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Merge pull request #102 from ros2/typesupport_c_reloaded

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typesupport c reloaded
This commit is contained in:
Dirk Thomas 2016-12-28 09:02:33 -08:00 • committed by GitHub
commit b1a30f0ecd
8 changed files with 19 additions and 19 deletions
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4
rcl/test/rcl/client_fixture.cpp
View file

@ -120,8 +120,8 @@ int main(int argc, char ** argv)
} }
}); });
const rosidl_service_type_support_t * ts = ROSIDL_GET_TYPE_SUPPORT( const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
example_interfaces, srv, AddTwoInts); example_interfaces, AddTwoInts);
const char * topic = "add_two_ints"; const char * topic = "add_two_ints";
rcl_client_t client = rcl_get_zero_initialized_client(); rcl_client_t client = rcl_get_zero_initialized_client();

4
rcl/test/rcl/service_fixture.cpp
View file

@ -94,8 +94,8 @@ int main(int argc, char ** argv)
} }
}); });
const rosidl_service_type_support_t * ts = ROSIDL_GET_TYPE_SUPPORT( const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
example_interfaces, srv, AddTwoInts); example_interfaces, AddTwoInts);
const char * topic = "add_two_ints"; const char * topic = "add_two_ints";
rcl_service_t service = rcl_get_zero_initialized_service(); rcl_service_t service = rcl_get_zero_initialized_service();

8
rcl/test/rcl/test_client.cpp
View file

@ -75,8 +75,8 @@ TEST_F(TestClientFixture, test_client_nominal) {
const char * topic_name = "add_two_ints"; const char * topic_name = "add_two_ints";
rcl_client_options_t client_options = rcl_client_get_default_options(); rcl_client_options_t client_options = rcl_client_get_default_options();
const rosidl_service_type_support_t * ts = ROSIDL_GET_TYPE_SUPPORT( const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
example_interfaces, srv, AddTwoInts); example_interfaces, AddTwoInts);
ret = rcl_client_init(&client, this->node_ptr, ts, topic_name, &client_options); ret = rcl_client_init(&client, this->node_ptr, ts, topic_name, &client_options);
// Check the return code of initialization and that the service name matches what's expected // Check the return code of initialization and that the service name matches what's expected
@ -111,8 +111,8 @@ TEST_F(TestClientFixture, test_client_init_fini) {
// Setup valid inputs. // Setup valid inputs.
rcl_client_t client; rcl_client_t client;
const rosidl_service_type_support_t * ts = ROSIDL_GET_TYPE_SUPPORT( const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
example_interfaces, srv, AddTwoInts); example_interfaces, AddTwoInts);
const char * topic_name = "chatter"; const char * topic_name = "chatter";
rcl_client_options_t default_client_options = rcl_client_get_default_options(); rcl_client_options_t default_client_options = rcl_client_get_default_options();

6
rcl/test/rcl/test_graph.cpp
View file

@ -343,7 +343,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_query_functio
// Now create a publisher on "topic_name" and check that it is seen. // Now create a publisher on "topic_name" and check that it is seen.
rcl_publisher_t pub = rcl_get_zero_initialized_publisher(); rcl_publisher_t pub = rcl_get_zero_initialized_publisher();
rcl_publisher_options_t pub_ops = rcl_publisher_get_default_options(); rcl_publisher_options_t pub_ops = rcl_publisher_get_default_options();
auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, String); auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String);
ret = rcl_publisher_init(&pub, this->node_ptr, ts, topic_name.c_str(), &pub_ops); ret = rcl_publisher_init(&pub, this->node_ptr, ts, topic_name.c_str(), &pub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe(); EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
rcl_reset_error(); rcl_reset_error();
@ -420,7 +420,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
rcl_publisher_t pub = rcl_get_zero_initialized_publisher(); rcl_publisher_t pub = rcl_get_zero_initialized_publisher();
rcl_publisher_options_t pub_ops = rcl_publisher_get_default_options(); rcl_publisher_options_t pub_ops = rcl_publisher_get_default_options();
rcl_ret_t ret = rcl_publisher_init( rcl_ret_t ret = rcl_publisher_init(
&pub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, String), &pub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String),
"chatter_test_graph_guard_condition_topics", &pub_ops); "chatter_test_graph_guard_condition_topics", &pub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe(); EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
// sleep // sleep
@ -429,7 +429,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
rcl_subscription_t sub = rcl_get_zero_initialized_subscription(); rcl_subscription_t sub = rcl_get_zero_initialized_subscription();
rcl_subscription_options_t sub_ops = rcl_subscription_get_default_options(); rcl_subscription_options_t sub_ops = rcl_subscription_get_default_options();
ret = rcl_subscription_init( ret = rcl_subscription_init(
&sub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, String), &sub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String),
"chatter_test_graph_guard_condition_topics", &sub_ops); "chatter_test_graph_guard_condition_topics", &sub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe(); EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
// sleep // sleep

