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use a yaml file description instead of json; minor improvements and cleanup

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This commit is contained in:
TSC21
2018-09-04 21:49:00 +01:00
committed by Beat Küng
parent 7d40c4f97e
commit bb835382dd
9 changed files with 239 additions and 374 deletions
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17
msg/templates/uorb_microcdr/microRTPS_client.cpp.template
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@@ -10,16 +10,24 @@
@# - multi_topics (List) list of all multi-topic names
@###############################################
@{
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/
from uorb_rtps_message_ids import * # this is in Tools/
topic_names = [single_spec.short_name for single_spec in spec]
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]
yaml_file = os.path.abspath('uorb_rtps_message_ids.yaml')
try:
msg_ids = parse_yaml_msg_id_file(yaml_file)
except OSError as e:
if e.errno == errno.ENOENT:
raise IOError(errno.ENOENT, os.strerror(errno.ENOENT), yaml_file)
else:
raise
}@
/****************************************************************************
*
@@ -112,7 +120,7 @@ void* send(void* /*unused*/)
/* payload is shifted by header length to make room for header*/
serialize_@(topic)(&MicroBufferWriter, &data, &data_buffer[header_length], &length);
if (0 < (read = transport_node->write((char)@(message_id(topic)), data_buffer, length)))
if (0 < (read = transport_node->write((char)@(rtps_message_id(msg_ids, topic)), data_buffer, length)))
{
total_sent += read;
++sent;
@@ -187,7 +195,8 @@ void micrortps_start_topics(struct timespec &begin, int &total_read, uint32_t &r
switch (topic_ID)
{
@[for topic in recv_topics]@
case @(message_id(topic)):
case @(rtps_message_id(msg_ids, topic)):
{
deserialize_@(topic)(&MicroBufferReader, &@(topic)_data, data_buffer);
if (!@(topic)_pub) {