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code style only: wrap after open parenthesis if not in one line (#95)

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Signed-off-by: Dirk Thomas <dirk-thomas@users.noreply.github.com>
This commit is contained in:
Dirk Thomas 2020-02-04 11:41:49 -08:00 • committed by GitHub
parent 0bc1281978
commit 1c500379ae
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GPG key ID: 4AEE18F83AFDEB23
5 changed files with 124 additions and 101 deletions
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10
rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/TypeSupport_impl.hpp
View file

@ -368,15 +368,17 @@ inline void deserialize_field<std::string>(
deser >> cpp_string_vector; deser >> cpp_string_vector;
auto & string_array_field = *reinterpret_cast<rosidl_generator_c__String__Sequence *>(field); auto & string_array_field = *reinterpret_cast<rosidl_generator_c__String__Sequence *>(field);
if (!rosidl_generator_c__String__Sequence__init(&string_array_field, if (
cpp_string_vector.size())) !rosidl_generator_c__String__Sequence__init(
&string_array_field, cpp_string_vector.size()))
{ {
throw std::runtime_error("unable to initialize rosidl_generator_c__String array"); throw std::runtime_error("unable to initialize rosidl_generator_c__String array");
} }
for (size_t i = 0; i < cpp_string_vector.size(); ++i) { for (size_t i = 0; i < cpp_string_vector.size(); ++i) {
if (!rosidl_generator_c__String__assign(&string_array_field.data[i], if (
cpp_string_vector[i].c_str())) !rosidl_generator_c__String__assign(
&string_array_field.data[i], cpp_string_vector[i].c_str()))
{ {
throw std::runtime_error("unable to assign rosidl_generator_c__String"); throw std::runtime_error("unable to assign rosidl_generator_c__String");
} }

3
rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/serdes.hpp
View file

@ -185,7 +185,8 @@ public:
pos += sizeof(T); \ pos += sizeof(T); \
} \ } \
} else { \ } else { \
memcpy(reinterpret_cast<void *>(x), reinterpret_cast<const void *>(data + pos), \ memcpy( \
reinterpret_cast<void *>(x), reinterpret_cast<const void *>(data + pos), \
cnt * sizeof(T)); \ cnt * sizeof(T)); \
pos += cnt * sizeof(T); \ pos += cnt * sizeof(T); \
} \ } \

16
rmw_cyclonedds_cpp/src/TypeSupport2.cpp
View file

@ -140,16 +140,16 @@ ROSIDLC_StructValueType::ROSIDLC_StructValueType(
if (!member_impl.is_array_) { if (!member_impl.is_array_) {
member_value_type = element_value_type; member_value_type = element_value_type;
} else if (member_impl.array_size_ != 0 && !member_impl.is_upper_bound_) { } else if (member_impl.array_size_ != 0 && !member_impl.is_upper_bound_) {
member_value_type = make_value_type<ArrayValueType>(element_value_type, member_value_type = make_value_type<ArrayValueType>(
member_impl.array_size_); element_value_type, member_impl.array_size_);
} else if (member_impl.size_function) { } else if (member_impl.size_function) {
member_value_type = make_value_type<CallbackSpanSequenceValueType>(element_value_type, member_value_type = make_value_type<CallbackSpanSequenceValueType>(
member_impl.size_function, element_value_type, member_impl.size_function, member_impl.get_const_function);
member_impl.get_const_function);
} else { } else {
member_value_type = make_value_type<ROSIDLC_SpanSequenceValueType>(element_value_type); member_value_type = make_value_type<ROSIDLC_SpanSequenceValueType>(element_value_type);
