diff --git a/msg/templates/urtps/Publisher.cpp.em b/msg/templates/urtps/Publisher.cpp.em index 54aca65168..3519aaafef 100644 --- a/msg/templates/urtps/Publisher.cpp.em +++ b/msg/templates/urtps/Publisher.cpp.em @@ -70,7 +70,7 @@ except AttributeError: #include -@[if version.parse(fastrtps_version) <= version.parse('1.7')]@ +@[if version.parse(fastrtps_version) <= version.parse('1.7.2')]@ #include @[end if]@ diff --git a/msg/templates/urtps/Publisher.h.em b/msg/templates/urtps/Publisher.h.em index ab88424204..48cccb335b 100644 --- a/msg/templates/urtps/Publisher.h.em +++ b/msg/templates/urtps/Publisher.h.em @@ -69,7 +69,7 @@ except AttributeError: #include #include -@[if version.parse(fastrtps_version) <= version.parse('1.7')]@ +@[if version.parse(fastrtps_version) <= version.parse('1.7.2')]@ #include "@(topic)_PubSubTypes.h" @[else]@ #include "@(topic)PubSubTypes.h" @@ -78,7 +78,7 @@ except AttributeError: using namespace eprosima::fastrtps; using namespace eprosima::fastrtps::rtps; -@[if version.parse(fastrtps_version) <= version.parse('1.7')]@ +@[if version.parse(fastrtps_version) <= version.parse('1.7.2')]@ @[ if ros2_distro]@ using @(topic)_msg_t = @(package)::msg::dds_::@(topic)_; using @(topic)_msg_datatype = @(package)::msg::dds_::@(topic)_PubSubType; diff --git a/msg/templates/urtps/RtpsTopics.h.em b/msg/templates/urtps/RtpsTopics.h.em index 465e5e91f1..079d6ea987 100644 --- a/msg/templates/urtps/RtpsTopics.h.em +++ b/msg/templates/urtps/RtpsTopics.h.em @@ -75,7 +75,7 @@ except AttributeError: @[for topic in (recv_topics + send_topics)]@ -@[ if version.parse(fastrtps_version) <= version.parse('1.7')]@ +@[ if version.parse(fastrtps_version) <= version.parse('1.7.2')]@ @[ if ros2_distro]@ using @(topic)_msg_t = @(package)::msg::dds_::@(topic)_; @[ else]@ @@ -117,7 +117,7 @@ private: @[end if]@ /** Msg metada Getters **/ -@[if version.parse(fastrtps_version) <= version.parse('1.7') or not ros2_distro]@ +@[if version.parse(fastrtps_version) <= version.parse('1.7.2') or not ros2_distro]@ template inline uint64_t getMsgTimestamp(const T* msg) { return msg->timestamp_(); } @@ -138,7 +138,7 @@ private: @[end if]@ /** Msg metadata Setters **/ -@[if version.parse(fastrtps_version) <= version.parse('1.7') or not ros2_distro]@ +@[if version.parse(fastrtps_version) <= version.parse('1.7.2') or not ros2_distro]@ template inline uint64_t setMsgTimestamp(T* msg, const uint64_t& timestamp) { msg->timestamp_() = timestamp; } diff --git a/msg/templates/urtps/Subscriber.h.em b/msg/templates/urtps/Subscriber.h.em index aab2ab3913..96f7d7acbf 100644 --- a/msg/templates/urtps/Subscriber.h.em +++ b/msg/templates/urtps/Subscriber.h.em @@ -69,7 +69,7 @@ except AttributeError: #include #include #include -@[if version.parse(fastrtps_version) <= version.parse('1.7')]@ +@[if version.parse(fastrtps_version) <= version.parse('1.7.2')]@ #include "@(topic)_PubSubTypes.h" @[else]@ #include "@(topic)PubSubTypes.h" @@ -82,7 +82,7 @@ except AttributeError: using namespace eprosima::fastrtps; using namespace eprosima::fastrtps::rtps; -@[if version.parse(fastrtps_version) <= version.parse('1.7')]@ +@[if version.parse(fastrtps_version) <= version.parse('1.7.2')]@ @[ if ros2_distro]@ using @(topic)_msg_t = @(package)::msg::dds_::@(topic)_; using @(topic)_msg_datatype = @(package)::msg::dds_::@(topic)_PubSubType; diff --git a/msg/templates/urtps/microRTPS_timesync.h.em