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add ros_dds_connext_static

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This commit is contained in:
Dirk Thomas 2014-08-01 16:59:55 -07:00
parent 6b07c8f928
commit 666a4b51c9
13 changed files with 668 additions and 17 deletions
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43
ros_dds_connext_dynamic/CMakeLists.txt
View file

@ -5,19 +5,52 @@ project(ros_dds_connext_dynamic)
find_package(ament_cmake REQUIRED)
find_package(ros_middleware_interface REQUIRED)
find_package(rosidl_generator_cpp REQUIRED)
find_package(ros_dds_cpp_dynamic_typesupport REQUIRED)
find_package(ndds_cpp REQUIRED)
set(CONNEXT_INCLUDE_DIRS ${ndds_cpp_INCLUDE_DIRS})
set(CONNEXT_LIBRARIES ${ndds_cpp_LIBRARIES})
#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 ${ndds_cpp_DEFINITIONS})
ament_export_dependencies(ros_middleware_interface rosidl_generator_cpp ros_dds_cpp_dynamic_typesupport)
set(_dds_vendor "$ENV{ROS_DDS_IMPLEMENTATION}")
set(_dds_type "$ENV{ROS_DDS_TYPE}")
if("${_dds_type}" STREQUAL "dynamic")
find_package(ros_dds_cpp_dynamic_typesupport REQUIRED)
ament_export_dependencies(ros_dds_cpp_dynamic_typesupport)
include_directories(${ros_dds_cpp_dynamic_typesupport_INCLUDE_DIRS})
elseif("${_dds_type}" STREQUAL "static")
if("${_dds_vendor}" STREQUAL "connext")
find_package(ros_dds_connext_static REQUIRED)
ament_export_definitions(${CONNEXT_DEFINITIONS})
ament_export_dependencies(ros_dds_connext_static)
include_directories(${ros_dds_connext_static_INCLUDE_DIRS})
elseif("${_dds_vendor}" STREQUAL "opensplice")
message(FATAL_ERROR "The DDS implementation '${_dds_vendor}' does not yet support the type '${_dds_type}'.")
else()
message(FATAL_ERROR "Set the environment variable 'ROS_DDS_IMPLEMENTATION' to either 'connext' or 'opensplice'.")
endif()
else()
message(FATAL_ERROR "Set the environment variable 'ROS_DDS_TYPE' to either 'dynamic' or 'static'.")
endif()
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} ${ros_dds_cpp_dynamic_typesupport} ${CONNEXT_INCLUDE_DIRS})
include_directories(${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})

22
ros_dds_connext_dynamic/src/functions.cpp
View file

@ -10,7 +10,7 @@
namespace ros_middleware_interface
{
const char * _rti_connext_identifier = "connext";
const char * _rti_connext_identifier = "connext_dynamic";
ros_middleware_interface::NodeHandle create_node()
{
@ -43,7 +43,7 @@ ros_middleware_interface::NodeHandle create_node()
return node_handle;
}
struct TypeCodeAndDataWriter {
struct CustomPublisherInfo {
DDSDynamicDataWriter * dynamic_writer_;
DDS_TypeCode * type_code_;
ros_dds_cpp_dynamic_typesupport::MessageTypeSupportMembers * members_;
@ -164,14 +164,14 @@ ros_middleware_interface::PublisherHandle create_publisher(const ros_middleware_
std::cout << " create_publisher() build opaque publisher handle" << std::endl;
TypeCodeAndDataWriter* type_code_and_data_writer = new TypeCodeAndDataWriter();
type_code_and_data_writer->dynamic_writer_ = dynamic_writer;
type_code_and_data_writer->type_code_ = type_code;
type_code_and_data_writer->members_ = members;
CustomPublisherInfo* custom_publisher_info = new CustomPublisherInfo();
custom_publisher_info->dynamic_writer_ = dynamic_writer;
custom_publisher_info->type_code_ = type_code;
custom_publisher_info->members_ = members;
ros_middleware_interface::PublisherHandle publisher_handle = {
_rti_connext_identifier,
type_code_and_data_writer
custom_publisher_info
};
return publisher_handle;
}
@ -189,10 +189,10 @@ void publish(const ros_middleware_interface::PublisherHandle& publisher_handle,
}
std::cout << " publish() extract data writer and type code from opaque publisher handle" << std::endl;
TypeCodeAndDataWriter * type_code_and_data_writer = (TypeCodeAndDataWriter*)publisher_handle._data;
DDSDynamicDataWriter * dynamic_writer = type_code_and_data_writer->dynamic_writer_;
DDS_TypeCode * type_code = type_code_and_data_writer->type_code_;
const ros_dds_cpp_dynamic_typesupport::MessageTypeSupportMembers * members = type_code_and_data_writer->members_;
CustomPublisherInfo * custom_publisher_info = (CustomPublisherInfo*)publisher_handle._data;
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_;
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);