micrortps bridge: clean templates; add backwards compatibility; add R…

…OS2 compatibility

msg/templates/urtps/Publisher.cpp.em

@@ -20,7 +20,7 @@ topic = alias if alias else spec.short_name
 /****************************************************************************
  *
  * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
- * Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
+ * Copyright (C) 2018-2019 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are met:
@@ -54,7 +54,7 @@ topic = alias if alias else spec.short_name
  * @@file @(topic)_Publisher.cpp
  * This file contains the implementation of the publisher functions.
  *
- * This file was generated by the tool fastcdrgen.
+ * This file was adapted from the fastcdrgen tool.
  */
 
 #include <fastrtps/participant/Participant.h>
@@ -64,7 +64,9 @@ topic = alias if alias else spec.short_name
 
 #include <fastrtps/Domain.h>
 
+@[if 1.5 < fastrtpsgen_version <= 1.7]@
 #include <fastrtps/utils/eClock.h>
+@[else]@
 
 #include "@(topic)_Publisher.h"
 
@@ -76,26 +78,34 @@ topic = alias if alias else spec.short_name
 bool @(topic)_Publisher::init()
 {
     // Create RTPSParticipant
-
     ParticipantAttributes PParam;
     PParam.rtps.builtin.domainId = 0;
+@[if 1.5 < fastrtpsgen_version <= 1.7]@
     PParam.rtps.builtin.leaseDuration = c_TimeInfinite;
+@[else]@
+    PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite;
+@[end if]@
     PParam.rtps.setName("@(topic)_publisher");  //You can put here the name you want
     mp_participant = Domain::createParticipant(PParam);
     if(mp_participant == nullptr)
         return false;
 
-    //Register the type
-
-    Domain::registerType(mp_participant, (TopicDataType*) &myType);
+    // Register the type
+    Domain::registerType(mp_participant, static_cast<TopicDataType*>(&myType));
 
     // Create Publisher
-
     PublisherAttributes Wparam;
     Wparam.topic.topicKind = NO_KEY;
     Wparam.topic.topicDataType = myType.getName();  //This type MUST be registered
+@[if 1.5 < fastrtpsgen_version <= 1.7]@
     Wparam.topic.topicName = "@(topic)_PubSubTopic";
-    mp_publisher = Domain::createPublisher(mp_participant, Wparam, (PublisherListener*) &m_listener);
+@[else]@
+    Wparam.topic.topicName = "@(topic)PubSubTopic";
+@[end if]@
+@[if ros2_distro and ros2_distro != "ardent"]@
+    Wparam.topic.topicName = "rt/" + Wparam.topic.topicName;
+@[end if]@
+    mp_publisher = Domain::createPublisher(mp_participant, Wparam, static_cast<PublisherListener*>(&m_listener));
     if(mp_publisher == nullptr)
         return false;
     //std::cout << "Publisher created, waiting for Subscribers." << std::endl;
@@ -120,12 +130,15 @@ void @(topic)_Publisher::run()
 {
     while(m_listener.n_matched == 0)
     {
-        eClock::my_sleep(250); // Sleep 250 ms
+@[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
+@[end if]@
     }
 
     // Publication code
-
-@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
+@[if 1.5 < fastrtpsgen_version <= 1.7]@
     @(topic)_ st;
 @[else]@
     @(topic) st;
@@ -154,7 +167,7 @@ void @(topic)_Publisher::run()
     }while(std::cin >> ch);
 }
 
-@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
+@[if 1.5 < fastrtpsgen_version <= 1.7]@
 void @(topic)_Publisher::publish(@(topic)_* st)
 @[else]@
 void @(topic)_Publisher::publish(@(topic)* st)

msg/templates/urtps/Publisher.h.em

@@ -20,7 +20,7 @@ topic = alias if alias else spec.short_name
 /****************************************************************************
  *
  * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
- * Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
+ * Copyright (C) 2018-2019 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are met:
@@ -54,7 +54,7 @@ topic = alias if alias else spec.short_name
  * @@file @(topic)_Publisher.h
  * This header file contains the declaration of the publisher functions.
  *
- * This file was generated by the tool fastcdrgen.
+ * This file was adapted from the fastcdrgen tool.
  */
 
 
@@ -64,7 +64,7 @@ topic = alias if alias else spec.short_name
 #include <fastrtps/fastrtps_fwd.h>
 #include <fastrtps/publisher/PublisherListener.h>
 
-@[if float(fastrtps_version) < 1.9]@
+@[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 (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
+@[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 float(fastrtps_version) < 1.9]@
+@[if 1.5 < fastrtpsgen_version <= 1.7]@
     @(topic)_PubSubType myType;
 @[else]@
     @(topic)PubSubType myType;

msg/templates/urtps/RtpsTopics.cpp.em

@@ -23,7 +23,7 @@ recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumer
 /****************************************************************************
  *
  * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
- * Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
+ * Copyright (C) 2018-2019 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are met:
@@ -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 ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
+@[    if 1.5 < fastrtpsgen_version <= 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 ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
+@[    if 1.5 < fastrtpsgen_version <= 1.7]@
                 @(topic)_ msg = _@(topic)_sub.getMsg();
 @[    else]@
                 @(topic) msg = _@(topic)_sub.getMsg();

msg/templates/urtps/RtpsTopics.h.em

@@ -23,7 +23,7 @@ recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumer
 /****************************************************************************
  *
  * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
- * Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
+ * Copyright (C) 2018-2019 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are met:

msg/templates/urtps/Subscriber.cpp.em

@@ -20,7 +20,7 @@ topic = alias if alias else spec.short_name
 /****************************************************************************
  *
  * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
- * Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
+ * Copyright (C) 2018-2019 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are met:
@@ -54,7 +54,7 @@ topic = alias if alias else spec.short_name
  * @@file @(topic)_Subscriber.cpp
  * This file contains the implementation of the subscriber functions.
  *
- * This file was generated by the tool fastcdrgen.
+ * This file was adapted from the fastcdrgen tool.
  */
 
