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microRTPS: agent: simplify Subscriber code specialization

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This commit is contained in:
TSC21
2020-03-11 13:53:28 +00:00
committed by Nuno Marques
parent 99f96437c3
commit 296714a00a
2 changed files with 31 additions and 55 deletions
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msg/templates/urtps/Subscriber.cpp.em
+10 -16
View File
@@ -70,9 +70,15 @@ except AttributeError:
#include "@(topic)_Subscriber.h" #include "@(topic)_Subscriber.h"
@(topic)_Subscriber::@(topic)_Subscriber() : mp_participant(nullptr), mp_subscriber(nullptr) {} @(topic)_Subscriber::@(topic)_Subscriber()
: mp_participant(nullptr),
mp_subscriber(nullptr)
{ }
@(topic)_Subscriber::~@(topic)_Subscriber() { Domain::removeParticipant(mp_participant);} @(topic)_Subscriber::~@(topic)_Subscriber()
{
Domain::removeParticipant(mp_participant);
}
bool @(topic)_Subscriber::init(uint8_t topic_ID, std::condition_variable* t_send_queue_cv, std::mutex* t_send_queue_mutex, std::queue<uint8_t>* t_send_queue) bool @(topic)_Subscriber::init(uint8_t topic_ID, std::condition_variable* t_send_queue_cv, std::mutex* t_send_queue_mutex, std::queue<uint8_t>* t_send_queue)
{ {
@@ -89,7 +95,7 @@ bool @(topic)_Subscriber::init(uint8_t topic_ID, std::condition_variable* t_send
@[else]@ @[else]@
PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite; PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite;
@[end if]@ @[end if]@
PParam.rtps.setName("@(topic)_subscriber"); //You can put the name you want PParam.rtps.setName("@(topic)_subscriber");
mp_participant = Domain::createParticipant(PParam); mp_participant = Domain::createParticipant(PParam);
if(mp_participant == nullptr) if(mp_participant == nullptr)
return false; return false;
@@ -199,19 +205,7 @@ bool @(topic)_Subscriber::hasMsg()
return false; return false;
} }
@[if fastrtps_version <= 1.7]@ @(topic)_msg_t @(topic)_Subscriber::getMsg()
@[ if ros2_distro]@
@(package)::msg::dds_::@(topic)_ @(topic)_Subscriber::getMsg()
@[ else]@
@(topic)_ @(topic)_Subscriber::getMsg()
@[ end if]@
@[else]@
@[ if ros2_distro]@
@(package)::msg::@(topic) @(topic)_Subscriber::getMsg()
@[ else]@
@(topic) @(topic)_Subscriber::getMsg()
@[ end if]@
@[end if]@
{ {
return m_listener.msg; return m_listener.msg;
} }
msg/templates/urtps/Subscriber.h.em
+21 -39
View File
@@ -81,6 +81,24 @@ except AttributeError:
using namespace eprosima::fastrtps; using namespace eprosima::fastrtps;
using namespace eprosima::fastrtps::rtps; using namespace eprosima::fastrtps::rtps;
@[if fastrtps_version <= 1.7]@
@[ if ros2_distro]@
using @(topic)_msg_t = @(package)::msg::dds_::@(topic)_;
using @(topic)_msg_datatype = @(package)::msg::dds_::@(topic)_PubSubType;
@[ else]@
using @(topic)_msg_t = @(topic)_;
using @(topic)_msg_datatype = @(topic)_PubSubType;
@[ end if]@
@[else]@
@[ if ros2_distro]@
using @(topic)_msg_t = @(package)::msg::@(topic);
using @(topic)_msg_datatype = @(package)::msg::@(topic)PubSubType;
@[ else]@
using @(topic)_msg_t = @(topic);
using @(topic)_msg_datatype = @(topic)PubSubType;
@[ end if]@
@[end if]@
class @(topic)_Subscriber class @(topic)_Subscriber
{ {
public: public:
@@ -89,19 +107,7 @@ public:
bool init(uint8_t topic_ID, std::condition_variable* t_send_queue_cv, std::mutex* t_send_queue_mutex, std::queue<uint8_t>* t_send_queue); bool init(uint8_t topic_ID, std::condition_variable* t_send_queue_cv, std::mutex* t_send_queue_mutex, std::queue<uint8_t>* t_send_queue);
void run(); void run();
bool hasMsg(); bool hasMsg();
@[if fastrtps_version <= 1.7]@ @(topic)_msg_t getMsg();
@[ if ros2_distro]@
@(package)::msg::dds_::@(topic)_ getMsg();
@[ else]@
@(topic)_ getMsg();
@[ end if]@
@[else]@
@[ if ros2_distro]@
@(package)::msg::@(topic) getMsg();
@[ else]@
@(topic) getMsg();
@[ end if]@
@[end if]@
void unlockMsg(); void unlockMsg();
private: private:
@@ -118,19 +124,7 @@ private:
SampleInfo_t m_info; SampleInfo_t m_info;
int n_matched; int n_matched;
int n_msg; int n_msg;
@[if fastrtps_version <= 1.7]@ @(topic)_msg_t msg;
@[ if ros2_distro]@
@(package)::msg::dds_::@(topic)_ msg;
@[ else]@
@(topic)_ msg;
@[ end if]@
@[else]@
@[ if ros2_distro]@
@(package)::msg::@(topic) msg;
@[ else]@
@(topic) msg;
@[ end if]@
@[end if]@
std::atomic_bool has_msg; std::atomic_bool has_msg;
uint8_t topic_ID; uint8_t topic_ID;
std::condition_variable* t_send_queue_cv; std::condition_variable* t_send_queue_cv;
@@ -140,19 +134,7 @@ private:
std::mutex has_msg_mutex; std::mutex has_msg_mutex;
} m_listener; } m_listener;
@[if fastrtps_version <= 1.7]@ @(topic)_msg_datatype @(topic)DataType;
@[ if ros2_distro]@
@(package)::msg::dds_::@(topic)_PubSubType @(topic)DataType;
@[ else]@
@(topic)_PubSubType @(topic)DataType;
@[ end if]@
@[else]@
@[ if ros2_distro]@
@(package)::msg::@(topic)PubSubType @(topic)DataType;
@[ else]@
@(topic)PubSubType @(topic)DataType;
@[ end if]@
@[end if]@
}; };
#endif // _@(topic)__SUBSCRIBER_H_ #endif // _@(topic)__SUBSCRIBER_H_