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

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This commit is contained in:
TSC21
2020-03-11 15:13:07 +00:00
committed by Nuno Marques
parent c7d86b73d4
commit 7612879ffd
10 changed files with 76 additions and 90 deletions
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msg/templates/urtps/Publisher.cpp.em
+3 -3
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@@ -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]@