added python DDS with simple example of reading red-sensor-signal. Reading image to be done.

pythonDDS/DDS_ROSQoS.xml

@@ -0,0 +1,243 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<dds xmlns="http://www.omg.org/dds/" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="file:DDS_QoSProfile.xsd">
+<qos_profile name="DDS ROSQosProfile">
+     <datareader_qos>
+          <durability>
+              <kind>VOLATILE_DURABILITY_QOS</kind>
+          </durability>
+          <deadline>
+               <period>
+                    <sec>DURATION_INFINITE_SEC</sec>
+                    <nanosec>DURATION_INFINITE_NSEC</nanosec>
+               </period>
+          </deadline>
+          <latency_budget>
+               <duration>
+                    <sec>0</sec>
+                    <nanosec>0</nanosec>
+               </duration>
+          </latency_budget>
+          <liveliness>
+               <kind>AUTOMATIC_LIVELINESS_QOS</kind>
+               <lease_duration>
+                    <sec>DURATION_INFINITE_SEC</sec>
+                    <nanosec>DURATION_INFINITE_NSEC</nanosec>
+               </lease_duration>
+          </liveliness>
+          <reliability>
+               <kind>BEST_EFFORT_RELIABILITY_QOS</kind>
+               <max_blocking_time>
+                    <sec>0</sec>
+                    <nanosec>100000000</nanosec>
+               </max_blocking_time>
+          </reliability>
+          <destination_order>
+                <kind>BY_RECEPTION_TIMESTAMP_DESTINATIONORDER_QOS</kind>
+          </destination_order>
+          <history>
+               <kind>KEEP_LAST_HISTORY_QOS</kind>
+               <depth>1</depth>
+          </history>
+          <resource_limits>
+               <max_samples>LENGTH_UNLIMITED</max_samples>
+               <max_instances>LENGTH_UNLIMITED</max_instances>
+               <max_samples_per_instance>LENGTH_UNLIMITED</max_samples_per_instance>
+          </resource_limits>
+          <user_data>
+               <value></value>
+          </user_data>
+          <ownership>
+               <kind>SHARED_OWNERSHIP_QOS</kind>
+          </ownership>
+          <time_based_filter>
+               <minimum_separation>
+                    <sec>0</sec>
+                    <nanosec>0</nanosec>
+               </minimum_separation>
+          </time_based_filter>
+          <reader_data_lifecycle>
+               <autopurge_nowriter_samples_delay>
+                    <sec>DURATION_INFINITE_SEC</sec>
+                    <nanosec>DURATION_INFINITE_NSEC</nanosec>
+               </autopurge_nowriter_samples_delay>
+               <autopurge_disposed_samples_delay>
+                    <sec>DURATION_INFINITE_SEC</sec>
+                    <nanosec>DURATION_INFINITE_NSEC</nanosec>
+               </autopurge_disposed_samples_delay>
+          </reader_data_lifecycle>
+     </datareader_qos>
+     <datawriter_qos>
+          <durability>
+               <kind>VOLATILE_DURABILITY_QOS</kind>
+          </durability>         
+          <deadline>
+               <period>
+                    <sec>DURATION_INFINITE_SEC</sec>
+                    <nanosec>DURATION_INFINITE_NSEC</nanosec>
+               </period>
+          </deadline>
+          <latency_budget>
+               <duration>
+                    <sec>0</sec>
+                    <nanosec>0</nanosec>
+               </duration>
+          </latency_budget>
+          <liveliness>
+               <kind>AUTOMATIC_LIVELINESS_QOS</kind>
+               <lease_duration>
+                    <sec>DURATION_INFINITE_SEC</sec>
+                    <nanosec>DURATION_INFINITE_NSEC</nanosec>
+               </lease_duration>
+          </liveliness>
+          <reliability>
+               <kind>RELIABLE_RELIABILITY_QOS</kind>
+               <max_blocking_time>
+                    <sec>0</sec>
+                    <nanosec>100000000</nanosec>
+               </max_blocking_time>
+         </reliability>
+         <destination_order>
+              <kind>BY_RECEPTION_TIMESTAMP_DESTINATIONORDER_QOS</kind>
+          </destination_order>
+          <history>
+               <kind>KEEP_LAST_HISTORY_QOS</kind>
+               <depth>1</depth>
+          </history>
+          <resource_limits>
+               <max_samples>LENGTH_UNLIMITED</max_samples>
+               <max_instances>LENGTH_UNLIMITED</max_instances>
+               <max_samples_per_instance>LENGTH_UNLIMITED</max_samples_per_instance>
+          </resource_limits>
+          <transport_priority>
+               <value>0</value>
+          </transport_priority>
+          <lifespan>
+               <duration>
+                    <sec>DURATION_INFINITE_SEC</sec>
+                    <nanosec>DURATION_INFINITE_NSEC</nanosec>
+               </duration>
+          </lifespan>
+          <user_data>
