microRTPS: use FastRTPS version instead of FastRTPSGen version to generate conditional code

msg/templates/urtps/Publisher.cpp.em

@@ -69,7 +69,7 @@ except AttributeError:
 
 #include <fastrtps/Domain.h>
 
-@[if 1.5 <= fastrtpsgen_version <= 1.7]@
+@[if fastrtps_version <= 1.7]@
 #include <fastrtps/utils/eClock.h>
 @[end if]@
 
@@ -85,7 +85,7 @@ bool @(topic)_Publisher::init()
     // Create RTPSParticipant
     ParticipantAttributes PParam;
     PParam.rtps.builtin.domainId = 0;
-@[if 1.5 <= fastrtpsgen_version <= 1.7 or ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" or ros2_distro == "dashing"]@
+@[if fastrtps_version <= 1.8]@
     PParam.rtps.builtin.leaseDuration = c_TimeInfinite;
 @[else]@
     PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite;
@@ -149,7 +149,7 @@ void @(topic)_Publisher::PubListener::onPublicationMatched(Publisher* pub, Match
     }
 }
 
-@[if 1.5 <= fastrtpsgen_version <= 1.7]@
+@[if fastrtps_version <= 1.7]@
 @[    if ros2_distro]@
     void @(topic)_Publisher::publish(@(package)::msg::dds_::@(topic)_* st)
 @[    else]@

msg/templates/urtps/Publisher.h.em

@@ -68,7 +68,7 @@ except AttributeError:
 #include <fastrtps/fastrtps_fwd.h>
 #include <fastrtps/publisher/PublisherListener.h>
 
-@[if 1.5 <= fastrtpsgen_version <= 1.7]@
+@[if fastrtps_version <= 1.7]@
 #include "@(topic)_PubSubTypes.h"
 @[else]@
 #include "@(topic)PubSubTypes.h"
@@ -84,7 +84,7 @@ public:
     virtual ~@(topic)_Publisher();
     bool init();
     void run();
-@[if 1.5 <= fastrtpsgen_version <= 1.7]@
+@[if fastrtps_version <= 1.7]@
 @[    if ros2_distro]@
     void publish(@(package)::msg::dds_::@(topic)_* st);
 @[    else]@
@@ -109,7 +109,7 @@ private:
         void onPublicationMatched(Publisher* pub, MatchingInfo& info);
         int n_matched;
     } m_listener;
-@[if 1.5 <= fastrtpsgen_version <= 1.7]@
+@[if fastrtps_version <= 1.7]@
 @[    if ros2_distro]@
     @(package)::msg::dds_::@(topic)_PubSubType @(topic)DataType;
 @[    else]@

msg/templates/urtps/RtpsTopics.h.em

@@ -20,7 +20,7 @@ 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]
+fastrtps_version = fastrtps_version[0]
 try:
     ros2_distro = ros2_distro[0].decode("utf-8")
 except AttributeError:
@@ -74,7 +74,7 @@ except AttributeError:
 
 
 @[for topic in recv_topics]@
-@[    if 1.5 <= fastrtpsgen_version <= 1.7]@
+@[    if fastrtps_version <= 1.7]@
 @[        if ros2_distro]@
 using @(topic)_msg_t = @(package)::msg::dds_::@(topic)_;
 @[        else]@
@@ -89,7 +89,7 @@ using @(topic)_msg_t = @(topic);
 @[    end if]@
 @[end for]@
 @[for topic in send_topics]@
-@[    if 1.5 <= fastrtpsgen_version <= 1.7]@
+@[    if fastrtps_version <= 1.7]@
 @[        if ros2_distro]@
 using @(topic)_msg_t = @(package)::msg::dds_::@(topic)_;
 @[        else]@
@@ -131,7 +131,7 @@ private:
 @[end for]@
 @[end if]@
 
-@[if 1.5 <= fastrtpsgen_version <= 1.7 or not ros2_distro]@
+@[if fastrtps_version <= 1.7 or not ros2_distro]@
     template <class T>
     uint8_t getMsgSysID(T* msg) { return msg->sys_id_(); }
 

msg/templates/urtps/Subscriber.cpp.em

@@ -84,7 +84,7 @@ bool @(topic)_Subscriber::init(uint8_t topic_ID, std::condition_variable* t_send
     // Create RTPSParticipant
     ParticipantAttributes PParam;
     PParam.rtps.builtin.domainId = 0; // MUST BE THE SAME AS IN THE PUBLISHER
-@[if 1.5 <= fastrtpsgen_version <= 1.7 or ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" or ros2_distro == "dashing"]@
+@[if fastrtps_version <= 1.8]@
     PParam.rtps.builtin.leaseDuration = c_TimeInfinite;
 @[else]@
     PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite;
@@ -199,7 +199,7 @@ bool @(topic)_Subscriber::hasMsg()
     return false;
 }
 
