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microRTPS: templates: use full version comparison when checking for version 1.7

This commit is contained in:
TSC21 2020-03-24 17:33:53 +00:00 committed by Nuno Marques
parent 1b453ed849
commit c4f8f39ca9
7 changed files with 18 additions and 18 deletions
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2
msg/templates/urtps/Publisher.cpp.em
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@ -70,7 +70,7 @@ except AttributeError:
#include <fastrtps/Domain.h> #include <fastrtps/Domain.h>
@[if version.parse(fastrtps_version) <= version.parse('1.7')]@ @[if version.parse(fastrtps_version) <= version.parse('1.7.2')]@
#include <fastrtps/utils/eClock.h> #include <fastrtps/utils/eClock.h>
@[end if]@ @[end if]@

4
msg/templates/urtps/Publisher.h.em
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@ -69,7 +69,7 @@ except AttributeError:
#include <fastrtps/fastrtps_fwd.h> #include <fastrtps/fastrtps_fwd.h>
#include <fastrtps/publisher/PublisherListener.h> #include <fastrtps/publisher/PublisherListener.h>
@[if version.parse(fastrtps_version) <= version.parse('1.7')]@ @[if version.parse(fastrtps_version) <= version.parse('1.7.2')]@
#include "@(topic)_PubSubTypes.h" #include "@(topic)_PubSubTypes.h"
@[else]@ @[else]@
#include "@(topic)PubSubTypes.h" #include "@(topic)PubSubTypes.h"
@ -78,7 +78,7 @@ except AttributeError:
using namespace eprosima::fastrtps; using namespace eprosima::fastrtps;
using namespace eprosima::fastrtps::rtps; using namespace eprosima::fastrtps::rtps;
@[if version.parse(fastrtps_version) <= version.parse('1.7')]@ @[if version.parse(fastrtps_version) <= version.parse('1.7.2')]@
@[ if ros2_distro]@ @[ if ros2_distro]@
using @(topic)_msg_t = @(package)::msg::dds_::@(topic)_; using @(topic)_msg_t = @(package)::msg::dds_::@(topic)_;
using @(topic)_msg_datatype = @(package)::msg::dds_::@(topic)_PubSubType; using @(topic)_msg_datatype = @(package)::msg::dds_::@(topic)_PubSubType;

6
msg/templates/urtps/RtpsTopics.h.em
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@ -75,7 +75,7 @@ except AttributeError:
@[for topic in (recv_topics + send_topics)]@ @[for topic in (recv_topics + send_topics)]@
@[ if version.parse(fastrtps_version) <= version.parse('1.7')]@ @[ if version.parse(fastrtps_version) <= version.parse('1.7.2')]@
@[ if ros2_distro]@ @[ if ros2_distro]@
using @(topic)_msg_t = @(package)::msg::dds_::@(topic)_; using @(topic)_msg_t = @(package)::msg::dds_::@(topic)_;
@[ else]@ @[ else]@
@ -117,7 +117,7 @@ private:
@[end if]@ @[end if]@
/** Msg metada Getters **/ /** Msg metada Getters **/
@[if version.parse(fastrtps_version) <= version.parse('1.7') or not ros2_distro]@ @[if version.parse(fastrtps_version) <= version.parse('1.7.2') or not ros2_distro]@
template <class T> template <class T>
inline uint64_t getMsgTimestamp(const T* msg) { return msg->timestamp_(); } inline uint64_t getMsgTimestamp(const T* msg) { return msg->timestamp_(); }
@ -138,7 +138,7 @@ private:
@[end if]@ @[end if]@
/** Msg metadata Setters **/ /** Msg metadata Setters **/
@[if version.parse(fastrtps_version) <= version.parse('1.7') or not ros2_distro]@ @[if version.parse(fastrtps_version) <= version.parse('1.7.2') or not ros2_distro]@
template <class T> template <class T>
inline uint64_t setMsgTimestamp(T* msg, const uint64_t& timestamp) { msg->timestamp_() = timestamp; } inline uint64_t setMsgTimestamp(T* msg, const uint64_t& timestamp) { msg->timestamp_() = timestamp; }

