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hide static typesupport headers

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This commit is contained in:
Dirk Thomas 2014-08-07 14:38:38 -07:00
parent 17ef4a3de2
commit a0757ed0b4
7 changed files with 46 additions and 14 deletions
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14
ros_dds_connext_dynamic/CMakeLists.txt
View file

@ -7,8 +7,17 @@ find_package(ros_middleware_interface REQUIRED)
find_package(rosidl_generator_cpp REQUIRED) find_package(rosidl_generator_cpp REQUIRED)
find_package(ndds_cpp REQUIRED) find_package(ndds_cpp REQUIRED)
set(CONNEXT_INCLUDE_DIRS ${ndds_cpp_INCLUDE_DIRS}) #set(CONNEXT_INCLUDE_DIRS ${ndds_cpp_INCLUDE_DIRS})
set(CONNEXT_LIBRARIES ${ndds_cpp_LIBRARIES}) 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}) set(CONNEXT_DEFINITIONS ${ndds_cpp_DEFINITIONS})
@ -24,6 +33,7 @@ ament_export_libraries(ros_dds_connext_dynamic dl pthread)
ament_package() ament_package()
include_directories(${ros_middleware_interface_INCLUDE_DIRS} ${rosidl_generator_cpp_INCLUDE_DIRS} ${CONNEXT_INCLUDE_DIRS}) include_directories(${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_definitions(${CONNEXT_DEFINITIONS})
add_library(ros_dds_connext_dynamic SHARED src/functions.cpp) add_library(ros_dds_connext_dynamic SHARED src/functions.cpp)
target_link_libraries(ros_dds_connext_dynamic ${std_msgs_LIBRARIES} ${CONNEXT_LIBRARIES}) target_link_libraries(ros_dds_connext_dynamic ${std_msgs_LIBRARIES} ${CONNEXT_LIBRARIES})

17
ros_dds_connext_dynamic/src/functions.cpp
View file

@ -10,7 +10,7 @@
namespace ros_middleware_interface namespace ros_middleware_interface
{ {
const char * _rti_connext_identifier = "connext_dynamic"; const char * _rti_connext_dynamic_identifier = "connext_dynamic";
ros_middleware_interface::NodeHandle create_node() ros_middleware_interface::NodeHandle create_node()
{ {
@ -37,7 +37,7 @@ ros_middleware_interface::NodeHandle create_node()
std::cout << " create_node() pass opaque node handle" << std::endl; std::cout << " create_node() pass opaque node handle" << std::endl;
ros_middleware_interface::NodeHandle node_handle = { ros_middleware_interface::NodeHandle node_handle = {
_rti_connext_identifier, _rti_connext_dynamic_identifier,
participant participant
}; };
return node_handle; return node_handle;
@ -55,7 +55,7 @@ ros_middleware_interface::PublisherHandle create_publisher(const ros_middleware_
{ {
std::cout << "create_publisher()" << std::endl; std::cout << "create_publisher()" << std::endl;
if (node_handle._implementation_identifier != _rti_connext_identifier) if (node_handle._implementation_identifier != _rti_connext_dynamic_identifier)
{ {
printf("node handle not from this implementation\n"); printf("node handle not from this implementation\n");
printf("but from: %s\n", node_handle._implementation_identifier); printf("but from: %s\n", node_handle._implementation_identifier);
@ -67,6 +67,13 @@ ros_middleware_interface::PublisherHandle create_publisher(const ros_middleware_
std::cout << " create_publisher() extract participant from opaque node handle" << std::endl; std::cout << " create_publisher() extract participant from opaque node handle" << std::endl;
DDSDomainParticipant* participant = (DDSDomainParticipant*)node_handle._data; 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; 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::string type_name = std::string(members->_package_name) + "/" + members->_message_name;
@ -177,7 +184,7 @@ ros_middleware_interface::PublisherHandle create_publisher(const ros_middleware_
custom_publisher_info->dynamic_data = dynamic_data; custom_publisher_info->dynamic_data = dynamic_data;
ros_middleware_interface::PublisherHandle publisher_handle = { ros_middleware_interface::PublisherHandle publisher_handle = {
_rti_connext_identifier, _rti_connext_dynamic_identifier,
custom_publisher_info custom_publisher_info
}; };
return publisher_handle; return publisher_handle;
@ -188,7 +195,7 @@ void publish(const ros_middleware_interface::PublisherHandle& publisher_handle,
//std::cout << "publish()" << std::endl; //std::cout << "publish()" << std::endl;
if (publisher_handle._implementation_identifier != _rti_connext_identifier) if (publisher_handle._implementation_identifier != _rti_connext_dynamic_identifier)
{ {
printf("publisher handle not from this implementation\n"); printf("publisher handle not from this implementation\n");
printf("but from: %s\n", publisher_handle._implementation_identifier); printf("but from: %s\n", publisher_handle._implementation_identifier);

