forked from Archive/PX4-Autopilot
123 lines
4.1 KiB
Plaintext
123 lines
4.1 KiB
Plaintext
@###############################################
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@#
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@# EmPy template for generating <msg>_uRTPS_UART.cpp file
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@#
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@###############################################
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@# Start of Template
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@#
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@# Context:
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@# - msgs (List) list of all msg files
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@# - multi_topics (List) list of all multi-topic names
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@# - ids (List) list of all RTPS msg ids
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@###############################################
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@{
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from packaging import version
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import genmsg.msgs
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from px_generate_uorb_topic_helper import * # this is in Tools/
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topic = alias if alias else spec.short_name
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try:
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ros2_distro = ros2_distro.decode("utf-8")
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except AttributeError:
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pass
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}@
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/****************************************************************************
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*
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* Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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* Copyright (c) 2018-2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice, this
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* list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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* 3. Neither the name of the copyright holder nor the names of its contributors
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* may be used to endorse or promote products derived from this software without
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* specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/*!
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* @@file @(topic)_Publisher.h
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* This header file contains the declaration of the publisher functions.
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*
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* This file was adapted from the fastcdrgen tool.
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*/
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#ifndef _@(topic)__PUBLISHER_H_
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#define _@(topic)__PUBLISHER_H_
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#include <fastrtps/fastrtps_fwd.h>
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#include <fastrtps/publisher/PublisherListener.h>
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@[if version.parse(fastrtps_version) <= version.parse('1.7.2')]@
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#include "@(topic)_PubSubTypes.h"
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@[else]@
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#include "@(topic)PubSubTypes.h"
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@[end if]@
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using namespace eprosima::fastrtps;
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using namespace eprosima::fastrtps::rtps;
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@[if version.parse(fastrtps_version) <= version.parse('1.7.2')]@
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@[ if ros2_distro]@
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using @(topic)_msg_t = @(package)::msg::dds_::@(topic)_;
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using @(topic)_msg_datatype = @(package)::msg::dds_::@(topic)_PubSubType;
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@[ else]@
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using @(topic)_msg_t = @(topic)_;
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using @(topic)_msg_datatype = @(topic)_PubSubType;
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@[ end if]@
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@[else]@
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@[ if ros2_distro]@
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using @(topic)_msg_t = @(package)::msg::@(topic);
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using @(topic)_msg_datatype = @(package)::msg::@(topic)PubSubType;
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@[ else]@
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using @(topic)_msg_t = @(topic);
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using @(topic)_msg_datatype = @(topic)PubSubType;
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@[ end if]@
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@[end if]@
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class @(topic)_Publisher
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{
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public:
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@(topic)_Publisher();
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virtual ~@(topic)_Publisher();
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bool init();
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void run();
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void publish(@(topic)_msg_t* st);
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private:
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Participant *mp_participant;
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Publisher *mp_publisher;
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class PubListener : public PublisherListener
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{
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public:
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PubListener() : n_matched(0){};
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~PubListener(){};
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void onPublicationMatched(Publisher* pub, MatchingInfo& info);
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int n_matched;
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} m_listener;
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@(topic)_msg_datatype @(topic)DataType;
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};
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#endif // _@(topic)__PUBLISHER_H_
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