+               <value></value>
+         </user_data>
+         <ownership>
+              <kind>SHARED_OWNERSHIP_QOS</kind>
+          </ownership>
+          <ownership_strength>
+               <value>0</value>
+          </ownership_strength>
+          <writer_data_lifecycle>
+               <autodispose_unregistered_instances>true</autodispose_unregistered_instances>
+          </writer_data_lifecycle>
+     </datawriter_qos>
+     <domainparticipant_qos>
+          <user_data>
+               <value></value>
+          </user_data>
+          <entity_factory>
+               <autoenable_created_entities>true</autoenable_created_entities>
+          </entity_factory>
+     </domainparticipant_qos>
+     <subscriber_qos>
+          <presentation>
+               <access_scope>INSTANCE_PRESENTATION_QOS</access_scope>
+               <coherent_access>false</coherent_access>
+               <ordered_access>false</ordered_access>
+          </presentation>
+          <partition>
+               <name></name>
+          </partition>
+          <group_data>
+               <value></value>
+          </group_data>
+          <entity_factory>
+               <autoenable_created_entities>true</autoenable_created_entities>
+          </entity_factory>
+     </subscriber_qos>
+     <publisher_qos>
+          <presentation>
+               <access_scope>INSTANCE_PRESENTATION_QOS</access_scope>
+               <coherent_access>false</coherent_access>
+               <ordered_access>false</ordered_access>
+          </presentation>
+          <partition>
+               <name></name>
+          </partition>
+          <group_data>
+               <value></value>
+          </group_data>
+          <entity_factory>
+               <autoenable_created_entities>true</autoenable_created_entities>
+          </entity_factory>
+     </publisher_qos>
+     <topic_qos>
+          <topic_data>
+               <value></value>
+          </topic_data>
+          <durability>
+               <kind>VOLATILE_DURABILITY_QOS</kind>
+          </durability>
+          <durability_service>
+               <service_cleanup_delay>
+                    <sec>0</sec>
+                    <nanosec>0</nanosec>
+               </service_cleanup_delay>
+               <history_kind>KEEP_LAST_HISTORY_QOS</history_kind>
+               <history_depth>1</history_depth>
+               <max_samples>-1</max_samples>
+               <max_instances>-1</max_instances>
+               <max_samples_per_instance>-1</max_samples_per_instance>
+          </durability_service>
+          <deadline>
+               <period>
+                    <sec>DURATION_INFINITE_SEC</sec>
+                    <nanosec>DURATION_INFINITE_NSEC</nanosec>
+               </period>
+          </deadline>
+          <latency_budget>
+               <duration>
+                    <sec>0</sec>
+                    <nanosec>0</nanosec>
+               </duration>
+          </latency_budget>
+          <liveliness>
+               <kind>AUTOMATIC_LIVELINESS_QOS</kind>
+               <lease_duration>
+                    <sec>DURATION_INFINITE_SEC</sec>
+                    <nanosec>DURATION_INFINITE_NSEC</nanosec>
+               </lease_duration>
+          </liveliness>
+          <reliability>
+               <kind>RELIABLE_RELIABILITY_QOS</kind>
+               <max_blocking_time>
+                    <sec>0</sec>
+                    <nanosec>100000000</nanosec>
+                    </max_blocking_time>
+          </reliability>
+          <destination_order>
+               <kind>BY_RECEPTION_TIMESTAMP_DESTINATIONORDER_QOS</kind>
+          </destination_order>
+          <history>
+               <kind>KEEP_LAST_HISTORY_QOS</kind>
+               <depth>1</depth>
+          </history>
+          <resource_limits>
+               <max_samples>LENGTH_UNLIMITED</max_samples>
+               <max_instances>LENGTH_UNLIMITED</max_instances>
+               <max_samples_per_instance>LENGTH_UNLIMITED</max_samples_per_instance>
+          </resource_limits>
+          <transport_priority>
+               <value>0</value>
+          </transport_priority>
+          <lifespan>
+               <duration>
+                    <sec>DURATION_INFINITE_SEC</sec>
+                    <nanosec>DURATION_INFINITE_NSEC</nanosec>
+               </duration>
+          </lifespan>
+          <ownership>
+               <kind>SHARED_OWNERSHIP_QOS</kind>
+          </ownership>
+     </topic_qos>
+</qos_profile>
+</dds>

pythonDDS/README.md

@@ -0,0 +1,2 @@
+python Vortex http://download.ist.adlinktech.com/docs/Vortex/pdfs/OpenSplice_PythonDCPSAPIGuide.pdf
+also see \HDE\x86_64.win64\tools\python\examples directory for examples

pythonDDS/idlpython/builtin_interfaces/Duration_/builtin_interfaces/msg/dds_/__init__.py