} }
m_members.push_back(Member{ m_members.push_back(
Member{
member_impl.name_, member_impl.name_,
member_value_type, member_value_type,
member_impl.offset_, member_impl.offset_,
@ -186,8 +186,8 @@ ROSIDLCPP_StructValueType::ROSIDLCPP_StructValueType(
if (!member_impl.is_array_) { if (!member_impl.is_array_) {
member_value_type = element_value_type; member_value_type = element_value_type;
} else if (member_impl.array_size_ != 0 && !member_impl.is_upper_bound_) { } else if (member_impl.array_size_ != 0 && !member_impl.is_upper_bound_) {
member_value_type = make_value_type<ArrayValueType>(element_value_type, member_value_type = make_value_type<ArrayValueType>(
member_impl.array_size_); element_value_type, member_impl.array_size_);
} else if (ROSIDL_TypeKind(member_impl.type_id_) == ROSIDL_TypeKind::BOOLEAN) { } else if (ROSIDL_TypeKind(member_impl.type_id_) == ROSIDL_TypeKind::BOOLEAN) {
member_value_type = make_value_type<BoolVectorValueType>(); member_value_type = make_value_type<BoolVectorValueType>();
} else { } else {

185
rmw_cyclonedds_cpp/src/rmw_node.cpp
View file

@ -494,8 +494,8 @@ static bool builtin_readers_init(builtin_readers & brd, dds_entity_t pp, rmw_gua
#if MULTIDOMAIN #if MULTIDOMAIN
dds_rhc_free(rhc); dds_rhc_free(rhc);
#endif #endif
RCUTILS_LOG_ERROR_NAMED("rmw_cyclonedds_cpp", RCUTILS_LOG_ERROR_NAMED(
"rmw_create_node: failed to create DDS built-in reader"); "rmw_cyclonedds_cpp", "rmw_create_node: failed to create DDS built-in reader");
goto fail; goto fail;
} }
brd.rds[i] = rd; brd.rds[i] = rd;
@ -577,7 +577,8 @@ static bool check_create_domain_locked(dds_domainid_t did, bool localhost_only)
dom.n_nodes++; dom.n_nodes++;
return true; return true;
} else { } else {
RCUTILS_LOG_ERROR_NAMED("rmw_cyclonedds_cpp", RCUTILS_LOG_ERROR_NAMED(
"rmw_cyclonedds_cpp",
"rmw_create_node: attempt at creating localhost-only and non-localhost-only nodes " "rmw_create_node: attempt at creating localhost-only and non-localhost-only nodes "
"in the same domain"); "in the same domain");
return false; return false;
@ -603,7 +604,8 @@ static bool check_create_domain_locked(dds_domainid_t did, bool localhost_only)
if ((get_env_error = rcutils_get_env("CYCLONEDDS_URI", &config_from_env)) == nullptr) { if ((get_env_error = rcutils_get_env("CYCLONEDDS_URI", &config_from_env)) == nullptr) {
config += std::string(config_from_env); config += std::string(config_from_env);
} else { } else {
RCUTILS_LOG_ERROR_NAMED("rmw_cyclonedds_cpp", RCUTILS_LOG_ERROR_NAMED(
"rmw_cyclonedds_cpp",
"rmw_create_node: failed to retrieve CYCLONEDDS_URI environment variable, error %s", "rmw_create_node: failed to retrieve CYCLONEDDS_URI environment variable, error %s",
get_env_error); get_env_error);
node_gone_from_domain_locked(did); node_gone_from_domain_locked(did);
@ -611,7 +613,8 @@ static bool check_create_domain_locked(dds_domainid_t did, bool localhost_only)
} }
if ((dom.domain_handle = dds_create_domain(did, config.c_str())) < 0) { if ((dom.domain_handle = dds_create_domain(did, config.c_str())) < 0) {
RCUTILS_LOG_ERROR_NAMED("rmw_cyclonedds_cpp", RCUTILS_LOG_ERROR_NAMED(
"rmw_cyclonedds_cpp",
"rmw_create_node: failed to create domain, error %s", dds_strretcode(dom.domain_handle)); "rmw_create_node: failed to create domain, error %s", dds_strretcode(dom.domain_handle));
