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Make ROS Service Topic Generation compatible with Cyclone DDS

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Cyclone DDS appends "Reply" (instead of "Response") to the Response
Message Topic.
This commit is contained in:
Greek 2022-01-26 16:25:25 +01:00
parent 39b7e6960a
commit 6524ad6c0d
1 changed files with 2 additions and 2 deletions
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4
src/ros2/dds_user_config.vhd
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@ -135,7 +135,7 @@ package body user_config is
ret(index).TYPENAME := ROS_SERVICES(i).TYPENAME; ret(index).TYPENAME := ROS_SERVICES(i).TYPENAME;
tmp := gen_fqn(ROS_NODES(ROS_SERVICES(i).node_id).namespace, ROS_NODES(ROS_SERVICES(i).node_id).name, ROS_SERVICES(i).SERVICENAME); tmp := gen_fqn(ROS_NODES(ROS_SERVICES(i).node_id).namespace, ROS_NODES(ROS_SERVICES(i).node_id).name, ROS_SERVICES(i).SERVICENAME);
if (ROS_SERVICES(i).is_client) then if (ROS_SERVICES(i).is_client) then
ret(index).TOPICNAME := concat("rr",concat(tmp,"Response")); ret(index).TOPICNAME := concat("rr",concat(tmp,"Reply"));
ret(index).MAX_PAYLOAD_SIZE := ROS_SERVICES(i).MAX_RR_SIZE; ret(index).MAX_PAYLOAD_SIZE := ROS_SERVICES(i).MAX_RR_SIZE;
else else
ret(index).TOPICNAME := concat("rq",concat(tmp,"Request")); ret(index).TOPICNAME := concat("rq",concat(tmp,"Request"));
@ -169,7 +169,7 @@ package body user_config is
ret(index).TOPICNAME := concat("rq",concat(tmp,"Request")); ret(index).TOPICNAME := concat("rq",concat(tmp,"Request"));
ret(index).MAX_PAYLOAD_SIZE := ROS_SERVICES(i).MAX_RQ_SIZE; ret(index).MAX_PAYLOAD_SIZE := ROS_SERVICES(i).MAX_RQ_SIZE;
else else
ret(index).TOPICNAME := concat("rr",concat(tmp,"Response")); ret(index).TOPICNAME := concat("rr",concat(tmp,"Reply"));
ret(index).MAX_PAYLOAD_SIZE := ROS_SERVICES(i).MAX_RR_SIZE; ret(index).MAX_PAYLOAD_SIZE := ROS_SERVICES(i).MAX_RR_SIZE;
end if; end if;
index := index + 1; index := index + 1;