@@ -0,0 +1,110 @@
+import dds
+import ddsutil
+import struct
+
+class Duration___TypeSupport(dds.TypeSupport):
+
+    _typename = 'builtin_interfaces::msg::dds_::Duration_'
+    _keylist = ''
+    _metadescriptor = '<MetaData version="1.0.0"><Module name="builtin_interfaces"><Module name="msg"><Module name="dds_"><Struct name="Duration_"><Member name="sec_"><Long/></Member><Member name="nanosec_"><ULong/></Member></Struct></Module></Module></Module></MetaData>'
+
+    def __init__(self):
+        super(Duration___TypeSupport, self).__init__(self._typename,
+              self._keylist,
+              self._metadescriptor,
+              struct.calcsize(Duration_()._get_packing_fmt()))
+
+    def _serialize(self, o):
+        if not isinstance(o, Duration_):
+            raise TypeError('Incorrect data type')
+        result = o._serialize()
+        return result
+
+    def _deserialize(self, buf):
+        result = Duration_()
+        data = struct.unpack(result._get_packing_fmt(), buf)
+        result._deserialize(list(data))
+        return result
+
+class Duration_(ddsutil.TopicDataClass):
+
+    @staticmethod
+    def get_type_support():
+        ''' Return type support information required for dds.Topic constructor '''
+        return Duration___TypeSupport()
+
+    @property
+    def sec_(self):
+        '''
+        a DDS long value
+        @rtype: int
+        '''
+        return self._sec__
+
+    _sec__checker = ddsutil._long_checker
+    @sec_.setter
+    def sec_(self, value):
+        self._sec__checker(value)
+        self._sec__ = value
+
+    @property
+    def nanosec_(self):
+        '''
+        a DDS unsigned long value
+        @rtype: int
+        '''
+        return self._nanosec__
+
+    _nanosec__checker = ddsutil._ulong_checker
+    @nanosec_.setter
+    def nanosec_(self, value):
+        self._nanosec__checker(value)
+        self._nanosec__ = value
+
+    _member_attributes = ('sec_', 'nanosec_')
+
+    def __init__(self, **kwargs):
+        ''' Create a Duration_ instance, optionally initializing fields by name '''
+        # init attributes to default value
+        self.sec_ = 0
+        self.nanosec_ = 0
+        # set values for attributes passed in
+        for key, value in kwargs.items():
+            if key not in self._member_attributes:
+                raise TypeError('Invalid argument name : %s' %(key))
+            setattr(self, key, value)
+
+    _packing_fmt = None
+
+    @staticmethod
+    def _get_packing_fmt():
+        ''' Returns packing format of this class data '''
+        if Duration_._packing_fmt is not None:
+            return Duration_._packing_fmt
+        fmt = ''
+        fmt += 'i'
+        fmt += 'I'
+
+        Duration_._packing_fmt = ddsutil._pad_fmt(fmt)
+        return Duration_._packing_fmt
+
+    def _serialize(self):
+        ''' Serialize data for writing '''
+        fmt = self._get_packing_fmt()
+        args = self._get_packing_args()
+        result = struct.pack(fmt, *args)
+        return result
+
+    def _deserialize(self, data):
+        ''' Initialize values from data returned by struct.unpack()'''
+        self.sec_ = data.pop(0)
+        self.nanosec_ = data.pop(0)
+        return self;
+
+    def _get_packing_args(self):
+        ''' Return an list of data suitable for struct.pack '''
+        args = []
+        args.append(self.sec_)
+        args.append(self.nanosec_)
+        return args
+

pythonDDS/idlpython/builtin_interfaces/Time_/builtin_interfaces/msg/dds_/__init__.py