node_gone_from_domain_locked(did); node_gone_from_domain_locked(did);
return false; return false;
@ -650,8 +653,8 @@ extern "C" rmw_node_t * rmw_create_node(
#if MULTIDOMAIN #if MULTIDOMAIN
/* domain_id = UINT32_MAX = Cyclone DDS' "default domain id".*/ /* domain_id = UINT32_MAX = Cyclone DDS' "default domain id".*/
if (domain_id >= UINT32_MAX) { if (domain_id >= UINT32_MAX) {
RCUTILS_LOG_ERROR_NAMED("rmw_cyclonedds_cpp", RCUTILS_LOG_ERROR_NAMED(
"rmw_create_node: domain id out of range"); "rmw_cyclonedds_cpp", "rmw_create_node: domain id out of range");
return nullptr; return nullptr;
} }
const dds_domainid_t did = static_cast<dds_domainid_t>(domain_id); const dds_domainid_t did = static_cast<dds_domainid_t>(domain_id);
@ -687,8 +690,8 @@ extern "C" rmw_node_t * rmw_create_node(
dds_delete_qos(qos); dds_delete_qos(qos);
if (pp < 0) { if (pp < 0) {
node_gone_from_domain_locked(did); node_gone_from_domain_locked(did);
RCUTILS_LOG_ERROR_NAMED("rmw_cyclonedds_cpp", RCUTILS_LOG_ERROR_NAMED(
"rmw_create_node: failed to create DDS participant"); "rmw_cyclonedds_cpp", "rmw_create_node: failed to create DDS participant");
return nullptr; return nullptr;
} }
#if SUPPORT_LOCALHOST #if SUPPORT_LOCALHOST
@ -712,15 +715,15 @@ extern "C" rmw_node_t * rmw_create_node(
dds_entity_t pub, sub; dds_entity_t pub, sub;
if ((pub = dds_create_publisher(pp, nullptr, nullptr)) < 0) { if ((pub = dds_create_publisher(pp, nullptr, nullptr)) < 0) {
node_gone_from_domain_locked(did); node_gone_from_domain_locked(did);
RCUTILS_LOG_ERROR_NAMED("rmw_cyclonedds_cpp", RCUTILS_LOG_ERROR_NAMED(
"rmw_create_node: failed to create DDS publisher"); "rmw_cyclonedds_cpp", "rmw_create_node: failed to create DDS publisher");
dds_delete(pp); dds_delete(pp);
return nullptr; return nullptr;
} }
if ((sub = dds_create_subscriber(pp, nullptr, nullptr)) < 0) { if ((sub = dds_create_subscriber(pp, nullptr, nullptr)) < 0) {
node_gone_from_domain_locked(did); node_gone_from_domain_locked(did);
RCUTILS_LOG_ERROR_NAMED("rmw_cyclonedds_cpp", RCUTILS_LOG_ERROR_NAMED(
"rmw_create_node: failed to create DDS subscriber"); "rmw_cyclonedds_cpp", "rmw_create_node: failed to create DDS subscriber");
dds_delete(pp); dds_delete(pp);
return nullptr; return nullptr;
} }
@ -779,8 +782,8 @@ fail_node_handle:
fail_builtin_reader: fail_builtin_reader:
#endif #endif
if (RMW_RET_OK != rmw_destroy_guard_condition(graph_guard_condition)) { if (RMW_RET_OK != rmw_destroy_guard_condition(graph_guard_condition)) {
RCUTILS_LOG_ERROR_NAMED("rmw_cyclonedds_cpp", RCUTILS_LOG_ERROR_NAMED(
"failed to destroy guard condition during error handling"); "rmw_cyclonedds_cpp", "failed to destroy guard condition during error handling");
} }
fail_ggc: fail_ggc:
delete node_impl; delete node_impl;
@ -892,8 +895,8 @@ extern "C" rmw_ret_t rmw_deserialize(
cycdeser sd(serialized_message->buffer, serialized_message->buffer_length); cycdeser sd(serialized_message->buffer, serialized_message->buffer_length);
const rosidl_message_type_support_t * ts; const rosidl_message_type_support_t * ts;
if ((ts = if ((ts =
get_message_typesupport_handle(type_support, get_message_typesupport_handle(
rosidl_typesupport_introspection_c__identifier)) != nullptr) type_support, rosidl_typesupport_introspection_c__identifier)) != nullptr)