6
rcl/test/rcl/test_publisher.cpp
View file

@ -77,7 +77,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
stop_memory_checking(); stop_memory_checking();
rcl_ret_t ret; rcl_ret_t ret;
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher(); rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
const rosidl_message_type_support_t * ts = ROSIDL_GET_TYPE_SUPPORT(std_msgs, msg, Int64); const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64);
// TODO(wjwwood): Change this back to just chatter when this OpenSplice problem is resolved: // TODO(wjwwood): Change this back to just chatter when this OpenSplice problem is resolved:
// ======================================================================================== // ========================================================================================
// Report : WARNING // Report : WARNING
@ -112,7 +112,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
stop_memory_checking(); stop_memory_checking();
rcl_ret_t ret; rcl_ret_t ret;
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher(); rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
const rosidl_message_type_support_t * ts = ROSIDL_GET_TYPE_SUPPORT(std_msgs, msg, String); const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String);
const char * topic_name = "chatter"; const char * topic_name = "chatter";
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options(); rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic_name, &publisher_options); ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic_name, &publisher_options);
@ -139,7 +139,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_init_
rcl_ret_t ret; rcl_ret_t ret;
// Setup valid inputs. // Setup valid inputs.
rcl_publisher_t publisher; rcl_publisher_t publisher;
const rosidl_message_type_support_t * ts = ROSIDL_GET_TYPE_SUPPORT(std_msgs, msg, Int64); const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64);
const char * topic_name = "chatter"; const char * topic_name = "chatter";
rcl_publisher_options_t default_publisher_options = rcl_publisher_get_default_options(); rcl_publisher_options_t default_publisher_options = rcl_publisher_get_default_options();

4
rcl/test/rcl/test_service.cpp
View file

@ -116,8 +116,8 @@ wait_for_service_to_be_ready(
TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal) { TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal) {
stop_memory_checking(); stop_memory_checking();
rcl_ret_t ret; rcl_ret_t ret;
const rosidl_service_type_support_t * ts = ROSIDL_GET_TYPE_SUPPORT( const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
example_interfaces, srv, AddTwoInts); example_interfaces, AddTwoInts);
const char * topic = "add_two_ints"; const char * topic = "add_two_ints";
rcl_service_t service = rcl_get_zero_initialized_service(); rcl_service_t service = rcl_get_zero_initialized_service();

4
rcl/test/rcl/test_subscription.cpp
View file

@ -118,7 +118,7 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
stop_memory_checking(); stop_memory_checking();
rcl_ret_t ret; rcl_ret_t ret;
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher(); rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
const rosidl_message_type_support_t * ts = ROSIDL_GET_TYPE_SUPPORT(std_msgs, msg, Int64); const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64);
// TODO(wjwwood): Change this back to just chatter when this OpenSplice problem is resolved: // TODO(wjwwood): Change this back to just chatter when this OpenSplice problem is resolved:
// ======================================================================================== // ========================================================================================
// Report : WARNING // Report : WARNING
@ -182,7 +182,7 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
stop_memory_checking(); stop_memory_checking();
rcl_ret_t ret; rcl_ret_t ret;
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher(); rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
const rosidl_message_type_support_t * ts = ROSIDL_GET_TYPE_SUPPORT(std_msgs, msg, String); const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String);
const char * topic = "rcl_test_subscription_nominal_string_chatter"; const char * topic = "rcl_test_subscription_nominal_string_chatter";
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options(); rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic, &publisher_options); ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic, &publisher_options);

2
rcl_lifecycle/src/com_interface.c
View file

@ -24,7 +24,7 @@ extern "C"
#include "lifecycle_msgs/msg/transition_event.h" #include "lifecycle_msgs/msg/transition_event.h"
#include "rosidl_generator_c/message_type_support.h" #include "rosidl_generator_c/message_type_support_struct.h"
#include "rosidl_generator_c/string_functions.h" #include "rosidl_generator_c/string_functions.h"
#include "rcl/error_handling.h" #include "rcl/error_handling.h"