4
msg/templates/urtps/Subscriber.h.em
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@ -69,7 +69,7 @@ except AttributeError:
#include <fastrtps/fastrtps_fwd.h> #include <fastrtps/fastrtps_fwd.h>
#include <fastrtps/subscriber/SubscriberListener.h> #include <fastrtps/subscriber/SubscriberListener.h>
#include <fastrtps/subscriber/SampleInfo.h> #include <fastrtps/subscriber/SampleInfo.h>
@[if version.parse(fastrtps_version) <= version.parse('1.7')]@ @[if version.parse(fastrtps_version) <= version.parse('1.7.2')]@
#include "@(topic)_PubSubTypes.h" #include "@(topic)_PubSubTypes.h"
@[else]@ @[else]@
#include "@(topic)PubSubTypes.h" #include "@(topic)PubSubTypes.h"
@ -82,7 +82,7 @@ except AttributeError:
using namespace eprosima::fastrtps; using namespace eprosima::fastrtps;
using namespace eprosima::fastrtps::rtps; using namespace eprosima::fastrtps::rtps;
@[if version.parse(fastrtps_version) <= version.parse('1.7')]@ @[if version.parse(fastrtps_version) <= version.parse('1.7.2')]@
@[ if ros2_distro]@ @[ if ros2_distro]@
using @(topic)_msg_t = @(package)::msg::dds_::@(topic)_; using @(topic)_msg_t = @(package)::msg::dds_::@(topic)_;
using @(topic)_msg_datatype = @(package)::msg::dds_::@(topic)_PubSubType; using @(topic)_msg_datatype = @(package)::msg::dds_::@(topic)_PubSubType;

6
msg/templates/urtps/microRTPS_timesync.h.em
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@ -87,7 +87,7 @@ static constexpr int64_t TRIGGER_RESET_THRESHOLD_NS = 100ll * 1000ll * 1000ll;
static constexpr int REQUEST_RESET_COUNTER_THRESHOLD = 5; static constexpr int REQUEST_RESET_COUNTER_THRESHOLD = 5;
@# Sets the timesync DDS type according to the FastRTPS and ROS2 version @# Sets the timesync DDS type according to the FastRTPS and ROS2 version
@[if version.parse(fastrtps_version) <= version.parse('1.7')]@ @[if version.parse(fastrtps_version) <= version.parse('1.7.2')]@
@[ if ros2_distro]@ @[ if ros2_distro]@
using timesync_msg_t = @(package)::msg::dds_::Timesync_; using timesync_msg_t = @(package)::msg::dds_::Timesync_;
@[ else]@ @[ else]@
@ -214,7 +214,7 @@ private:
inline void updateOffset(const uint64_t& offset) { _offset_ns.store(offset, std::memory_order_relaxed); } inline void updateOffset(const uint64_t& offset) { _offset_ns.store(offset, std::memory_order_relaxed); }
/** Timesync msg Getters **/ /** Timesync msg Getters **/
@[if version.parse(fastrtps_version) <= version.parse('1.7') or not ros2_distro]@ @[if version.parse(fastrtps_version) <= version.parse('1.7.2') or not ros2_distro]@
inline uint64_t getMsgTimestamp(const timesync_msg_t* msg) { return msg->timestamp_(); } inline uint64_t getMsgTimestamp(const timesync_msg_t* msg) { return msg->timestamp_(); }
inline uint8_t getMsgSysID(const timesync_msg_t* msg) { return msg->sys_id_(); } inline uint8_t getMsgSysID(const timesync_msg_t* msg) { return msg->sys_id_(); }
inline uint8_t getMsgSeq(const timesync_msg_t* msg) { return msg->seq_(); } inline uint8_t getMsgSeq(const timesync_msg_t* msg) { return msg->seq_(); }
@ -229,7 +229,7 @@ private:
@[end if]@ @[end if]@
/** Timesync msg Setters **/ /** Timesync msg Setters **/
@[if version.parse(fastrtps_version) <= version.parse('1.7') or not ros2_distro]@ @[if version.parse(fastrtps_version) <= version.parse('1.7.2') or not ros2_distro]@
inline uint64_t setMsgTimestamp(timesync_msg_t* msg, const uint64_t& timestamp) { msg->timestamp_() = timestamp; } inline uint64_t setMsgTimestamp(timesync_msg_t* msg, const uint64_t& timestamp) { msg->timestamp_() = timestamp; }
inline uint8_t setMsgSysID(timesync_msg_t* msg, const uint8_t& sys_id) { msg->sys_id_() = sys_id; } inline uint8_t setMsgSysID(timesync_msg_t* msg, const uint8_t& sys_id) { msg->sys_id_() = sys_id; }
inline uint8_t setMsgSeq(timesync_msg_t* msg, const uint8_t& seq) { msg->seq_() = seq; } inline uint8_t setMsgSeq(timesync_msg_t* msg, const uint8_t& seq) { msg->seq_() = seq; }