{ {
auto members = auto members =
static_cast<const rosidl_typesupport_introspection_c__MessageMembers *>(ts->data); static_cast<const rosidl_typesupport_introspection_c__MessageMembers *>(ts->data);
@ -901,8 +904,8 @@ extern "C" rmw_ret_t rmw_deserialize(
ok = msgts.deserializeROSmessage(sd, ros_message, nullptr); ok = msgts.deserializeROSmessage(sd, ros_message, nullptr);
} else { } else {
if ((ts = if ((ts =
get_message_typesupport_handle(type_support, get_message_typesupport_handle(
rosidl_typesupport_introspection_cpp::typesupport_identifier)) != nullptr) type_support, rosidl_typesupport_introspection_cpp::typesupport_identifier)) != nullptr)
{ {
auto members = auto members =
static_cast<const rosidl_typesupport_introspection_cpp::MessageMembers *>(ts->data); static_cast<const rosidl_typesupport_introspection_cpp::MessageMembers *>(ts->data);
@ -952,9 +955,8 @@ extern "C" rmw_ret_t rmw_publish_serialized_message(
RET_WRONG_IMPLID(publisher); RET_WRONG_IMPLID(publisher);
RET_NULL(serialized_message); RET_NULL(serialized_message);
auto pub = static_cast<CddsPublisher *>(publisher->data); auto pub = static_cast<CddsPublisher *>(publisher->data);
struct ddsi_serdata * d = serdata_rmw_from_serialized_message(pub->sertopic, struct ddsi_serdata * d = serdata_rmw_from_serialized_message(
serialized_message->buffer, pub->sertopic, serialized_message->buffer, serialized_message->buffer_length);
serialized_message->buffer_length);
const bool ok = (dds_writecdr(pub->enth, d) >= 0); const bool ok = (dds_writecdr(pub->enth, d) >= 0);
return ok ? RMW_RET_OK : RMW_RET_ERROR; return ok ? RMW_RET_OK : RMW_RET_ERROR;
} }
@ -977,14 +979,14 @@ static const rosidl_message_type_support_t * get_typesupport(
{ {
const rosidl_message_type_support_t * ts; const rosidl_message_type_support_t * ts;
if ((ts = if ((ts =
get_message_typesupport_handle(type_supports, get_message_typesupport_handle(
rosidl_typesupport_introspection_c__identifier)) != nullptr) type_supports, rosidl_typesupport_introspection_c__identifier)) != nullptr)
{ {
return ts; return ts;
} else { } else {
if ((ts = if ((ts =
get_message_typesupport_handle(type_supports, get_message_typesupport_handle(
rosidl_typesupport_introspection_cpp::typesupport_identifier)) != nullptr) type_supports, rosidl_typesupport_introspection_cpp::typesupport_identifier)) != nullptr)
{ {
return ts; return ts;
} else { } else {
@ -1066,8 +1068,9 @@ static dds_qos_t * create_readwrite_qos(
int32_t hd; int32_t hd;
dds_qget_history(qos, &hk, &hd); dds_qget_history(qos, &hk, &hd);
dds_qset_durability(qos, DDS_DURABILITY_TRANSIENT_LOCAL); dds_qset_durability(qos, DDS_DURABILITY_TRANSIENT_LOCAL);
dds_qset_durability_service(qos, DDS_SECS(0), hk, hd, DDS_LENGTH_UNLIMITED, dds_qset_durability_service(
DDS_LENGTH_UNLIMITED, DDS_LENGTH_UNLIMITED); qos, DDS_SECS(0), hk, hd, DDS_LENGTH_UNLIMITED, DDS_LENGTH_UNLIMITED,
DDS_LENGTH_UNLIMITED);
break; break;
} }
default: default:
@ -1568,8 +1571,8 @@ fail_topic_name:
rmw_subscription_free(rmw_subscription); rmw_subscription_free(rmw_subscription);
fail_subscription: fail_subscription:
if (dds_delete(sub->rdcondh) < 0) { if (dds_delete(sub->rdcondh) < 0) {
RCUTILS_LOG_ERROR_NAMED("rmw_cyclonedds_cpp", RCUTILS_LOG_ERROR_NAMED(
"failed to delete readcondition during error handling"); "rmw_cyclonedds_cpp", "failed to delete readcondition during error handling");
