textual-notation-of-model/packages/architecture/ros2_types.sysml

Source

1/*2 * DE4SDV shared ROS 2 message and port type definitions.3 *4 * These are generic ROS 2/DDS communication types reused across AEBS physical5 * realization, simulation deployment, and future middleware adapter increments.6 * Feature-specific message specializations stay in their feature files.7 */89package DE4SDV_ROS2Types {1011  abstract item def ROS2TopicMessage {12    doc /* Base type for ROS 2 topic messages. Specialized per message type. */13  }1415  port def ROS2TopicEndpoint {16    doc /* Base port for ROS 2 topic endpoints. */17  }1819  port def ROS2TopicSubscription :> ROS2TopicEndpoint {20    doc /* ROS 2 topic subscription port (inbound). */21    in item payload : ROS2TopicMessage;22  }2324  port def ROS2TopicPublication :> ROS2TopicEndpoint {25    doc /* ROS 2 topic publication port (outbound). */26    out item payload : ROS2TopicMessage;27  }28}29