diff --git a/ros_dds_connext_dynamic/CMakeLists.txt b/ros_dds_connext_dynamic/CMakeLists.txt deleted file mode 100644 index d6cf66d..0000000 --- a/ros_dds_connext_dynamic/CMakeLists.txt +++ /dev/null @@ -1,45 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) - -project(ros_dds_connext_dynamic) - -find_package(ament_cmake REQUIRED) -find_package(ros_middleware_interface REQUIRED) -find_package(rosidl_generator_cpp REQUIRED) - -find_package(ndds_cpp REQUIRED) -#set(CONNEXT_INCLUDE_DIRS ${ndds_cpp_INCLUDE_DIRS}) -set(CONNEXT_INCLUDE_DIRS - "/home/dthomas/RTI/ndds.5.1.0/include/ndds" - "/home/dthomas/RTI/ndds.5.1.0/include" -) -#set(CONNEXT_LIBRARIES ${ndds_cpp_LIBRARIES}) -set(CONNEXT_LIBRARIES - "/home/dthomas/RTI/ndds.5.1.0/lib/x64Linux2.6gcc4.4.5/libnddscppz.a" - "/home/dthomas/RTI/ndds.5.1.0/lib/x64Linux2.6gcc4.4.5/libnddscz.a" - "/home/dthomas/RTI/ndds.5.1.0/lib/x64Linux2.6gcc4.4.5/libnddscorez.a" -) -set(CONNEXT_DEFINITIONS ${ndds_cpp_DEFINITIONS}) - - -find_package(ros_dds_cpp_dynamic_typesupport REQUIRED) -ament_export_dependencies(ros_dds_cpp_dynamic_typesupport) -include_directories(${ros_dds_cpp_dynamic_typesupport_INCLUDE_DIRS}) - - -ament_export_dependencies(ros_middleware_interface rosidl_generator_cpp) - -ament_export_libraries(ros_dds_connext_dynamic dl pthread) - -ament_package() - -include_directories(${ros_middleware_interface_INCLUDE_DIRS} ${rosidl_generator_cpp_INCLUDE_DIRS} ${CONNEXT_INCLUDE_DIRS}) -link_directories("/home/dthomas/RTI/ndds.5.1.0/lib/x64Linux2.6gcc4.4.5") -add_definitions(${CONNEXT_DEFINITIONS}) -add_library(ros_dds_connext_dynamic SHARED src/functions.cpp) -target_link_libraries(ros_dds_connext_dynamic ${std_msgs_LIBRARIES} ${CONNEXT_LIBRARIES}) - -install( - TARGETS ros_dds_connext_dynamic - LIBRARY DESTINATION lib - ARCHIVE DESTINATION lib -) diff --git a/ros_dds_connext_dynamic/package.xml b/ros_dds_connext_dynamic/package.xml deleted file mode 100644 index 1fc587f..0000000 --- a/ros_dds_connext_dynamic/package.xml +++ /dev/null @@ -1,19 +0,0 @@ - - - ros_dds_connext_dynamic - 0.0.0 - Implement the ROS middleware interface using RTI Connext DynammicData interface in C++. - Dirk Thomas - Apache License 2.0 - - ament_cmake - - libndds51-dev - ros_middleware_interface - rosidl_generator_cpp - ros_dds_cpp_dynamic_typesupport - - libndds51 - rosidl_generator_cpp - ros_dds_cpp_dynamic_typesupport - diff --git a/ros_dds_connext_dynamic/src/functions.cpp b/ros_dds_connext_dynamic/src/functions.cpp deleted file mode 100644 index 4e93b67..0000000 --- a/ros_dds_connext_dynamic/src/functions.cpp +++ /dev/null @@ -1,248 +0,0 @@ -#include -#include - -#include "ndds/ndds_cpp.h" - -#include "rosidl_generator_cpp/MessageTypeSupport.h" -#include "ros_middleware_interface/handles.h" -#include "ros_dds_cpp_dynamic_typesupport/MessageTypeSupport.h" - -namespace ros_middleware_interface -{ - -const char * _rti_connext_dynamic_identifier = "connext_dynamic"; - -ros_middleware_interface::NodeHandle create_node() -{ - std::cout << "create_node()" << std::endl; - - std::cout << " create_node() get_instance" << std::endl; - DDSDomainParticipantFactory* dpf_ = DDSDomainParticipantFactory::get_instance(); - if (!dpf_) { - printf(" create_node() could not get participant factory\n"); - throw std::runtime_error("could not get participant factory"); - }; - - DDS_DomainId_t domain = 23; - - std::cout << " create_node() create_participant" << std::endl; - DDSDomainParticipant* participant = dpf_->create_participant( - domain, DDS_PARTICIPANT_QOS_DEFAULT, NULL, - DDS_STATUS_MASK_NONE); - if (!participant) { - printf(" create_node() could not create participant\n"); - throw std::runtime_error("could not create participant"); - }; - - std::cout << " create_node() pass opaque node handle" << std::endl; - - ros_middleware_interface::NodeHandle node_handle = { - _rti_connext_dynamic_identifier, - participant - }; - return node_handle; -} - -struct CustomPublisherInfo { - DDSDynamicDataTypeSupport * dynamic_data_type_support_; - DDSDynamicDataWriter * dynamic_writer_; - DDS_TypeCode * type_code_; - ros_dds_cpp_dynamic_typesupport::MessageTypeSupportMembers * members_; - DDS_DynamicData * dynamic_data; -}; - -ros_middleware_interface::PublisherHandle create_publisher(const ros_middleware_interface::NodeHandle& node_handle, const rosidl_generator_cpp::MessageTypeSupportHandle & type_support_handle, const char * topic_name) -{ - std::cout << "create_publisher()" << std::endl; - - if (node_handle._implementation_identifier != _rti_connext_dynamic_identifier) - { - printf("node handle not from this implementation\n"); - printf("but from: %s\n", node_handle._implementation_identifier); - throw std::runtime_error("node handle not from this implementation"); - } - - std::cout << "create_publisher() " << node_handle._implementation_identifier << std::endl; - - std::cout << " create_publisher() extract participant from opaque node handle" << std::endl; - DDSDomainParticipant* participant = (DDSDomainParticipant*)node_handle._data; - - if (type_support_handle._implementation_identifier != ros_dds_cpp_dynamic_typesupport::_dynamic_identifier) - { - printf("type support not from this implementation\n"); - printf("but from: %s\n", type_support_handle._implementation_identifier); - throw std::runtime_error("type support not from this implementation"); - } - - ros_dds_cpp_dynamic_typesupport::MessageTypeSupportMembers * members = (ros_dds_cpp_dynamic_typesupport::MessageTypeSupportMembers*)type_support_handle._data; - std::string type_name = std::string(members->_package_name) + "/" + members->_message_name; - - std::cout << " create_publisher() create type code for " << type_name.c_str() << std::endl; - DDS_TypeCode * type_code; - { - DDS_TypeCodeFactory * factory = NULL; - DDS_ExceptionCode_t ex = DDS_NO_EXCEPTION_CODE; - DDS_StructMemberSeq struct_members; - factory = DDS_TypeCodeFactory::get_instance(); - if (!factory) { - printf(" create_publisher() could not get typecode factory\n"); - throw std::runtime_error("could not get typecode factory"); - }; - - type_code = factory->create_struct_tc(type_name.c_str(), struct_members, ex); - for(unsigned long i = 0; i < members->_size; ++i) - { - const ros_dds_cpp_dynamic_typesupport::MessageTypeSupportMember * member = members->_members + i * sizeof(ros_dds_cpp_dynamic_typesupport::MessageTypeSupportMember); - std::cout << " create_publisher() create type code - add member " << i << ": " << member->_name << "" << std::endl; - const DDS_TypeCode * member_type_code; - if (strcmp(member->_type, "int32") == 0) - { - member_type_code = factory->get_primitive_tc(DDS_TK_LONG); - } - else - { - printf("unknown type %s\n", member->_type); - throw std::runtime_error("unknown type"); - } - type_code->add_member(member->_name, DDS_TYPECODE_MEMBER_ID_INVALID, member_type_code, - DDS_TYPECODE_NONKEY_REQUIRED_MEMBER, ex); - } - DDS_StructMemberSeq_finalize(&struct_members); - } - - - std::cout << " create_publisher() register type code" << std::endl; - DDSDynamicDataTypeSupport* ddts = new DDSDynamicDataTypeSupport( - type_code, DDS_DYNAMIC_DATA_TYPE_PROPERTY_DEFAULT); - DDS_ReturnCode_t status = ddts->register_type(participant, type_name.c_str()); - if (status != DDS_RETCODE_OK) { - printf("register_type() failed. Status = %d\n", status); - throw std::runtime_error("register type failed"); - }; - - - DDS_PublisherQos publisher_qos; - status = participant->get_default_publisher_qos(publisher_qos); - if (status != DDS_RETCODE_OK) { - printf("get_default_publisher_qos() failed. Status = %d\n", status); - throw std::runtime_error("get default publisher qos failed"); - }; - - std::cout << " create_publisher() create dds publisher" << std::endl; - DDSPublisher* dds_publisher = participant->create_publisher( - publisher_qos, NULL, DDS_STATUS_MASK_NONE); - if (!dds_publisher) { - printf(" create_publisher() could not create publisher\n"); - throw std::runtime_error("could not create publisher"); - }; - - - DDS_TopicQos default_topic_qos; - status = participant->get_default_topic_qos(default_topic_qos); - if (status != DDS_RETCODE_OK) { - printf("get_default_topic_qos() failed. Status = %d\n", status); - throw std::runtime_error("get default topic qos failed"); - }; - - std::cout << " create_publisher() create topic" << std::endl; - DDSTopic* topic = participant->create_topic( - topic_name, type_name.c_str(), default_topic_qos, NULL, - DDS_STATUS_MASK_NONE - ); - if (!topic) { - printf(" create_topic() could not create topic\n"); - throw std::runtime_error("could not create topic"); - }; - - - DDS_DataWriterQos default_datawriter_qos; - status = participant->get_default_datawriter_qos(default_datawriter_qos); - if (status != DDS_RETCODE_OK) { - printf("get_default_datawriter_qos() failed. Status = %d\n", status); - throw std::runtime_error("get default datawriter qos failed"); - }; - - std::cout << " create_publisher() create data writer" << std::endl; - DDSDataWriter* topic_writer = dds_publisher->create_datawriter( - topic, default_datawriter_qos, - NULL, DDS_STATUS_MASK_NONE); - - DDSDynamicDataWriter* dynamic_writer = DDSDynamicDataWriter::narrow(topic_writer); - if (!dynamic_writer) { - printf("narrow() failed.\n"); - throw std::runtime_error("narrow datawriter failed"); - }; - - DDS_DynamicData * dynamic_data = ddts->create_data(); - - std::cout << " create_publisher() build opaque publisher handle" << std::endl; - CustomPublisherInfo* custom_publisher_info = new CustomPublisherInfo(); - custom_publisher_info->dynamic_data_type_support_ = ddts; - custom_publisher_info->dynamic_writer_ = dynamic_writer; - custom_publisher_info->type_code_ = type_code; - custom_publisher_info->members_ = members; - custom_publisher_info->dynamic_data = dynamic_data; - - ros_middleware_interface::PublisherHandle publisher_handle = { - _rti_connext_dynamic_identifier, - custom_publisher_info - }; - return publisher_handle; -} - -void publish(const ros_middleware_interface::PublisherHandle& publisher_handle, const void * ros_message) -{ - //std::cout << "publish()" << std::endl; - - - if (publisher_handle._implementation_identifier != _rti_connext_dynamic_identifier) - { - printf("publisher handle not from this implementation\n"); - printf("but from: %s\n", publisher_handle._implementation_identifier); - throw std::runtime_error("publisher handle not from this implementation"); - } - - //std::cout << " publish() extract data writer and type code from opaque publisher handle" << std::endl; - CustomPublisherInfo * custom_publisher_info = (CustomPublisherInfo*)publisher_handle._data; - DDSDynamicDataTypeSupport* ddts = custom_publisher_info->dynamic_data_type_support_; - DDSDynamicDataWriter * dynamic_writer = custom_publisher_info->dynamic_writer_; - DDS_TypeCode * type_code = custom_publisher_info->type_code_; - const ros_dds_cpp_dynamic_typesupport::MessageTypeSupportMembers * members = custom_publisher_info->members_; - DDS_DynamicData * dynamic_data = custom_publisher_info->dynamic_data; - - //std::cout << " publish() create " << members->_package_name << "/" << members->_message_name << " and populate dynamic data" << std::endl; - //DDS_DynamicData dynamic_data(type_code, DDS_DYNAMIC_DATA_PROPERTY_DEFAULT); - //DDS_DynamicData * dynamic_data = ddts->create_data(); - for(unsigned long i = 0; i < members->_size; ++i) - { - const ros_dds_cpp_dynamic_typesupport::MessageTypeSupportMember * member = members->_members + i * sizeof(ros_dds_cpp_dynamic_typesupport::MessageTypeSupportMember); - //std::cout << " publish() set member " << i << ": " << member->_name << "" << std::endl; - DDS_TypeCode * member_type_code; - if (strcmp(member->_type, "int32") == 0) - { - long value = *((int*)((char*)ros_message + member->_offset)); - //std::cout << " publish() set member " << i << ": " << member->_name << " = " << value << std::endl; - DDS_ReturnCode_t status = dynamic_data->set_long(member->_name, DDS_DYNAMIC_DATA_MEMBER_ID_UNSPECIFIED, value); - if (status != DDS_RETCODE_OK) { - printf("set_long() failed. Status = %d\n", status); - throw std::runtime_error("set member failed"); - }; - } - else - { - printf("unknown type %s\n", member->_type); - throw std::runtime_error("unknown type"); - } - } - - //std::cout << " publish() write dynamic data" << std::endl; - DDS_ReturnCode_t status = dynamic_writer->write(*dynamic_data, DDS_HANDLE_NIL); - if (status != DDS_RETCODE_OK) { - printf("write() failed. Status = %d\n", status); - throw std::runtime_error("write failed"); - }; - - //ddts->delete_data(dynamic_data); -} - -} diff --git a/ros_dds_connext_static/CMakeLists.txt b/ros_dds_connext_static/CMakeLists.txt deleted file mode 100644 index fc1c4b6..0000000 --- a/ros_dds_connext_static/CMakeLists.txt +++ /dev/null @@ -1,57 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) - -project(ros_dds_connext_static) - -find_package(ament_cmake