add builtin Duration/Time messages

ros2 · Aug 25, 2014 · 81a84aa · 81a84aa
1 parent e1f8cc0
commit 81a84aa
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Showing 10 changed files with 59 additions and 1 deletion.
diff --git a/builtin_msgs/CMakeLists.txt b/builtin_msgs/CMakeLists.txt
@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(builtin_msgs)
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/Duration.msg"
+  "msg/Time.msg"
+)
+
+ament_package()
diff --git a/builtin_msgs/msg/Duration.msg b/builtin_msgs/msg/Duration.msg
@@ -0,0 +1,2 @@
+int32 sec
+uint32 nanosec
diff --git a/builtin_msgs/msg/Time.msg b/builtin_msgs/msg/Time.msg
@@ -0,0 +1,2 @@
+int32 sec
+uint32 nanosec
diff --git a/builtin_msgs/package.xml b/builtin_msgs/package.xml
@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>builtin_msgs</name>
+  <version>0.0.0</version>
+  <description>A package containing builtin message definitions.</description>
+  <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+</package>
diff --git a/simple_msgs/CMakeLists.txt b/simple_msgs/CMakeLists.txt
@@ -8,6 +8,7 @@ find_package(ament_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/AllBuiltinTypes.msg"
   "msg/AllDynamicArrayTypes.msg"
   "msg/AllPrimitiveConstants.msg"
   "msg/AllPrimitiveTypes.msg"

diff --git a/simple_msgs/msg/AllBuiltinTypes.msg b/simple_msgs/msg/AllBuiltinTypes.msg
@@ -0,0 +1,2 @@
+builtin_msgs/Duration my_time
+builtin_msgs/Time my_duration
diff --git a/simple_msgs/package.xml b/simple_msgs/package.xml
@@ -10,5 +10,8 @@
 
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
+  <build_depend>builtin_msgs</build_depend>
+
+  <exec_depend>builtin_msgs</exec_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
 </package>
diff --git a/userland/include/userland/command_line_arguments.h b/userland/include/userland/command_line_arguments.h
@@ -4,7 +4,7 @@
 #include <string>
 
 
-const char * valid_message_args[] = {"counter", "all_primitive", "all_static_array", "all_dynamic_array", "nested", "string", "all_primitive_defaults"};
+const char * valid_message_args[] = {"counter", "all_primitive", "all_static_array", "all_dynamic_array", "nested", "string", "all_primitive_defaults", "all_builtin"};
 
 void print_message_usage()
 {

diff --git a/userland/src/publisher.cpp b/userland/src/publisher.cpp
@@ -8,6 +8,7 @@
 #include "rclcpp/Node.h"
 #include "rclcpp/Publisher.h"
 
+#include "simple_msgs/AllBuiltinTypes.h"
 #include "simple_msgs/AllDynamicArrayTypes.h"
 #include "simple_msgs/AllPrimitiveTypes.h"
 #include "simple_msgs/AllStaticArrayTypes.h"
@@ -145,6 +146,14 @@ template<typename T>
 void set_empty(T& ros_msg, uint32_t i)
 {}
 
+void set_builtin(simple_msgs::AllBuiltinTypes& ros_msg, uint32_t i)
+{
+  ros_msg.m_duration.sec = -i;
+  ros_msg.m_duration.nanosec = i;
+  ros_msg.m_time.sec = - 2 * i;
+  ros_msg.m_time.nanosec = 2 * i;
+}
+
 int main(int argc, char** argv)
 {
   if (has_argument(argv, argv + argc, "--help")) {
@@ -170,6 +179,8 @@ int main(int argc, char** argv)
     return publish<simple_msgs::String>(node, &set_string);
   } else if (msg_arg == valid_message_args[6]) {
     return publish<simple_msgs::AllPrimitiveTypes>(node, &set_empty<simple_msgs::AllPrimitiveTypes>);
+  } else if (msg_arg == valid_message_args[7]) {
+    return publish<simple_msgs::AllBuiltinTypes>(node, &set_builtin);
   }
 
 

diff --git a/userland/src/subscriber.cpp b/userland/src/subscriber.cpp
@@ -2,6 +2,7 @@
 #include "rclcpp/Publisher.h"
 #include "rclcpp/executor/SingleThreadExecutor.h"
 
+#include "simple_msgs/AllBuiltinTypes.h"
 #include "simple_msgs/AllDynamicArrayTypes.h"
 #include "simple_msgs/AllPrimitiveTypes.h"
 #include "simple_msgs/AllStaticArrayTypes.h"
@@ -104,6 +105,11 @@ void print_string(const simple_msgs::String *msg)
   std::cout << "Got message: " << msg->data << std::endl;
 }
 
+void print_builtin(const simple_msgs::String *msg)
+{
+  std::cout << "Got message: " << msg->my_duration.sec << ":" << msg->my_duration.nanosec << ", " << msg->my_time.sec << ":" << msg->my_time.nanosec << std::endl;
+}
+
 int main(int argc, char** argv)
 {
   if (has_argument(argv, argv + argc, "--help")) {
@@ -127,6 +133,8 @@ int main(int argc, char** argv)
     subscribe<simple_msgs::Nested>(node, &print_nested);
   } else if (msg_arg == valid_message_args[5]) {
     subscribe<simple_msgs::String>(node, &print_string);
+  } else if (msg_arg == valid_message_args[7]) {
+    subscribe<simple_msgs::AllBuiltinTypes>(node, &print_builtin);
   } else {
     std::cerr << "unsupported '--msg' argument '" << msg_arg << "'" << std::endl;
     return 1;