microRTPS: RtpsTopics: generalize types and member functions access

msg/templates/urtps/RtpsTopics.cpp.em

@@ -20,11 +20,6 @@ from px_generate_uorb_topic_files import MsgScope # this is in Tools/
 send_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
 recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
 package = package[0]
-fastrtpsgen_version = fastrtpsgen_version[0]
-try:
-    ros2_distro = ros2_distro[0].decode("utf-8")
-except AttributeError:
-    ros2_distro = ros2_distro[0]
 }@
 /****************************************************************************
  *
@@ -103,29 +98,18 @@ 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 1.5 <= fastrtpsgen_version <= 1.7]@
+            @(topic)_msg_t st;
-@[        if ros2_distro]@
-            @(package)::msg::dds_::@(topic)_ st;
-@[        else]@
-            @(topic)_ st;
-@[        end if]@
-@[    else]@
-@[        if ros2_distro]@
-            @(package)::msg::@(topic) st;
-@[        else]@
-            @(topic) st;
-@[        end if]@
-@[    end if]@
             eprosima::fastcdr::FastBuffer cdrbuffer(data_buffer, len);
             eprosima::fastcdr::Cdr cdr_des(cdrbuffer);
             st.deserialize(cdr_des);
 @[    if topic == 'Timesync' or topic == 'timesync']@
             _timesync->processTimesyncMsg(&st);
 
-            if (st.sys_id() == 1) {
+            if (getMsgSysID(&st) == 1) {
 @[    end if]@
             // apply timestamp offset
-            _timesync->subtractOffset(st.timestamp());
+            uint64_t timestamp = getMsgTimestamp(&st);
+            _timesync->subtractOffset(timestamp);
             _@(topic)_pub.publish(&st);
 @[    if topic == 'Timesync' or topic == 'timesync']@
             }
@@ -150,24 +134,13 @@ bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr)
         case @(rtps_message_id(ids, topic)): // @(topic)
             if (_@(topic)_sub.hasMsg())
             {
-@[    if 1.5 <= fastrtpsgen_version <= 1.7]@
+                @(topic)_msg_t msg = _@(topic)_sub.getMsg();
-@[        if ros2_distro]@
-                @(package)::msg::dds_::@(topic)_ msg = _@(topic)_sub.getMsg();
-@[        else]@
-                @(topic)_ msg = _@(topic)_sub.getMsg();
-@[        end if]@
-@[    else]@
-@[        if ros2_distro]@
-                @(package)::msg::@(topic) msg = _@(topic)_sub.getMsg();
-@[        else]@
-                @(topic) msg = _@(topic)_sub.getMsg();
-@[        end if]@
-@[    end if]@
 @[    if topic == 'Timesync' or topic == 'timesync']@
-                if (msg.sys_id() == 0) {
+                if (getMsgSysID(&msg) == 0) {
 @[    end if]@
                 // apply timestamp offset
-                _timesync->addOffset(msg.timestamp());
+                uint64_t timestamp = getMsgTimestamp(&msg);
+                _timesync->addOffset(timestamp);
                 msg.serialize(scdr);
                 ret = true;
 @[    if topic == 'Timesync' or topic == 'timesync']@

msg/templates/urtps/RtpsTopics.h.em

@@ -19,6 +19,12 @@ from px_generate_uorb_topic_files import MsgScope # this is in Tools/
 
 send_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
 recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
+package = package[0]
+fastrtpsgen_version = fastrtpsgen_version[0]
+try:
+    ros2_distro = ros2_distro[0].decode("utf-8")
+except AttributeError:
+    ros2_distro = ros2_distro[0]
 }@
 /****************************************************************************
  *
@@ -66,6 +72,39 @@ recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumer
 #include "@(topic)_Subscriber.h"
 @[end for]@
 
+
+@[for topic in recv_topics]@
+@[    if 1.5 <= fastrtpsgen_version <= 1.7]@
+@[        if ros2_distro]@
+using @(topic)_msg_t = @(package)::msg::dds_::@(topic)_;
+@[        else]@
+using @(topic)_msg_t = @(topic)_;
+@[        end if]@
+@[    else]@
+@[        if ros2_distro]@
+using @(topic)_msg_t = @(package)::msg::@(topic) ;
+@[        else]@
+using @(topic)_msg_t = @(topic);
+@[        end if]@
+@[    end if]@
+@[end for]@
+@[for topic in send_topics]@
+@[    if 1.5 <= fastrtpsgen_version <= 1.7]@
+@[        if ros2_distro]@
+using @(topic)_msg_t = @(package)::msg::dds_::@(topic)_;
+@[        else]@
+using @(topic)_msg_t = @(topic)_;
+@[        end if]@
+@[    else]@
+@[        if ros2_distro]@
+using @(topic)_msg_t = @(package)::msg::@(topic);
+@[        else]@
+using @(topic)_msg_t = @(topic);
+@[        end if]@
+@[    end if]@
+@[end for]@
+
+
 class RtpsTopics {
 public:
     bool init(std::condition_variable* t_send_queue_cv, std::mutex* t_send_queue_mutex, std::queue<uint8_t>* t_send_queue);
@@ -90,8 +129,21 @@ private:
 @[for topic in recv_topics]@
     @(topic)_Subscriber _@(topic)_sub;
 @[end for]@
+@[end if]@
 
-    std::shared_ptr<TimeSync> _timesync;
+@[if 1.5 <= fastrtpsgen_version <= 1.7 or not ros2_distro]@
+    template <class T>
+    uint8_t getMsgSysID(T* msg) { return msg->sys_id_(); }
 
+    template <class T>
+    uint64_t getMsgTimestamp(T* msg) { return msg->timestamp_(); }
+@[elif ros2_distro]@
+    template <class T>
+    uint8_t getMsgSysID(T* msg) { return msg->sys_id(); }
+
+    template <class T>
+    uint64_t getMsgTimestamp(T* msg) { return msg->timestamp(); }
 @[end if]@
+
+    std::shared_ptr<TimeSync> _timesync;
 };