REQUIRED) -find_package(ros_middleware_interface REQUIRED) -find_package(rosidl_generator_cpp REQUIRED) -find_package(rosidl_generator_dds_connext_cpp REQUIRED) - -find_package(ndds_cpp REQUIRED) -#set(CONNEXT_INCLUDE_DIRS ${ndds_cpp_INCLUDE_DIRS}) -set(CONNEXT_INCLUDE_DIRS - "/home/dthomas/RTI/ndds.5.1.0/include/ndds" - "/home/dthomas/RTI/ndds.5.1.0/include" -) -#set(CONNEXT_LIBRARIES ${ndds_cpp_LIBRARIES}) -set(CONNEXT_LIBRARIES - "/home/dthomas/RTI/ndds.5.1.0/lib/x64Linux2.6gcc4.4.5/libnddscppz.a" - "/home/dthomas/RTI/ndds.5.1.0/lib/x64Linux2.6gcc4.4.5/libnddscz.a" - "/home/dthomas/RTI/ndds.5.1.0/lib/x64Linux2.6gcc4.4.5/libnddscorez.a" -) -set(CONNEXT_DEFINITIONS ${ndds_cpp_DEFINITIONS}) - -ament_export_definitions(${CONNEXT_DEFINITIONS}) -ament_export_dependencies(ros_middleware_interface rosidl_generator_cpp rosidl_generator_dds_connext_cpp) -ament_export_include_directories(include ${CONNEXT_INCLUDE_DIRS}) -ament_export_libraries(ros_dds_connext_static dl pthread) - -ament_python_install_package(${PROJECT_NAME}) - -ament_package( - CONFIG_EXTRAS "ros_dds_connext_static-extras.cmake" -) - -include_directories(include ${ros_middleware_interface_INCLUDE_DIRS} ${rosidl_generator_cpp_INCLUDE_DIRS} ${rosidl_generator_dds_connext_cpp_INCLUDE_DIRS} ${CONNEXT_INCLUDE_DIRS}) -link_directories("/home/dthomas/RTI/ndds.5.1.0/lib/x64Linux2.6gcc4.4.5") -add_definitions(${CONNEXT_DEFINITIONS}) -add_library(ros_dds_connext_static SHARED src/functions.cpp) -target_link_libraries(ros_dds_connext_static ${std_msgs_LIBRARIES} ${rosidl_generator_dds_connext_cpp_LIBRARIES} ${CONNEXT_LIBRARIES}) - -install( - PROGRAMS bin/ros_dds_connext_static - DESTINATION lib/ros_dds_connext_static -) -install( - DIRECTORY cmake resource - DESTINATION share/${PROJECT_NAME} -) -install( - DIRECTORY include/ - DESTINATION include -) -install( - TARGETS ros_dds_connext_static - LIBRARY DESTINATION lib - ARCHIVE DESTINATION lib -) diff --git a/ros_dds_connext_static/bin/ros_dds_connext_static b/ros_dds_connext_static/bin/ros_dds_connext_static deleted file mode 100755 index 4623b7f..0000000 --- a/ros_dds_connext_static/bin/ros_dds_connext_static +++ /dev/null @@ -1,45 +0,0 @@ -#!/usr/bin/env python3 - -import argparse -import sys - -from ros_dds_connext_static import generate_cpp - - -def main(argv=sys.argv[1:]): - parser = argparse.ArgumentParser( - description='Generate the C++ type support to statically handle ROS messages.', - formatter_class=argparse.ArgumentDefaultsHelpFormatter) - parser.add_argument( - '--pkg-name', - required=True, - help='The package name to generate interfaces for') - parser.add_argument( - '--interface-files', - nargs='*', - help='The ROS interface files') - parser.add_argument( - '--deps', - nargs='*', - help="The dependencies (each as ':')") - parser.add_argument( - '--output-dir', - required=True, - help='The location of the generated C++ interfaces') - parser.add_argument( - '--template-dir', - required=True, - help='The location of the template files') - args = parser.parse_args(argv) - - return generate_cpp( - args.pkg_name, - args.interface_files, - args.deps, - args.output_dir, - args.template_dir, - ) - - -if __name__ == '__main__': - sys.exit(main()) diff --git a/ros_dds_connext_static/cmake/ros_dds_connext_static_generate_interfaces.cmake b/ros_dds_connext_static/cmake/ros_dds_connext_static_generate_interfaces.cmake deleted file mode 100644 index cd3d102..0000000 --- a/ros_dds_connext_static/cmake/ros_dds_connext_static_generate_interfaces.cmake +++ /dev/null @@ -1,61 +0,0 @@ -message(" - ros_dds_connext_static_generate_interfaces.cmake") -message(" - target: ${rosidl_generate_interfaces_TARGET}") -message(" - interface files: ${rosidl_generate_interfaces_IDL_FILES}") -message(" - dependency package names: ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES}") - -set(_output_path "${CMAKE_CURRENT_BINARY_DIR}/ros_dds_connext_static/${PROJECT_NAME}") -set(_generated_files "") -foreach(_idl_file ${rosidl_generate_interfaces_IDL_FILES}) - get_filename_component(name "${_idl_file}" NAME_WE) - list(APPEND _generated_files - "${_output_path}/${name}_TypeSupport.h" - ) -endforeach() - -set(_dependency_files "") -set(_dependencies "") -foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES}) - foreach(_idl_file ${${_pkg_name}_INTERFACE_FILES}) - set(_abs_idl_file "${${_pkg_name}_DIR}/../${_idl_file}") - list(APPEND _dependency_files "${_abs_idl_file}") - list(APPEND _dependencies "${_pkg_name}:${_abs_idl_file}") - endforeach() -endforeach() - -message(" - generated files: ${_generated_files}") -message(" - dependencies: ${_dependencies}") - -add_custom_command( - OUTPUT ${_generated_files} - COMMAND ${PYTHON_EXECUTABLE} ${ros_dds_connext_static_BIN} - --pkg-name ${PROJECT_NAME} - --interface-files ${rosidl_generate_interfaces_IDL_FILES} - --deps ${_dependencies} - --output-dir ${_output_path} - --template-dir ${ros_dds_connext_static_TEMPLATE_DIR} - DEPENDS - ${ros_dds_connext_static_BIN} - ${ros_dds_connext_static_DIR}/../../../${PYTHON_INSTALL_DIR}/ros_dds_connext_static/__init__.py - ${ros_dds_connext_static_TEMPLATE_DIR}/msg_TypeSupport.h.template - ${rosidl_generate_interfaces_IDL_FILES} - ${_dependency_files} - COMMENT "Generating C++ code for interfaces" - VERBATIM -) - -add_custom_target( - ${rosidl_generate_interfaces_TARGET}_cpp_connext_static - DEPENDS - ${_generated_files} -) -add_dependencies( - ${rosidl_generate_interfaces_TARGET} - ${rosidl_generate_interfaces_TARGET}_cpp_connext_static -) - -install( - FILES ${_generated_files} - DESTINATION "include/${PROJECT_NAME}" -) - -ament_export_include_directories(include) diff --git a/ros_dds_connext_static/include/ros_dds_connext_static/MessageTypeSupport.h b/ros_dds_connext_static/include/ros_dds_connext_static/MessageTypeSupport.h deleted file mode 100644 index 81d2df2..0000000 --- a/ros_dds_connext_static/include/ros_dds_connext_static/MessageTypeSupport.h +++ /dev/null @@ -1,27 +0,0 @@ - -#ifndef __ros_dds_connext_static__MessageTypeSupport__h__ -#define __ros_dds_connext_static__MessageTypeSupport__h__ - -class DDSDomainParticipant; -class DDSDataWriter; - -namespace ros_middleware_interface -{ - -extern const char * _rti_connext_identifier; - -} - -namespace ros_dds_connext_static -{ - -typedef struct MessageTypeSupportCallbacks { - const char * _package_name; - const char * _message_name; - void (*_register_type)(DDSDomainParticipant * participant, const char * type_name); - void (*_publish)(DDSDataWriter * topic_writer, const void * ros_message); -} MessageTypeSupportCallbacks; - -} // namespace ros_dds_connext_static - -#endif // __ros_dds_connext_static__MessageTypeSupport__h__ diff --git a/ros_dds_connext_static/package.xml b/ros_dds_connext_static/package.xml deleted file mode 100644 index 62f3597..0000000 --- a/ros_dds_connext_static/package.xml +++ /dev/null @@ -1,25 +0,0 @@ - - - ros_dds_connext_static - 0.0.0 - Implement the ROS middleware interface using RTI Connext static code generation in C++. - Dirk Thomas - Apache License 2.0 - - ament_cmake - ament_cmake_python - rosidl_cmake - - ament_cmake - rosidl_cmake - - libndds51-dev - ros_middleware_interface - rosidl_generator_cpp - rosidl_generator_dds_connext_cpp - rosidl_generator_dds_idl - - libndds51 - rosidl_generator_cpp - rosidl_generator_dds_connext_cpp - diff --git a/ros_dds_connext_static/resource/msg_TypeSupport.h.template b/ros_dds_connext_static/resource/msg_TypeSupport.h.template deleted file mode 100644 index 9d57d3d..0000000 --- a/ros_dds_connext_static/resource/msg_TypeSupport.h.template +++ /dev/null @@ -1,126 +0,0 @@ -@############################################### -@# -@# ROS message type support code generation for C++ -@# -@# EmPy template for generating _TypeSupport.h files -@# -@############################################### -@# Start of Template -@# -@# Context: -@# - spec (rosidl_parser.MessageSpecification) -@# Parsed specification of the .msg file -@############################################### - -#ifndef __@(spec.base_type.pkg_name)__@(spec.base_type.type)_TypeSupport__h__ -#define __@(spec.base_type.pkg_name)__@(spec.base_type.type)_TypeSupport__h__ - -#include - -#include "@(spec.base_type.pkg_name)/@(spec.base_type.type)_Struct.h" -#include "@(spec.base_type.pkg_name)/dds_idl/@(spec.base_type.type)_Support.h" -#include "rosidl_generator_cpp/MessageTypeSupport.h" -#include "ros_dds_connext_static/MessageTypeSupport.h" - -namespace @(spec.base_type.pkg_name) -{ - -namespace type_support -{ - -void register_type__@(spec.base_type.type)(DDSDomainParticipant * participant, const char * type_name) -{ - std::cout << " @(spec.base_type.pkg_name)::type_support::register_type__@(spec.base_type.type)()" << std::endl; - @(spec.base_type.pkg_name)::dds_idl::@(spec.base_type.type)_TypeSupport::register_type(participant, type_name); -} - -void convert_ros_message_to_dds__@(spec.base_type.type)(const void * untyped_ros_message, @(spec.base_type.pkg_name)::dds_idl::@(spec.base_type.type)_& dds_message) -{ - //std::cout << " @(spec.base_type.pkg_name)::type_support::convert_ros_message_to_dds__@(spec.base_type.type)()" << std::endl; - const @(spec.base_type.pkg_name)::@(spec.base_type.type) & ros_message = *(const @(spec.base_type.pkg_name)::@(spec.base_type.type) *)untyped_ros_message; -@[for field in spec.fields]@ - // field.name @(field.name) - // field.type @(field.type) - // field.type.is_array @(field.type.is_array) -@[if field.type.array_size]@ - // field.type.array_size @(field.type.array_size) -@[else]@ - // field.type.array_size dynamic -@[end if]@ -@[if field.type.is_array]@ - { -@[if field.type.array_size]@ - size_t size = @(field.type.array_size); -@[else]@ - size_t size = ros_message.@(field.name).size(); - dds_message.@(field.name)_.length(size); -@[end if]@ - for (size_t i = 0; i < size; i++) { -@[if field.type.is_primitive_type()]@ - dds_message.@(field.name)_[i] = ros_message.@(field.name)[i]; -@[else]@ - ::dds_impl::DDSTypeResolver<@(field.type.pkg_name)::@(field.type.type)>::convert_ros_message_to_dds(ros_message.@(field.name)[i], dds_message.@(field.name)_[i]); -@[end if]@ - } - } -@[elif field.type.is_primitive_type()]@ - dds_message.@(field.name)_ = ros_message.@(field.name); -@[else]@ - ::dds_impl::DDSTypeResolver<@(field.type.pkg_name)::@(field.type.type)>::convert_ros_message_to_dds(ros_message.@(field.name), dds_message.@(field.name)_); -@[end if]@ - -@[end for]@ -} - -void publish__@(spec.base_type.type)(DDSDataWriter * topic_writer, const void * ros_message) -{ - //std::cout << " @(spec.base_type.pkg_name)::type_support::publish__@(spec.base_type.type)()" << std::endl; - - //@(spec.base_type.pkg_name)::dds_idl::@(spec.base_type.type)_ dds_message; - @(spec.base_type.pkg_name)::dds_idl::@(spec.base_type.type)_ * dds_message = @(spec.base_type.pkg_name)::dds_idl::@(spec.base_type.type)_TypeSupport::create_data(); - convert_ros_message_to_dds__@(spec.base_type.type)(ros_message, *dds_message); - - @(spec.base_type.pkg_name)::dds_idl::@(spec.base_type.type)_DataWriter * data_writer = @(spec.base_type.pkg_name)::dds_idl::@(spec.base_type.type)_DataWriter::narrow(topic_writer); - //std::cout << " @(spec.base_type.pkg_name)::type_support::publish__@(spec.base_type.type)() write dds message" << std::endl; - DDS_ReturnCode_t status = data_writer->write(*dds_message, DDS_HANDLE_NIL); - if (status != DDS_RETCODE_OK) { - printf("write() failed. Status = %d\n", status); - throw std::runtime_error("write failed"); - }; - - @(spec.base_type.pkg_name)::dds_idl::@(spec.base_type.type)_TypeSupport::delete_data(dds_message); -} - - -static ros_dds_connext_static::MessageTypeSupportCallbacks callbacks = { - "@(spec.base_type.pkg_name)", - "@(spec.base_type.type)", - ®ister_type__@(spec.base_type.type), - &publish__@(spec.base_type.type) -}; - -static rosidl_generator_cpp::MessageTypeSupportHandle handle = { - ros_middleware_interface::_rti_connext_identifier, - &callbacks -}; - -} // namespace type_support - -} // namespace @(spec.base_type.pkg_name) - - -namespace rosidl_generator_cpp -{ - -template<> -struct MessageTypeSupport<@(spec.base_type.pkg_name)::@(spec.base_type.type)> -{ - static const rosidl_generator_cpp::MessageTypeSupportHandle& get_type_support_handle() - { - return @(spec.base_type.pkg_name)::type_support::handle; - } -}; - -} // namespace rosidl_generator_cpp - -#endif // __@(spec.base_type.pkg_name)__@(spec.base_type.type)_TypeSupport__h__ diff --git a/ros_dds_connext_static/ros_dds_connext_static-extras.cmake b/ros_dds_connext_static/ros_dds_connext_static-extras.cmake deleted file mode 100644 index f5938e5..0000000 --- a/ros_dds_connext_static/ros_dds_connext_static-extras.cmake +++ /dev/null @@ -1,12 +0,0 @@ -# copied from ros_dds_connext_static/ros_dds_connext_static-extras.cmake - -find_package(ament_cmake_core REQUIRED) -# TODO -# instead of being an extension for "rosidl_generate_interfaces" -# this