changed clock to be rosgraph
This commit is contained in:
LuisPoveda
bernat
parent
fe185f0fc2
commit
b6e16802f2
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@ -4,7 +4,7 @@
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#include <string>
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#include "carla/ros2/types/TimePubSubTypes.h"
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#include "carla/ros2/types/ClockPubSubTypes.h"
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#include "carla/ros2/listeners/CarlaListener.h"
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#include <fastdds/dds/domain/DomainParticipant.hpp>
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@ -34,9 +34,9 @@ namespace ros2 {
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efd::Publisher* _publisher { nullptr };
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efd::Topic* _topic { nullptr };
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efd::DataWriter* _datawriter { nullptr };
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efd::TypeSupport _type { new builtin_interfaces::msg::TimePubSubType() };
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efd::TypeSupport _type { new rosgraph::msg::ClockPubSubType() };
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CarlaListener _listener {};
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builtin_interfaces::msg::Time _time {};
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rosgraph::msg::Clock _clock {};
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};
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bool CarlaClockPublisher::Init() {
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@ -82,7 +82,7 @@ namespace ros2 {
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bool CarlaClockPublisher::Publish() {
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eprosima::fastrtps::rtps::InstanceHandle_t instance_handle;
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eprosima::fastrtps::types::ReturnCode_t rcode = _impl->_datawriter->write(&_impl->_time, instance_handle);
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eprosima::fastrtps::types::ReturnCode_t rcode = _impl->_datawriter->write(&_impl->_clock, instance_handle);
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if (rcode == erc::ReturnCodeValue::RETCODE_OK) {
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return true;
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}
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@ -143,8 +143,8 @@ namespace ros2 {
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}
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void CarlaClockPublisher::SetData(int32_t sec, uint32_t nanosec) {
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_impl->_time.sec(sec);
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_impl->_time.nanosec(nanosec);
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_impl->_clock.clock().sec(sec);
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_impl->_clock.clock().nanosec(nanosec);
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}
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CarlaClockPublisher::CarlaClockPublisher(const char* ros_name, const char* parent) :
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@ -0,0 +1,174 @@
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// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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/*!
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* @file Clock.cpp
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* This source file contains the definition of the described types in the IDL file.
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*
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* This file was generated by the tool gen.
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*/
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#ifdef _WIN32
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// Remove linker warning LNK4221 on Visual Studio
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namespace {
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char dummy;
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} // namespace
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#endif // _WIN32
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#include "Clock.h"
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#include <fastcdr/Cdr.h>
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#include <fastcdr/exceptions/BadParamException.h>
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using namespace eprosima::fastcdr::exception;
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#include <utility>
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#define Time_max_cdr_typesize 0ULL;
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#define rosgraph_msg_Clock_max_cdr_typesize 0ULL;
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#define Time_max_key_cdr_typesize 0ULL;
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#define rosgraph_msg_Clock_max_key_cdr_typesize 0ULL;
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rosgraph::msg::Clock::Clock()
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{
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}
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rosgraph::msg::Clock::~Clock()
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{
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}
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rosgraph::msg::Clock::Clock(
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const rosgraph::msg::Clock& x)
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{
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m_clock = x.m_clock;
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}
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rosgraph::msg::Clock::Clock(
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rosgraph::msg::Clock&& x) noexcept
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{
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m_clock = x.m_clock;
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}
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rosgraph::msg::Clock& rosgraph::msg::Clock::operator =(
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const rosgraph::msg::Clock& x)
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{
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m_clock = x.m_clock;
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return *this;
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}
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rosgraph::msg::Clock& rosgraph::msg::Clock::operator =(
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rosgraph::msg::Clock&& x) noexcept
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{
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m_clock = x.m_clock;
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return *this;
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}
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bool rosgraph::msg::Clock::operator ==(
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const Clock& x) const
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{
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return (m_clock == x.m_clock);
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}
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bool rosgraph::msg::Clock::operator !=(
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const Clock& x) const
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{
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return !(*this == x);
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}
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size_t rosgraph::msg::Clock::getMaxCdrSerializedSize(
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size_t current_alignment)
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{
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static_cast<void>(current_alignment);
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return rosgraph_msg_Clock_max_cdr_typesize;
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}
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size_t rosgraph::msg::Clock::getCdrSerializedSize(
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const rosgraph::msg::Clock& data,
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size_t current_alignment)
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{
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(void)data;
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size_t initial_alignment = current_alignment;
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current_alignment += builtin_interfaces::msg::Time::getCdrSerializedSize(data.clock(), current_alignment);
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return current_alignment - initial_alignment;
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}
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void rosgraph::msg::Clock::serialize(
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eprosima::fastcdr::Cdr& scdr) const
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{
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scdr << m_clock;
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}
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void rosgraph::msg::Clock::deserialize(
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eprosima::fastcdr::Cdr& dcdr)
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{
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dcdr >> m_clock;
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}
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/*!