@@ -0,0 +1,110 @@
+import dds
+import ddsutil
+import struct
+
+class Time___TypeSupport(dds.TypeSupport):
+
+    _typename = 'builtin_interfaces::msg::dds_::Time_'
+    _keylist = ''
+    _metadescriptor = '<MetaData version="1.0.0"><Module name="builtin_interfaces"><Module name="msg"><Module name="dds_"><Struct name="Time_"><Member name="sec_"><Long/></Member><Member name="nanosec_"><ULong/></Member></Struct></Module></Module></Module></MetaData>'
+
+    def __init__(self):
+        super(Time___TypeSupport, self).__init__(self._typename,
+              self._keylist,
+              self._metadescriptor,
+              struct.calcsize(Time_()._get_packing_fmt()))
+
+    def _serialize(self, o):
+        if not isinstance(o, Time_):
+            raise TypeError('Incorrect data type')
+        result = o._serialize()
+        return result
+
+    def _deserialize(self, buf):
+        result = Time_()
+        data = struct.unpack(result._get_packing_fmt(), buf)
+        result._deserialize(list(data))
+        return result
+
+class Time_(ddsutil.TopicDataClass):
+
+    @staticmethod
+    def get_type_support():
+        ''' Return type support information required for dds.Topic constructor '''
+        return Time___TypeSupport()
+
+    @property
+    def sec_(self):
+        '''
+        a DDS long value
+        @rtype: int
+        '''
+        return self._sec__
+
+    _sec__checker = ddsutil._long_checker
+    @sec_.setter
+    def sec_(self, value):
+        self._sec__checker(value)
+        self._sec__ = value
+
+    @property
+    def nanosec_(self):
+        '''
+        a DDS unsigned long value
+        @rtype: int
+        '''
+        return self._nanosec__
+
+    _nanosec__checker = ddsutil._ulong_checker
+    @nanosec_.setter
+    def nanosec_(self, value):
+        self._nanosec__checker(value)
+        self._nanosec__ = value
+
+    _member_attributes = ('sec_', 'nanosec_')
+
+    def __init__(self, **kwargs):
+        ''' Create a Time_ instance, optionally initializing fields by name '''
+        # init attributes to default value
+        self.sec_ = 0
+        self.nanosec_ = 0
+        # set values for attributes passed in
+        for key, value in kwargs.items():
+            if key not in self._member_attributes:
+                raise TypeError('Invalid argument name : %s' %(key))
+            setattr(self, key, value)
+
+    _packing_fmt = None
+
+    @staticmethod
+    def _get_packing_fmt():
+        ''' Returns packing format of this class data '''
+        if Time_._packing_fmt is not None:
+            return Time_._packing_fmt
+        fmt = ''
+        fmt += 'i'
+        fmt += 'I'
+
+        Time_._packing_fmt = ddsutil._pad_fmt(fmt)
+        return Time_._packing_fmt
+
+    def _serialize(self):
+        ''' Serialize data for writing '''
+        fmt = self._get_packing_fmt()
+        args = self._get_packing_args()
+        result = struct.pack(fmt, *args)
+        return result
+
+    def _deserialize(self, data):
+        ''' Initialize values from data returned by struct.unpack()'''
+        self.sec_ = data.pop(0)
+        self.nanosec_ = data.pop(0)
+        return self;
+
+    def _get_packing_args(self):
+        ''' Return an list of data suitable for struct.pack '''
+        args = []
+        args.append(self.sec_)
+        args.append(self.nanosec_)
+        return args
+