should be an extension of "rosidl_generator_cpp" -# which can then ensure that there is only one -ament_register_extension("rosidl_generate_interfaces" "ros_dds_connext_static" - "ros_dds_connext_static_generate_interfaces.cmake") - -set(ros_dds_connext_static_BIN "${ros_dds_connext_static_DIR}/../../../lib/ros_dds_connext_static/ros_dds_connext_static") -set(ros_dds_connext_static_TEMPLATE_DIR "${ros_dds_connext_static_DIR}/../resource") diff --git a/ros_dds_connext_static/ros_dds_connext_static/__init__.py b/ros_dds_connext_static/ros_dds_connext_static/__init__.py deleted file mode 100644 index 102f9fc..0000000 --- a/ros_dds_connext_static/ros_dds_connext_static/__init__.py +++ /dev/null @@ -1,95 +0,0 @@ -import em -import os - -from rosidl_parser import parse_message_file - - -def generate_cpp(pkg_name, interface_files, deps, output_dir, template_dir): - mapping = { - os.path.join(template_dir, 'msg_TypeSupport.h.template'): '%s_TypeSupport.h', - } - for template_file in mapping.keys(): - assert(os.path.exists(template_file)) - - try: - os.makedirs(output_dir) - except FileExistsError: - pass - - for idl_file in interface_files: - spec = parse_message_file(pkg_name, idl_file) - for template_file, generated_filename in mapping.items(): - generated_file = os.path.join(output_dir, generated_filename % spec.base_type.type) - print('Generating: %s' % generated_file) - - try: - # TODO only touch generated file if its content actually changes - ofile = open(generated_file, 'w') - # TODO reuse interpreter - interpreter = em.Interpreter( - output=ofile, - options={ - em.RAW_OPT: True, - em.BUFFERED_OPT: True, - }, - globals={'spec': spec}, - ) - interpreter.file(open(template_file)) - interpreter.shutdown() - except Exception: - os.remove(generated_file) - raise - - return 0 - - -MSG_TYPE_TO_CPP = { - 'bool': 'uint8_t', - 'float32': 'float', - 'float64': 'double', - 'uint8': 'uint8_t', - 'int8': 'int8_t', - 'uint16': 'uint16_t', - 'int16': 'int16_t', - 'uint32': 'uint32_t', - 'int32': 'int32_t', - 'uint64': 'uint64_t', - 'int64': 'int64_t', - 'string': 'std::basic_string, ' + - 'typename ContainerAllocator::template rebind::other>', - 'byte': 'int8_t', - 'char': 'uint8_t', -} - - -def msg_type_to_cpp(type_): - """ - Convert a message type into the C++ declaration. - - Example input: uint32, std_msgs/String - Example output: uint32_t, std_msgs::String_ - - @param type: The message type - @type type: rosidl_parser.Type - """ - cpp_type = None - if type_.is_primitive_type(): - cpp_type = MSG_TYPE_TO_CPP[type_.type] - else: - cpp_type = '::%s::%s_ ' % \ - (type_.pkg_name, type_.type) - - if type_.is_array: - if type_.array_size is None: - return 'std::vector<%s, typename ContainerAllocator::template ' + \ - 'rebind<%s>::other > ' % (cpp_type, cpp_type) - else: - return 'boost::array<%s, %s> ' % (cpp_type, type_.array_size) - else: - return cpp_type - - -def escape_string(s): - s = s.replace('\\', '\\\\') - s = s.replace('"', '\\"') - return s diff --git a/ros_dds_connext_static/src/functions.cpp b/ros_dds_connext_static/src/functions.cpp deleted file mode 100644 index 2f1c96d..0000000 --- a/ros_dds_connext_static/src/functions.cpp +++ /dev/null @@ -1,155 +0,0 @@ -#include -#include - -#include "ndds/ndds_cpp.h" - -#include "rosidl_generator_cpp/MessageTypeSupport.h" -#include "ros_middleware_interface/handles.h" -#include "ros_dds_connext_static/MessageTypeSupport.h" - -namespace ros_middleware_interface -{ - -const char * _rti_connext_identifier = "connext_static"; - -ros_middleware_interface::NodeHandle create_node() -{ - std::cout << "create_node()" << std::endl; - - std::cout << " create_node() get_instance" << std::endl; - DDSDomainParticipantFactory* dpf_ = DDSDomainParticipantFactory::get_instance(); - if (!dpf_) { - printf(" create_node() could not get participant factory\n"); - throw std::runtime_error("could not get participant factory"); - }; - - DDS_DomainId_t domain = 23; - - std::cout << " create_node() create_participant" << std::endl; - DDSDomainParticipant* participant = dpf_->create_participant( - domain, DDS_PARTICIPANT_QOS_DEFAULT, NULL, - DDS_STATUS_MASK_NONE); - if (!participant) { - printf(" create_node() could not create participant\n"); - throw std::runtime_error("could not create participant"); - }; - - std::cout << " create_node() pass opaque node handle" << std::endl; - - ros_middleware_interface::NodeHandle node_handle = { - _rti_connext_identifier, - participant - }; - return node_handle; -} - -struct CustomPublisherInfo { - DDSDataWriter * topic_writer_; - ros_dds_connext_static::MessageTypeSupportCallbacks * callbacks_; -}; - -ros_middleware_interface::PublisherHandle create_publisher(const ros_middleware_interface::NodeHandle& node_handle, const rosidl_generator_cpp::MessageTypeSupportHandle & type_support_handle, const char * topic_name) -{ - std::cout << "create_publisher()" << std::endl; - - if (node_handle._implementation_identifier != _rti_connext_identifier) - { - printf("node handle not from this implementation\n"); - printf("but from: %s\n", node_handle._implementation_identifier); - throw std::runtime_error("node handle not from this implementation"); - } - - std::cout << "create_publisher() " << node_handle._implementation_identifier << std::endl; - - std::cout << " create_publisher() extract participant from opaque node handle" << std::endl; - DDSDomainParticipant* participant = (DDSDomainParticipant*)node_handle._data; - - ros_dds_connext_static::MessageTypeSupportCallbacks * callbacks = (ros_dds_connext_static::MessageTypeSupportCallbacks*)type_support_handle._data; - std::string type_name = std::string(callbacks->_package_name) + "/" + callbacks->_message_name; - - - std::cout << " create_publisher() invoke register callback" << std::endl; - callbacks->_register_type(participant, type_name.c_str()); - - - DDS_PublisherQos publisher_qos; - DDS_ReturnCode_t status = participant->get_default_publisher_qos(publisher_qos); - if (status != DDS_RETCODE_OK) { - printf("get_default_publisher_qos() failed. Status = %d\n", status); - throw std::runtime_error("get default publisher qos failed"); - }; - - std::cout << " create_publisher() create dds publisher" << std::endl; - DDSPublisher* dds_publisher = participant->create_publisher( - publisher_qos, NULL, DDS_STATUS_MASK_NONE); - if (!dds_publisher) { - printf(" create_publisher() could not create publisher\n"); - throw