rename empy templates (*.template) to proper file extension (.em)

msg/templates/urtps/Publisher.cpp.em

@@ -0,0 +1,155 @@
+@###############################################
+@#
+@# EmPy template for generating <msg>_uRTPS_UART.cpp file
+@#
+@###############################################
+@# Start of Template
+@#
+@# Context:
+@#  - msgs (List) list of all msg files
+@#  - multi_topics (List) list of all multi-topic names
+@#  - ids (List) list of all RTPS msg ids
+@###############################################
+@{
+import genmsg.msgs
+import gencpp
+from px_generate_uorb_topic_helper import * # this is in Tools/
+
+topic = spec.short_name
+}@
+/****************************************************************************
+ *
+ * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice, this
+ * list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * 3. Neither the name of the copyright holder nor the names of its contributors
+ * may be used to endorse or promote products derived from this software without
+ * specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/*!
+ * @@file @(topic)_Publisher.cpp
+ * This file contains the implementation of the publisher functions.
+ *
+ * This file was generated by the tool fastcdrgen.
+ */
+
+#include <fastrtps/participant/Participant.h>
+#include <fastrtps/attributes/ParticipantAttributes.h>
+#include <fastrtps/publisher/Publisher.h>
+#include <fastrtps/attributes/PublisherAttributes.h>
+
+#include <fastrtps/Domain.h>
+
+#include <fastrtps/utils/eClock.h>
+
+#include "@(topic)_Publisher.h"
+
+
+@(topic)_Publisher::@(topic)_Publisher() : mp_participant(nullptr), mp_publisher(nullptr) {}
+
+@(topic)_Publisher::~@(topic)_Publisher() { Domain::removeParticipant(mp_participant);}
+
+bool @(topic)_Publisher::init()
+{
+    // Create RTPSParticipant
+
+    ParticipantAttributes PParam;
+    PParam.rtps.builtin.domainId = 0;
+    PParam.rtps.builtin.leaseDuration = c_TimeInfinite;
+    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);
+
+    // Create Publisher
+
+    PublisherAttributes Wparam;
+    Wparam.topic.topicKind = NO_KEY;
+    Wparam.topic.topicDataType = myType.getName();  //This type MUST be registered
+    Wparam.topic.topicName = "@(topic)_PubSubTopic";
+    mp_publisher = Domain::createPublisher(mp_participant, Wparam, (PublisherListener*) &m_listener);
+    if(mp_publisher == nullptr)
+        return false;
+    //std::cout << "Publisher created, waiting for Subscribers." << std::endl;
+    return true;
+}
+
+void @(topic)_Publisher::PubListener::onPublicationMatched(Publisher* pub, MatchingInfo& info)
+{
+    if (info.status == MATCHED_MATCHING)
+    {
+        n_matched++;
+        std::cout << "Publisher matched" << std::endl;
+    }
+    else
+    {
+        n_matched--;
+        std::cout << "Publisher unmatched" << std::endl;
+    }
+}
+
+void @(topic)_Publisher::run()
+{
+    while(m_listener.n_matched == 0)
+    {
+        eClock::my_sleep(250); // Sleep 250 ms
+    }
+
+    // Publication code
+
+    @(topic)_ st;
+
+    /* Initialize your structure here */
+
+    int msgsent = 0;
+    char ch = 'y';
+    do
+    {
+        if(ch == 'y')
+        {
+            mp_publisher->write(&st);  ++msgsent;
+            std::cout << "Sending sample, count=" << msgsent << ", send another sample?(y-yes,n-stop): ";
+        }
+        else if(ch == 'n')
+        {
+            std::cout << "Stopping execution " << std::endl;
+            break;
+        }
+        else
+        {
+            std::cout << "Command " << ch << " not recognized, please enter \"y/n\":";
+        }
+    }while(std::cin >> ch);
+}
+
+void @(topic)_Publisher::publish(@(topic)_* st)
+{
+    mp_publisher->write(st);
+}