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add support to FastRTPS 2.0.0 (Fast-DDS)

This commit is contained in:
TSC21 2020-06-27 19:19:50 +01:00 committed by Julian Kent
parent d8831c5133
commit dc69d99764
2 changed files with 9 additions and 1 deletions
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4
msg/templates/urtps/Publisher.cpp.em
View File

@ -90,7 +90,11 @@ bool @(topic)_Publisher::init()
{
// Create RTPSParticipant
ParticipantAttributes PParam;
@[if version.parse(fastrtps_version[:3]) < version.parse('2.0')]@
PParam.rtps.builtin.domainId = 0;
@[else]@
PParam.domainId = 0;
@[end if]@
@[if version.parse(fastrtps_version[:3]) <= version.parse('1.8')]@
PParam.rtps.builtin.leaseDuration = c_TimeInfinite;
@[else]@

6
msg/templates/urtps/Subscriber.cpp.em
View File

@ -90,7 +90,11 @@ bool @(topic)_Subscriber::init(uint8_t topic_ID, std::condition_variable* t_send
// Create RTPSParticipant
ParticipantAttributes PParam;
PParam.rtps.builtin.domainId = 0; // MUST BE THE SAME AS IN THE PUBLISHER
@[if version.parse(fastrtps_version[:3]) < version.parse('2.0')]@
PParam.rtps.builtin.domainId = 0;
@[else]@
PParam.domainId = 0;
@[end if]@
@[if version.parse(fastrtps_version[:3]) <= version.parse('1.8')]@
PParam.rtps.builtin.leaseDuration = c_TimeInfinite;
@[else]@