pythonDDS/idlpython/geometry_msgs/Accel_/geometry_msgs/msg/dds_/__init__.py

@@ -0,0 +1,110 @@
+import dds
+import ddsutil
+import struct
+
+class Accel___TypeSupport(dds.TypeSupport):
+
+    _typename = 'geometry_msgs::msg::dds_::Accel_'
+    _keylist = ''
+    _metadescriptor = '<MetaData version="1.0.0"><Module name="geometry_msgs"><Module name="msg"><Module name="dds_"><Struct name="Vector3_"><Member name="x_"><Double/></Member><Member name="y_"><Double/></Member><Member name="z_"><Double/></Member></Struct><Struct name="Accel_"><Member name="linear_"><Type name="Vector3_"/></Member><Member name="angular_"><Type name="Vector3_"/></Member></Struct></Module></Module></Module></MetaData>'
+
+    def __init__(self):
+        super(Accel___TypeSupport, self).__init__(self._typename,
+              self._keylist,
+              self._metadescriptor,
+              struct.calcsize(Accel_()._get_packing_fmt()))
+
+    def _serialize(self, o):
+        if not isinstance(o, Accel_):
+            raise TypeError('Incorrect data type')
+        result = o._serialize()
+        return result
+
+    def _deserialize(self, buf):
+        result = Accel_()
+        data = struct.unpack(result._get_packing_fmt(), buf)
+        result._deserialize(list(data))
+        return result
+
+class Accel_(ddsutil.TopicDataClass):
+
+    @staticmethod
+    def get_type_support():
+        ''' Return type support information required for dds.Topic constructor '''
+        return Accel___TypeSupport()
+
+    @property
+    def linear_(self):
+        '''
+        a DDS geometry_msgs::msg::dds_::Vector3_ value
+        @rtype: Vector3_
+        '''
+        return self._linear__
+
+    _linear__checker = ddsutil._class_checker(Vector3_)
+    @linear_.setter
+    def linear_(self, value):
+        self._linear__checker(value)
+        self._linear__ = value
+
+    @property
+    def angular_(self):
+        '''
+        a DDS geometry_msgs::msg::dds_::Vector3_ value
+        @rtype: Vector3_
+        '''
+        return self._angular__
+
+    _angular__checker = ddsutil._class_checker(Vector3_)
+    @angular_.setter
+    def angular_(self, value):
+        self._angular__checker(value)
+        self._angular__ = value
+
+    _member_attributes = ('linear_', 'angular_')
+
+    def __init__(self, **kwargs):
+        ''' Create a Accel_ instance, optionally initializing fields by name '''
+        # init attributes to default value
+        self.linear_ = Vector3_()
+        self.angular_ = Vector3_()
+        # set values for attributes passed in
+        for key, value in kwargs.items():
+            if key not in self._member_attributes:
+                raise TypeError('Invalid argument name : %s' %(key))
+            setattr(self, key, value)
+
+    _packing_fmt = None
+
+    @staticmethod
+    def _get_packing_fmt():
+        ''' Returns packing format of this class data '''
+        if Accel_._packing_fmt is not None:
+            return Accel_._packing_fmt
+        fmt = ''
+        fmt += ddsutil._align(fmt, Vector3_._get_packing_fmt())
+        fmt += ddsutil._align(fmt, Vector3_._get_packing_fmt())
+
+        Accel_._packing_fmt = ddsutil._pad_fmt(fmt)
+        return Accel_._packing_fmt
+
+    def _serialize(self):
+        ''' Serialize data for writing '''
+        fmt = self._get_packing_fmt()
+        args = self._get_packing_args()
+        result = struct.pack(fmt, *args)
+        return result
+
+    def _deserialize(self, data):
+        ''' Initialize values from data returned by struct.unpack()'''
+        self.linear_ = Vector3_()._deserialize(data)
+        self.angular_ = Vector3_()._deserialize(data)
+        return self;
+
+    def _get_packing_args(self):
+        ''' Return an list of data suitable for struct.pack '''
+        args = []
+        args.extend(self.linear_._get_packing_args())
+        args.extend(self.angular_._get_packing_args())
+        return args
+

