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fix FastRTPSGen version verification

This commit is contained in:
TSC21 2019-10-02 15:00:01 +01:00 committed by Nuno Marques
parent 9c00f3de02
commit e7b0384f05
7 changed files with 26 additions and 26 deletions
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12
msg/templates/urtps/Publisher.cpp.em
View File

@ -64,7 +64,7 @@ topic = alias if alias else spec.short_name
#include <fastrtps/Domain.h>
@[if 1.5 < fastrtpsgen_version <= 1.7]@
@[if 1.5 <= fastrtpsgen_version <= 1.7]@
#include <fastrtps/utils/eClock.h>
@[end if]@
@ -80,7 +80,7 @@ bool @(topic)_Publisher::init()
// Create RTPSParticipant
ParticipantAttributes PParam;
PParam.rtps.builtin.domainId = 0;
@[if 1.5 < fastrtpsgen_version <= 1.7]@
@[if 1.5 <= fastrtpsgen_version <= 1.7]@
PParam.rtps.builtin.leaseDuration = c_TimeInfinite;
@[else]@
PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite;
@ -97,7 +97,7 @@ bool @(topic)_Publisher::init()
PublisherAttributes Wparam;
Wparam.topic.topicKind = NO_KEY;
Wparam.topic.topicDataType = myType.getName(); //This type MUST be registered
@[if 1.5 < fastrtpsgen_version <= 1.7]@
@[if 1.5 <= fastrtpsgen_version <= 1.7]@
Wparam.topic.topicName = "@(topic)_PubSubTopic";
@[else]@
Wparam.topic.topicName = "@(topic)PubSubTopic";
@ -130,7 +130,7 @@ void @(topic)_Publisher::run()
{
while(m_listener.n_matched == 0)
{
@[if 1.5 < fastrtpsgen_version <= 1.7]@
@[if 1.5 <= fastrtpsgen_version <= 1.7]@
eClock::my_sleep(250); // Sleep 250 ms;
@[else]@
std::this_thread::sleep_for(std::chrono::milliseconds(250)); // Sleep 250 ms
@ -138,7 +138,7 @@ void @(topic)_Publisher::run()
}
// Publication code
@[if 1.5 < fastrtpsgen_version <= 1.7]@
@[if 1.5 <= fastrtpsgen_version <= 1.7]@
@(topic)_ st;
@[else]@
@(topic) st;
@ -167,7 +167,7 @@ void @(topic)_Publisher::run()
}while(std::cin >> ch);
}
@[if 1.5 < fastrtpsgen_version <= 1.7]@
@[if 1.5 <= fastrtpsgen_version <= 1.7]@
void @(topic)_Publisher::publish(@(topic)_* st)
@[else]@
void @(topic)_Publisher::publish(@(topic)* st)

6
msg/templates/urtps/Publisher.h.em
View File

@ -64,7 +64,7 @@ topic = alias if alias else spec.short_name
#include <fastrtps/fastrtps_fwd.h>
#include <fastrtps/publisher/PublisherListener.h>
@[if 1.5 < fastrtpsgen_version <= 1.7]@
@[if 1.5 <= fastrtpsgen_version <= 1.7]@
#include "@(topic)_PubSubTypes.h"
@[else]@
#include "@(topic)PubSubTypes.h"
@ -80,7 +80,7 @@ public:
virtual ~@(topic)_Publisher();
bool init();
void run();
@[if 1.5 < fastrtpsgen_version <= 1.7]@
@[if 1.5 <= fastrtpsgen_version <= 1.7]@
void publish(@(topic)_* st);
@[else]@
void publish(@(topic)* st);
@ -97,7 +97,7 @@ private:
void onPublicationMatched(Publisher* pub, MatchingInfo& info);
int n_matched;
} m_listener;
@[if 1.5 < fastrtpsgen_version <= 1.7]@
@[if 1.5 <= fastrtpsgen_version <= 1.7]@
@(topic)_PubSubType myType;
@[else]@
@(topic)PubSubType myType;

4
msg/templates/urtps/RtpsTopics.cpp.em
View File

@ -92,7 +92,7 @@ void RtpsTopics::publish(uint8_t topic_ID, char data_buffer[], size_t len)
@[for topic in send_topics]@
case @(rtps_message_id(ids, topic)): // @(topic)
{
@[ if 1.5 < fastrtpsgen_version <= 1.7]@
@[ if 1.5 <= fastrtpsgen_version[0] <= 1.7]@
@(topic)_ st;
@[ else]@
@(topic) st;
@ -149,7 +149,7 @@ bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr)
case @(rtps_message_id(ids, topic)): // @(topic)
if (_@(topic)_sub.hasMsg())
{
@[ if 1.5 < fastrtpsgen_version <= 1.7]@
@[ if 1.5 <= fastrtpsgen_version[0] <= 1.7]@
@(topic)_ msg = _@(topic)_sub.getMsg();
@[ else]@
@(topic) msg = _@(topic)_sub.getMsg();