} }
if (dds_delete(sub->enth) < 0) { if (dds_delete(sub->enth) < 0) {
RCUTILS_LOG_ERROR_NAMED("rmw_cyclonedds_cpp", "failed to delete reader during error handling"); RCUTILS_LOG_ERROR_NAMED("rmw_cyclonedds_cpp", "failed to delete reader during error handling");
@ -1645,14 +1648,16 @@ static rmw_ret_t rmw_take_int(
message_info->publisher_gid.implementation_identifier = eclipse_cyclonedds_identifier; message_info->publisher_gid.implementation_identifier = eclipse_cyclonedds_identifier;
memset(message_info->publisher_gid.data, 0, sizeof(message_info->publisher_gid.data)); memset(message_info->publisher_gid.data, 0, sizeof(message_info->publisher_gid.data));
assert(sizeof(info.publication_handle) <= sizeof(message_info->publisher_gid.data)); assert(sizeof(info.publication_handle) <= sizeof(message_info->publisher_gid.data));
memcpy(message_info->publisher_gid.data, &info.publication_handle, memcpy(
message_info->publisher_gid.data, &info.publication_handle,
sizeof(info.publication_handle)); sizeof(info.publication_handle));
} }
#if REPORT_LATE_MESSAGES > 0 #if REPORT_LATE_MESSAGES > 0
dds_time_t tnow = dds_time(); dds_time_t tnow = dds_time();
dds_time_t dt = tnow - info.source_timestamp; dds_time_t dt = tnow - info.source_timestamp;
if (dt >= DDS_MSECS(REPORT_LATE_MESSAGES)) { if (dt >= DDS_MSECS(REPORT_LATE_MESSAGES)) {
fprintf(stderr, "** %s sample in history for %.fms\n", sub->sertopic->name, fprintf(
stderr, "** %s sample in history for %.fms\n", sub->sertopic->name,
static_cast<double>(dt) / 1e6); static_cast<double>(dt) / 1e6);
} }
#endif #endif
@ -1682,7 +1687,8 @@ static rmw_ret_t rmw_take_ser_int(
message_info->publisher_gid.implementation_identifier = eclipse_cyclonedds_identifier; message_info->publisher_gid.implementation_identifier = eclipse_cyclonedds_identifier;
memset(message_info->publisher_gid.data, 0, sizeof(message_info->publisher_gid.data)); memset(message_info->publisher_gid.data, 0, sizeof(message_info->publisher_gid.data));
assert(sizeof(info.publication_handle) <= sizeof(message_info->publisher_gid.data)); assert(sizeof(info.publication_handle) <= sizeof(message_info->publisher_gid.data));
memcpy(message_info->publisher_gid.data, &info.publication_handle, memcpy(
message_info->publisher_gid.data, &info.publication_handle,
sizeof(info.publication_handle)); sizeof(info.publication_handle));
} }
auto d = static_cast<serdata_rmw *>(dcmn); auto d = static_cast<serdata_rmw *>(dcmn);
@ -2184,9 +2190,11 @@ extern "C" rmw_ret_t rmw_wait(
ws->inuse = true; ws->inuse = true;
} }
if (require_reattach(ws->subs, subs ? subs->subscriber_count : 0, if (require_reattach(
ws->subs, subs ? subs->subscriber_count : 0,
subs ? subs->subscribers : nullptr) || subs ? subs->subscribers : nullptr) ||
require_reattach(ws->gcs, gcs ? gcs->guard_condition_count : 0, require_reattach(
ws->gcs, gcs ? gcs->guard_condition_count : 0,
gcs ? gcs->guard_conditions : nullptr) || gcs ? gcs->guard_conditions : nullptr) ||
require_reattach(ws->srvs, srvs ? srvs->service_count : 0, srvs ? srvs->services : nullptr) || require_reattach(ws->srvs, srvs ? srvs->service_count : 0, srvs ? srvs->services : nullptr) ||
require_reattach(ws->cls, cls ? cls->client_count : 0, cls ? cls->clients : nullptr) || require_reattach(ws->cls, cls ? cls->client_count : 0, cls ? cls->clients : nullptr) ||