pythonDDS/idlpython/geometry_msgs/Point32_/geometry_msgs/msg/dds_/__init__.py

@@ -0,0 +1,128 @@
+import dds
+import ddsutil
+import struct
+
+class Point32___TypeSupport(dds.TypeSupport):
+
+    _typename = 'geometry_msgs::msg::dds_::Point32_'
+    _keylist = ''
+    _metadescriptor = '<MetaData version="1.0.0"><Module name="geometry_msgs"><Module name="msg"><Module name="dds_"><Struct name="Point32_"><Member name="x_"><Float/></Member><Member name="y_"><Float/></Member><Member name="z_"><Float/></Member></Struct></Module></Module></Module></MetaData>'
+
+    def __init__(self):
+        super(Point32___TypeSupport, self).__init__(self._typename,
+              self._keylist,
+              self._metadescriptor,
+              struct.calcsize(Point32_()._get_packing_fmt()))
+
+    def _serialize(self, o):
+        if not isinstance(o, Point32_):
+            raise TypeError('Incorrect data type')
+        result = o._serialize()
+        return result
+
+    def _deserialize(self, buf):
+        result = Point32_()
+        data = struct.unpack(result._get_packing_fmt(), buf)
+        result._deserialize(list(data))
+        return result
+
+class Point32_(ddsutil.TopicDataClass):
+
+    @staticmethod
+    def get_type_support():
+        ''' Return type support information required for dds.Topic constructor '''
+        return Point32___TypeSupport()
+
+    @property
+    def x_(self):
+        '''
+        a DDS float value
+        @rtype: float
+        '''
+        return self._x__
+
+    _x__checker = ddsutil._float_checker
+    @x_.setter
+    def x_(self, value):
+        self._x__checker(value)
+        self._x__ = value
+
+    @property
+    def y_(self):
+        '''
+        a DDS float value
+        @rtype: float
+        '''
+        return self._y__
+
+    _y__checker = ddsutil._float_checker
+    @y_.setter
+    def y_(self, value):
+        self._y__checker(value)
+        self._y__ = value
+
+    @property
+    def z_(self):
+        '''
+        a DDS float value
+        @rtype: float
+        '''
+        return self._z__
+
+    _z__checker = ddsutil._float_checker
+    @z_.setter
+    def z_(self, value):
+        self._z__checker(value)
+        self._z__ = value
+
+    _member_attributes = ('x_', 'y_', 'z_')
+
+    def __init__(self, **kwargs):
+        ''' Create a Point32_ instance, optionally initializing fields by name '''
+        # init attributes to default value
+        self.x_ = 0.0
+        self.y_ = 0.0
+        self.z_ = 0.0
+        # set values for attributes passed in
+        for key, value in kwargs.items():
+            if key not in self._member_attributes:
+                raise TypeError('Invalid argument name : %s' %(key))
+            setattr(self, key, value)
+
+    _packing_fmt = None
+
+    @staticmethod
+    def _get_packing_fmt():
+        ''' Returns packing format of this class data '''
+        if Point32_._packing_fmt is not None:
+            return Point32_._packing_fmt
+        fmt = ''
+        fmt += 'f'
+        fmt += 'f'
+        fmt += 'f'
+
+        Point32_._packing_fmt = ddsutil._pad_fmt(fmt)
+        return Point32_._packing_fmt
+
+    def _serialize(self):
+        ''' Serialize data for writing '''
+        fmt = self._get_packing_fmt()
+        args = self._get_packing_args()
+        result = struct.pack(fmt, *args)
+        return result
+
+    def _deserialize(self, data):
+        ''' Initialize values from data returned by struct.unpack()'''
+        self.x_ = data.pop(0)
+        self.y_ = data.pop(0)
+        self.z_ = data.pop(0)
+        return self;
+
+    def _get_packing_args(self):
+        ''' Return an list of data suitable for struct.pack '''
+        args = []
+        args.append(self.x_)
+        args.append(self.y_)
+        args.append(self.z_)
+        return args
+

pythonDDS/idlpython/geometry_msgs/Point_/geometry_msgs/msg/dds_/__init__.py

@@ -0,0 +1,128 @@
+import dds
+import ddsutil
+import struct
+
+class Point___TypeSupport(dds.TypeSupport):
+
+    _typename = 'geometry_msgs::msg::dds_::Point_'
+    _keylist = ''
+    _metadescriptor = '<MetaData version="1.0.0"><Module name="geometry_msgs"><Module name="msg"><Module name="dds_"><Struct name="Point_"><Member name="x_"><Double/></Member><Member name="y_"><Double/></Member><Member name="z_"><Double/></Member></Struct></Module></Module></Module></MetaData>'
+
+    def __init__(self):
+        super(Point___TypeSupport, self).__init__(self._typename,
+              self._keylist,
+              self._metadescriptor,
+              struct.calcsize(Point_()._get_packing_fmt()))
+
+    def _serialize(self, o):
+        if not isinstance(o, Point_):
+            raise TypeError('Incorrect data type')
+        result = o._serialize()
+        return result
+
+    def _deserialize(self, buf):
+        result = Point_()
+        data = struct.unpack(result._get_packing_fmt(), buf)
+        result._deserialize(list(data))
+        return result
+
+class Point_(ddsutil.TopicDataClass):
+
+    @staticmethod
+    def get_type_support():
+        ''' Return type support information required for dds.Topic constructor '''
+        return Point___TypeSupport()
+
+    @property
+    def x_(self):
+        '''
+        a DDS double value
+        @rtype: float
+        '''
+        return self._x__
+
+    _x__checker = ddsutil._float_checker
+    @x_.setter
+    def x_(self, value):
+        self._x__checker(value)
+        self._x__ = value
+
+    @property
+    def y_(self):
+        '''
+        a DDS double value
+        @rtype: float
+        '''
+        return self._y__
+
+    _y__checker = ddsutil._float_checker
+    @y_.setter
+    def y_(self, value):
+        self._y__checker(value)
+        self._y__ = value
+
+    @property
+    def z_(self):
+        '''
+        a DDS double value
+        @rtype: float
+        '''
+        return self._z__
+
+    _z__checker = ddsutil._float_checker
+    @z_.setter
+    def z_(self, value):
+        self._z__checker(value)
+        self._z__ = value
+
+    _member_attributes = ('x_', 'y_', 'z_')
+
+    def __init__(self, **kwargs):
+        ''' Create a Point_ instance, optionally initializing fields by name '''
+        # init attributes to default value
+        self.x_ = 0.0
+        self.y_ = 0.0
+        self.z_ = 0.0
+        # set values for attributes passed in
+        for key, value in kwargs.items():
+            if key not in self._member_attributes:
+                raise TypeError('Invalid argument name : %s' %(key))
+            setattr(self, key, value)
+
+    _packing_fmt = None
+
+    @staticmethod
+    def _get_packing_fmt():
+        ''' Returns packing format of this class data '''
+        if Point_._packing_fmt is not None:
+            return Point_._packing_fmt
+        fmt = ''
+        fmt += 'd'
+        fmt += 'd'
+        fmt += 'd'
+
+        Point_._packing_fmt = ddsutil._pad_fmt(fmt)
+        return Point_._packing_fmt
+
+    def _serialize(self):
+        ''' Serialize data for writing '''
+        fmt = self._get_packing_fmt()
+        args = self._get_packing_args()
+        result = struct.pack(fmt, *args)
+        return result
+
+    def _deserialize(self, data):
+        ''' Initialize values from data returned by struct.unpack()'''
+        self.x_ = data.pop(0)
+        self.y_ = data.pop(0)
+        self.z_ = data.pop(0)
+        return self;
+
+    def _get_packing_args(self):
+        ''' Return an list of data suitable for struct.pack '''
+        args = []
+        args.append(self.x_)
+        args.append(self.y_)
+        args.append(self.z_)
+        return args
+

