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first push on supporting ROS2 Dashing and IDL 4.2

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This commit is contained in:
TSC21
2019-09-09 12:39:39 +01:00
committed by Nuno Marques
parent f885d2274a
commit 278d2fd21f
12 changed files with 152 additions and 54 deletions
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11
msg/templates/urtps/Subscriber.cpp.em
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@@ -117,6 +117,13 @@ void @(topic)_Subscriber::SubListener::onNewDataMessage(Subscriber* sub)
{
// Take data
if(sub->takeNextData(&msg, &m_info))
@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
@(topic)_ st;
@[else]@
@(topic) st;
@[end if]@
if(sub->takeNextData(&st, &m_info))
{
if(m_info.sampleKind == ALIVE)
{
@@ -141,7 +148,11 @@ bool @(topic)_Subscriber::hasMsg()
return m_listener.has_msg;
}
@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
@(topic)_ @(topic)_Subscriber::getMsg()
@[else]@
@(topic) @(topic)_Subscriber::getMsg()
@[end if]@
{
m_listener.has_msg = false;
return m_listener.msg;