merged with rtcan transport

Author: tinito

DebugTransport.hpp

@@ -53,6 +53,7 @@ class DebugTransport : public Transport {
 private:
   RemotePublisher *create_publisher(Topic &topic) const;
   RemoteSubscriber *create_subscriber(
+    Topic &topic,
     Transport &transport,
     TimestampedMsgPtrQueue::Entry queue_buf[],
     size_t queue_length
@@ -120,10 +121,12 @@ RemotePublisher *DebugTransport::create_publisher(Topic &topic) const {
 
 inline
 RemoteSubscriber *DebugTransport::create_subscriber(
+  Topic &topic,
   Transport &transport,
   TimestampedMsgPtrQueue::Entry queue_buf[],
   size_t queue_length) const {
 
+  (void)topic;
   return new DebugSubscriber(static_cast<DebugTransport &>(transport),
                              queue_buf, queue_length);
 }

Makefile

@@ -110,6 +110,10 @@ ifeq ($(TEST),rtcan_sub_test)
          chnew.cpp main_rtcan_sub_test.cpp
 endif
 
+ifeq ($(TEST),pubsub_test)
+  CPPSRC += main_pubsub_test.cpp chnew.cpp
+endif
+
 ifeq ($(TEST),)
   CPPSRC += DebugTransport.cpp DebugPublisher.cpp DebugSubscriber.cpp \
             main.cpp chnew.cpp

RTCANSubscriber.cpp

@@ -47,8 +47,7 @@ RTCANSubscriber::RTCANSubscriber(RTCANTransport &transport,
                                  size_t queue_length)
 :
   RemoteSubscriber(transport),
-  queue_free(queue_length),
-  rtcan_id(111 << 8)
+  queue_free(queue_length)
 {}
 
 

RTCANTransport.cpp

@@ -77,7 +77,7 @@ bool RTCANTransport::send_advertisement(const Topic &topic) {
   adv_tx_msg.type = 'P';
   adv_tx_msg.queue_length = 0;
   ::strncpy(adv_tx_msg.topic, topic.get_name(), NamingTraits<Topic>::MAX_LENGTH);
-  adv_tx_msg.rtcan_id = 111 << 8; // FIXME the transport-dependent id comes from the rsub, should we move to send_advertisement(rsub *) ?
+  adv_tx_msg.rtcan_id = topic_id(topic.get_name()); // FIXME the transport-dependent id comes from the rsub, should we move to send_advertisement(rsub *) ?
 
   return send_adv_msg(adv_tx_msg);
 }
@@ -172,7 +172,7 @@ void RTCANTransport::initialize(const RTCANConfig &rtcan_config) {
 
 RemotePublisher *RTCANTransport::create_publisher(Topic &topic) const {
   RTCANPublisher * rpubp = new RTCANPublisher();
-  rpubp->rtcan_header.id = 111 << 8; //FIXME
+  rpubp->rtcan_header.id = topic_id(topic.get_name());
   rpubp->rtcan_header.callback = reinterpret_cast<rtcan_msgcallback_t>(recv_cb);
   rpubp->rtcan_header.params = rpubp;
   rpubp->rtcan_header.size = 4; // FIXME
@@ -184,11 +184,27 @@ RemotePublisher *RTCANTransport::create_publisher(Topic &topic) const {
 
 
 RemoteSubscriber *RTCANTransport::create_subscriber(
+  Topic &topic,
   Transport &transport,
   TimestampedMsgPtrQueue::Entry queue_buf[],
   size_t queue_length) const {
+  RTCANSubscriber * rsubp = new RTCANSubscriber(static_cast<RTCANTransport &>(transport), queue_buf, queue_length);
 
-  return new RTCANSubscriber(static_cast<RTCANTransport &>(transport), queue_buf, queue_length);
+  rsubp->rtcan_id = topic_id(topic.get_name());
+
+  return rsubp;
+}
+
+// FIXME: to implement
+rtcan_id_t RTCANTransport::topic_id(const char * namep) const {
+	if (strcmp(namep, "led2") == 0)
+		return 112 << 8;
+	if (strcmp(namep, "led3") == 0)
+		return 113 << 8;
+	if (strcmp(namep, "ledall") == 0)
+		return 114 << 8;
+
+	return 255 << 8;
 }
 
 /*

RTCANTransport.hpp

@@ -54,13 +54,16 @@ class RTCANTransport : public Transport {
   bool send_reboot();
   bool send(Message * msgp, RTCANSubscriber * rsubp);
 
+  rtcan_id_t topic_id(const char * namep) const; // FIXME
+
   void initialize(const RTCANConfig &rtcan_config);
 
 private:
   bool send_adv_msg(const adv_msg_t &adv_msg);
   void recv_adv_msg(const adv_msg_t &adv_msg);
   RemotePublisher *create_publisher(Topic &topic) const;
   RemoteSubscriber *create_subscriber(
+    Topic &topic,
     Transport &transport,
     TimestampedMsgPtrQueue::Entry queue_buf[], // TODO: remove
     size_t queue_length