From 21f0d99145b88549500ded7b34052349485e6f5f Mon Sep 17 00:00:00 2001 From: TSC21 Date: Wed, 11 Mar 2020 14:12:12 +0000 Subject: [PATCH] microRTPS: RtpsTopics: code specialization simplification --- msg/templates/urtps/RtpsTopics.h.em | 20 ++------------------ 1 file changed, 2 insertions(+), 18 deletions(-) diff --git a/msg/templates/urtps/RtpsTopics.h.em b/msg/templates/urtps/RtpsTopics.h.em index 809dc5e9ab..7eaa8520c5 100644 --- a/msg/templates/urtps/RtpsTopics.h.em +++ b/msg/templates/urtps/RtpsTopics.h.em @@ -73,22 +73,7 @@ except AttributeError: @[end for]@ -@[for topic in recv_topics]@ -@[ if fastrtps_version <= 1.7]@ -@[ if ros2_distro]@ -using @(topic)_msg_t = @(package)::msg::dds_::@(topic)_; -@[ else]@ -using @(topic)_msg_t = @(topic)_; -@[ end if]@ -@[ else]@ -@[ if ros2_distro]@ -using @(topic)_msg_t = @(package)::msg::@(topic) ; -@[ else]@ -using @(topic)_msg_t = @(topic); -@[ end if]@ -@[ end if]@ -@[end for]@ -@[for topic in send_topics]@ +@[for topic in (recv_topics + send_topics)]@ @[ if fastrtps_version <= 1.7]@ @[ if ros2_distro]@ using @(topic)_msg_t = @(package)::msg::dds_::@(topic)_; @@ -104,7 +89,6 @@ using @(topic)_msg_t = @(topic); @[ end if]@ @[end for]@ - class RtpsTopics { public: bool init(std::condition_variable* t_send_queue_cv, std::mutex* t_send_queue_mutex, std::queue* t_send_queue); @@ -152,7 +136,7 @@ private: inline uint8_t getMsgSeq(const T* msg) { return msg->seq(); } @[end if]@ - /** Msg metadata Getters **/ + /** Msg metadata Setters **/ @[if fastrtps_version <= 1.7 or not ros2_distro]@ template inline uint64_t setMsgTimestamp(T* msg, const uint64_t& timestamp) { msg->timestamp_() = timestamp; }