12
msg/templates/urtps/msg.idl.em
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@ -58,7 +58,7 @@ def get_include_directives(spec):
if genmsg.msgs.is_valid_constant_type(genmsg.msgs.bare_msg_type(field.type)): if genmsg.msgs.is_valid_constant_type(genmsg.msgs.bare_msg_type(field.type)):
continue continue
builtin_type = str(field.base_type).replace('px4/', '') builtin_type = str(field.base_type).replace('px4/', '')
if version.parse(fastrtps_version) <= version.parse('1.7'): if version.parse(fastrtps_version) <= version.parse('1.7.2'):
include_directive = '#include "%s_.idl"' % builtin_type include_directive = '#include "%s_.idl"' % builtin_type
else: else:
include_directive = '#include "%s.idl"' % builtin_type include_directive = '#include "%s.idl"' % builtin_type
@ -78,12 +78,12 @@ def get_idl_type_name(field_type):
def add_msg_field(field): def add_msg_field(field):
if (not field.is_header): if (not field.is_header):
if field.is_array: if field.is_array:
if version.parse(fastrtps_version) <= version.parse('1.7'): if version.parse(fastrtps_version) <= version.parse('1.7.2'):
print(' {0}__{1}_array_{2} {3}_;'.format(topic, str(get_idl_type_name(field.base_type)).replace(" ", "_"), str(field.array_len), field.name)) print(' {0}__{1}_array_{2} {3}_;'.format(topic, str(get_idl_type_name(field.base_type)).replace(" ", "_"), str(field.array_len), field.name))
else: else:
print(' {0}__{1}_array_{2} {3};'.format(topic, str(get_idl_type_name(field.base_type)).replace(" ", "_"), str(field.array_len), field.name)) print(' {0}__{1}_array_{2} {3};'.format(topic, str(get_idl_type_name(field.base_type)).replace(" ", "_"), str(field.array_len), field.name))
else: else:
if version.parse(fastrtps_version) <= version.parse('1.7'): if version.parse(fastrtps_version) <= version.parse('1.7.2'):
base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type) base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
else: else:
base_type = get_idl_type_name(field.base_type) if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type) base_type = get_idl_type_name(field.base_type) if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
@ -97,7 +97,7 @@ def add_msg_fields():
def add_array_typedefs(): def add_array_typedefs():
for field in spec.parsed_fields(): for field in spec.parsed_fields():
if not field.is_header and field.is_array: if not field.is_header and field.is_array:
if version.parse(fastrtps_version) <= version.parse('1.7'): if version.parse(fastrtps_version) <= version.parse('1.7.2'):
base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type) base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
else: else:
base_type = get_idl_type_name(field.base_type) if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type) base_type = get_idl_type_name(field.base_type) if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
@ -130,14 +130,14 @@ def add_msg_constants():
@add_msg_constants() @add_msg_constants()
@# Array types @# Array types
@add_array_typedefs() @add_array_typedefs()
@[if version.parse(fastrtps_version) <= version.parse('1.7')]@ @[if version.parse(fastrtps_version) <= version.parse('1.7.2')]@
struct @(topic)_ struct @(topic)_
@[else]@ @[else]@
struct @(topic) struct @(topic)
@[end if]@ @[end if]@
{ {
@add_msg_fields() @add_msg_fields()
@[if version.parse(fastrtps_version) <= version.parse('1.7')]@ @[if version.parse(fastrtps_version) <= version.parse('1.7.2')]@
}; // struct @(topic)_ }; // struct @(topic)_
#pragma keylist @(topic)_ #pragma keylist @(topic)_

2
msg/tools/px_generate_uorb_topic_files.py
View File

@ -188,7 +188,7 @@ def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, pack
os.makedirs(outputdir) os.makedirs(outputdir)
template_file = os.path.join(templatedir, IDL_TEMPLATE_FILE) template_file = os.path.join(templatedir, IDL_TEMPLATE_FILE)
if version.parse(fastrtps_version) <= version.parse('1.7'): if version.parse(fastrtps_version) <= version.parse('1.7.2'):
output_file = os.path.join(outputdir, IDL_TEMPLATE_FILE.replace( output_file = os.path.join(outputdir, IDL_TEMPLATE_FILE.replace(
"msg.idl.em", str(spec_short_name + "_.idl"))) "msg.idl.em", str(spec_short_name + "_.idl")))
else: else: