Converted cxx to cpp

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2026-05-24 15:40:31 +08:00 · 2017-07-31 09:18:45 -07:00
parent b313bfdaa9
commit 049c769293
10 changed files with 25 additions and 24 deletions
@@ -0,0 +1,146 @@
+@###############################################
+@#
+@# EmPy template for generating <msg>_uRTPS_UART.cpp file
+@#
+@###############################################
+@# Start of Template
+@#
+@# Context:
+@#  - msgs (List) list of all msg files
+@#  - multi_topics (List) list of all multi-topic names
+@###############################################
+@{
+import genmsg.msgs
+import gencpp
+from px_generate_uorb_topic_helper import * # this is in Tools/
+
+topic = spec.short_name
+}@
+/****************************************************************************
+ *
+ * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice, this
+ * list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * 3. Neither the name of the copyright holder nor the names of its contributors
+ * may be used to endorse or promote products derived from this software without
+ * specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/*! 
+ * @@file @(topic)_Subscriber.cpp
+ * This file contains the implementation of the subscriber functions.
+ *
+ * This file was generated by the tool fastcdrgen.
+ */
+
+#include <fastrtps/participant/Participant.h>
+#include <fastrtps/attributes/ParticipantAttributes.h>
+#include <fastrtps/subscriber/Subscriber.h>
+#include <fastrtps/attributes/SubscriberAttributes.h>
+
+#include <fastrtps/Domain.h>
+
+#include "@(topic)_Subscriber.h"
+
+
+@(topic)_Subscriber::@(topic)_Subscriber() : mp_participant(nullptr), mp_subscriber(nullptr) {}
+
+@(topic)_Subscriber::~@(topic)_Subscriber() {   Domain::removeParticipant(mp_participant);}
+
+bool @(topic)_Subscriber::init()
+{
+    // Create RTPSParticipant
+    
+    ParticipantAttributes PParam;
+    PParam.rtps.builtin.domainId = 0; //MUST BE THE SAME AS IN THE PUBLISHER
+    PParam.rtps.builtin.leaseDuration = c_TimeInfinite;
+    PParam.rtps.setName("Participant_subscriber"); //You can put the name you want
+    mp_participant = Domain::createParticipant(PParam);
+    if(mp_participant == nullptr)
+            return false;
+    
+    //Register the type
+    
+    Domain::registerType(mp_participant,(TopicDataType*) &myType);
+            
+    // Create Subscriber
+            
+    SubscriberAttributes Rparam;
+    Rparam.topic.topicKind = NO_KEY;
+    Rparam.topic.topicDataType = myType.getName(); //Must be registered before the creation of the subscriber
+    Rparam.topic.topicName = "@(topic)_PubSubTopic";
+    mp_subscriber = Domain::createSubscriber(mp_participant,Rparam,(SubscriberListener*)&m_listener);
+    if(mp_subscriber == nullptr)
+        return false;
+    return true;
+}
+
+void @(topic)_Subscriber::SubListener::onSubscriptionMatched(Subscriber* sub,MatchingInfo& info)
+{
+    if (info.status == MATCHED_MATCHING)
+    {
+        n_matched++;
+        std::cout << "Subscriber matched" << std::endl;
+    }
+    else
+    {
+        n_matched--;
+        std::cout << "Subscriber unmatched" << std::endl;
+    }
+}
+
+void @(topic)_Subscriber::SubListener::onNewDataMessage(Subscriber* sub)
+{
+        // Take data
+        if(sub->takeNextData(&msg, &m_info))
+        {
+            if(m_info.sampleKind == ALIVE)
+            {
+                // Print your structure data here.
+                ++n_msg;
+                //std::cout << "Sample received, count=" << n_msg << std::endl;
+                has_msg = true;
+
+            }
+        }
+}
+
+void @(topic)_Subscriber::run()
+{
+    std::cout << "Waiting for Data, press Enter to stop the Subscriber. "<<std::endl;
+    std::cin.ignore();
+    std::cout << "Shutting down the Subscriber." << std::endl;
+}
+
+bool @(topic)_Subscriber::hasMsg()
+{
+    return m_listener.has_msg;
+}
+
+@(topic)_ @(topic)_Subscriber::getMsg()
+{
+    m_listener.has_msg = false;
+    return m_listener.msg;
+}