@ -2243,7 +2251,8 @@ extern "C" rmw_ret_t rmw_wait(
DDS_NEVER : DDS_NEVER :
(dds_time_t) wait_timeout->sec * 1000000000 + wait_timeout->nsec; (dds_time_t) wait_timeout->sec * 1000000000 + wait_timeout->nsec;
ws->trigs.resize(ws->nelems + 1); ws->trigs.resize(ws->nelems + 1);
const dds_return_t ntrig = dds_waitset_wait(ws->waitseth, ws->trigs.data(), const dds_return_t ntrig = dds_waitset_wait(
ws->waitseth, ws->trigs.data(),
ws->trigs.size(), timeout); ws->trigs.size(), timeout);
ws->trigs.resize(ntrig); ws->trigs.resize(ntrig);
std::sort(ws->trigs.begin(), ws->trigs.end()); std::sort(ws->trigs.begin(), ws->trigs.end());
@ -2268,7 +2277,8 @@ extern "C" rmw_ret_t rmw_wait(
} \ } \
} while (0) } while (0)
DETACH(CddsSubscription, subs, subscriber, rdcondh, (void) x); DETACH(CddsSubscription, subs, subscriber, rdcondh, (void) x);
DETACH(CddsGuardCondition, gcs, guard_condition, gcondh, DETACH(
CddsGuardCondition, gcs, guard_condition, gcondh,
dds_take_guardcondition(x->gcondh, &dummy)); dds_take_guardcondition(x->gcondh, &dummy));
DETACH(CddsService, srvs, service, service.sub->rdcondh, (void) x); DETACH(CddsService, srvs, service, service.sub->rdcondh, (void) x);
DETACH(CddsClient, cls, client, client.sub->rdcondh, (void) x); DETACH(CddsClient, cls, client, client.sub->rdcondh, (void) x);
@ -2335,7 +2345,8 @@ extern "C" rmw_ret_t rmw_take_response(
RET_WRONG_IMPLID(client); RET_WRONG_IMPLID(client);
auto info = static_cast<CddsClient *>(client->data); auto info = static_cast<CddsClient *>(client->data);
dds_time_t source_timestamp; dds_time_t source_timestamp;
rmw_ret_t ret = rmw_take_response_request(&info->client, request_header, ros_response, taken, rmw_ret_t ret = rmw_take_response_request(
&info->client, request_header, ros_response, taken,
&source_timestamp, info->client.pub->pubiid); &source_timestamp, info->client.pub->pubiid);
#if REPORT_BLOCKED_REQUESTS #if REPORT_BLOCKED_REQUESTS
@ -2346,7 +2357,8 @@ extern "C" rmw_ret_t rmw_take_response(
dds_time_t dtresp = tnow - source_timestamp; dds_time_t dtresp = tnow - source_timestamp;
dds_time_t dtreq = tnow - info->reqtime[seq]; dds_time_t dtreq = tnow - info->reqtime[seq];
if (dtreq > DDS_MSECS(REPORT_LATE_MESSAGES) || dtresp > DDS_MSECS(REPORT_LATE_MESSAGES)) { if (dtreq > DDS_MSECS(REPORT_LATE_MESSAGES) || dtresp > DDS_MSECS(REPORT_LATE_MESSAGES)) {
fprintf(stderr, "** %s response time %.fms; response in history for %.fms\n", fprintf(
stderr, "** %s response time %.fms; response in history for %.fms\n",
info->client.sub->sertopic->name, static_cast<double>(dtreq) / 1e6, info->client.sub->sertopic->name, static_cast<double>(dtreq) / 1e6,
static_cast<double>(dtresp) / 1e6); static_cast<double>(dtresp) / 1e6);
} }
@ -2366,7 +2378,8 @@ static void check_for_blocked_requests(CddsClient & client)
for (auto const & r : client.reqtime) { for (auto const & r : client.reqtime) {
dds_time_t dt = tnow - r.second; dds_time_t dt = tnow - r.second;
if (dt > DDS_SECS(1)) { if (dt > DDS_SECS(1)) {
fprintf(stderr, "** %s already waiting for %.fms\n", client.client.sub->sertopic->name, fprintf(
stderr, "** %s already waiting for %.fms\n", client.client.sub->sertopic->name,
static_cast<double>(dt) / 1e6); static_cast<double>(dt) / 1e6);
} }
} }
@ -2439,14 +2452,14 @@ static const rosidl_service_type_support_t * get_service_typesupport(
