S Morita / mbed-mros2

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Dependents:   mbed-os-example-mros2 example-mbed-mros2-sub-pose example-mbed-mros2-pub-twist example-mbed-mros2-mturtle-teleop

include/mros2.h@0:580aba13d1a1, 2021-12-30 (annotated)

Committer:
smoritaemb
Date:
Thu Dec 30 21:06:29 2021 +0900
Revision:
0:580aba13d1a1
Updated to catch up to mros2 v2.3

Who changed what in which revision?

UserRevisionLine numberNew contents of line
smoritaemb 0:580aba13d1a1 1 #ifndef MROS2_MROS2_H
smoritaemb 0:580aba13d1a1 2 #define MROS2_MROS2_H
smoritaemb 0:580aba13d1a1 3
smoritaemb 0:580aba13d1a1 4 #include <string>
smoritaemb 0:580aba13d1a1 5 #include "rtps/rtps.h"
smoritaemb 0:580aba13d1a1 6 #ifndef __MBED__
smoritaemb 0:580aba13d1a1 7 #include "lwip.h"
smoritaemb 0:580aba13d1a1 8 #endif /* __MBED__ */
smoritaemb 0:580aba13d1a1 9 #include "mros2/logging.h"
smoritaemb 0:580aba13d1a1 10
smoritaemb 0:580aba13d1a1 11 /* Statement to avoid link error */
smoritaemb 0:580aba13d1a1 12 #ifdef __cplusplus
smoritaemb 0:580aba13d1a1 13 extern void* __dso_handle;
smoritaemb 0:580aba13d1a1 14 #endif
smoritaemb 0:580aba13d1a1 15
smoritaemb 0:580aba13d1a1 16 namespace mros2
smoritaemb 0:580aba13d1a1 17 {
smoritaemb 0:580aba13d1a1 18
smoritaemb 0:580aba13d1a1 19 void init(int argc, char * argv[]);
smoritaemb 0:580aba13d1a1 20
smoritaemb 0:580aba13d1a1 21 #ifdef __cplusplus
smoritaemb 0:580aba13d1a1 22 extern "C" {
smoritaemb 0:580aba13d1a1 23 #endif
smoritaemb 0:580aba13d1a1 24 void mros2_init(void *arg);
smoritaemb 0:580aba13d1a1 25 #ifdef __cplusplus
smoritaemb 0:580aba13d1a1 26 }
smoritaemb 0:580aba13d1a1 27 #endif
smoritaemb 0:580aba13d1a1 28
smoritaemb 0:580aba13d1a1 29 class Node;
smoritaemb 0:580aba13d1a1 30 class Publisher;
smoritaemb 0:580aba13d1a1 31 class Subscriber;
smoritaemb 0:580aba13d1a1 32
smoritaemb 0:580aba13d1a1 33 /* TODO: move to node.h/cpp? */
smoritaemb 0:580aba13d1a1 34 class Node
smoritaemb 0:580aba13d1a1 35 {
smoritaemb 0:580aba13d1a1 36 public:
smoritaemb 0:580aba13d1a1 37 static Node create_node(
smoritaemb 0:580aba13d1a1 38 std::string node_name
smoritaemb 0:580aba13d1a1 39 );
smoritaemb 0:580aba13d1a1 40
smoritaemb 0:580aba13d1a1 41 template <class T>
smoritaemb 0:580aba13d1a1 42 Publisher create_publisher(
smoritaemb 0:580aba13d1a1 43 std::string topic_name,
smoritaemb 0:580aba13d1a1 44 int qos
smoritaemb 0:580aba13d1a1 45 );
smoritaemb 0:580aba13d1a1 46
smoritaemb 0:580aba13d1a1 47 template <class T>
smoritaemb 0:580aba13d1a1 48 Subscriber create_subscription(
smoritaemb 0:580aba13d1a1 49 std::string topic_name,
smoritaemb 0:580aba13d1a1 50 int qos,
smoritaemb 0:580aba13d1a1 51 void (*fp)(T*)
smoritaemb 0:580aba13d1a1 52 );
smoritaemb 0:580aba13d1a1 53
smoritaemb 0:580aba13d1a1 54 std::string node_name;
smoritaemb 0:580aba13d1a1 55 rtps::Participant* part;
smoritaemb 0:580aba13d1a1 56
smoritaemb 0:580aba13d1a1 57 private:
smoritaemb 0:580aba13d1a1 58
smoritaemb 0:580aba13d1a1 59 };
smoritaemb 0:580aba13d1a1 60
smoritaemb 0:580aba13d1a1 61 class Publisher
smoritaemb 0:580aba13d1a1 62 {
smoritaemb 0:580aba13d1a1 63 public:
smoritaemb 0:580aba13d1a1 64 std::string topic_name;
smoritaemb 0:580aba13d1a1 65 template <class T>
smoritaemb 0:580aba13d1a1 66 void publish(T& msg);
smoritaemb 0:580aba13d1a1 67 };
smoritaemb 0:580aba13d1a1 68
smoritaemb 0:580aba13d1a1 69 class Subscriber
smoritaemb 0:580aba13d1a1 70 {
smoritaemb 0:580aba13d1a1 71 public:
smoritaemb 0:580aba13d1a1 72 std::string topic_name;
smoritaemb 0:580aba13d1a1 73 template <class T>
smoritaemb 0:580aba13d1a1 74 static void callback_handler(
smoritaemb 0:580aba13d1a1 75 void* callee,
smoritaemb 0:580aba13d1a1 76 const rtps::ReaderCacheChange& cacheChange
smoritaemb 0:580aba13d1a1 77 );
smoritaemb 0:580aba13d1a1 78 void (*cb_fp)(intptr_t);
smoritaemb 0:580aba13d1a1 79 private:
smoritaemb 0:580aba13d1a1 80 };
smoritaemb 0:580aba13d1a1 81
smoritaemb 0:580aba13d1a1 82 void spin();
smoritaemb 0:580aba13d1a1 83
smoritaemb 0:580aba13d1a1 84 } /* namespace mros2 */
smoritaemb 0:580aba13d1a1 85
smoritaemb 0:580aba13d1a1 86 namespace message_traits
smoritaemb 0:580aba13d1a1 87 {
smoritaemb 0:580aba13d1a1 88 template <class T>
smoritaemb 0:580aba13d1a1 89 struct TypeName {
smoritaemb 0:580aba13d1a1 90 static const char* value();
smoritaemb 0:580aba13d1a1 91 };
smoritaemb 0:580aba13d1a1 92 } /* namespace message_traits */
smoritaemb 0:580aba13d1a1 93
smoritaemb 0:580aba13d1a1 94 #endif /* MROS2_MROS2_H */