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microRTPS: use package.version to compare FastRTPS lib versions

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This commit is contained in:
TSC21
2020-03-16 14:44:03 +00:00
committed by Nuno Marques
parent 1f4b2d1d53
commit 1ea5280299
9 changed files with 33 additions and 28 deletions
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msg/templates/urtps/microRTPS_timesync.h.em
+4 -3
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@@ -11,6 +11,7 @@
@# - ids (List) list of all RTPS msg ids
@###############################################
@{
from packaging import version
import genmsg.msgs
from px_generate_uorb_topic_helper import * # this is in Tools/
@@ -86,7 +87,7 @@ static constexpr int64_t TRIGGER_RESET_THRESHOLD_NS = 100ll * 1000ll * 1000ll;
static constexpr int REQUEST_RESET_COUNTER_THRESHOLD = 5;
@# Sets the timesync DDS type according to the FastRTPS and ROS2 version
@[if fastrtps_version <= 1.7]@
@[if version.parse(fastrtps_version) <= version.parse('1.7')]@
@[ if ros2_distro]@
using timesync_msg_t = @(package)::msg::dds_::Timesync_;
@[ else]@
@@ -213,7 +214,7 @@ private:
inline void updateOffset(const uint64_t& offset) { _offset_ns.store(offset, std::memory_order_relaxed); }
/** Timesync msg Getters **/
@[if fastrtps_version <= 1.7 or not ros2_distro]@
@[if version.parse(fastrtps_version) <= version.parse('1.7') or not ros2_distro]@
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 getMsgSeq(const timesync_msg_t* msg) { return msg->seq_(); }
@@ -228,7 +229,7 @@ private:
@[end if]@
/** Timesync msg Setters **/
@[if fastrtps_version <= 1.7 or not ros2_distro]@
@[if version.parse(fastrtps_version) <= version.parse('1.7') or not ros2_distro]@
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 setMsgSeq(timesync_msg_t* msg, const uint8_t& seq) { msg->seq_() = seq; }