changed clock to be rosgraph

LibCarla/source/carla/ros2/publishers/CarlaClockPublisher.cpp

@@ -4,7 +4,7 @@
 
 #include <string>
 
-#include "carla/ros2/types/TimePubSubTypes.h"
+#include "carla/ros2/types/ClockPubSubTypes.h"
 #include "carla/ros2/listeners/CarlaListener.h"
 
 #include <fastdds/dds/domain/DomainParticipant.hpp>
@@ -34,9 +34,9 @@ namespace ros2 {
     efd::Publisher* _publisher { nullptr };
     efd::Topic* _topic { nullptr };
     efd::DataWriter* _datawriter { nullptr };
-    efd::TypeSupport _type { new builtin_interfaces::msg::TimePubSubType() };
+    efd::TypeSupport _type { new rosgraph::msg::ClockPubSubType() };
     CarlaListener _listener {};
-    builtin_interfaces::msg::Time _time {};
+    rosgraph::msg::Clock _clock {};
   };
 
   bool CarlaClockPublisher::Init() {
@@ -82,7 +82,7 @@ namespace ros2 {
 
   bool CarlaClockPublisher::Publish() {
     eprosima::fastrtps::rtps::InstanceHandle_t instance_handle;
-    eprosima::fastrtps::types::ReturnCode_t rcode = _impl->_datawriter->write(&_impl->_time, instance_handle);
+    eprosima::fastrtps::types::ReturnCode_t rcode = _impl->_datawriter->write(&_impl->_clock, instance_handle);
     if (rcode == erc::ReturnCodeValue::RETCODE_OK) {
         return true;
     }
@@ -143,8 +143,8 @@ namespace ros2 {
   }
 
   void CarlaClockPublisher::SetData(int32_t sec, uint32_t nanosec) {
-    _impl->_time.sec(sec);
+    _impl->_clock.clock().sec(sec);
-    _impl->_time.nanosec(nanosec);
+    _impl->_clock.clock().nanosec(nanosec);
   }
 
   CarlaClockPublisher::CarlaClockPublisher(const char* ros_name, const char* parent) :

LibCarla/source/carla/ros2/types/Clock.cpp

@@ -0,0 +1,174 @@
+// 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 Clock.cpp
+ * This source file contains the definition of the described types in the IDL file.
+ *
+ * This file was generated by the tool gen.
+ */
+
+#ifdef _WIN32
+// Remove linker warning LNK4221 on Visual Studio
+namespace {
+char dummy;
+}  // namespace
+#endif  // _WIN32
+
+#include "Clock.h"
+#include <fastcdr/Cdr.h>
+
+#include <fastcdr/exceptions/BadParamException.h>
+using namespace eprosima::fastcdr::exception;
+
+#include <utility>
+
+#define Time_max_cdr_typesize 0ULL;
+#define rosgraph_msg_Clock_max_cdr_typesize 0ULL;
+#define Time_max_key_cdr_typesize 0ULL;
+#define rosgraph_msg_Clock_max_key_cdr_typesize 0ULL;
+
+rosgraph::msg::Clock::Clock()
+{
+}
+
+rosgraph::msg::Clock::~Clock()
+{
+}
+
+rosgraph::msg::Clock::Clock(
+        const rosgraph::msg::Clock& x)
+{
+    m_clock = x.m_clock;
+}
+
+rosgraph::msg::Clock::Clock(
+        rosgraph::msg::Clock&& x) noexcept
+{
+    m_clock = x.m_clock;
+}
+
+rosgraph::msg::Clock& rosgraph::msg::Clock::operator =(
+        const rosgraph::msg::Clock& x)
+{
+    m_clock = x.m_clock;
+    return *this;
+}
+
+rosgraph::msg::Clock& rosgraph::msg::Clock::operator =(
+        rosgraph::msg::Clock&& x) noexcept
+{
+    m_clock = x.m_clock;
+    return *this;
+}
+
+bool rosgraph::msg::Clock::operator ==(
+        const Clock& x) const
+{
+    return (m_clock == x.m_clock);
+}
+
+bool rosgraph::msg::Clock::operator !=(
+        const Clock& x) const
+{
+    return !(*this == x);
+}
+
+size_t rosgraph::msg::Clock::getMaxCdrSerializedSize(
+        size_t current_alignment)
+{
+    static_cast<void>(current_alignment);
+    return rosgraph_msg_Clock_max_cdr_typesize;
+}
+
+size_t rosgraph::msg::Clock::getCdrSerializedSize(
+        const rosgraph::msg::Clock& data,
+        size_t current_alignment)
+{
+    (void)data;
+    size_t initial_alignment = current_alignment;
+
+
+    current_alignment += builtin_interfaces::msg::Time::getCdrSerializedSize(data.clock(), current_alignment);
+
+    return current_alignment - initial_alignment;
+}
+
+void rosgraph::msg::Clock::serialize(
+        eprosima::fastcdr::Cdr& scdr) const
+{
+    scdr << m_clock;
+}
+
+void rosgraph::msg::Clock::deserialize(
+        eprosima::fastcdr::Cdr& dcdr)
+{
+    dcdr >> m_clock;
+}
+
+/*!
+ * @brief This function copies the value in member clock
+ * @param _clock New value to be copied in member clock
+ */
+void rosgraph::msg::Clock::clock(
+        const builtin_interfaces::msg::Time& _clock)
+{
+    m_clock = _clock;
+}
+
+/*!
+ * @brief This function moves the value in member clock
+ * @param _clock New value to be moved in member clock
+ */
+void rosgraph::msg::Clock::clock(
+        builtin_interfaces::msg::Time&& _clock)
+{
+    m_clock = std::move(_clock);
+}
+
+/*!
+ * @brief This function returns a constant reference to member clock
+ * @return Constant reference to member clock
+ */
+const builtin_interfaces::msg::Time& rosgraph::msg::Clock::clock() const
+{
+    return m_clock;
+}
+
+/*!
+ * @brief This function returns a reference to member clock
+ * @return Reference to member clock
+ */
+builtin_interfaces::msg::Time& rosgraph::msg::Clock::clock()
+{
+    return m_clock;
+}
+
+size_t rosgraph::msg::Clock::getKeyMaxCdrSerializedSize(
+        size_t current_alignment)
+{
+    static_cast<void>(current_alignment);
+    return rosgraph_msg_Clock_max_key_cdr_typesize;
+}
+
+bool rosgraph::msg::Clock::isKeyDefined()
+{
+    return false;
+}
+
+void rosgraph::msg::Clock::serializeKey(
+        eprosima::fastcdr::Cdr& scdr) const
+{
+    (void) scdr;
+}

