microRTPS bridge: uORB RTPS ID mandatory; allow pub/sub for multi-topics/alias msgs

msg/templates/uorb_microcdr/microRTPS_client.cpp.em

@@ -18,9 +18,11 @@ import gencpp
 from px_generate_uorb_topic_helper import * # this is in Tools/
 from px_generate_uorb_topic_files import MsgScope # this is in Tools/
 
-topic_names = [single_spec.short_name for single_spec in spec]
-send_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
-recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
+topic_names = [s.short_name for s in spec]
+send_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
+send_base_types = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
+recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
+receive_base_types = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
 }@
 /****************************************************************************
  *
@@ -108,11 +110,11 @@ void* send(void* /*unused*/)
         if (updated)
         {
             // obtained data for the file descriptor
-            struct @(topic)_s data;
+            struct @(send_base_types[idx])_s data;
             // copy raw data into local buffer
             if (orb_copy(ORB_ID(@(topic)), fds[@(idx)], &data) == 0) {
                 /* payload is shifted by header length to make room for header*/
-                serialize_@(topic)(&writer, &data, &data_buffer[header_length], &length);
+                serialize_@(send_base_types[idx])(&writer, &data, &data_buffer[header_length], &length);
 
                 if (0 < (read = transport_node->write((char)@(rtps_message_id(ids, topic)), data_buffer, length)))
                 {
@@ -161,8 +163,8 @@ void micrortps_start_topics(struct timespec &begin, int &total_read, uint32_t &r
     uint8_t topic_ID = 255;
 
     // Declare received topics
-@[for topic in recv_topics]@
-    struct @(topic)_s @(topic)_data;
+@[for idx, topic in enumerate(recv_topics)]@
+    struct @(receive_base_types[idx])_s @(topic)_data;
     orb_advert_t @(topic)_pub = nullptr;
 @[end for]@
 
@@ -188,11 +190,10 @@ void micrortps_start_topics(struct timespec &begin, int &total_read, uint32_t &r
             total_read += read;
             switch (topic_ID)
             {
-@[for topic in recv_topics]@
-
+@[for idx, topic in enumerate(recv_topics)]@
                 case @(rtps_message_id(ids, topic)):
                 {
-                    deserialize_@(topic)(&reader, &@(topic)_data, data_buffer);
+                    deserialize_@(receive_base_types[idx])(&reader, &@(topic)_data, data_buffer);
                     if (!@(topic)_pub) {
                         @(topic)_pub = orb_advertise(ORB_ID(@(topic)), &@(topic)_data);
                     } else {

msg/templates/urtps/Publisher.cpp.em

@@ -15,11 +15,12 @@ import genmsg.msgs
 import gencpp
 from px_generate_uorb_topic_helper import * # this is in Tools/
 
-topic = spec.short_name
+topic = alias if alias else spec.short_name
 }@
 /****************************************************************************
  *
  * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+ * Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are met:

msg/templates/urtps/Publisher.h.em

@@ -15,11 +15,12 @@ import genmsg.msgs
 import gencpp
 from px_generate_uorb_topic_helper import * # this is in Tools/
 
-topic = spec.short_name
+topic = alias if alias else spec.short_name
 }@
 /****************************************************************************
  *
  * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+ * Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are met:

msg/templates/urtps/RtpsTopics.cpp.em

@@ -17,12 +17,13 @@ import gencpp
 from px_generate_uorb_topic_helper import * # this is in Tools/
 from px_generate_uorb_topic_files import MsgScope # this is in Tools/
 
-send_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
-recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
+send_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
+recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
 }@
 /****************************************************************************
  *
  * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+ * Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are met:

msg/templates/urtps/RtpsTopics.h.em

@@ -17,13 +17,13 @@ import gencpp
 from px_generate_uorb_topic_helper import * # this is in Tools/
 from px_generate_uorb_topic_files import MsgScope # this is in Tools/
 
-topic_names = [single_spec.short_name for single_spec in spec]
-send_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
-recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
+send_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
+recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
 }@
 /****************************************************************************
  *
  * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+ * Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are met:

msg/templates/urtps/Subscriber.cpp.em

@@ -15,11 +15,12 @@ import genmsg.msgs
 import gencpp
 from px_generate_uorb_topic_helper import * # this is in Tools/
 