 #include <fastrtps/participant/Participant.h>
@@ -66,41 +66,50 @@ topic = alias if alias else spec.short_name
 
 #include "@(topic)_Subscriber.h"
 
-
 @(topic)_Subscriber::@(topic)_Subscriber() : mp_participant(nullptr), mp_subscriber(nullptr) {}
 
 @(topic)_Subscriber::~@(topic)_Subscriber() {   Domain::removeParticipant(mp_participant);}
 
 bool @(topic)_Subscriber::init()
 {
     // Create RTPSParticipant
-
     ParticipantAttributes PParam;
-    PParam.rtps.builtin.domainId = 0; //MUST BE THE SAME AS IN THE PUBLISHER
+    PParam.rtps.builtin.domainId = 0; // MUST BE THE SAME AS IN THE PUBLISHER
+@[if 1.5 < fastrtpsgen_version <= 1.7]@
     PParam.rtps.builtin.leaseDuration = c_TimeInfinite;
+@[else]@
+    PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite;
+@[end if]@
     PParam.rtps.setName("@(topic)_subscriber"); //You can put the name you want
     mp_participant = Domain::createParticipant(PParam);
     if(mp_participant == nullptr)
             return false;
 
     //Register the type
-
-    Domain::registerType(mp_participant, (TopicDataType*) &myType);
+    Domain::registerType(mp_participant, static_cast<TopicDataType*>(&myType));
 
     // Create Subscriber
-
     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]@
     Rparam.topic.topicName = "@(topic)_PubSubTopic";
-    mp_subscriber = Domain::createSubscriber(mp_participant, Rparam, (SubscriberListener*) &m_listener);
+@[else]@
+    Rparam.topic.topicName = "@(topic)PubSubTopic";
+@[end if]@
+@[if ros2_distro and ros2_distro != "ardent"]@
+    Rparam.topic.topicName = "rt/" + Wparam.topic.topicName;
+@[end if]@
+    mp_subscriber = Domain::createSubscriber(mp_participant, Rparam, static_cast<SubscriberListener*>(&m_listener));
     if(mp_subscriber == nullptr)
         return false;
     return true;
 }
 
 void @(topic)_Subscriber::SubListener::onSubscriptionMatched(Subscriber* sub, MatchingInfo& info)
 {
+    (void)sub;
+
     if (info.status == MATCHED_MATCHING)
     {
         n_matched++;
@@ -116,8 +125,7 @@ void @(topic)_Subscriber::SubListener::onSubscriptionMatched(Subscriber* sub, Ma
 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]@
+@[if 1.5 < fastrtpsgen_version <= 1.7]@
         @(topic)_ st;
 @[else]@
         @(topic) st;
@@ -148,7 +156,7 @@ 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]@
+@[if 1.5 < fastrtpsgen_version <= 1.7]@
 @(topic)_ @(topic)_Subscriber::getMsg()
 @[else]@
 @(topic) @(topic)_Subscriber::getMsg()

msg/templates/urtps/Subscriber.h.em

@@ -20,7 +20,7 @@ topic = alias if alias else spec.short_name
 /****************************************************************************
  *
  * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
- * Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
+ * Copyright (C) 2018-2019 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are met:
@@ -54,7 +54,7 @@ topic = alias if alias else spec.short_name
  * @@file @(topic)_Subscriber.h
  * This header file contains the declaration of the subscriber functions.
  *
- * This file was generated by the tool fastcdrgen.
+ * This file was adapted from the fastcdrgen tool.
  */
 
 
@@ -64,7 +64,7 @@ topic = alias if alias else spec.short_name
 #include <fastrtps/fastrtps_fwd.h>
 #include <fastrtps/subscriber/SubscriberListener.h>
 #include <fastrtps/subscriber/SampleInfo.h>
-@[if float(fastrtps_version) < 1.9]@
+@[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 (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
+@[if 1.5 < fastrtpsgen_version <= 1.7]@
     @(topic)_ getMsg();
 @[else]@
     @(topic) getMsg();
@@ -100,15 +100,15 @@ private:
         SampleInfo_t m_info;
         int n_matched;
         int n_msg;
-@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
+@[if 1.5 < fastrtpsgen_version <= 1.7]@
         @(topic)_ msg;
 @[else]@
         @(topic) msg;
 @[end if]@
         bool has_msg = false;
 
     } m_listener;
-@[if float(fastrtps_version) < 1.9]@
+@[if 1.5 < fastrtpsgen_version <= 1.7]@
     @(topic)_PubSubType myType;
 @[else]@
     @(topic)PubSubType myType;

msg/templates/urtps/microRTPS_agent_CMakeLists.txt.em

@@ -1,7 +1,7 @@
 ################################################################################
 #
 # Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-# Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
+# Copyright (C) 2018-2019 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions are met:

msg/templates/urtps/microRTPS_transport.h

@@ -1,7 +1,7 @@
 /****************************************************************************
  *
  * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
- * Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
+ * Copyright (C) 2018-2019 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are met: