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micrortps bridge: clean templates; add backwards compatibility; add ROS2 compatibility

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This commit is contained in:
TSC21
2019-10-04 16:56:03 +01:00
committed by Nuno Marques
parent 278d2fd21f
commit 1970ef875f
12 changed files with 147 additions and 113 deletions
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msg/templates/urtps/RtpsTopics.cpp.em
+3 -3
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@@ -23,7 +23,7 @@ recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumer
/****************************************************************************
*
* Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
* Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
* Copyright (C) 2018-2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
@@ -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 ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
@[ if 1.5 < fastrtpsgen_version <= 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 ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
@[ if 1.5 < fastrtpsgen_version <= 1.7]@
@(topic)_ msg = _@(topic)_sub.getMsg();
@[ else]@
@(topic) msg = _@(topic)_sub.getMsg();