From 296714a00a38431f55dc1b1243cc6e6a14f6e174 Mon Sep 17 00:00:00 2001
From: TSC21 <n.marques21@hotmail.com>
Date: Wed, 11 Mar 2020 13:53:28 +0000
Subject: [PATCH] microRTPS: agent: simplify Subscriber code specialization

---
 msg/templates/urtps/Subscriber.cpp.em | 26 +++++-------
 msg/templates/urtps/Subscriber.h.em   | 58 +++++++++------------------
 2 files changed, 30 insertions(+), 54 deletions(-)

diff --git a/msg/templates/urtps/Subscriber.cpp.em b/msg/templates/urtps/Subscriber.cpp.em
index 86f5e9b3d3..40178eb7f6 100644
--- a/msg/templates/urtps/Subscriber.cpp.em
+++ b/msg/templates/urtps/Subscriber.cpp.em
@@ -70,9 +70,15 @@ except AttributeError:
 
 #include "@(topic)_Subscriber.h"
 
-@(topic)_Subscriber::@(topic)_Subscriber() : mp_participant(nullptr), mp_subscriber(nullptr) {}
+@(topic)_Subscriber::@(topic)_Subscriber()
+    : mp_participant(nullptr),
+      mp_subscriber(nullptr)
+{ }
 
-@(topic)_Subscriber::~@(topic)_Subscriber() {   Domain::removeParticipant(mp_participant);}
+@(topic)_Subscriber::~@(topic)_Subscriber()
+{
+    Domain::removeParticipant(mp_participant);
+}
 
 bool @(topic)_Subscriber::init(uint8_t topic_ID, std::condition_variable* t_send_queue_cv, std::mutex* t_send_queue_mutex, std::queue<uint8_t>* t_send_queue)
 {
@@ -89,7 +95,7 @@ bool @(topic)_Subscriber::init(uint8_t topic_ID, std::condition_variable* t_send
 @[else]@
     PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite;
 @[end if]@
-    PParam.rtps.setName("@(topic)_subscriber"); //You can put the name you want
+    PParam.rtps.setName("@(topic)_subscriber");
     mp_participant = Domain::createParticipant(PParam);
     if(mp_participant == nullptr)
             return false;
@@ -199,19 +205,7 @@ bool @(topic)_Subscriber::hasMsg()
     return false;
 }
 
-@[if fastrtps_version <= 1.7]@
-@[    if ros2_distro]@
-@(package)::msg::dds_::@(topic)_ @(topic)_Subscriber::getMsg()
-@[    else]@
-@(topic)_ @(topic)_Subscriber::getMsg()
-@[    end if]@
-@[else]@
-@[    if ros2_distro]@
-@(package)::msg::@(topic) @(topic)_Subscriber::getMsg()
-@[    else]@
-@(topic) @(topic)_Subscriber::getMsg()
-@[    end if]@
-@[end if]@
+@(topic)_msg_t @(topic)_Subscriber::getMsg()
 {
     return m_listener.msg;
 }
diff --git a/msg/templates/urtps/Subscriber.h.em b/msg/templates/urtps/Subscriber.h.em
index d308798e7d..b83a6f5729 100644
--- a/msg/templates/urtps/Subscriber.h.em
+++ b/msg/templates/urtps/Subscriber.h.em
@@ -81,27 +81,33 @@ except AttributeError:
 using namespace eprosima::fastrtps;
 using namespace eprosima::fastrtps::rtps;
 
-class @(topic)_Subscriber
-{
-public:
-    @(topic)_Subscriber();
-    virtual ~@(topic)_Subscriber();
-    bool init(uint8_t topic_ID, std::condition_variable* t_send_queue_cv, std::mutex* t_send_queue_mutex, std::queue<uint8_t>* t_send_queue);
-    void run();
-    bool hasMsg();
 @[if fastrtps_version <= 1.7]@
 @[    if ros2_distro]@
-    @(package)::msg::dds_::@(topic)_ getMsg();
+using @(topic)_msg_t = @(package)::msg::dds_::@(topic)_;
+using @(topic)_msg_datatype = @(package)::msg::dds_::@(topic)_PubSubType;
 @[    else]@
-    @(topic)_ getMsg();
+using @(topic)_msg_t = @(topic)_;
+using @(topic)_msg_datatype = @(topic)_PubSubType;
 @[    end if]@
 @[else]@
 @[    if ros2_distro]@
-    @(package)::msg::@(topic) getMsg();
+using @(topic)_msg_t = @(package)::msg::@(topic);
+using @(topic)_msg_datatype = @(package)::msg::@(topic)PubSubType;
 @[    else]@
-    @(topic) getMsg();
+using @(topic)_msg_t = @(topic);
+using @(topic)_msg_datatype = @(topic)PubSubType;
 @[    end if]@
 @[end if]@
+
+class @(topic)_Subscriber
+{
+public:
+    @(topic)_Subscriber();
+    virtual ~@(topic)_Subscriber();
+    bool init(uint8_t topic_ID, std::condition_variable* t_send_queue_cv, std::mutex* t_send_queue_mutex, std::queue<uint8_t>* t_send_queue);
+    void run();
+    bool hasMsg();
+    @(topic)_msg_t getMsg();
     void unlockMsg();
 
 private:
@@ -118,19 +124,7 @@ private:
         SampleInfo_t m_info;
         int n_matched;
         int n_msg;
-@[if fastrtps_version <= 1.7]@
-@[    if ros2_distro]@
-        @(package)::msg::dds_::@(topic)_ msg;
-@[    else]@
-        @(topic)_ msg;
-@[    end if]@
-@[else]@
-@[    if ros2_distro]@
-        @(package)::msg::@(topic) msg;
-@[    else]@
-        @(topic) msg;
-@[    end if]@
-@[end if]@
+        @(topic)_msg_t msg;
         std::atomic_bool has_msg;
         uint8_t topic_ID;
         std::condition_variable* t_send_queue_cv;
@@ -140,19 +134,7 @@ private:
         std::mutex has_msg_mutex;
 
     } m_listener;
-@[if fastrtps_version <= 1.7]@
-@[    if ros2_distro]@
-    @(package)::msg::dds_::@(topic)_PubSubType @(topic)DataType;
-@[    else]@
-    @(topic)_PubSubType @(topic)DataType;
-@[    end if]@
-@[else]@
-@[    if ros2_distro]@
-    @(package)::msg::@(topic)PubSubType @(topic)DataType;
-@[    else]@
-    @(topic)PubSubType @(topic)DataType;
-@[    end if]@
-@[end if]@
+    @(topic)_msg_datatype @(topic)DataType;
 };
 
 #endif // _@(topic)__SUBSCRIBER_H_