt/" + Wparam.topic.topicName;
@[end if]@
mp_subscriber = Domain::createSubscriber(mp_participant, Rparam, static_cast<SubscriberListener*>(&m_listener));
if(mp_subscriber == nullptr)
return false;
return true;
@@ -101,6 +108,8 @@ bool @(topic)_Subscriber::init()
void @(topic)_Subscriber::SubListener::onSubscriptionMatched(Subscriber* sub, MatchingInfo& info)
{
(void)sub;
if (info.status == MATCHED_MATCHING)
{
n_matched++;
@@ -116,8 +125,7 @@ void @(topic)_Subscriber::SubListener::onSubscriptionMatched(Subscriber* sub, Ma
void @(topic)_Subscriber::SubListener::onNewDataMessage(Subscriber* sub)
{
// Take data
if(sub->takeNextData(&msg, &m_info))
@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
@[if 1.5 < fastrtpsgen_version <= 1.7]@
@(topic)_ st;
@[else]@
@(topic) st;
@@ -148,7 +156,7 @@ bool @(topic)_Subscriber::hasMsg()
return m_listener.has_msg;
}
@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
@[if 1.5 < fastrtpsgen_version <= 1.7]@
@(topic)_ @(topic)_Subscriber::getMsg()
@[else]@
@(topic) @(topic)_Subscriber::getMsg()

12
msg/templates/urtps/Subscriber.h.em
View File

@@ -20,7 +20,7 @@ topic = alias if alias else spec.short_name
/****************************************************************************
*
* Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
* Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
* Copyright (C) 2018-2019 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:
@@ -54,7 +54,7 @@ topic = alias if alias else spec.short_name
* @@file @(topic)_Subscriber.h
* This header file contains the declaration of the subscriber functions.
*
* This file was generated by the tool fastcdrgen.
* This file was adapted from the fastcdrgen tool.
*/
@@ -64,7 +64,7 @@ topic = alias if alias else spec.short_name
#include <fastrtps/fastrtps_fwd.h>
#include <fastrtps/subscriber/SubscriberListener.h>
#include <fastrtps/subscriber/SampleInfo.h>
@[if float(fastrtps_version) < 1.9]@
@[if 1.5 < fastrtpsgen_version <= 1.7]@
#include "@(topic)_PubSubTypes.h"
@[else]@
#include "@(topic)PubSubTypes.h"
@@ -81,7 +81,7 @@ public:
bool init();
void run();
bool hasMsg();
@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
@[if 1.5 < fastrtpsgen_version <= 1.7]@
@(topic)_ getMsg();
@[else]@
@(topic) getMsg();
@@ -100,7 +100,7 @@ private:
SampleInfo_t m_info;
int n_matched;
int n_msg;
@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
@[if 1.5 < fastrtpsgen_version <= 1.7]@
@(topic)_ msg;
@[else]@
@(topic) msg;
@@ -108,7 +108,7 @@ private:
bool has_msg = false;
} m_listener;
@[if float(fastrtps_version) < 1.9]@
@[if 1.5 < fastrtpsgen_version <= 1.7]@
@(topic)_PubSubType myType;
@[else]@
@(topic)PubSubType myType;

2
msg/templates/urtps/microRTPS_agent_CMakeLists.txt.em
View File

@@ -1,7 +1,7 @@
################################################################################
#
# Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
# Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
# Copyright (C) 2018-2019 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:

2
msg/templates/urtps/microRTPS_transport.h
View File

@@ -1,7 +1,7 @@
/****************************************************************************
*
* Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
* Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
* Copyright (C) 2018-2019 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:

41
msg/templates/urtps/msg.idl.em
View File

@@ -57,11 +57,10 @@ def get_include_directives(spec):
if genmsg.msgs.is_valid_constant_type(genmsg.msgs.bare_msg_type(field.type)):
continue
builtin_type = str(field.base_type).replace('px4/', '')
@[if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
include_directive = '#include "%s_.idl"' % builtin_type
@[else]@
include_directive = '#include "%s.idl"' % builtin_type
@[end if]@
if 1.5 < fastrtpsgen_version <= 1.7:
include_directive = '#include "%s_.idl"' % builtin_type
else:
include_directive = '#include "%s.idl"' % builtin_type
builtin_types.add(builtin_type)
include_directives.add(include_directive)
return sorted(include_directives)
@@ -78,18 +77,16 @@ def get_idl_type_name(field_type):
def add_msg_field(field):
if (not field.is_header):
if field.is_array:
@[if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
print(' {0}__{1}_array_{2} {3}_;'.format(topic, str(get_idl_type_name(field.base_type)).replace(" ", "_"), str(field.array_len), field.name))
if 1.5 < fastrtpsgen_version <= 1.7:
print(' {0}__{1}_array_{2} {3}_;'.format(topic, str(get_idl_type_name(field.base_type)).replace(" ", "_"), str(field.array_len), field.name))
else:
print(' {0}__{1}_array_{2} {3};'.format(topic, str(get_idl_type_name(field.base_type)).replace(" ", "_"), str(field.array_len), field.name))
else:
base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
if 1.5 < fastrtpsgen_version <= 1.7:
base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
else:
base_type = get_idl_type_name(field.base_type) if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
print(' {0} {1}_;'.format(base_type, field.name))
@[else]@
print(' {0}__{1}_array_{2} {3};'.format(topic, str(get_idl_type_name(field.base_type)).replace(" ", "_"), str(field.array_len), field.name))
else:
base_type = get_idl_type_name(field.base_type) if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
print(' {0} {1};'.format(base_type, field.name))
@[end if]@
def add_msg_fields():
for field in spec.parsed_fields():
@@ -99,12 +96,10 @@ def add_msg_fields():
def add_array_typedefs():
for field in spec.parsed_fields():
if not field.is_header and field.is_array:
@[if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else
@[else]@
base_type = get_idl_type_name(field.base_type) if get_idl_type_name(field.base_type) in builtin_types else
@[end if]@
base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
if 1.5 < fastrtpsgen_version <= 1.7:
base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
else:
base_type = get_idl_type_name(field.base_type) if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
array_type = 'typedef {0} {1}__{2}_array_{3}[{4}];'.format(base_type, topic, get_idl_type_name(field.base_type).replace(" ", "_"), field.array_len, field.array_len)
if array_type not in array_types:
array_types.add(array_type)
@@ -132,14 +127,14 @@ def add_msg_constants():
@add_msg_constants()
@# Array types
@add_array_typedefs()
@[if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
@[if 1.5 < fastrtpsgen_version <= 1.7]@
struct @(topic)_
@[else]@
struct @(topic)
@[end if]@
{
@add_msg_fields()
@[if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
@[if 1.5 < fastrtpsgen_version <= 1.7]@
}; // struct @(topic)_
#pragma keylist @(topic)_