std::runtime_error("could not create publisher"); - }; - - - DDS_TopicQos default_topic_qos; - status = participant->get_default_topic_qos(default_topic_qos); - if (status != DDS_RETCODE_OK) { - printf("get_default_topic_qos() failed. Status = %d\n", status); - throw std::runtime_error("get default topic qos failed"); - }; - - std::cout << " create_publisher() create topic" << std::endl; - DDSTopic* topic = participant->create_topic( - topic_name, type_name.c_str(), default_topic_qos, NULL, - DDS_STATUS_MASK_NONE - ); - if (!topic) { - printf(" create_topic() could not create topic\n"); - throw std::runtime_error("could not create topic"); - }; - - - DDS_DataWriterQos default_datawriter_qos; - status = participant->get_default_datawriter_qos(default_datawriter_qos); - if (status != DDS_RETCODE_OK) { - printf("get_default_datawriter_qos() failed. Status = %d\n", status); - throw std::runtime_error("get default datawriter qos failed"); - }; - - std::cout << " create_publisher() create data writer" << std::endl; - DDSDataWriter* topic_writer = dds_publisher->create_datawriter( - topic, default_datawriter_qos, - NULL, DDS_STATUS_MASK_NONE); - - - std::cout << " create_publisher() build opaque publisher handle" << std::endl; - CustomPublisherInfo* custom_publisher_info = new CustomPublisherInfo(); - custom_publisher_info->topic_writer_ = topic_writer; - custom_publisher_info->callbacks_ = callbacks; - - ros_middleware_interface::PublisherHandle publisher_handle = { - _rti_connext_identifier, - custom_publisher_info - }; - return publisher_handle; -} - -void publish(const ros_middleware_interface::PublisherHandle& publisher_handle, const void * ros_message) -{ - //std::cout << "publish()" << std::endl; - - if (publisher_handle._implementation_identifier != _rti_connext_identifier) - { - printf("publisher handle not from this implementation\n"); - printf("but from: %s\n", publisher_handle._implementation_identifier); - throw std::runtime_error("publisher handle not from this implementation"); - } - - //std::cout << " publish() extract data writer and type code from opaque publisher handle" << std::endl; - CustomPublisherInfo * custom_publisher_info = (CustomPublisherInfo*)publisher_handle._data; - DDSDataWriter * topic_writer = custom_publisher_info->topic_writer_; - const ros_dds_connext_static::MessageTypeSupportCallbacks * callbacks = custom_publisher_info->callbacks_; - - - //std::cout << " publish() invoke publish callback" << std::endl; - callbacks->_publish(topic_writer, ros_message); -} - -} diff --git a/ros_dds_cpp_dynamic_typesupport/CMakeLists.txt b/ros_dds_cpp_dynamic_typesupport/CMakeLists.txt deleted file mode 100644 index 8d20a3d..0000000 --- a/ros_dds_cpp_dynamic_typesupport/CMakeLists.txt +++ /dev/null @@ -1,28 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) - -project(ros_dds_cpp_dynamic_typesupport) - -find_package(ament_cmake REQUIRED) -find_package(ament_cmake_python REQUIRED) - -ament_export_dependencies(rosidl_cmake) -ament_export_include_directories(include) - -ament_python_install_package(${PROJECT_NAME}) - -ament_package( - CONFIG_EXTRAS "ros_dds_cpp_dynamic_typesupport-extras.cmake" -) - -install( - PROGRAMS bin/ros_dds_cpp_dynamic_typesupport - DESTINATION lib/ros_dds_cpp_dynamic_typesupport -) -install( - DIRECTORY cmake resource - DESTINATION share/${PROJECT_NAME} -) -install( - DIRECTORY include/ - DESTINATION include -) diff --git a/ros_dds_cpp_dynamic_typesupport/bin/ros_dds_cpp_dynamic_typesupport b/ros_dds_cpp_dynamic_typesupport/bin/ros_dds_cpp_dynamic_typesupport deleted file mode 100755 index 389b706..0000000 --- a/ros_dds_cpp_dynamic_typesupport/bin/ros_dds_cpp_dynamic_typesupport +++ /dev/null @@ -1,45 +0,0 @@ -#!/usr/bin/env python3 - -import argparse -import sys - -from ros_dds_cpp_dynamic_typesupport import generate_cpp - - -def main(argv=sys.argv[1:]): - parser = argparse.ArgumentParser( - description='Generate the C++ type support to dynamically handle ROS messages.', - formatter_class=argparse.ArgumentDefaultsHelpFormatter) - parser.add_argument( - '--pkg-name', - required=True, - help='The package name to generate interfaces for') - parser.add_argument( - '--interface-files', - nargs='*', - help='The ROS interface files') - parser.add_argument( - '--deps', - nargs='*', - help="The dependencies (each as ':')") - parser.add_argument( - '--output-dir', - required=True, - help='The location of the generated C++ interfaces') - parser.add_argument( - '--template-dir', - required=True, - help='The location of the template files') - args = parser.parse_args(argv) - - return generate_cpp( - args.pkg_name, - args.interface_files, - args.deps, - args.output_dir, - args.template_dir, - ) - - -if __name__ == '__main__': - sys.exit(main()) diff --git a/ros_dds_cpp_dynamic_typesupport/cmake/ros_dds_cpp_dynamic_typesupport_generate_interfaces.cmake b/ros_dds_cpp_dynamic_typesupport/cmake/ros_dds_cpp_dynamic_typesupport_generate_interfaces.cmake deleted file mode 100644 index c909b52..0000000 --- a/ros_dds_cpp_dynamic_typesupport/cmake/ros_dds_cpp_dynamic_typesupport_generate_interfaces.cmake +++ /dev/null @@ -1,61 +0,0 @@ -message(" - ros_dds_cpp_dynamic_typesupport_generate_interfaces.cmake") -message(" - target: ${rosidl_generate_interfaces_TARGET}") -message(" - interface files: ${rosidl_generate_interfaces_IDL_FILES}") -message(" - dependency package names: ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES}") - -set(_output_path "${CMAKE_CURRENT_BINARY_DIR}/ros_dds_cpp_dynamic_typesupport/${PROJECT_NAME}") -set(_generated_files "") -foreach(_idl_file ${rosidl_generate_interfaces_IDL_FILES}) - get_filename_component(name "${_idl_file}" NAME_WE) - list(APPEND _generated_files - "${_output_path}/${name}_TypeSupport.h" - ) -endforeach() - -set(_dependency_files "") -set(_dependencies "") -foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES}) - foreach(_idl_file ${${_pkg_name}_INTERFACE_FILES}) - set(_abs_idl_file "${${_pkg_name}_DIR}/../${_idl_file}") - list(APPEND _dependency_files "${_abs_idl_file}") - list(APPEND _dependencies "${_pkg_name}:${_abs_idl_file}") - endforeach() -endforeach() - -message(" - generated files: ${_generated_files}") -message(" - dependencies: ${_dependencies}") - -add_custom_command( - OUTPUT ${_generated_files} - COMMAND ${PYTHON_EXECUTABLE} ${ros_dds_cpp_dynamic_typesupport_BIN} - --pkg-name ${PROJECT_NAME} - --interface-files ${rosidl_generate_interfaces_IDL_FILES} - --deps ${_dependencies} - --output-dir ${_output_path} - --template-dir ${ros_dds_cpp_dynamic_typesupport_TEMPLATE_DIR} - DEPENDS - ${ros_dds_cpp_dynamic_typesupport_BIN} - ${ros_dds_cpp_dynamic_typesupport_DIR}/../../../${PYTHON_INSTALL_DIR}/ros_dds_cpp_dynamic_typesupport/__init__.py - ${ros_dds_cpp_dynamic_typesupport_TEMPLATE_DIR}/msg_TypeSupport.h.template - ${rosidl_generate_interfaces_IDL_FILES} - ${_dependency_files} - COMMENT "Generating C++ code for interfaces" - VERBATIM -) - -add_custom_target( - ${rosidl_generate_interfaces_TARGET}_cpp_dynamic_typesupport - DEPENDS - ${_generated_files} -) -add_dependencies( - ${rosidl_generate_interfaces_TARGET} - ${rosidl_generate_interfaces_TARGET}_cpp_dynamic_typesupport -) - -install( - FILES ${_generated_files} - DESTINATION "include/${PROJECT_NAME}" -) - -ament_export_include_directories(include) diff --git a/ros_dds_cpp_dynamic_typesupport/include/ros_dds_cpp_dynamic_typesupport/MessageTypeSupport.h b/ros_dds_cpp_dynamic_typesupport/include/ros_dds_cpp_dynamic_typesupport/MessageTypeSupport.h deleted file mode 100644 index b1b40f2..0000000 --- a/ros_dds_cpp_dynamic_typesupport/include/ros_dds_cpp_dynamic_typesupport/MessageTypeSupport.h +++ /dev/null @@ -1,25 +0,0 @@ - -#ifndef __ros_dds_cpp_dynamic_typesupport__MessageTypeSupport__h__ -#define __ros_dds_cpp_dynamic_typesupport__MessageTypeSupport__h__ - -namespace ros_dds_cpp_dynamic_typesupport -{ - -const char * _dynamic_identifier = "dynamic"; - -typedef struct MessageTypeSupportMember { - const char * _name; - const char * _type; - unsigned long _offset; -} MessageTypeSupportMember; - -typedef struct MessageTypeSupportMembers { - const char * _package_name; - const char * _message_name; - unsigned long _size; - const MessageTypeSupportMember * _members; -} MessageTypeSupportMembers; - -} // namespace ros_dds_cpp_dynamic_typesupport - -#endif // __ros_dds_cpp_dynamic_typesupport__MessageTypeSupport__h__ diff --git a/ros_dds_cpp_dynamic_typesupport/package.xml b/ros_dds_cpp_dynamic_typesupport/package.xml deleted file mode 100644 index 1c4a85d..0000000 --- a/ros_dds_cpp_dynamic_typesupport/package.xml +++ /dev/null @@ -1,15 +0,0 @@ - - - ros_dds_cpp_dynamic_typesupport - 0.0.0 - Generate the message type support for dynamic message construction in C++. - Dirk Thomas - Apache License 2.0 - - ament_cmake - ament_cmake_python - rosidl_cmake - - ament_cmake - rosidl_cmake - diff --git a/ros_dds_cpp_dynamic_typesupport/resource/msg_TypeSupport.h.template b/ros_dds_cpp_dynamic_typesupport/resource/msg_TypeSupport.h.template deleted file mode 100644 index ef0dcd5..0000000 --- a/ros_dds_cpp_dynamic_typesupport/resource/msg_TypeSupport.h.template +++ /dev/null @@ -1,75 +0,0 @@ -@############################################### -@# -@# ROS message type support code generation for C++ -@# -@# EmPy template for generating _TypeSupport.h files -@# -@############################################### -@# Start of Template -@# -@# Context: -@# - spec (rosidl_parser.MessageSpecification) -@# Parsed specification of the .msg file -@############################################### - -#ifndef __@(spec.base_type.pkg_name)__@(spec.base_type.type)_TypeSupport__h__ -#define __@(spec.base_type.pkg_name)__@(spec.base_type.type)_TypeSupport__h__ - -#include "@(spec.base_type.pkg_name)/@(spec.base_type.type)_Struct.h" -#include "rosidl_generator_cpp/MessageTypeSupport.h" -#include "ros_dds_cpp_dynamic_typesupport/MessageTypeSupport.h" - -namespace @(spec.base_type.pkg_name) -{ - -namespace type_support -{ - -static ros_dds_cpp_dynamic_typesupport::MessageTypeSupportMember member_array[@(len(spec.fields))] = { -@{ -for index, field in enumerate(spec.fields): - print(' {') - - print(' "%s",' % field.name) - print(' "%s",' % field.type.type) # TODO use type id - print(' __builtin_offsetof(%s::%s, %s)' % (spec.base_type.pkg_name, spec.base_type.type, field.name)) - - if index < len(spec.fields) - 1: - print(' },') - else: - print(' }') -}@ -}; - -static ros_dds_cpp_dynamic_typesupport::MessageTypeSupportMembers members = { - "@(spec.base_type.pkg_name)", - "@(spec.base_type.type)", - @(len(spec.fields)), - member_array -}; - -static rosidl_generator_cpp::MessageTypeSupportHandle handle = { - ros_dds_cpp_dynamic_typesupport::_dynamic_identifier, - &members -}; - -} // namespace type_support - -} // namespace @(spec.base_type.pkg_name) - - -namespace rosidl_generator_cpp -{ - -template<> -struct MessageTypeSupport<@(spec.base_type.pkg_name)::@(spec.base_type.type)> -{ - static const rosidl_generator_cpp::MessageTypeSupportHandle& get_type_support_handle() - { - return @(spec.base_type.pkg_name)::type_support::handle; - } -}; - -} // namespace rosidl_generator_cpp - -#endif // __@(spec.base_type.pkg_name)__@(spec.base_type.type)_TypeSupport__h__ diff --git a/ros_dds_cpp_dynamic_typesupport/ros_dds_cpp_dynamic_typesupport-extras.cmake b/ros_dds_cpp_dynamic_typesupport/ros_dds_cpp_dynamic_typesupport-extras.cmake deleted file mode 100644 index 399dbca..0000000 --- a/ros_dds_cpp_dynamic_typesupport/ros_dds_cpp_dynamic_typesupport-extras.cmake +++ /dev/null @@ -1,12 +0,0 @@ -# copied from ros_dds_cpp_dynamic_typesupport/ros_dds_cpp_dynamic_typesupport-extras.cmake - -find_package(ament_cmake_core REQUIRED) -# TODO -# instead of being an extension for "rosidl_generate_interfaces" -# this should be an extension of "rosidl_generator_cpp" -# which can then ensure that there is only one -ament_register_extension("rosidl_generate_interfaces" "ros_dds_cpp_dynamic_typesupport" - "ros_dds_cpp_dynamic_typesupport_generate_interfaces.cmake") - -set(ros_dds_cpp_dynamic_typesupport_BIN "${ros_dds_cpp_dynamic_typesupport_DIR}/../../../lib/ros_dds_cpp_dynamic_typesupport/ros_dds_cpp_dynamic_typesupport") -set(ros_dds_cpp_dynamic_typesupport_TEMPLATE_DIR "${ros_dds_cpp_dynamic_typesupport_DIR}/../resource") diff --git a/ros_dds_cpp_dynamic_typesupport/ros_dds_cpp_dynamic_typesupport/__init__.py b/ros_dds_cpp_dynamic_typesupport/ros_dds_cpp_dynamic_typesupport/__init__.py deleted file mode 100644 index 102f9fc..0000000 --- a/ros_dds_cpp_dynamic_typesupport/ros_dds_cpp_dynamic_typesupport/__init__.py +++ /dev/null @@ -1,95 +0,0 @@ -import em -import os - -from rosidl_parser import parse_message_file - - -def generate_cpp(pkg_name, interface_files, deps, output_dir, template_dir): - mapping = { - os.path.join(template_dir, 'msg_TypeSupport.h.template'): '%s_TypeSupport.h', - } - for