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Refs #3552 - Adapt to new XML profiles

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This commit is contained in:
Javier JM. Moreno
2018-10-31 15:09:09 +01:00
committed by Borja Outerelo
parent bb1fe9561c
commit d66fa96f30
2 changed files with 49 additions and 72 deletions
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uROS_Agent/resource/StaticValues.xml
+23 -38
View File
@@ -1,39 +1,24 @@
<participant profile_name="participant_profile">
<rtps>
<builtin>
<leaseDuration>
<durationbyname>INFINITE</durationbyname>
</leaseDuration>
<domainId>0</domainId>
</builtin>
<name>DataReader_participant_subscriber</name>
</rtps>
</participant>
<publisher profile_name="publisher_profile">
<topic>
<kind>WITH_KEY</kind>
<name>Square</name>
<dataType>ShapeType</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>5</depth>
</historyQos>
<durability>
<kind>TRANSIENT_LOCAL</kind>
</durability>
<participant profile_name="default_xrce_participant">
<rtps>
<name>default_xrce_participant</name>
</rtps>
</participant>
<data_writer profile_name="shapetype_data_writer">
<topic>
<kind>WITH_KEY</kind>
<name>Square</name>
<dataType>ShapeType</dataType>
</topic>
</data_writer>
<data_reader profile_name="shapetype_data_reader">
<topic>
<kind>WITH_KEY</kind>
<name>Square</name>
<dataType>ShapeType</dataType>
</topic>
</data_reader>
<topic profile_name="shapetype_topic">
<kind>WITH_KEY</kind>
<name>Square</name>
<dataType>ShapeType</dataType>
</topic>
</publisher>
<subscriber profile_name="subscriber_profile">
<topic>
<kind>WITH_KEY</kind>
<name>Square</name>
<dataType>ShapeType</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>5</depth>
</historyQos>
<durability>
<kind>TRANSIENT_LOCAL</kind>
</durability>
</topic>
</subscriber>
uROS_Agent/uros_agent/__init__.py
+26 -34
View File
@@ -165,45 +165,37 @@ def generate_XML(args):
src_file = os.path.join(srcs_dir, "%s_%s_%s.xml" % (spec.base_type.pkg_name, subfolder, spec.msg_name))
# Publisher
file_content = " <publisher profile_name=\"%s_%s_%s_p\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " <kind>NO_KEY</kind>\n"
file_content += " <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " <historyQos>\n"
file_content += " <kind>KEEP_LAST</kind>\n"
file_content += " <depth>5</depth>\n"
file_content += " </historyQos>\n"
file_content += " <durability>\n"
file_content += " <kind>TRANSIENT_LOCAL</kind>\n"
file_content += " </durability>\n"
file_content += " </topic>\n"
file_content += " </publisher>\n"
# Data writer
#file_content = " <dds>\n"
file_content = " <data_writer profile_name=\"%s_%s_%s_p\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " <kind>NO_KEY</kind>\n"
file_content += " <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " </topic>\n"
file_content += " </data_writer>\n"
#file_content += " </dds>\n"
# Subscriber
file_content += " <subscriber profile_name=\"%s_%s_%s_s\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " <kind>NO_KEY</kind>\n"
file_content += " <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " <historyQos>\n"
file_content += " <kind>KEEP_LAST</kind>\n"
file_content += " <depth>5</depth>\n"
file_content += " </historyQos>\n"
file_content += " <durability>\n"
file_content += " <kind>TRANSIENT_LOCAL</kind>\n"
file_content += " </durability>\n"
file_content += " </topic>\n"
file_content += " </subscriber>\n"
# Data reader
#file_content += " <dds>\n"
file_content += " <data_reader profile_name=\"%s_%s_%s_s\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " <kind>NO_KEY</kind>\n"
file_content += " <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " </topic>\n"
file_content += " </data_reader>\n"
#file_content += " </dds>\n"
# Topic
file_content += " <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " </topic>\n"
#file_content += " <dds>\n"
file_content += " <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " </topic>\n"
#file_content += " </dds>\n"
# Write file content