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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
2020-03-10 19:05:59 +00:00
committed by Nuno Marques
parent c7d86b73d4
commit 7612879ffd
10 changed files with 76 additions and 90 deletions
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4
msg/templates/urtps/Subscriber.cpp.em
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@@ -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]@