#include "builtin_interfaces/msg/Time.h" #include "sensor_msgs/msg/NavSatFix.h" #include "tf2_msgs/msg/TFMessage.h" #include "sensor_msgs/msg/BatteryState.h" #include "geographic_msgs/msg/GeoPoseStamped.h" #include "uxr/client/client.h" // Code generated table based on the enabled topics. // Mavgen is using python, loops are not readable. // Can use jinja to template (like Flask) enum class TopicIndex: uint8_t { TIME_PUB, NAV_SAT_FIX_PUB, STATIC_TRANSFORMS_PUB, BATTERY_STATE_PUB, LOCAL_POSE_PUB, LOCAL_VELOCITY_PUB, GEOPOSE_PUB, CLOCK_PUB, JOY_SUB, }; static inline constexpr uint8_t to_underlying(const TopicIndex index) { static_assert(sizeof(index) == sizeof(uint8_t)); return static_cast(index); } constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = { { .topic_id = to_underlying(TopicIndex::TIME_PUB), .pub_id = to_underlying(TopicIndex::TIME_PUB), .sub_id = to_underlying(TopicIndex::TIME_PUB), .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::TIME_PUB), .type=UXR_DATAWRITER_ID}, .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::TIME_PUB), .type=UXR_DATAREADER_ID}, .topic_profile_label = "time__t", .dw_profile_label = "time__dw", .dr_profile_label = "", }, { .topic_id = to_underlying(TopicIndex::NAV_SAT_FIX_PUB), .pub_id = to_underlying(TopicIndex::NAV_SAT_FIX_PUB), .sub_id = to_underlying(TopicIndex::NAV_SAT_FIX_PUB), .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::NAV_SAT_FIX_PUB), .type=UXR_DATAWRITER_ID}, .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::NAV_SAT_FIX_PUB), .type=UXR_DATAREADER_ID}, .topic_profile_label = "navsatfix0__t", .dw_profile_label = "navsatfix0__dw", .dr_profile_label = "", }, { .topic_id = to_underlying(TopicIndex::STATIC_TRANSFORMS_PUB), .pub_id = to_underlying(TopicIndex::STATIC_TRANSFORMS_PUB), .sub_id = to_underlying(TopicIndex::STATIC_TRANSFORMS_PUB), .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::STATIC_TRANSFORMS_PUB), .type=UXR_DATAWRITER_ID}, .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::STATIC_TRANSFORMS_PUB), .type=UXR_DATAREADER_ID}, .topic_profile_label = "statictransforms__t", .dw_profile_label = "statictransforms__dw", .dr_profile_label = "", }, { .topic_id = to_underlying(TopicIndex::BATTERY_STATE_PUB), .pub_id = to_underlying(TopicIndex::BATTERY_STATE_PUB), .sub_id = to_underlying(TopicIndex::BATTERY_STATE_PUB), .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::BATTERY_STATE_PUB), .type=UXR_DATAWRITER_ID}, .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::BATTERY_STATE_PUB), .type=UXR_DATAREADER_ID}, .topic_profile_label = "batterystate0__t", .dw_profile_label = "batterystate0__dw", .dr_profile_label = "", }, { .topic_id = to_underlying(TopicIndex::LOCAL_POSE_PUB), .pub_id = to_underlying(TopicIndex::LOCAL_POSE_PUB), .sub_id = to_underlying(TopicIndex::LOCAL_POSE_PUB), .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::LOCAL_POSE_PUB), .type=UXR_DATAWRITER_ID}, .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::LOCAL_POSE_PUB), .type=UXR_DATAREADER_ID}, .topic_profile_label = "localpose__t", .dw_profile_label = "localpose__dw", .dr_profile_label = "", }, { .topic_id = to_underlying(TopicIndex::LOCAL_VELOCITY_PUB), .pub_id = to_underlying(TopicIndex::LOCAL_VELOCITY_PUB), .sub_id = to_underlying(TopicIndex::LOCAL_VELOCITY_PUB), .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::LOCAL_VELOCITY_PUB), .type=UXR_DATAWRITER_ID}, .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::LOCAL_VELOCITY_PUB), .type=UXR_DATAREADER_ID}, .topic_profile_label = "localvelocity__t", .dw_profile_label = "localvelocity__dw", .dr_profile_label = "", }, { .topic_id = to_underlying(TopicIndex::GEOPOSE_PUB), .pub_id = to_underlying(TopicIndex::GEOPOSE_PUB), .sub_id = to_underlying(TopicIndex::GEOPOSE_PUB), .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::GEOPOSE_PUB), .type=UXR_DATAWRITER_ID}, .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::GEOPOSE_PUB), .type=UXR_DATAREADER_ID}, .topic_profile_label = "geopose__t", .dw_profile_label = "geopose__dw", .dr_profile_label = "", }, { .topic_id = to_underlying(TopicIndex::CLOCK_PUB), .pub_id = to_underlying(TopicIndex::CLOCK_PUB), .sub_id = to_underlying(TopicIndex::CLOCK_PUB), .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::CLOCK_PUB), .type=UXR_DATAWRITER_ID}, .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::CLOCK_PUB), .type=UXR_DATAREADER_ID}, .topic_profile_label = "clock__t", .dw_profile_label = "clock__dw", .dr_profile_label = "", }, { .topic_id = to_underlying(TopicIndex::JOY_SUB), .pub_id = to_underlying(TopicIndex::JOY_SUB), .sub_id = to_underlying(TopicIndex::JOY_SUB), .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::JOY_SUB), .type=UXR_DATAWRITER_ID}, .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::JOY_SUB), .type=UXR_DATAREADER_ID}, .topic_profile_label = "joy__t", .dw_profile_label = "", .dr_profile_label = "joy__dr", }, };