LibCarla/source/carla/ros2/types/Clock.h

@@ -0,0 +1,214 @@
+// 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 Clock.h
+ * This header file contains the declaration of the described types in the IDL file.
+ *
+ * This file was generated by the tool gen.
+ */
+
+#ifndef _FAST_DDS_GENERATED_ROSGRAPH_MSG_CLOCK_H_
+#define _FAST_DDS_GENERATED_ROSGRAPH_MSG_CLOCK_H_
+
+#include "Time.h"
+
+#include <fastrtps/utils/fixed_size_string.hpp>
+
+#include <stdint.h>
+#include <array>
+#include <string>
+#include <vector>
+#include <map>
+#include <bitset>
+
+#if defined(_WIN32)
+#if defined(EPROSIMA_USER_DLL_EXPORT)
+#define eProsima_user_DllExport __declspec( dllexport )
+#else
+#define eProsima_user_DllExport
+#endif  // EPROSIMA_USER_DLL_EXPORT
+#else
+#define eProsima_user_DllExport
+#endif  // _WIN32
+
+#if defined(_WIN32)
+#if defined(EPROSIMA_USER_DLL_EXPORT)
+#if defined(CLOCK_SOURCE)
+#define CLOCK_DllAPI __declspec( dllexport )
+#else
+#define CLOCK_DllAPI __declspec( dllimport )
+#endif // CLOCK_SOURCE
+#else
+#define CLOCK_DllAPI
+#endif  // EPROSIMA_USER_DLL_EXPORT
+#else
+#define CLOCK_DllAPI
+#endif // _WIN32
+
+namespace eprosima {
+namespace fastcdr {
+class Cdr;
+} // namespace fastcdr
+} // namespace eprosima
+
+namespace rosgraph {
+    namespace msg {
+        /*!
+         * @brief This class represents the structure Clock defined by the user in the IDL file.
+         * @ingroup Clock
+         */
+        class Clock
+        {
+        public:
+
+            /*!
+             * @brief Default constructor.
+             */
+            eProsima_user_DllExport Clock();
+
+            /*!
+             * @brief Default destructor.
+             */
+            eProsima_user_DllExport ~Clock();
+
+            /*!
+             * @brief Copy constructor.
+             * @param x Reference to the object rosgraph::msg::Clock that will be copied.
+             */
+            eProsima_user_DllExport Clock(
+                    const Clock& x);
+
+            /*!
+             * @brief Move constructor.
+             * @param x Reference to the object rosgraph::msg::Clock that will be copied.
+             */
+            eProsima_user_DllExport Clock(
+                    Clock&& x) noexcept;
+
+            /*!
+             * @brief Copy assignment.
+             * @param x Reference to the object rosgraph::msg::Clock that will be copied.
+             */
+            eProsima_user_DllExport Clock& operator =(
+                    const Clock& x);
+
+            /*!
+             * @brief Move assignment.
+             * @param x Reference to the object rosgraph::msg::Clock that will be copied.
+             */
+            eProsima_user_DllExport Clock& operator =(
+                    Clock&& x) noexcept;
+
+            /*!
+             * @brief Comparison operator.
+             * @param x rosgraph::msg::Clock object to compare.
+             */
+            eProsima_user_DllExport bool operator ==(
+                    const Clock& x) const;
+
+            /*!
+             * @brief Comparison operator.
+             * @param x rosgraph::msg::Clock object to compare.
+             */
+            eProsima_user_DllExport bool operator !=(
+                    const Clock& x) const;
+
+            /*!
+             * @brief This function copies the value in member clock
+             * @param _clock New value to be copied in member clock
+             */
+            eProsima_user_DllExport void clock(
+                    const builtin_interfaces::msg::Time& _clock);
+
+            /*!
+             * @brief This function moves the value in member clock
+             * @param _clock New value to be moved in member clock
+             */
+            eProsima_user_DllExport void clock(
+                    builtin_interfaces::msg::Time&& _clock);
+
+            /*!
+             * @brief This function returns a constant reference to member clock
+             * @return Constant reference to member clock
+             */
+            eProsima_user_DllExport const builtin_interfaces::msg::Time& clock() const;
+
+            /*!
+             * @brief This function returns a reference to member clock
+             * @return Reference to member clock
+             */
+            eProsima_user_DllExport builtin_interfaces::msg::Time& clock();
+
+            /*!
+            * @brief This function returns the maximum serialized size of an object
+            * depending on the buffer alignment.
+            * @param current_alignment Buffer alignment.
+            * @return Maximum serialized size.
+            */
+            eProsima_user_DllExport static size_t getMaxCdrSerializedSize(
+                    size_t current_alignment = 0);
+
+            /*!
+             * @brief This function returns the serialized size of a data depending on the buffer alignment.
+             * @param data Data which is calculated its serialized size.
+             * @param current_alignment Buffer alignment.
+             * @return Serialized size.
+             */
+            eProsima_user_DllExport static size_t getCdrSerializedSize(
+                    const rosgraph::msg::Clock& data,
+                    size_t current_alignment = 0);
+
+            /*!
+             * @brief This function serializes an object using CDR serialization.
+             * @param cdr CDR serialization object.
+             */
+            eProsima_user_DllExport void serialize(
+                    eprosima::fastcdr::Cdr& cdr) const;
+
+            /*!
+             * @brief This function deserializes an object using CDR serialization.
+             * @param cdr CDR serialization object.
+             */
+            eProsima_user_DllExport void deserialize(
+                    eprosima::fastcdr::Cdr& cdr);
+
+            /*!
+             * @brief This function returns the maximum serialized size of the Key of an object
+             * depending on the buffer alignment.
+             * @param current_alignment Buffer alignment.
+             * @return Maximum serialized size.
+             */
+            eProsima_user_DllExport static size_t getKeyMaxCdrSerializedSize(
+                    size_t current_alignment = 0);
+
+            /*!
+             * @brief This function tells you if the Key has been defined for this type
+             */
+            eProsima_user_DllExport static bool isKeyDefined();
+
+            /*!
+             * @brief This function serializes the key members of an object using CDR serialization.
+             * @param cdr CDR serialization object.
+             */
+            eProsima_user_DllExport void serializeKey(
+                    eprosima::fastcdr::Cdr& cdr) const;
+
+        private:
+            builtin_interfaces::msg::Time m_clock;
+        };
+    } // namespace msg
+} // namespace rosgraph
+
+#endif // _FAST_DDS_GENERATED_ROSGRAPH_MSG_CLOCK_H_

LibCarla/source/carla/ros2/types/ClockPubSubTypes.cpp

@@ -0,0 +1,172 @@
+// 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.cpp
+ * This header file contains the implementation of the serialization functions.
+ *
+ * This file was generated by the tool fastcdrgen.
+ */
+
+#include <fastcdr/FastBuffer.h>
+#include <fastcdr/Cdr.h>
+
+#include "ClockPubSubTypes.h"
+
+using SerializedPayload_t = eprosima::fastrtps::rtps::SerializedPayload_t;
+using InstanceHandle_t = eprosima::fastrtps::rtps::InstanceHandle_t;
+
+namespace rosgraph {
+    namespace msg {
+        ClockPubSubType::ClockPubSubType()
+        {
+            setName("rosgraph::msg::dds_::Clock_");
+            auto type_size = Clock::getMaxCdrSerializedSize();
+            type_size += eprosima::fastcdr::Cdr::alignment(type_size, 4); /* possible submessage alignment */
+            m_typeSize = static_cast<uint32_t>(type_size) + 4; /*encapsulation*/
+            m_isGetKeyDefined = Clock::isKeyDefined();
+            size_t keyLength = Clock::getKeyMaxCdrSerializedSize() > 16 ?
+                    Clock::getKeyMaxCdrSerializedSize() : 16;
+            m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
+            memset(m_keyBuffer, 0, keyLength);
+        }
+
+        ClockPubSubType::~ClockPubSubType()
+        {
+            if (m_keyBuffer != nullptr)
+            {
+                free(m_keyBuffer);
+            }
+        }
+
+        bool ClockPubSubType::serialize(
+                void* data,
+                SerializedPayload_t* payload)
+        {
+            Clock* p_type = static_cast<Clock*>(data);
+
+            // Object that manages the raw buffer.
+            eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->max_size);
+            // Object that serializes the data.
+            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

LibCarla/source/carla/ros2/types/ClockPubSubTypes.h

@@ -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_