14
ros_dds_connext_static/CMakeLists.txt
View file

@ -8,8 +8,17 @@ find_package(rosidl_generator_cpp REQUIRED)
find_package(rosidl_generator_dds_connext_cpp REQUIRED) find_package(rosidl_generator_dds_connext_cpp REQUIRED)
find_package(ndds_cpp REQUIRED) find_package(ndds_cpp REQUIRED)
set(CONNEXT_INCLUDE_DIRS ${ndds_cpp_INCLUDE_DIRS}) #set(CONNEXT_INCLUDE_DIRS ${ndds_cpp_INCLUDE_DIRS})
set(CONNEXT_LIBRARIES ${ndds_cpp_LIBRARIES}) 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}) set(CONNEXT_DEFINITIONS ${ndds_cpp_DEFINITIONS})
ament_export_definitions(${CONNEXT_DEFINITIONS}) ament_export_definitions(${CONNEXT_DEFINITIONS})
@ -24,6 +33,7 @@ ament_package(
) )
include_directories(include ${ros_middleware_interface_INCLUDE_DIRS} ${rosidl_generator_cpp_INCLUDE_DIRS} ${rosidl_generator_dds_connext_cpp_INCLUDE_DIRS} ${CONNEXT_INCLUDE_DIRS}) 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_definitions(${CONNEXT_DEFINITIONS})
add_library(ros_dds_connext_static SHARED src/functions.cpp) 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}) target_link_libraries(ros_dds_connext_static ${std_msgs_LIBRARIES} ${rosidl_generator_dds_connext_cpp_LIBRARIES} ${CONNEXT_LIBRARIES})

9
ros_dds_connext_static/include/ros_dds_connext_static/MessageTypeSupport.h
View file

@ -5,10 +5,15 @@
class DDSDomainParticipant; class DDSDomainParticipant;
class DDSDataWriter; class DDSDataWriter;
namespace ros_dds_connext_static namespace ros_middleware_interface
{ {
const char * _connext_static_identifier = "connext_static"; extern const char * _rti_connext_identifier;
}
namespace ros_dds_connext_static
{
typedef struct MessageTypeSupportCallbacks { typedef struct MessageTypeSupportCallbacks {
const char * _package_name; const char * _package_name;

2
ros_dds_connext_static/resource/msg_TypeSupport.h.template
View file

@ -100,7 +100,7 @@ static ros_dds_connext_static::MessageTypeSupportCallbacks callbacks = {
}; };
static rosidl_generator_cpp::MessageTypeSupportHandle handle = { static rosidl_generator_cpp::MessageTypeSupportHandle handle = {
ros_dds_connext_static::_connext_static_identifier, ros_middleware_interface::_rti_connext_identifier,
&callbacks &callbacks
}; };

2
userland/CMakeLists.txt
View file

@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
project(userland) project(userland)
set(CMAKE_CXX_FLAGS "-std=c++0x") set(CMAKE_CXX_FLAGS "-std=c++0x -Wall")
find_package(ros_middleware_interface REQUIRED) find_package(ros_middleware_interface REQUIRED)
find_package(ros_dds_connext_dynamic REQUIRED) find_package(ros_dds_connext_dynamic REQUIRED)

2
userland/src/main.cpp
View file

@ -6,7 +6,7 @@
#include "std_msgs/Int32.h" #include "std_msgs/Int32.h"
main(int argc, char** argv) int main(int argc, char** argv)
{ {
rclcpp::Node* n = create_node(); rclcpp::Node* n = create_node();
rclcpp::Publisher<std_msgs::Int32>* p = n->create_publisher<std_msgs::Int32>("topic_name"); rclcpp::Publisher<std_msgs::Int32>* p = n->create_publisher<std_msgs::Int32>("topic_name");