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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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123
ros_dds_connext_static/resource/msg_TypeSupport.h.template Normal file
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@###############################################
@#
@# ROS message type support code generation for C++
@#
@# EmPy template for generating <msg>_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 <iostream>
#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;
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");
};
}
static ros_dds_connext_static::MessageTypeSupportCallbacks callbacks = {
"@(spec.base_type.pkg_name)",
"@(spec.base_type.type)",
&register_type__@(spec.base_type.type),
&publish__@(spec.base_type.type)
};
static rosidl_generator_cpp::MessageTypeSupportHandle handle = {
ros_dds_connext_static::_connext_static_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__