pythonDDS/idlpython/geometry_msgs/Polygon_/geometry_msgs/msg/dds_/__init__.py

@@ -0,0 +1,92 @@
+import dds
+import ddsutil
+import struct
+
+class Polygon___TypeSupport(dds.TypeSupport):
+
+    _typename = 'geometry_msgs::msg::dds_::Polygon_'
+    _keylist = ''
+    _metadescriptor = '<MetaData version="1.0.0"><Module name="geometry_msgs"><Module name="msg"><Module name="dds_"><Struct name="Point32_"><Member name="x_"><Float/></Member><Member name="y_"><Float/></Member><Member name="z_"><Float/></Member></Struct><Struct name="Polygon_"><Member name="points_"><Sequence><Type name="Point32_"/></Sequence></Member></Struct></Module></Module></Module></MetaData>'
+
+    def __init__(self):
+        super(Polygon___TypeSupport, self).__init__(self._typename,
+              self._keylist,
+              self._metadescriptor,
+              struct.calcsize(Polygon_()._get_packing_fmt()))
+
+    def _serialize(self, o):
+        if not isinstance(o, Polygon_):
+            raise TypeError('Incorrect data type')
+        result = o._serialize()
+        return result
+
+    def _deserialize(self, buf):
+        result = Polygon_()
+        data = struct.unpack(result._get_packing_fmt(), buf)
+        result._deserialize(list(data))
+        return result
+
+class Polygon_(ddsutil.TopicDataClass):
+
+    @staticmethod
+    def get_type_support():
+        ''' Return type support information required for dds.Topic constructor '''
+        return Polygon___TypeSupport()
+
+    @property
+    def points_(self):
+        '''
+        a DDS sequence<geometry_msgs::msg::dds_::Point32_> value
+        @rtype: list
+        '''
+        return self._points__
+
+    _points__checker = ddsutil._seq_checker(0,ddsutil._class_checker(Point32_))
+    @points_.setter
+    def points_(self, value):
+        self._points__checker(value)
+        self._points__ = value
+
+    _member_attributes = ('points_')
+
+    def __init__(self, **kwargs):
+        ''' Create a Polygon_ instance, optionally initializing fields by name '''
+        # init attributes to default value
+        self.points_ = []
+        # set values for attributes passed in
+        for key, value in kwargs.items():
+            if key not in self._member_attributes:
+                raise TypeError('Invalid argument name : %s' %(key))
+            setattr(self, key, value)
+
+    _packing_fmt = None
+
+    @staticmethod
+    def _get_packing_fmt():
+        ''' Returns packing format of this class data '''
+        if Polygon_._packing_fmt is not None:
+            return Polygon_._packing_fmt
+        fmt = ''
+        fmt += ddsutil._align(fmt, ddsutil._pad_fmt('iiP?'))
+
+        Polygon_._packing_fmt = ddsutil._pad_fmt(fmt)
+        return Polygon_._packing_fmt
+
+    def _serialize(self):
+        ''' Serialize data for writing '''
+        fmt = self._get_packing_fmt()
+        args = self._get_packing_args()
+        result = struct.pack(fmt, *args)
+        return result
+
+    def _deserialize(self, data):
+        ''' Initialize values from data returned by struct.unpack()'''
+        self.points_ = ddsutil._deserialize_seq(data, Point32_._get_packing_fmt(), lambda seq_data: Point32_()._deserialize(seq_data))
+        return self;
+
+    def _get_packing_args(self):
+        ''' Return an list of data suitable for struct.pack '''
+        args = []
+        args.extend(ddsutil._serialize_seq(self.points_, Point32_._get_packing_fmt(), lambda seq_args, v: seq_args.extend(v._get_packing_args())))
+        return args
+