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* @brief This function copies the value in member clock
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* @param _clock New value to be copied in member clock
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*/
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void rosgraph::msg::Clock::clock(
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const builtin_interfaces::msg::Time& _clock)
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{
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m_clock = _clock;
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}
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/*!
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* @brief This function moves the value in member clock
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* @param _clock New value to be moved in member clock
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*/
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void rosgraph::msg::Clock::clock(
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builtin_interfaces::msg::Time&& _clock)
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{
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m_clock = std::move(_clock);
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}
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/*!
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* @brief This function returns a constant reference to member clock
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* @return Constant reference to member clock
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*/
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const builtin_interfaces::msg::Time& rosgraph::msg::Clock::clock() const
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{
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return m_clock;
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}
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/*!
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* @brief This function returns a reference to member clock
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* @return Reference to member clock
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*/
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builtin_interfaces::msg::Time& rosgraph::msg::Clock::clock()
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{
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return m_clock;
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}
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size_t rosgraph::msg::Clock::getKeyMaxCdrSerializedSize(
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size_t current_alignment)
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{
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static_cast<void>(current_alignment);
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return rosgraph_msg_Clock_max_key_cdr_typesize;
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}
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bool rosgraph::msg::Clock::isKeyDefined()
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{
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return false;
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}
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void rosgraph::msg::Clock::serializeKey(
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eprosima::fastcdr::Cdr& scdr) const
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{
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(void) scdr;
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}
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@ -0,0 +1,214 @@
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// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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/*!
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* @file Clock.h
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* This header file contains the declaration of the described types in the IDL file.
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*
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* This file was generated by the tool gen.
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*/
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#ifndef _FAST_DDS_GENERATED_ROSGRAPH_MSG_CLOCK_H_
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#define _FAST_DDS_GENERATED_ROSGRAPH_MSG_CLOCK_H_
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#include "Time.h"
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#include <fastrtps/utils/fixed_size_string.hpp>
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#include <stdint.h>
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#include <array>
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#include <string>
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#include <vector>
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#include <map>
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#include <bitset>
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#if defined(_WIN32)
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#if defined(EPROSIMA_USER_DLL_EXPORT)
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#define eProsima_user_DllExport __declspec( dllexport )
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#else
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#define eProsima_user_DllExport
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#endif // EPROSIMA_USER_DLL_EXPORT
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#else
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#define eProsima_user_DllExport
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#endif // _WIN32
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#if defined(_WIN32)
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#if defined(EPROSIMA_USER_DLL_EXPORT)
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#if defined(CLOCK_SOURCE)
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#define CLOCK_DllAPI __declspec( dllexport )
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#else
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#define CLOCK_DllAPI __declspec( dllimport )
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#endif // CLOCK_SOURCE
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#else
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#define CLOCK_DllAPI
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#endif // EPROSIMA_USER_DLL_EXPORT
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#else
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#define CLOCK_DllAPI
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#endif // _WIN32
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namespace eprosima {
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namespace fastcdr {
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class Cdr;
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} // namespace fastcdr
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} // namespace eprosima
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namespace rosgraph {
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namespace msg {
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/*!
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* @brief This class represents the structure Clock defined by the user in the IDL file.
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* @ingroup Clock
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*/
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class Clock
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{
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public:
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/*!
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* @brief Default constructor.
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*/
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eProsima_user_DllExport Clock();
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/*!
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* @brief Default destructor.
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*/
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eProsima_user_DllExport ~Clock();
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/*!
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* @brief Copy constructor.
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* @param x Reference to the object rosgraph::msg::Clock that will be copied.
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*/
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eProsima_user_DllExport Clock(
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const Clock& x);
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/*!
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* @brief Move constructor.
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* @param x Reference to the object rosgraph::msg::Clock that will be copied.
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*/
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eProsima_user_DllExport Clock(
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Clock&& x) noexcept;
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/*!
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* @brief Copy assignment.
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* @param x Reference to the object rosgraph::msg::Clock that will be copied.
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*/
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eProsima_user_DllExport Clock& operator =(
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const Clock& x);
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/*!
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* @brief Move assignment.
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* @param x Reference to the object rosgraph::msg::Clock that will be copied.
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*/
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eProsima_user_DllExport Clock& operator =(
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Clock&& x) noexcept;
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/*!
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* @brief Comparison operator.
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* @param x rosgraph::msg::Clock object to compare.
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*/
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eProsima_user_DllExport bool operator ==(
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const Clock& x) const;
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/*!
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* @brief Comparison operator.
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* @param x rosgraph::msg::Clock object to compare.
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*/
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eProsima_user_DllExport bool operator !=(
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const Clock& x) const;
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/*!
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* @brief This function copies the value in member clock
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* @param _clock New value to be copied in member clock
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*/
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eProsima_user_DllExport void clock(
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const builtin_interfaces::msg::Time& _clock);
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/*!
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* @brief This function moves the value in member clock
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* @param _clock New value to be moved in member clock
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*/
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eProsima_user_DllExport void clock(
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builtin_interfaces::msg::Time&& _clock);
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/*!
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* @brief This function returns a constant reference to member clock
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* @return Constant reference to member clock
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*/
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eProsima_user_DllExport const builtin_interfaces::msg::Time& clock() const;
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/*!
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* @brief This function returns a reference to member clock
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* @return Reference to member clock
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*/
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eProsima_user_DllExport builtin_interfaces::msg::Time& clock();
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/*!
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* @brief This function returns the maximum serialized size of an object
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* depending on the buffer alignment.
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* @param current_alignment Buffer alignment.
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* @return Maximum serialized size.
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*/
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eProsima_user_DllExport static size_t getMaxCdrSerializedSize(
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size_t current_alignment = 0);
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/*!
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* @brief This function returns the serialized size of a data depending on the buffer alignment.
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* @param data Data which is calculated its serialized size.
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* @param current_alignment Buffer alignment.
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* @return Serialized size.
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*/
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eProsima_user_DllExport static size_t getCdrSerializedSize(
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const rosgraph::msg::Clock& data,
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size_t current_alignment = 0);
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/*!
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* @brief This function serializes an object using CDR serialization.
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* @param cdr CDR serialization object.
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*/
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eProsima_user_DllExport void serialize(
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eprosima::fastcdr::Cdr& cdr) const;
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/*!
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* @brief This function deserializes an object using CDR serialization.
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* @param cdr CDR serialization object.
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*/
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eProsima_user_DllExport void deserialize(
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eprosima::fastcdr::Cdr& cdr);
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/*!
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* @brief This function returns the maximum serialized size of the Key of an object
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* depending on the buffer alignment.
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* @param current_alignment Buffer alignment.
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* @return Maximum serialized size.
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*/
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eProsima_user_DllExport static size_t getKeyMaxCdrSerializedSize(
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size_t current_alignment = 0);
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/*!
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* @brief This function tells you if the Key has been defined for this type
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*/
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eProsima_user_DllExport static bool isKeyDefined();
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/*!
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* @brief This function serializes the key members of an object using CDR serialization.
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* @param cdr CDR serialization object.
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*/
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eProsima_user_DllExport void serializeKey(
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eprosima::fastcdr::Cdr& cdr) const;
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private:
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builtin_interfaces::msg::Time m_clock;
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};
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} // namespace msg
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} // namespace rosgraph
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#endif // _FAST_DDS_GENERATED_ROSGRAPH_MSG_CLOCK_H_
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@ -0,0 +1,172 @@
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// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
|
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
|
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// distributed under the License is distributed on an "AS IS" BASIS,
|
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
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// See the License for the specific language governing permissions and
|
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// limitations under the License.
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/*!
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* @file ClockPubSubTypes.cpp
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* This header file contains the implementation of the serialization functions.
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*
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* This file was generated by the tool fastcdrgen.
