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

2026-05-21 09:22:18 +00:00 · 2019-06-10 12:36:16 -04:00
parent bef7a9ba8e
commit 32a89a1834
26 changed files with 25 additions and 23 deletions
--- a/msg/templates/urtps/RtpsTopics.cpp.em
+++ b/msg/templates/urtps/RtpsTopics.cpp.em
@@ -0,0 +1,160 @@
+@###############################################
+@#
+@# EmPy template for generating RtpsTopics.cpp file
+@#
+@###############################################
+@# Start of Template
+@#
+@# Context:
+@#  - msgs (List) list of all msg files
+@#  - ids (List) list of all RTPS msg ids
+@###############################################
+@{
+import os
+
+import genmsg.msgs
+import gencpp
+from px_generate_uorb_topic_helper import * # this is in Tools/
+from px_generate_uorb_topic_files import MsgScope # this is in Tools/
+
+send_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
+recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
+}@
+/****************************************************************************
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#include "RtpsTopics.h"
+
+bool RtpsTopics::init()
+{
+@[if recv_topics]@
+    // Initialise subscribers
+@[for topic in recv_topics]@
+    if (_@(topic)_sub.init()) {
+        std::cout << "@(topic) subscriber started" << std::endl;
+    } else {
+        std::cout << "ERROR starting @(topic) subscriber" << std::endl;
+        return false;
+    }
+
+@[end for]@
+@[end if]@
+@[if send_topics]@
+    // Initialise publishers
+@[for topic in send_topics]@
+    if (_@(topic)_pub.init()) {
+        std::cout << "@(topic) publisher started" << std::endl;
+    } else {
+        std::cout << "ERROR starting @(topic) publisher" << std::endl;
+        return false;
+    }
+
+@[end for]@
+@[end if]@
+    return true;
+}
+
+@[if send_topics]@
+void RtpsTopics::publish(uint8_t topic_ID, char data_buffer[], size_t len)
+{
+    switch (topic_ID)
+    {
+@[for topic in send_topics]@
+        case @(rtps_message_id(ids, topic)): // @(topic)
+        {
+            @(topic)_ st;
+            eprosima::fastcdr::FastBuffer cdrbuffer(data_buffer, len);
+            eprosima::fastcdr::Cdr cdr_des(cdrbuffer);
+            st.deserialize(cdr_des);
+            _@(topic)_pub.publish(&st);
+        }
+        break;
+@[end for]@
+        default:
+            printf("Unexpected topic ID to publish\n");
+        break;
+    }
+}
+@[end if]@
+@[if recv_topics]@
+
+bool RtpsTopics::hasMsg(uint8_t *topic_ID)
+{
+    if (nullptr == topic_ID) return false;
+
+    *topic_ID = 0;
+    while (_next_sub_idx < @(len(recv_topics)) && 0 == *topic_ID)
+    {
+        switch (_sub_topics[_next_sub_idx])
+        {
+@[for topic in recv_topics]@
+            case @(rtps_message_id(ids, topic)): if (_@(topic)_sub.hasMsg()) *topic_ID = @(rtps_message_id(ids, topic)); break;
+@[end for]@
+            default:
+                printf("Unexpected topic ID to check hasMsg\n");
+            break;
+        }
+        _next_sub_idx++;
+    }
+
+    if (0 == *topic_ID)
+    {
+        _next_sub_idx = 0;
+        return false;
+    }
+
+    return true;
+}
+
+bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr)
+{
+    bool ret = false;
+    switch (topic_ID)
+    {
+@[for topic in recv_topics]@
+        case @(rtps_message_id(ids, topic)): // @(topic)
+            if (_@(topic)_sub.hasMsg())
+            {
+                @(topic)_ msg = _@(topic)_sub.getMsg();
+                msg.serialize(scdr);
+                ret = true;
+            }
+        break;
+@[end for]@
+        default:
+            printf("Unexpected topic ID '%hhu' to getMsg\n", topic_ID);
+        break;
+    }
+
+    return ret;
+}
+@[end if]@