first push on supporting ROS2 Dashing and IDL 4.2

msg/collision_constraints.msg

@@ -5,4 +5,3 @@ uint64 timestamp	# time since system start (microseconds)
 
 float32[2] original_setpoint   # velocities demanded
 float32[2] adapted_setpoint    # velocities allowed
-

msg/optical_flow.msg

@@ -1,5 +1,5 @@
 # Optical flow in XYZ body frame in SI units.
-# @see http://en.wikipedia.org/wiki/International_System_of_Units
+# http://en.wikipedia.org/wiki/International_System_of_Units
 
 uint64 timestamp		# time since system start (microseconds)
 

msg/sensor_combined.msg

@@ -1,9 +1,6 @@
-#
 # Sensor readings in SI-unit form.
-#
 # These fields are scaled and offset-compensated where possible and do not
 # change with board revisions and sensor updates.
-#
 
 uint64 timestamp				# time since system start (microseconds)
 

msg/templates/urtps/Publisher.cpp.em

@@ -125,7 +125,11 @@ void @(topic)_Publisher::run()
 
     // Publication code
 
+@[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]@
 
     /* Initialize your structure here */
 
@@ -150,7 +154,11 @@ 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]@
 void @(topic)_Publisher::publish(@(topic)_* st)
+@[else]@
+void @(topic)_Publisher::publish(@(topic)* st)
+@[end if]@
 {
     mp_publisher->write(st);
 }

msg/templates/urtps/Publisher.h.em

@@ -64,7 +64,11 @@ topic = alias if alias else spec.short_name
 #include <fastrtps/fastrtps_fwd.h>
 #include <fastrtps/publisher/PublisherListener.h>
 
+@[if float(fastrtps_version) < 1.9]@
 #include "@(topic)_PubSubTypes.h"
+@[else]@
+#include "@(topic)PubSubTypes.h"
+@[end if]@
 
 using namespace eprosima::fastrtps;
 using namespace eprosima::fastrtps::rtps;
@@ -76,7 +80,11 @@ 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]@
     void publish(@(topic)_* st);
+@[else]@
+    void publish(@(topic)* st);
+@[end if]@
 private:
     Participant *mp_participant;
     Publisher *mp_publisher;
@@ -89,7 +97,11 @@ private:
         void onPublicationMatched(Publisher* pub, MatchingInfo& info);
         int n_matched;
     } m_listener;
+@[if float(fastrtps_version) < 1.9]@
     @(topic)_PubSubType myType;
+@[else]@
+    @(topic)PubSubType myType;
+@[end if]@
 };
 
 #endif // _@(topic)__PUBLISHER_H_

msg/templates/urtps/RtpsTopics.cpp.em

@@ -92,7 +92,11 @@ 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]@
             @(topic)_ st;
+@[    else]@
+            @(topic) st;
+@[    end if]@
             eprosima::fastcdr::FastBuffer cdrbuffer(data_buffer, len);
             eprosima::fastcdr::Cdr cdr_des(cdrbuffer);
             st.deserialize(cdr_des);
@@ -145,7 +149,11 @@ 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]@
                 @(topic)_ msg = _@(topic)_sub.getMsg();
+@[    else]@
+                @(topic) msg = _@(topic)_sub.getMsg();
+@[    end if]@
                 msg.serialize(scdr);
                 ret = true;
             }

msg/templates/urtps/Subscriber.cpp.em

@@ -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;

msg/templates/urtps/Subscriber.h.em

@@ -64,7 +64,11 @@ 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]@
 #include "@(topic)_PubSubTypes.h"
+@[else]@
+#include "@(topic)PubSubTypes.h"
+@[end if]@
 
 using namespace eprosima::fastrtps;
 using namespace eprosima::fastrtps::rtps;
@@ -77,7 +81,11 @@ 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]@
     @(topic)_ getMsg();
+@[else]@
+    @(topic) getMsg();
+@[end if]@
 private:
     Participant *mp_participant;
     Subscriber *mp_subscriber;
@@ -92,11 +100,19 @@ 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]@
         @(topic)_ msg;
+@[else]@
+        @(topic) msg;
+@[end if]@
         bool has_msg = false;
 
     } m_listener;
+@[if float(fastrtps_version) < 1.9]@
     @(topic)_PubSubType myType;
+@[else]@
+    @(topic)PubSubType myType;
+@[end if]@
 };
 
 #endif // _@(topic)__SUBSCRIBER_H_

msg/templates/urtps/msg.idl.em

@@ -57,7 +57,11 @@ 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 ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
         include_directive = '#include "%s_.idl"' % builtin_type
+@[else]@
+        include_directive = '#include "%s.idl"' % builtin_type
+@[end if]@
         builtin_types.add(builtin_type)
         include_directives.add(include_directive)
     return sorted(include_directives)
@@ -74,10 +78,17 @@ def get_idl_type_name(field_type):
 def add_msg_field(field):
     if (not field.is_header):
         if field.is_array:
+@[if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
             print('    {0}__{1}_array_{2} {3}_;'.format(topic, str(get_idl_type_name(field.base_type)).replace(" ", "_"), str(field.array_len), field.name))
         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)
             print('    {0} {1}_;'.format(base_type, 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:
+            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)
+            print('    {0} {1};'.format(base_type, field.name))
+@[end if]@
 
 
 def add_msg_fields():
@@ -88,6 +99,11 @@ def add_msg_fields():
 def add_array_typedefs():
     for field in spec.parsed_fields():
         if not field.is_header and field.is_array:
+@[if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
+            base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else
+@[else]@
+            base_type = get_idl_type_name(field.base_type) if get_idl_type_name(field.base_type) in builtin_types else
+@[end if]@
             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)
             array_type = 'typedef {0} {1}__{2}_array_{3}[{4}];'.format(base_type, topic, get_idl_type_name(field.base_type).replace(" ", "_"), field.array_len, field.array_len)
             if array_type not in array_types:
@@ -109,18 +125,28 @@ def add_msg_constants():
 @#############################
 @# Include dependency messages
 @#############################
-@[for line in get_include_directives(spec)]
-@(line)
-@[end for]
+@[for line in get_include_directives(spec)]@
+@(line)@
+@[end for]@
 @# Constants
 @add_msg_constants()
 @# Array types
 @add_array_typedefs()
+@[if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
 struct @(topic)_
+@[else]@
+struct @(topic)
+@[end if]@
 {
 @add_msg_fields()
+@[if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
 }; // struct @(topic)_
 
 #pragma keylist @(topic)_
+@[else]@
+}; // struct @(topic)
+
+#pragma keylist @(topic)
+@[end if]@
 
 #endif  // __@(topic)__idl__