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*/
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#include <fastcdr/FastBuffer.h>
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#include <fastcdr/Cdr.h>
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#include "ClockPubSubTypes.h"
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using SerializedPayload_t = eprosima::fastrtps::rtps::SerializedPayload_t;
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using InstanceHandle_t = eprosima::fastrtps::rtps::InstanceHandle_t;
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namespace rosgraph {
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namespace msg {
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ClockPubSubType::ClockPubSubType()
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{
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setName("rosgraph::msg::dds_::Clock_");
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auto type_size = Clock::getMaxCdrSerializedSize();
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type_size += eprosima::fastcdr::Cdr::alignment(type_size, 4); /* possible submessage alignment */
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m_typeSize = static_cast<uint32_t>(type_size) + 4; /*encapsulation*/
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m_isGetKeyDefined = Clock::isKeyDefined();
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size_t keyLength = Clock::getKeyMaxCdrSerializedSize() > 16 ?
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Clock::getKeyMaxCdrSerializedSize() : 16;
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m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
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memset(m_keyBuffer, 0, keyLength);
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}
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ClockPubSubType::~ClockPubSubType()
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{
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if (m_keyBuffer != nullptr)
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{
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free(m_keyBuffer);
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}
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}
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bool ClockPubSubType::serialize(
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void* data,
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SerializedPayload_t* payload)
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{
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Clock* p_type = static_cast<Clock*>(data);
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// Object that manages the raw buffer.
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eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->max_size);
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// Object that serializes the data.
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eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN, eprosima::fastcdr::Cdr::DDS_CDR);
|
||||
payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
|
||||
|
||||
try
|
||||
{
|
||||
// Serialize encapsulation
|
||||
ser.serialize_encapsulation();
|
||||
// Serialize the object.
|
||||
p_type->serialize(ser);
|
||||
}
|
||||
catch (eprosima::fastcdr::exception::Exception& /*exception*/)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
// Get the serialized length
|
||||
payload->length = static_cast<uint32_t>(ser.getSerializedDataLength());
|
||||
return true;
|
||||
}
|
||||
|
||||
bool ClockPubSubType::deserialize(
|
||||
SerializedPayload_t* payload,
|
||||
void* data)
|
||||
{
|
||||
try
|
||||
{
|
||||
// Convert DATA to pointer of your type
|
||||
Clock* p_type = static_cast<Clock*>(data);
|
||||
|
||||
// Object that manages the raw buffer.
|
||||
eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length);
|
||||
|
||||
// Object that deserializes the data.
|
||||
eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN, eprosima::fastcdr::Cdr::DDS_CDR);
|
||||
|
||||
// Deserialize encapsulation.
|
||||
deser.read_encapsulation();
|
||||
payload->encapsulation = deser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
|
||||
|
||||
// Deserialize the object.
|
||||
p_type->deserialize(deser);
|
||||
}
|
||||
catch (eprosima::fastcdr::exception::Exception& /*exception*/)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
std::function<uint32_t()> ClockPubSubType::getSerializedSizeProvider(
|
||||
void* data)
|
||||
{
|
||||
return [data]() -> uint32_t
|
||||
{
|
||||
return static_cast<uint32_t>(type::getCdrSerializedSize(*static_cast<Clock*>(data))) +
|
||||
4u /*encapsulation*/;
|
||||
};
|
||||
}
|
||||
|
||||
void* ClockPubSubType::createData()
|
||||
{
|
||||
return reinterpret_cast<void*>(new Clock());
|
||||
}
|
||||
|
||||
void ClockPubSubType::deleteData(
|
||||
void* data)
|
||||
{
|
||||
delete(reinterpret_cast<Clock*>(data));
|
||||
}
|
||||
|
||||
bool ClockPubSubType::getKey(
|
||||
void* data,
|
||||
InstanceHandle_t* handle,
|
||||
bool force_md5)
|
||||
{
|
||||
if (!m_isGetKeyDefined)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
Clock* p_type = static_cast<Clock*>(data);
|
||||
|
||||
// Object that manages the raw buffer.
|
||||
eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),
|
||||
Clock::getKeyMaxCdrSerializedSize());
|
||||
|
||||
// Object that serializes the data.