pythonDDS/idlpython/geometry_msgs/Pose2D_/geometry_msgs/msg/dds_/__init__.py

@@ -0,0 +1,128 @@
+import dds
+import ddsutil
+import struct
+
+class Pose2D___TypeSupport(dds.TypeSupport):
+
+    _typename = 'geometry_msgs::msg::dds_::Pose2D_'
+    _keylist = ''
+    _metadescriptor = '<MetaData version="1.0.0"><Module name="geometry_msgs"><Module name="msg"><Module name="dds_"><Struct name="Pose2D_"><Member name="x_"><Double/></Member><Member name="y_"><Double/></Member><Member name="theta_"><Double/></Member></Struct></Module></Module></Module></MetaData>'
+
+    def __init__(self):
+        super(Pose2D___TypeSupport, self).__init__(self._typename,
+              self._keylist,
+              self._metadescriptor,
+              struct.calcsize(Pose2D_()._get_packing_fmt()))
+
+    def _serialize(self, o):
+        if not isinstance(o, Pose2D_):
+            raise TypeError('Incorrect data type')
+        result = o._serialize()
+        return result
+
+    def _deserialize(self, buf):
+        result = Pose2D_()
+        data = struct.unpack(result._get_packing_fmt(), buf)
+        result._deserialize(list(data))
+        return result
+
+class Pose2D_(ddsutil.TopicDataClass):
+
+    @staticmethod
+    def get_type_support():
+        ''' Return type support information required for dds.Topic constructor '''
+        return Pose2D___TypeSupport()
+
+    @property
+    def x_(self):
+        '''
+        a DDS double value
+        @rtype: float
+        '''
+        return self._x__
+
+    _x__checker = ddsutil._float_checker
+    @x_.setter
+    def x_(self, value):
+        self._x__checker(value)
+        self._x__ = value
+
+    @property
+    def y_(self):
+        '''
+        a DDS double value
+        @rtype: float
+        '''
+        return self._y__
+
+    _y__checker = ddsutil._float_checker
+    @y_.setter
+    def y_(self, value):
+        self._y__checker(value)
+        self._y__ = value
+
+    @property
+    def theta_(self):
+        '''
+        a DDS double value
+        @rtype: float
+        '''
+        return self._theta__
+
+    _theta__checker = ddsutil._float_checker
+    @theta_.setter
+    def theta_(self, value):
+        self._theta__checker(value)
+        self._theta__ = value
+
+    _member_attributes = ('x_', 'y_', 'theta_')
+
+    def __init__(self, **kwargs):
+        ''' Create a Pose2D_ instance, optionally initializing fields by name '''
+        # init attributes to default value
+        self.x_ = 0.0
+        self.y_ = 0.0
+        self.theta_ = 0.0
+        # set values for attributes passed in
+        for key, value in kwargs.items():
+            if key not in self._member_attributes:
+                raise TypeError('Invalid argument name : %s' %(key))
+            setattr(self, key, value)
+
+    _packing_fmt = None
+
+    @staticmethod
+    def _get_packing_fmt():
+        ''' Returns packing format of this class data '''
+        if Pose2D_._packing_fmt is not None:
+            return Pose2D_._packing_fmt
+        fmt = ''
+        fmt += 'd'
+        fmt += 'd'
+        fmt += 'd'
+
+        Pose2D_._packing_fmt = ddsutil._pad_fmt(fmt)
+        return Pose2D_._packing_fmt
+
+    def _serialize(self):
+        ''' Serialize data for writing '''
+        fmt = self._get_packing_fmt()
+        args = self._get_packing_args()
+        result = struct.pack(fmt, *args)
+        return result
+
+    def _deserialize(self, data):
+        ''' Initialize values from data returned by struct.unpack()'''
+        self.x_ = data.pop(0)
+        self.y_ = data.pop(0)
+        self.theta_ = data.pop(0)
+        return self;
+
+    def _get_packing_args(self):
+        ''' Return an list of data suitable for struct.pack '''
+        args = []
+        args.append(self.x_)
+        args.append(self.y_)
+        args.append(self.theta_)
+        return args
+