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Basic bidirectional communication (PX4#5)
* Support for multiple topics uORB -> FastRTPS * Changed README to work with multiple topics * README fix * minor changes * Basic bidirectional communication * Merge fix * Updated instructions and added a UART node
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,139 @@ | ||
| @############################################### | ||
| @# | ||
| @# 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/ | ||
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| topic = spec.short_name | ||
| }@ | ||
| // Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima). | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| /*! | ||
| * @file @(topic)_Publisher.cpp | ||
| * This file contains the implementation of the publisher functions. | ||
| * | ||
| * This file was generated by the tool fastcdrgen. | ||
| */ | ||
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| #include <fastrtps/participant/Participant.h> | ||
| #include <fastrtps/attributes/ParticipantAttributes.h> | ||
| #include <fastrtps/publisher/Publisher.h> | ||
| #include <fastrtps/attributes/PublisherAttributes.h> | ||
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| #include <fastrtps/Domain.h> | ||
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| #include <fastrtps/utils/eClock.h> | ||
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| #include "@(topic)_Publisher.h" | ||
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| @(topic)_Publisher::@(topic)_Publisher() : mp_participant(nullptr), mp_publisher(nullptr) {} | ||
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| @(topic)_Publisher::~@(topic)_Publisher() { Domain::removeParticipant(mp_participant);} | ||
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| bool @(topic)_Publisher::init() | ||
| { | ||
| // Create RTPSParticipant | ||
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| ParticipantAttributes PParam; | ||
| PParam.rtps.builtin.domainId = 0; | ||
| PParam.rtps.builtin.leaseDuration = c_TimeInfinite; | ||
| PParam.rtps.setName("Participant_publisher"); //You can put here the name you want | ||
| mp_participant = Domain::createParticipant(PParam); | ||
| if(mp_participant == nullptr) | ||
| return false; | ||
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| //Register the type | ||
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| Domain::registerType(mp_participant,(TopicDataType*) &myType); | ||
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| // Create Publisher | ||
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| PublisherAttributes Wparam; | ||
| Wparam.topic.topicKind = NO_KEY; | ||
| Wparam.topic.topicDataType = myType.getName(); //This type MUST be registered | ||
| Wparam.topic.topicName = "@(topic)_PubSubTopic"; | ||
| mp_publisher = Domain::createPublisher(mp_participant,Wparam,(PublisherListener*)&m_listener); | ||
| if(mp_publisher == nullptr) | ||
| return false; | ||
| cout << "Publisher created, waiting for Subscribers." << endl; | ||
| return true; | ||
| } | ||
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| void @(topic)_Publisher::PubListener::onPublicationMatched(Publisher* pub,MatchingInfo& info) | ||
| { | ||
| if (info.status == MATCHED_MATCHING) | ||
| { | ||
| n_matched++; | ||
| cout << "Publisher matched" << endl; | ||
| } | ||
| else | ||
| { | ||
| n_matched--; | ||
| cout << "Publisher unmatched" << endl; | ||
| } | ||
| } | ||
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| void @(topic)_Publisher::run() | ||
| { | ||
| while(m_listener.n_matched == 0) | ||
| { | ||
| eClock::my_sleep(250); // Sleep 250 ms | ||
| } | ||
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| // Publication code | ||
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| @(topic)_ st; | ||
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| /* Initialize your structure here */ | ||
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| int msgsent = 0; | ||
| char ch = 'y'; | ||
| do | ||
| { | ||
| if(ch == 'y') | ||
| { | ||
| mp_publisher->write(&st); ++msgsent; | ||
| cout << "Sending sample, count=" << msgsent << ", send another sample?(y-yes,n-stop): "; | ||
| } | ||
| else if(ch == 'n') | ||
| { | ||
| cout << "Stopping execution " << endl; | ||
| break; | ||
| } | ||
| else | ||
| { | ||
| cout << "Command " << ch << " not recognized, please enter \"y/n\":"; | ||
| } | ||
| }while(std::cin >> ch); | ||
| } | ||
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| void @(topic)_Publisher::publish(@(topic)_* st) | ||
| { | ||
| mp_publisher->write(st); | ||
| } |
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