8
msg/templates/urtps/Subscriber.cpp.em
View File

@ -75,7 +75,7 @@ bool @(topic)_Subscriber::init()
// Create RTPSParticipant
ParticipantAttributes PParam;
PParam.rtps.builtin.domainId = 0; // MUST BE THE SAME AS IN THE PUBLISHER
@[if 1.5 < fastrtpsgen_version <= 1.7]@
@[if 1.5 <= fastrtpsgen_version <= 1.7]@
PParam.rtps.builtin.leaseDuration = c_TimeInfinite;
@[else]@
PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite;
@ -92,7 +92,7 @@ bool @(topic)_Subscriber::init()
SubscriberAttributes Rparam;
Rparam.topic.topicKind = NO_KEY;
Rparam.topic.topicDataType = myType.getName(); //Must be registered before the creation of the subscriber
@[if 1.5 < fastrtpsgen_version <= 1.7]@
@[if 1.5 <= fastrtpsgen_version <= 1.7]@
Rparam.topic.topicName = "@(topic)_PubSubTopic";
@[else]@
Rparam.topic.topicName = "@(topic)PubSubTopic";
@ -125,7 +125,7 @@ void @(topic)_Subscriber::SubListener::onSubscriptionMatched(Subscriber* sub, Ma
void @(topic)_Subscriber::SubListener::onNewDataMessage(Subscriber* sub)
{
// Take data
@[if 1.5 < fastrtpsgen_version <= 1.7]@
@[if 1.5 <= fastrtpsgen_version <= 1.7]@
@(topic)_ st;
@[else]@
@(topic) st;
@ -156,7 +156,7 @@ bool @(topic)_Subscriber::hasMsg()
return m_listener.has_msg;
}
@[if 1.5 < fastrtpsgen_version <= 1.7]@
@[if 1.5 <= fastrtpsgen_version <= 1.7]@
@(topic)_ @(topic)_Subscriber::getMsg()
@[else]@
@(topic) @(topic)_Subscriber::getMsg()

8
msg/templates/urtps/Subscriber.h.em
View File

@ -64,7 +64,7 @@ topic = alias if alias else spec.short_name
#include <fastrtps/fastrtps_fwd.h>
#include <fastrtps/subscriber/SubscriberListener.h>
#include <fastrtps/subscriber/SampleInfo.h>
@[if 1.5 < fastrtpsgen_version <= 1.7]@
@[if 1.5 <= fastrtpsgen_version <= 1.7]@
#include "@(topic)_PubSubTypes.h"
@[else]@
#include "@(topic)PubSubTypes.h"
@ -81,7 +81,7 @@ public:
bool init();
void run();
bool hasMsg();
@[if 1.5 < fastrtpsgen_version <= 1.7]@
@[if 1.5 <= fastrtpsgen_version <= 1.7]@
@(topic)_ getMsg();
@[else]@
@(topic) getMsg();
@ -100,7 +100,7 @@ private:
SampleInfo_t m_info;
int n_matched;
int n_msg;
@[if 1.5 < fastrtpsgen_version <= 1.7]@
@[if 1.5 <= fastrtpsgen_version <= 1.7]@
@(topic)_ msg;
@[else]@
@(topic) msg;
@ -108,7 +108,7 @@ private:
bool has_msg = false;
} m_listener;
@[if 1.5 < fastrtpsgen_version <= 1.7]@
@[if 1.5 <= fastrtpsgen_version <= 1.7]@
@(topic)_PubSubType myType;
@[else]@
@(topic)PubSubType myType;

12
msg/templates/urtps/msg.idl.em
View File

@ -57,7 +57,7 @@ def get_include_directives(spec):
if genmsg.msgs.is_valid_constant_type(genmsg.msgs.bare_msg_type(field.type)):
continue
builtin_type = str(field.base_type).replace('px4/', '')
if 1.5 < fastrtpsgen_version <= 1.7:
if 1.5 <= fastrtpsgen_version <= 1.7:
include_directive = '#include "%s_.idl"' % builtin_type
else:
include_directive = '#include "%s.idl"' % builtin_type
@ -77,12 +77,12 @@ def get_idl_type_name(field_type):
def add_msg_field(field):
if (not field.is_header):
if field.is_array:
if 1.5 < fastrtpsgen_version <= 1.7:
if 1.5 <= fastrtpsgen_version <= 1.7:
print(' {0}__{1}_array_{2} {3}_;'.format(topic, str(get_idl_type_name(field.base_type)).replace(" ", "_"), str(field.array_len), field.name))
else:
print(' {0}__{1}_array_{2} {3};'.format(topic, str(get_idl_type_name(field.base_type)).replace(" ", "_"), str(field.array_len), field.name))
else:
if 1.5 < fastrtpsgen_version <= 1.7:
if 1.5 <= fastrtpsgen_version <= 1.7:
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:
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)
@ -96,7 +96,7 @@ def add_msg_fields():
def add_array_typedefs():
for field in spec.parsed_fields():
if not field.is_header and field.is_array:
if 1.5 < fastrtpsgen_version <= 1.7:
if 1.5 <= fastrtpsgen_version <= 1.7:
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:
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)
@ -127,14 +127,14 @@ def add_msg_constants():
@add_msg_constants()
@# Array types
@add_array_typedefs()
@[if 1.5 < fastrtpsgen_version <= 1.7]@
@[if 1.5 <= fastrtpsgen_version <= 1.7]@
struct @(topic)_
@[else]@
struct @(topic)
@[end if]@
{
@add_msg_fields()
@[if 1.5 < fastrtpsgen_version <= 1.7]@
@[if 1.5 <= fastrtpsgen_version <= 1.7]@
}; // struct @(topic)_
#pragma keylist @(topic)_

2
msg/tools/px_generate_uorb_topic_files.py
View File

@ -190,7 +190,7 @@ def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, pack
os.makedirs(outputdir)
template_file = os.path.join(templatedir, IDL_TEMPLATE_FILE)
if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal":
if 1.5 <= fastrtpsgen_version <= 1.7:
output_file = os.path.join(outputdir, IDL_TEMPLATE_FILE.replace(
"msg.idl.em", str(spec_short_name + "_.idl")))
else: