message_version.hpp

/****************************************************************************
 * Copyright (c) 2025 PX4 Development Team.
 * SPDX-License-Identifier: BSD-3-Clause
 ****************************************************************************/
 
#pragma once
 
#include <rclcpp/rclcpp.hpp>
#include <string>
#include <type_traits>
 
namespace px4_ros2 {
 
template <typename T, typename = void>
struct HasMessageVersion : std::false_type {};
 
template <typename T>
struct HasMessageVersion<T, std::void_t<decltype(T::MESSAGE_VERSION)>> : std::true_type {};
 
static inline bool isRmwZenoh()
{
  const char* rmw_id = rmw_get_implementation_identifier();
  return std::string(rmw_id) == "rmw_zenoh_cpp";
}
 
template <typename T>
std::string getMessageNameVersion()
{
  if (isRmwZenoh()) {
    return "";
  }
  if constexpr (HasMessageVersion<T>::value) {
    if (T::MESSAGE_VERSION == 0) {
      return "";
    }
    return "_v" + std::to_string(T::MESSAGE_VERSION);
  } else {
    return "";
  }
}
 
}  // namespace px4_ros2