template_file in mapping.keys(): - assert(os.path.exists(template_file)) - - try: - os.makedirs(output_dir) - except FileExistsError: - pass - - for idl_file in interface_files: - spec = parse_message_file(pkg_name, idl_file) - for template_file, generated_filename in mapping.items(): - generated_file = os.path.join(output_dir, generated_filename % spec.base_type.type) - print('Generating: %s' % generated_file) - - try: - # TODO only touch generated file if its content actually changes - ofile = open(generated_file, 'w') - # TODO reuse interpreter - interpreter = em.Interpreter( - output=ofile, - options={ - em.RAW_OPT: True, - em.BUFFERED_OPT: True, - }, - globals={'spec': spec}, - ) - interpreter.file(open(template_file)) - interpreter.shutdown() - except Exception: - os.remove(generated_file) - raise - - return 0 - - -MSG_TYPE_TO_CPP = { - 'bool': 'uint8_t', - 'float32': 'float', - 'float64': 'double', - 'uint8': 'uint8_t', - 'int8': 'int8_t', - 'uint16': 'uint16_t', - 'int16': 'int16_t', - 'uint32': 'uint32_t', - 'int32': 'int32_t', - 'uint64': 'uint64_t', - 'int64': 'int64_t', - 'string': 'std::basic_string, ' + - 'typename ContainerAllocator::template rebind::other>', - 'byte': 'int8_t', - 'char': 'uint8_t', -} - - -def msg_type_to_cpp(type_): - """ - Convert a message type into the C++ declaration. - - Example input: uint32, std_msgs/String - Example output: uint32_t, std_msgs::String_ - - @param type: The message type - @type type: rosidl_parser.Type - """ - cpp_type = None - if type_.is_primitive_type(): - cpp_type = MSG_TYPE_TO_CPP[type_.type] - else: - cpp_type = '::%s::%s_ ' % \ - (type_.pkg_name, type_.type) - - if type_.is_array: - if type_.array_size is None: - return 'std::vector<%s, typename ContainerAllocator::template ' + \ - 'rebind<%s>::other > ' % (cpp_type, cpp_type) - else: - return 'boost::array<%s, %s> ' % (cpp_type, type_.array_size) - else: - return cpp_type - - -def escape_string(s): - s = s.replace('\\', '\\\\') - s = s.replace('"', '\\"') - return s diff --git a/ros_middleware_interface/CMakeLists.txt b/ros_middleware_interface/CMakeLists.txt deleted file mode 100644 index 883b4a0..0000000 --- a/ros_middleware_interface/CMakeLists.txt +++ /dev/null @@ -1,14 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) - -project(ros_middleware_interface) - -find_package(ament_cmake REQUIRED) - -ament_export_include_directories(include) - -ament_package() - -install( - DIRECTORY include/ - DESTINATION include -) diff --git a/ros_middleware_interface/include/ros_middleware_interface/functions.h b/ros_middleware_interface/include/ros_middleware_interface/functions.h deleted file mode 100644 index 173b1f3..0000000 --- a/ros_middleware_interface/include/ros_middleware_interface/functions.h +++ /dev/null @@ -1,19 +0,0 @@ -#ifndef __ros_middleware_interface__functions__h__ -#define __ros_middleware_interface__functions__h__ - -#include "rosidl_generator_cpp/MessageTypeSupport.h" - -#include "handles.h" - -namespace ros_middleware_interface -{ - -NodeHandle create_node(); - -PublisherHandle create_publisher(const NodeHandle& node_handle, const rosidl_generator_cpp::MessageTypeSupportHandle & type_support_handle, const char * topic_name); - -void publish(const PublisherHandle& publisher_handle, const void * ros_message); - -} - -#endif // __ros_middleware_interface__functions__h__ diff --git a/ros_middleware_interface/include/ros_middleware_interface/handles.h b/ros_middleware_interface/include/ros_middleware_interface/handles.h deleted file mode 100644 index 0dc6a9f..0000000 --- a/ros_middleware_interface/include/ros_middleware_interface/handles.h +++ /dev/null @@ -1,19 +0,0 @@ -#ifndef __ros_middleware_interface__handles__h__ -#define __ros_middleware_interface__handles__h__ - -namespace ros_middleware_interface -{ - -typedef struct NodeHandle { - const char * _implementation_identifier; - void * _data; -} NodeHandle; - -typedef struct PublisherHandle { - const char * _implementation_identifier; - void * _data; -} PublisherHandle; - -} - -#endif // __ros_middleware_interface__handles__h__ diff --git a/ros_middleware_interface/package.xml b/ros_middleware_interface/package.xml deleted file mode 100644 index 2d5e264..0000000 --- a/ros_middleware_interface/package.xml +++ /dev/null @@ -1,12 +0,0 @@ - - - ros_middleware_interface - 0.0.0 - The ros_middleware_interface package - Dirk Thomas - Apache License 2.0 - - ament_cmake - - rosidl_generator_cpp - diff --git a/userland/CMakeLists.txt b/userland/CMakeLists.txt deleted file mode 100644 index 49932f0..0000000 --- a/userland/CMakeLists.txt +++ /dev/null @@ -1,24 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) - -project(userland) - -set(CMAKE_CXX_FLAGS "-std=c++0x -Wall") - -find_package(ros_middleware_interface REQUIRED) -find_package(ros_dds_connext_dynamic REQUIRED) - -find_package(ament_cmake REQUIRED) -find_package(rclcpp REQUIRED) -find_package(std_msgs REQUIRED) - -ament_package() - -include_directories(${rclcpp_INCLUDE_DIRS} ${std_msgs_INCLUDE_DIRS}) -add_definitions(${rclcpp_DEFINITIONS}) -add_executable(userland src/main.cpp) -target_link_libraries(userland ${rclcpp_LIBRARIES} ${std_msgs_LIBRARIES}) - -install( - TARGETS userland - DESTINATION bin -) diff --git a/userland/package.xml b/userland/package.xml deleted file mode 100644 index e3abed4..0000000 --- a/userland/package.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - userland - 0.0.0 - The userland package - Dirk Thomas - Apache License 2.0 - - ament_cmake - - rclcpp - std_msgs - - rclcpp - std_msgs - diff --git a/userland/src/main.cpp b/userland/src/main.cpp deleted file mode 100644 index d57800f..0000000 --- a/userland/src/main.cpp +++ /dev/null @@ -1,34 +0,0 @@ -#include -#include - -#include "rclcpp/Node.h" -#include "rclcpp/Publisher.h" -#include "std_msgs/Int32.h" - - -int main(int argc, char** argv) -{ - rclcpp::Node* n = create_node(); - rclcpp::Publisher* p = n->create_publisher("topic_name"); - std_msgs::Int32 ros_msg; - - int number_of_msgs = 1000000; - - timespec start; - clock_gettime(CLOCK_REALTIME, &start); - - for (int i = 1; i < number_of_msgs; ++i) { - ros_msg.data = i; - p->publish(ros_msg); - if (i % 100000 == 0) { - std::cout << "published ros msg #" << i << std::endl; - } - } - - timespec end; - clock_gettime(CLOCK_REALTIME, &end); - - std::cout << (end.tv_sec - start.tv_sec) << "." << (end.tv_nsec - start.tv_nsec) << std::endl; - - return 0; -}