From e7b0384f05cd8a20826ec7cd3aa88a1a77b625f7 Mon Sep 17 00:00:00 2001 From: TSC21 Date: Wed, 2 Oct 2019 15:00:01 +0100 Subject: [PATCH] fix FastRTPSGen version verification --- msg/templates/urtps/Publisher.cpp.em | 12 ++++++------ msg/templates/urtps/Publisher.h.em | 6 +++--- msg/templates/urtps/RtpsTopics.cpp.em | 4 ++-- msg/templates/urtps/Subscriber.cpp.em | 8 ++++---- msg/templates/urtps/Subscriber.h.em | 8 ++++---- msg/templates/urtps/msg.idl.em | 12 ++++++------ msg/tools/px_generate_uorb_topic_files.py | 2 +- 7 files changed, 26 insertions(+), 26 deletions(-) diff --git a/msg/templates/urtps/Publisher.cpp.em b/msg/templates/urtps/Publisher.cpp.em index bc43a04d81..df87d9cbb9 100644 --- a/msg/templates/urtps/Publisher.cpp.em +++ b/msg/templates/urtps/Publisher.cpp.em @@ -64,7 +64,7 @@ topic = alias if alias else spec.short_name #include -@[if 1.5 < fastrtpsgen_version <= 1.7]@ +@[if 1.5 <= fastrtpsgen_version <= 1.7]@ #include @[end if]@ @@ -80,7 +80,7 @@ bool @(topic)_Publisher::init() // Create RTPSParticipant ParticipantAttributes PParam; PParam.rtps.builtin.domainId = 0; -@[if 1.5 < fastrtpsgen_version <= 1.7]@ +@[if 1.5 <= fastrtpsgen_version <= 1.7]@ PParam.rtps.builtin.leaseDuration = c_TimeInfinite; @[else]@ PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite; @@ -97,7 +97,7 @@ bool @(topic)_Publisher::init() PublisherAttributes Wparam; Wparam.topic.topicKind = NO_KEY; Wparam.topic.topicDataType = myType.getName(); //This type MUST be registered -@[if 1.5 < fastrtpsgen_version <= 1.7]@ +@[if 1.5 <= fastrtpsgen_version <= 1.7]@ Wparam.topic.topicName = "@(topic)_PubSubTopic"; @[else]@ Wparam.topic.topicName = "@(topic)PubSubTopic"; @@ -130,7 +130,7 @@ void @(topic)_Publisher::run() { while(m_listener.n_matched == 0) { -@[if 1.5 < fastrtpsgen_version <= 1.7]@ +@[if 1.5 <= fastrtpsgen_version <= 1.7]@ eClock::my_sleep(250); // Sleep 250 ms; @[else]@ std::this_thread::sleep_for(std::chrono::milliseconds(250)); // Sleep 250 ms @@ -138,7 +138,7 @@ void @(topic)_Publisher::run() } // Publication code -@[if 1.5 < fastrtpsgen_version <= 1.7]@ +@[if 1.5 <= fastrtpsgen_version <= 1.7]@ @(topic)_ st; @[else]@ @(topic) st; @@ -167,7 +167,7 @@ void @(topic)_Publisher::run() }while(std::cin >> ch); } -@[if 1.5 < fastrtpsgen_version <= 1.7]@ +@[if 1.5 <= fastrtpsgen_version <= 1.7]@ void @(topic)_Publisher::publish(@(topic)_* st) @[else]@ void @(topic)_Publisher::publish(@(topic)* st) diff --git a/msg/templates/urtps/Publisher.h.em b/msg/templates/urtps/Publisher.h.em index 4971efdce7..e32a86aa33 100644 --- a/msg/templates/urtps/Publisher.h.em +++ b/msg/templates/urtps/Publisher.h.em @@ -64,7 +64,7 @@ topic = alias if alias else spec.short_name #include #include -@[if 1.5 < fastrtpsgen_version <= 1.7]@ +@[if 1.5 <= fastrtpsgen_version <= 1.7]@ #include "@(topic)_PubSubTypes.h" @[else]@ #include "@(topic)PubSubTypes.h" @@ -80,7 +80,7 @@ public: virtual ~@(topic)_Publisher(); bool init(); void run(); -@[if 1.5 < fastrtpsgen_version <= 1.7]@ +@[if 1.5 <= fastrtpsgen_version <= 1.7]@ void publish(@(topic)_* st); @[else]@ void publish(@(topic)* st); @@ -97,7 +97,7 @@ private: void onPublicationMatched(Publisher* pub, MatchingInfo& info); int n_matched; } m_listener; -@[if 1.5 < fastrtpsgen_version <= 1.7]@ +@[if 1.5 <= fastrtpsgen_version <= 1.7]@ @(topic)_PubSubType myType; @[else]@ @(topic)PubSubType myType; diff --git a/msg/templates/urtps/RtpsTopics.cpp.em b/msg/templates/urtps/RtpsTopics.cpp.em index 5db5ee24ec..18f0f94bd4 100644 --- a/msg/templates/urtps/RtpsTopics.cpp.em +++ b/msg/templates/urtps/RtpsTopics.cpp.em @@ -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 1.5 < fastrtpsgen_version <= 1.7]@ +@[ if 1.5 <= fastrtpsgen_version[0] <= 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 1.5 < fastrtpsgen_version <= 1.7]@ +@[ if 1.5 <= fastrtpsgen_version[0] <= 1.7]@ @(topic)_ msg = _@(topic)_sub.getMsg(); @[ else]@ @(topic) msg = _@(topic)_sub.getMsg(); diff --git a/msg/templates/urtps/Subscriber.cpp.em b/msg/templates/urtps/Subscriber.cpp.em index 060474b200..a30ffe7df3 100644 --- a/msg/templates/urtps/Subscriber.cpp.em +++ b/msg/templates/urtps/Subscriber.cpp.em @@ -75,7 +75,7 @@ bool @(topic)_Subscriber::init() // Create RTPSParticipant ParticipantAttributes PParam; PParam.rtps.builtin.domainId = 0; // MUST BE THE SAME AS IN THE PUBLISHER -@[if 1.5 < fastrtpsgen_version <= 1.7]@ +@[if 1.5 <= fastrtpsgen_version <= 1.7]@ PParam.rtps.builtin.leaseDuration = c_TimeInfinite; @[else]@ PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite; @@ -92,7 +92,7 @@ bool @(topic)_Subscriber::init() SubscriberAttributes Rparam; Rparam.topic.topicKind = NO_KEY; Rparam.topic.topicDataType = myType.getName(); //Must be registered before the creation of the subscriber -@[if 1.5 < fastrtpsgen_version <= 1.7]@ +@[if 1.5 <= fastrtpsgen_version <= 1.7]@ Rparam.topic.topicName = "@(topic)_PubSubTopic"; @[else]@ Rparam.topic.topicName = "@(topic)PubSubTopic"; @@ -125,7 +125,7 @@ void @(topic)_Subscriber::SubListener::onSubscriptionMatched(Subscriber* sub, Ma void @(topic)_Subscriber::SubListener::onNewDataMessage(Subscriber* sub) { // Take data -@[if 1.5 < fastrtpsgen_version <= 1.7]@ +@[if 1.5 <= fastrtpsgen_version <= 1.7]@ @(topic)_ st; @[else]@ @(topic) st; @@ -156,7 +156,7 @@ bool @(topic)_Subscriber::hasMsg() return m_listener.has_msg; } -@[if 1.5 < fastrtpsgen_version <= 1.7]@ +@[if 1.5 <= fastrtpsgen_version <= 1.7]@ @(topic)_ @(topic)_Subscriber::getMsg() @[else]@ @(topic) @(topic)_Subscriber::getMsg() diff --git a/msg/templates/urtps/Subscriber.h.em b/msg/templates/urtps/Subscriber.h.em index 46865c2361..a9a9de8248 100644 --- a/msg/templates/urtps/Subscriber.h.em +++ b/msg/templates/urtps/Subscriber.h.em @@ -64,7 +64,7 @@ topic = alias if alias else spec.short_name #include #include #include -@[if 1.5 < fastrtpsgen_version <= 1.7]@ +@[if 1.5 <= fastrtpsgen_version <= 1.7]@ #include "@(topic)_PubSubTypes.h" @[else]@ #include "@(topic)PubSubTypes.h" @@ -81,7 +81,7 @@ public: bool init(); void run(); bool hasMsg(); -@[if 1.5 < fastrtpsgen_version <= 1.7]@ +@[if 1.5 <= fastrtpsgen_version <= 1.7]@ @(topic)_ getMsg(); @[else]@ @(topic) getMsg(); @@ -100,7 +100,7 @@ private: SampleInfo_t m_info; int n_matched; int n_msg; -@[if 1.5 < fastrtpsgen_version <= 1.7]@ +@[if 1.5 <= fastrtpsgen_version <= 1.7]@ @(topic)_ msg; @[else]@ @(topic) msg; @@ -108,7 +108,7 @@ private: bool has_msg = false; } m_listener; -@[if 1.5 < fastrtpsgen_version <= 1.7]@ +@[if 1.5 <= fastrtpsgen_version <= 1.7]@ @(topic)_PubSubType myType; @[else]@ @(topic)PubSubType myType; diff --git a/msg/templates/urtps/msg.idl.em b/msg/templates/urtps/msg.idl.em index 1574cd14f7..b3869c8570 100644 --- a/msg/templates/urtps/msg.idl.em +++ b/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 1.5 <= fastrtpsgen_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 1.5 <= fastrtpsgen_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 1.5 <= fastrtpsgen_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 1.5 <= fastrtpsgen_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 1.5 <= fastrtpsgen_version <= 1.7]@ struct @(topic)_ @[else]@ struct @(topic) @[end if]@ { @add_msg_fields() -@[if 1.5 < fastrtpsgen_version <= 1.7]@ +@[if 1.5 <= fastrtpsgen_version <= 1.7]@ }; // 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 fbb0a2d932..47f45eed38 100755 --- a/msg/tools/px_generate_uorb_topic_files.py +++ b/msg/tools/px_generate_uorb_topic_files.py @@ -190,7 +190,7 @@ 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 ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal": + if 1.5 <= fastrtpsgen_version <= 1.7: output_file = os.path.join(outputdir, IDL_TEMPLATE_FILE.replace( "msg.idl.em", str(spec_short_name + "_.idl"))) else: