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microRTPS: timesync: add getters and setter to generalize interface

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This commit is contained in:
TSC21
2020-03-11 13:23:10 +00:00
committed by Nuno Marques
parent 7612879ffd
commit 99f96437c3
4 changed files with 85 additions and 20 deletions
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msg/templates/urtps/microRTPS_timesync.h.em
+30
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@@ -211,4 +211,34 @@ private:
* @@param[in] offset The value of the offset to update to
*/
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]@
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_(); }
inline int64_t getMsgTC1(const timesync_msg_t* msg) { return msg->tc1_(); }
inline int64_t getMsgTS1(const timesync_msg_t* msg) { return msg->ts1_(); }
@[elif 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(); }
inline int64_t getMsgTC1(const timesync_msg_t* msg) { return msg->tc1(); }
inline int64_t getMsgTS1(const timesync_msg_t* msg) { return msg->ts1(); }
@[end if]@
/** Timesync msg Setters **/
@[if fastrtps_version <= 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; }
inline int64_t setMsgTC1(timesync_msg_t* msg, const int64_t& tc1) { msg->tc1_() = tc1; }
inline int64_t setMsgTS1(timesync_msg_t* msg, const int64_t& ts1) { msg->ts1_() = ts1; }
@[elif 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; }
inline int64_t setMsgTC1(timesync_msg_t* msg, const int64_t& tc1) { msg->tc1() = tc1; }
inline int64_t setMsgTS1(timesync_msg_t* msg, const int64_t& ts1) { msg->ts1() = ts1; }
@[end if]@
};