Merge pull request #13 from ROBOTIS-GIT/develop

Update subtree

Author: OpusK

examples/xrcedds_rawAPI/xrcedds_rawAPI.ino

@@ -63,7 +63,7 @@ void setup()
   xrcedds::createDataReader(&subscriber, &data_reader, (char*)"rt/bool", "std_msgs::msg::dds_::Bool_");
 
   /* Start subscribe */
-  xrcedds::read(&data_reader);
+  xrcedds::readData(&data_reader);
 }
 
 void loop() 
@@ -77,7 +77,7 @@ void loop()
     pre_time = millis();  
 
     ucdrBuffer buffer;
-    xrcedds::write(&data_writer, (void*)&buffer, String_size_of_topic(&string_topic, 0));
+    xrcedds::writeData(&data_writer, (void*)&buffer, String_size_of_topic(&string_topic, 0));
     sprintf(string_topic.data, "HELLO ros2arduino %d", (int)cnt++);
     String_serialize_topic(&buffer, &string_topic);
   }

src/ros2/builtin_interfaces/Duration.hpp

@@ -23,7 +23,7 @@
 #define _BUILTIN_INTERFACES_DURATION_HPP_
 
 
-#include <ros2/topic.hpp>
+#include "../topic.hpp"
 
 namespace builtin_interfaces {
 

src/ros2/builtin_interfaces/Time.hpp

@@ -23,7 +23,7 @@
 #define _BUILTIN_INTERFACES_TIME_HPP_
 
 
-#include <ros2/topic.hpp>
+#include "../topic.hpp"
 
 
 namespace builtin_interfaces {

src/ros2/diagnostic_msgs/KeyValue.hpp

@@ -23,7 +23,7 @@
 #define _DIAGNOSTIC_MSGS_KEY_VALUE_HPP_
 
 
-#include <ros2/topic.hpp>
+#include "../topic.hpp"
 
 
 namespace diagnostic_msgs {

src/ros2/geometry_msgs/Point.hpp

@@ -23,7 +23,7 @@
 #define _GEOMETRY_MSGS_POINT_HPP_
 
 
-#include <ros2/topic.hpp>
+#include "../topic.hpp"
 
 
 namespace geometry_msgs {

src/ros2/geometry_msgs/Pose.hpp

@@ -23,7 +23,7 @@
 #define _GEOMETRY_MSGS_POSE_HPP_
 
 
-#include <ros2/topic.hpp>
+#include "../topic.hpp"
 
 
 #include "../geometry_msgs/Point.hpp"

src/ros2/geometry_msgs/PoseWithCovariance.hpp

@@ -23,7 +23,7 @@
 #define _GEOMETRY_MSGS_POSE_WITH_CONVARIANCE_HPP_
 
 
-#include <ros2/topic.hpp>
+#include "../topic.hpp"
 
 
 #include "../geometry_msgs/Pose.hpp"

src/ros2/geometry_msgs/Quaternion.hpp

@@ -23,7 +23,7 @@
 #define _GEOMETRY_MSGS_QUATERNION_HPP_
 
 
-#include <ros2/topic.hpp>
+#include "../topic.hpp"
 
 
 namespace geometry_msgs {

src/ros2/geometry_msgs/Transform.hpp

@@ -23,7 +23,7 @@
 #define _GEOMETRY_MSGS_TRANSFORM_HPP_
 
 
-#include <ros2/topic.hpp>
+#include "../topic.hpp"
 
 
 #include "../geometry_msgs/Vector3.hpp"

src/ros2/geometry_msgs/TransformStamped.hpp

@@ -23,7 +23,7 @@
 #define _GEOMETRY_MSGS_TRANSFORM_STAMPED_HPP_
 
 
-#include <ros2/topic.hpp>
+#include "../topic.hpp"
 
 
 #include "../std_msgs/Header.hpp"

src/ros2/geometry_msgs/Twist.hpp

@@ -23,7 +23,7 @@
 #define _GEOMETRY_MSGS_TWIST_HPP_
 
 
-#include <ros2/topic.hpp>
+#include "../topic.hpp"
 
 #include "../geometry_msgs/Vector3.hpp"
 

src/ros2/geometry_msgs/TwistWithCovariance.hpp

@@ -23,8 +23,7 @@
 #define _GEOMETRY_MSGS_TWIST_WITH_CONVARIANCE_HPP_
 
 
-#include <ros2/topic.hpp>
-
+#include "../topic.hpp"
 
 #include "../geometry_msgs/Twist.hpp"
 

src/ros2/geometry_msgs/Vector3.hpp

@@ -23,7 +23,7 @@
 #define _GEOMETRY_MSGS_VECTOR3_HPP_
 
 
-#include <ros2/topic.hpp>
+#include "../topic.hpp"
 
 
 namespace geometry_msgs {

src/ros2/nav_msgs/Odometry.hpp

@@ -23,7 +23,7 @@
 #define _NAV_MSGS_ODOMETRY_HPP_
 
 
-#include <ros2/topic.hpp>
+#include "../topic.hpp"
 
 
 #include "../std_msgs/Header.hpp"

src/ros2/node_handle.hpp

@@ -48,6 +48,7 @@ class PublisherHandle
   void*        callback_arg;
   virtual void recreate(void) = 0;
   virtual void publish(void) = 0;
+  virtual void destroy(void) = 0;
 
   void setInterval(uint32_t msec)
   {
@@ -67,6 +68,7 @@ class PublisherHandle
   bool is_registered_;
   uint32_t pub_msg_cnt_;
   uint16_t writer_id_;
+  const char* name_;
 
 private:
   uint32_t last_call_time_ms_;
@@ -91,13 +93,15 @@ class SubscriberHandle
   void*        callback_arg;
   virtual void recreate(void) = 0;
   virtual void subscribe(void) = 0;
+  virtual void destroy(void) = 0;
 
   virtual void runCallback(void* serialized_msg) = 0;
 
   bool is_registered_;
   uint32_t sub_msg_cnt_;
   uint16_t request_id_;
   uint16_t reader_id_;
+  const char* name_;
 };
 
 } // namespace ros2

src/ros2/publisher.hpp

@@ -41,7 +41,7 @@ class Publisher:public PublisherHandle
     }
 
     ucdrBuffer mb;
-    xrcedds::write(&data_writer_, (void*)&mb, topic_.size_of_topic(&topic_, 0));
+    xrcedds::writeData(&data_writer_, (void*)&mb, topic_.size_of_topic(&topic_, 0));
     topic_.serialize(&mb, &topic_);
   }
 
@@ -52,9 +52,13 @@ class Publisher:public PublisherHandle
     is_registered_ = xrcedds::createDataWriter(publisher_, &data_writer_, writer_name, topic_.type_);
   }
 
+  void destroy(void)
+  {
+    xrcedds::deleteEntity(&data_writer_);
+  }
+
 private:
   MsgT topic_;
-  const char* name_;
   xrcedds::Publisher_t* publisher_;
   xrcedds::DataWriter_t data_writer_;
 };