b/msg/templates/urtps/microRTPS_timesync.h.em index 7a506b15b6..2a8326a4a4 100644 --- a/msg/templates/urtps/microRTPS_timesync.h.em +++ b/msg/templates/urtps/microRTPS_timesync.h.em @@ -87,7 +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 version.parse(fastrtps_version) <= version.parse('1.7')]@ +@[if version.parse(fastrtps_version) <= version.parse('1.7.2')]@ @[ if ros2_distro]@ using timesync_msg_t = @(package)::msg::dds_::Timesync_; @[ else]@ @@ -214,7 +214,7 @@ private: inline void updateOffset(const uint64_t& offset) { _offset_ns.store(offset, std::memory_order_relaxed); } /** Timesync msg Getters **/ -@[if version.parse(fastrtps_version) <= version.parse('1.7') or not ros2_distro]@ +@[if version.parse(fastrtps_version) <= version.parse('1.7.2') 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_(); } @@ -229,7 +229,7 @@ private: @[end if]@ /** Timesync msg Setters **/ -@[if version.parse(fastrtps_version) <= version.parse('1.7') or not ros2_distro]@ +@[if version.parse(fastrtps_version) <= version.parse('1.7.2') 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; } diff --git a/msg/templates/urtps/msg.idl.em b/msg/templates/urtps/msg.idl.em index 9bd7a70255..a5b6d9ac91 100644 --- a/msg/templates/urtps/msg.idl.em +++ b/msg/templates/urtps/msg.idl.em @@ -58,7 +58,7 @@ 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 version.parse(fastrtps_version) <= version.parse('1.7'): + if version.parse(fastrtps_version) <= version.parse('1.7.2'): include_directive = '#include "%s_.idl"' % builtin_type else: include_directive = '#include "%s.idl"' % builtin_type @@ -78,12 +78,12 @@ def get_idl_type_name(field_type): def add_msg_field(field): if (not field.is_header): if field.is_array: - if version.parse(fastrtps_version) <= version.parse('1.7'): + if version.parse(fastrtps_version) <= version.parse('1.7.2'): 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 version.parse(fastrtps_version) <= version.parse('1.7'): + if version.parse(fastrtps_version) <= version.parse('1.7.2'): 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) @@ -97,7 +97,7 @@ def add_msg_fields(): def add_array_typedefs(): for field in spec.parsed_fields(): if not field.is_header and field.is_array: - if version.parse(fastrtps_version) <= version.parse('1.7'): + if version.parse(fastrtps_version) <= version.parse('1.7.2'): 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) @@ -130,14 +130,14 @@ def add_msg_constants(): @add_msg_constants() @# Array types @add_array_typedefs() -@[if version.parse(fastrtps_version) <= version.parse('1.7')]@ +@[if version.parse(fastrtps_version) <= version.parse('1.7.2')]@ struct @(topic)_ @[else]@ struct @(topic) @[end if]@ { @add_msg_fields() -@[if version.parse(fastrtps_version) <= version.parse('1.7')]@ +@[if version.parse(fastrtps_version) <= version.parse('1.7.2')]@ }; // struct @(topic)_ #pragma keylist @(topic)_ diff --git a/msg/tools/px_generate_uorb_topic_files.py b/msg/tools/px_generate_uorb_topic_files.py index 5a0a451607..771e0e9a2f 100755 --- a/msg/tools/px_generate_uorb_topic_files.py +++ b/msg/tools/px_generate_uorb_topic_files.py @@ -188,7 +188,7 @@ 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 version.parse(fastrtps_version) <= version.parse('1.7'): + if version.parse(fastrtps_version) <= version.parse('1.7.2'): output_file = os.path.join(outputdir, IDL_TEMPLATE_FILE.replace( "msg.idl.em", str(spec_short_name + "_.idl"))) else: