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microRTPS: RtpsTopics: generalize types and member functions access

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This commit is contained in:
TSC21
2020-03-10 18:21:18 +00:00
committed by Nuno Marques
parent 4afd7a53e8
commit c7d86b73d4
2 changed files with 62 additions and 37 deletions
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43
msg/templates/urtps/RtpsTopics.cpp.em
View File

@@ -20,11 +20,6 @@ from px_generate_uorb_topic_files import MsgScope # this is in Tools/
send_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
package = package[0]
fastrtpsgen_version = fastrtpsgen_version[0]
try:
ros2_distro = ros2_distro[0].decode("utf-8")
except AttributeError:
ros2_distro = ros2_distro[0]
}@
/****************************************************************************
*
@@ -103,29 +98,18 @@ 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 1.5 <= fastrtpsgen_version <= 1.7]@
@[ if ros2_distro]@
@(package)::msg::dds_::@(topic)_ st;
@[ else]@
@(topic)_ st;
@[ end if]@
@[ else]@
@[ if ros2_distro]@
@(package)::msg::@(topic) st;
@[ else]@
@(topic) st;
@[ end if]@
@[ end if]@
@(topic)_msg_t st;
eprosima::fastcdr::FastBuffer cdrbuffer(data_buffer, len);
eprosima::fastcdr::Cdr cdr_des(cdrbuffer);
st.deserialize(cdr_des);
@[ if topic == 'Timesync' or topic == 'timesync']@
_timesync->processTimesyncMsg(&st);
if (st.sys_id() == 1) {
if (getMsgSysID(&st) == 1) {
@[ end if]@
// apply timestamp offset
_timesync->subtractOffset(st.timestamp());
uint64_t timestamp = getMsgTimestamp(&st);
_timesync->subtractOffset(timestamp);
_@(topic)_pub.publish(&st);
@[ if topic == 'Timesync' or topic == 'timesync']@
}
@@ -150,24 +134,13 @@ bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr)
case @(rtps_message_id(ids, topic)): // @(topic)
if (_@(topic)_sub.hasMsg())
{
@[ if 1.5 <= fastrtpsgen_version <= 1.7]@
@[ if ros2_distro]@
@(package)::msg::dds_::@(topic)_ msg = _@(topic)_sub.getMsg();
@[ else]@
@(topic)_ msg = _@(topic)_sub.getMsg();
@[ end if]@
@[ else]@
@[ if ros2_distro]@
@(package)::msg::@(topic) msg = _@(topic)_sub.getMsg();
@[ else]@
@(topic) msg = _@(topic)_sub.getMsg();
@[ end if]@
@[ end if]@
@(topic)_msg_t msg = _@(topic)_sub.getMsg();
@[ if topic == 'Timesync' or topic == 'timesync']@
if (msg.sys_id() == 0) {
if (getMsgSysID(&msg) == 0) {
@[ end if]@
// apply timestamp offset
_timesync->addOffset(msg.timestamp());
uint64_t timestamp = getMsgTimestamp(&msg);
_timesync->addOffset(timestamp);
msg.serialize(scdr);
ret = true;
@[ if topic == 'Timesync' or topic == 'timesync']@

56
msg/templates/urtps/RtpsTopics.h.em
View File

@@ -19,6 +19,12 @@ from px_generate_uorb_topic_files import MsgScope # this is in Tools/
send_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
package = package[0]
fastrtpsgen_version = fastrtpsgen_version[0]
try:
ros2_distro = ros2_distro[0].decode("utf-8")
except AttributeError:
ros2_distro = ros2_distro[0]
}@
/****************************************************************************
*
@@ -66,6 +72,39 @@ recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumer
#include "@(topic)_Subscriber.h"
@[end for]@
@[for topic in recv_topics]@
@[ if 1.5 <= fastrtpsgen_version <= 1.7]@
@[ if ros2_distro]@
using @(topic)_msg_t = @(package)::msg::dds_::@(topic)_;
@[ else]@
using @(topic)_msg_t = @(topic)_;
@[ end if]@
@[ else]@
@[ if ros2_distro]@
using @(topic)_msg_t = @(package)::msg::@(topic) ;
@[ else]@
using @(topic)_msg_t = @(topic);
@[ end if]@
@[ end if]@
@[end for]@
@[for topic in send_topics]@
@[ if 1.5 <= fastrtpsgen_version <= 1.7]@
@[ if ros2_distro]@
using @(topic)_msg_t = @(package)::msg::dds_::@(topic)_;
@[ else]@
using @(topic)_msg_t = @(topic)_;
@[ end if]@
@[ else]@
@[ if ros2_distro]@
using @(topic)_msg_t = @(package)::msg::@(topic);
@[ else]@
using @(topic)_msg_t = @(topic);
@[ end if]@
@[ end if]@
@[end for]@
class RtpsTopics {
public:
bool init(std::condition_variable* t_send_queue_cv, std::mutex* t_send_queue_mutex, std::queue<uint8_t>* t_send_queue);
@@ -90,8 +129,21 @@ private:
@[for topic in recv_topics]@
@(topic)_Subscriber _@(topic)_sub;
@[end for]@
@[end if]@
@[if 1.5 <= fastrtpsgen_version <= 1.7 or not ros2_distro]@
template <class T>
uint8_t getMsgSysID(T* msg) { return msg->sys_id_(); }
template <class T>
uint64_t getMsgTimestamp(T* msg) { return msg->timestamp_(); }
@[elif ros2_distro]@
template <class T>
uint8_t getMsgSysID(T* msg) { return msg->sys_id(); }
template <class T>
uint64_t getMsgTimestamp(T* msg) { return msg->timestamp(); }
@[end if]@
std::shared_ptr<TimeSync> _timesync;
@[end if]@
};