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microRTPS: templates: fix support for ROS2 Dashing

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This commit is contained in:
TSC21
2019-10-14 22:46:33 +01:00
committed by Nuno Marques
parent f91770f9cd
commit 97e1edc835
5 changed files with 55 additions and 26 deletions
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msg/templates/urtps/RtpsTopics.cpp.em
+13 -10
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@@ -19,6 +19,9 @@ from px_generate_uorb_topic_files import MsgScope # this is in Tools/
send_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
package = package[0]
fastrtpsgen_version = fastrtpsgen_version[0]
ros2_distro = ros2_distro[0].decode("utf-8")
}@
/****************************************************************************
*
@@ -92,15 +95,15 @@ 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[0] <= 1.7]@
@[ if ros2_distro[0]]@
@(package[0])::msg::dds_::@(topic)_ st;
@[ if 1.5 <= fastrtpsgen_version <= 1.7]@
@[ if ros2_distro]@
@(package)::msg::dds_::@(topic)_ st;
@[ else]@
@(topic)_ st;
@[ end if]@
@[ else]@
@[ if ros2_distro[0]]@
@(package[0])::msg::@(topic) st;
@[ if ros2_distro]@
@(package)::msg::@(topic) st;
@[ else]@
@(topic) st;
@[ end if]@
@@ -157,15 +160,15 @@ 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[0] <= 1.7]@
@[ if ros2_distro[0]]@
@(package[0])::msg::dds_::@(topic)_ msg = _@(topic)_sub.getMsg();
@[ if 1.5 <= fastrtpsgen_version <= 1.7]@
@[ if ros2_distro]@
@(package)::msg::dds_::@(topic)_ msg = _@(topic)_sub.getMsg();
@[ else]@
@(topic)_ msg = _@(topic)_sub.getMsg();
@[ end if]@
@[ else]@
@[ if ros2_distro[0]]@
@(package[0])::msg::@(topic) msg = _@(topic)_sub.getMsg();
@[ if ros2_distro]@
@(package)::msg::@(topic) msg = _@(topic)_sub.getMsg();
@[ else]@
@(topic) msg = _@(topic)_sub.getMsg();
@[ end if]@