-topic = spec.short_name
+topic = alias if alias else spec.short_name
 }@
 /****************************************************************************
  *
  * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+ * Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are met:

msg/templates/urtps/Subscriber.h.em

@@ -15,11 +15,12 @@ import genmsg.msgs
 import gencpp
 from px_generate_uorb_topic_helper import * # this is in Tools/
 
-topic = spec.short_name
+topic = alias if alias else spec.short_name
 }@
 /****************************************************************************
  *
  * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+ * Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are met:

msg/templates/urtps/microRTPS_agent.cpp.em

@@ -16,9 +16,8 @@ import gencpp
 from px_generate_uorb_topic_helper import * # this is in Tools/
 from px_generate_uorb_topic_files import MsgScope # this is in Tools/
 
-topic_names = [single_spec.short_name for single_spec in spec]
-send_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
-recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
+send_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
+recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
 }@
 /****************************************************************************
  *

msg/templates/urtps/microRTPS_agent_CMakeLists.txt.em

@@ -1,6 +1,7 @@
 ################################################################################
 #
 # Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+# Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions are met:

msg/templates/urtps/microRTPS_transport.h

@@ -1,6 +1,7 @@
 /****************************************************************************
  *
  * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+ * Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are met:

msg/templates/urtps/msg.idl.em

@@ -7,6 +7,7 @@
 @################################################################################
 @#
 @# Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+@# Copyright (C) 2018-2019 PX4 Development Team. All rights reserved.
 @#
 @# Redistribution and use in source and binary forms, with or without
 @# modification, are permitted provided that the following conditions are met:
@@ -42,6 +43,8 @@ from px_generate_uorb_topic_helper import *  # this is in Tools/
 
 builtin_types = set()
 array_types = set()
+
+topic = alias if alias else spec.short_name
 }@
 @#################################################
 @# Searching for serialize function per each field
@@ -71,7 +74,7 @@ def get_idl_type_name(field_type):
 def add_msg_field(field):
     if (not field.is_header):
         if field.is_array:
-            print('    {0}__{1}_array_{2} {3}_;'.format(spec.short_name, str(get_idl_type_name(field.base_type)).replace(" ", "_"), str(field.array_len), field.name))
+            print('    {0}__{1}_array_{2} {3}_;'.format(topic, str(get_idl_type_name(field.base_type)).replace(" ", "_"), str(field.array_len), field.name))
         else:
             base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
             print('    {0} {1}_;'.format(base_type, field.name))
@@ -86,7 +89,7 @@ def add_array_typedefs():
     for field in spec.parsed_fields():
         if not field.is_header and field.is_array:
             base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
-            array_type = 'typedef {0} {1}__{2}_array_{3}[{4}];'.format(base_type, spec.short_name, get_idl_type_name(field.base_type).replace(" ", "_"), field.array_len, field.array_len)
+            array_type = 'typedef {0} {1}__{2}_array_{3}[{4}];'.format(base_type, topic, get_idl_type_name(field.base_type).replace(" ", "_"), field.array_len, field.array_len)
             if array_type not in array_types:
                 array_types.add(array_type)
     for atype in array_types:
@@ -97,11 +100,11 @@ def add_msg_constants():
     sorted_constants = sorted(spec.constants,
                        key=sizeof_field_type, reverse=True)
     for constant in sorted_constants:
-        print('const {0} {1}__{2} = {3};'.format(get_idl_type_name(constant.type), spec.short_name, constant.name, constant.val))
+        print('const {0} {1}__{2} = {3};'.format(get_idl_type_name(constant.type), topic, constant.name, constant.val))
 
 }
-#ifndef __@(spec.short_name)__idl__
-#define __@(spec.short_name)__idl__
+#ifndef __@(topic)__idl__
+#define __@(topic)__idl__
 
 @#############################
 @# Include dependency messages
@@ -113,11 +116,11 @@ def add_msg_constants():
 @add_msg_constants()
 @# Array types
 @add_array_typedefs()
-struct @(spec.short_name)_
+struct @(topic)_
 {
 @add_msg_fields()
-}; // struct @(spec.short_name)_
+}; // struct @(topic)_
 
-#pragma keylist @(spec.short_name)_
+#pragma keylist @(topic)_
 
-#endif  // __@(spec.short_name)__idl__
+#endif  // __@(topic)__idl__