niklas/rclcpp
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

add ros_dds_connext_static

Browse source
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
Download patch file Download diff file Expand all files Collapse all files

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);