|
||||
eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS);
|
||||
p_type->serializeKey(ser);
|
||||
if (force_md5 || Clock::getKeyMaxCdrSerializedSize() > 16)
|
||||
{
|
||||
m_md5.init();
|
||||
m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
|
||||
m_md5.finalize();
|
||||
for (uint8_t i = 0; i < 16; ++i)
|
||||
{
|
||||
handle->value[i] = m_md5.digest[i];
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
for (uint8_t i = 0; i < 16; ++i)
|
||||
{
|
||||
handle->value[i] = m_keyBuffer[i];
|
||||
}
|
||||
}
|
||||
return true;
|
||||
}
|
||||
} //End of namespace msg
|
||||
} //End of namespace rosgraph
|
||||
|
|
@ -0,0 +1,105 @@
|
|||
// 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.
|
||||
|
||||
/*!
|
||||
* @file ClockPubSubTypes.h
|
||||
* This header file contains the declaration of the serialization functions.
|
||||
*
|
||||
* This file was generated by the tool fastcdrgen.
|
||||
*/
|
||||
|
||||
#ifndef _FAST_DDS_GENERATED_ROSGRAPH_MSG_CLOCK_PUBSUBTYPES_H_
|
||||
#define _FAST_DDS_GENERATED_ROSGRAPH_MSG_CLOCK_PUBSUBTYPES_H_
|
||||
|
||||
#include <fastdds/dds/topic/TopicDataType.hpp>
|
||||
#include <fastrtps/utils/md5.h>
|
||||
|
||||
#include "Clock.h"
|
||||
|
||||
#if !defined(GEN_API_VER) || (GEN_API_VER != 1)
|
||||
#error \
|
||||
Generated Clock is not compatible with current installed Fast DDS. Please, regenerate it with fastddsgen.
|
||||
#endif // GEN_API_VER
|
||||
|
||||
namespace rosgraph
|
||||
{
|
||||
namespace msg
|
||||
{
|
||||
/*!
|
||||
* @brief This class represents the TopicDataType of the type Clock defined by the user in the IDL file.
|
||||
* @ingroup Clock
|
||||
*/
|
||||
class ClockPubSubType : public eprosima::fastdds::dds::TopicDataType
|
||||
{
|
||||
public:
|
||||
|
||||
typedef Clock type;
|
||||
|
||||
eProsima_user_DllExport ClockPubSubType();
|
||||
|
||||
eProsima_user_DllExport virtual ~ClockPubSubType() override;
|
||||
|
||||
eProsima_user_DllExport virtual bool serialize(
|
||||
void* data,
|
||||
eprosima::fastrtps::rtps::SerializedPayload_t* payload) override;
|
||||
|
||||
eProsima_user_DllExport virtual bool deserialize(
|
||||
eprosima::fastrtps::rtps::SerializedPayload_t* payload,
|
||||
void* data) override;
|
||||
|
||||
eProsima_user_DllExport virtual std::function<uint32_t()> getSerializedSizeProvider(
|
||||
void* data) override;
|
||||
|
||||
eProsima_user_DllExport virtual bool getKey(
|
||||
void* data,
|
||||
eprosima::fastrtps::rtps::InstanceHandle_t* ihandle,
|
||||
bool force_md5 = false) override;
|
||||
|
||||
eProsima_user_DllExport virtual void* createData() override;
|
||||
|
||||
eProsima_user_DllExport virtual void deleteData(
|
||||
void* data) override;
|
||||
|
||||
#ifdef TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
|
||||
eProsima_user_DllExport inline bool is_bounded() const override
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
#endif // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
|
||||
|
||||
#ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
|
||||
eProsima_user_DllExport inline bool is_plain() const override
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
#endif // TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
|
||||
|
||||
#ifdef TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
|
||||
eProsima_user_DllExport inline bool construct_sample(
|
||||
void* memory) const override
|
||||
{
|
||||
(void)memory;
|
||||
return false;
|
||||
}
|
||||
|
||||
#endif // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
|
||||
MD5 m_md5;
|
||||
unsigned char* m_keyBuffer;
|
||||
};
|
||||
}
|
||||
}
|
||||
|
||||
#endif // _FAST_DDS_GENERATED_ROSGRAPH_MSG_CLOCK_PUBSUBTYPES_H_
|
||||
Loading…
Reference in New Issue