-@[if 1.5 <= fastrtpsgen_version <= 1.7]@
+@[if fastrtps_version <= 1.7]@
 @[    if ros2_distro]@
 @(package)::msg::dds_::@(topic)_ @(topic)_Subscriber::getMsg()
 @[    else]@

msg/templates/urtps/Subscriber.h.em

@@ -68,7 +68,7 @@ except AttributeError:
 #include <fastrtps/fastrtps_fwd.h>
 #include <fastrtps/subscriber/SubscriberListener.h>
 #include <fastrtps/subscriber/SampleInfo.h>
-@[if 1.5 <= fastrtpsgen_version <= 1.7]@
+@[if fastrtps_version <= 1.7]@
 #include "@(topic)_PubSubTypes.h"
 @[else]@
 #include "@(topic)PubSubTypes.h"
@@ -89,7 +89,7 @@ public:
     bool init(uint8_t topic_ID, std::condition_variable* t_send_queue_cv, std::mutex* t_send_queue_mutex, std::queue<uint8_t>* t_send_queue);
     void run();
     bool hasMsg();
-@[if 1.5 <= fastrtpsgen_version <= 1.7]@
+@[if fastrtps_version <= 1.7]@
 @[    if ros2_distro]@
     @(package)::msg::dds_::@(topic)_ getMsg();
 @[    else]@
@@ -118,7 +118,7 @@ private:
         SampleInfo_t m_info;
         int n_matched;
         int n_msg;
-@[if 1.5 <= fastrtpsgen_version <= 1.7]@
+@[if fastrtps_version <= 1.7]@
 @[    if ros2_distro]@
         @(package)::msg::dds_::@(topic)_ msg;
 @[    else]@
@@ -140,7 +140,7 @@ private:
         std::mutex has_msg_mutex;
 
     } m_listener;
-@[if 1.5 <= fastrtpsgen_version <= 1.7]@
+@[if fastrtps_version <= 1.7]@
 @[    if ros2_distro]@
     @(package)::msg::dds_::@(topic)_PubSubType @(topic)DataType;
 @[    else]@

msg/templates/urtps/microRTPS_timesync.cpp.em

@@ -17,7 +17,7 @@ from px_generate_uorb_topic_helper import * # this is in Tools/
 from px_generate_uorb_topic_files import MsgScope # this is in Tools/
 
 package = package[0]
-fastrtpsgen_version = fastrtpsgen_version[0]
+fastrtps_version = fastrtps_version[0]
 try:
     ros2_distro = ros2_distro[0].decode("utf-8")
 except AttributeError:

msg/templates/urtps/microRTPS_timesync.h.em

@@ -17,7 +17,7 @@ from px_generate_uorb_topic_helper import * # this is in Tools/
 from px_generate_uorb_topic_files import MsgScope # this is in Tools/
 
 package = package[0]
-fastrtpsgen_version = fastrtpsgen_version[0]
+fastrtps_version = fastrtps_version[0]
 try:
     ros2_distro = ros2_distro[0].decode("utf-8")
 except AttributeError:
@@ -86,7 +86,7 @@ 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 1.5 <= fastrtpsgen_version <= 1.7]@
+@[if fastrtps_version <= 1.7]@
 @[    if ros2_distro]@
 using timesync_msg_t = @(package)::msg::dds_::Timesync_;
 @[    else]@

msg/templates/urtps/msg.idl.em

@@ -57,7 +57,7 @@ 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 1.5 <= fastrtpsgen_version <= 1.7:
+        if fastrtps_version <= 1.7:
             include_directive = '#include "%s_.idl"' % builtin_type
         else:
             include_directive = '#include "%s.idl"' % builtin_type
@@ -77,12 +77,12 @@ def get_idl_type_name(field_type):
 def add_msg_field(field):
     if (not field.is_header):
         if field.is_array:
-            if 1.5 <= fastrtpsgen_version <= 1.7:
+            if fastrtps_version <= 1.7:
                 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 1.5 <= fastrtpsgen_version <= 1.7:
+            if fastrtps_version <= 1.7:
                 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)
@@ -96,7 +96,7 @@ def add_msg_fields():
 def add_array_typedefs():
     for field in spec.parsed_fields():
         if not field.is_header and field.is_array:
-            if 1.5 <= fastrtpsgen_version <= 1.7:
+            if fastrtps_version <= 1.7:
                 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)
@@ -127,14 +127,14 @@ def add_msg_constants():
 @add_msg_constants()
 @# Array types
 @add_array_typedefs()
-@[if 1.5 <= fastrtpsgen_version <= 1.7]@
+@[if fastrtps_version <= 1.7]@
 struct @(topic)_
 @[else]@
 struct @(topic)
 @[end if]@
 {
 @add_msg_fields()
-@[if 1.5 <= fastrtpsgen_version <= 1.7]@
+@[if fastrtps_version <= 1.7]@
 }; // struct @(topic)_
 
 #pragma keylist @(topic)_