{ {
const rosidl_service_type_support_t * ts; const rosidl_service_type_support_t * ts;
if ((ts = if ((ts =
get_service_typesupport_handle(type_supports, get_service_typesupport_handle(
rosidl_typesupport_introspection_c__identifier)) != nullptr) type_supports, rosidl_typesupport_introspection_c__identifier)) != nullptr)
{ {
return ts; return ts;
} else { } else {
if ((ts = if ((ts =
get_service_typesupport_handle(type_supports, get_service_typesupport_handle(
rosidl_typesupport_introspection_cpp::typesupport_identifier)) != nullptr) type_supports, rosidl_typesupport_introspection_cpp::typesupport_identifier)) != nullptr)
{ {
return ts; return ts;
} else { } else {
@ -2481,10 +2494,10 @@ static rmw_ret_t rmw_init_cs(
std::tie(sub_msg_ts, pub_msg_ts) = std::tie(sub_msg_ts, pub_msg_ts) =
rmw_cyclonedds_cpp::make_request_response_value_types(type_supports); rmw_cyclonedds_cpp::make_request_response_value_types(type_supports);
sub_type_support = create_request_type_support(type_support->data, sub_type_support = create_request_type_support(
type_support->typesupport_identifier); type_support->data, type_support->typesupport_identifier);
pub_type_support = create_response_type_support(type_support->data, pub_type_support = create_response_type_support(
type_support->typesupport_identifier); type_support->data, type_support->typesupport_identifier);
subtopic_name = subtopic_name =
make_fqtopic(ROS_SERVICE_REQUESTER_PREFIX, service_name, "Request", qos_policies); make_fqtopic(ROS_SERVICE_REQUESTER_PREFIX, service_name, "Request", qos_policies);
pubtopic_name = make_fqtopic(ROS_SERVICE_RESPONSE_PREFIX, service_name, "Reply", qos_policies); pubtopic_name = make_fqtopic(ROS_SERVICE_RESPONSE_PREFIX, service_name, "Reply", qos_policies);
@ -2492,16 +2505,17 @@ static rmw_ret_t rmw_init_cs(
std::tie(pub_msg_ts, sub_msg_ts) = std::tie(pub_msg_ts, sub_msg_ts) =
rmw_cyclonedds_cpp::make_request_response_value_types(type_supports); rmw_cyclonedds_cpp::make_request_response_value_types(type_supports);
pub_type_support = create_request_type_support(type_support->data, pub_type_support = create_request_type_support(
type_support->typesupport_identifier); type_support->data, type_support->typesupport_identifier);
sub_type_support = create_response_type_support(type_support->data, sub_type_support = create_response_type_support(
type_support->typesupport_identifier); type_support->data, type_support->typesupport_identifier);
pubtopic_name = pubtopic_name =
make_fqtopic(ROS_SERVICE_REQUESTER_PREFIX, service_name, "Request", qos_policies); make_fqtopic(ROS_SERVICE_REQUESTER_PREFIX, service_name, "Request", qos_policies);
subtopic_name = make_fqtopic(ROS_SERVICE_RESPONSE_PREFIX, service_name, "Reply", qos_policies); subtopic_name = make_fqtopic(ROS_SERVICE_RESPONSE_PREFIX, service_name, "Reply", qos_policies);
} }
RCUTILS_LOG_DEBUG_NAMED("rmw_cyclonedds_cpp", "************ %s Details *********", RCUTILS_LOG_DEBUG_NAMED(
"rmw_cyclonedds_cpp", "************ %s Details *********",
is_service ? "Service" : "Client"); is_service ? "Service" : "Client");
RCUTILS_LOG_DEBUG_NAMED("rmw_cyclonedds_cpp", "Sub Topic %s", subtopic_name.c_str()); RCUTILS_LOG_DEBUG_NAMED("rmw_cyclonedds_cpp", "Sub Topic %s", subtopic_name.c_str());
RCUTILS_LOG_DEBUG_NAMED("rmw_cyclonedds_cpp", "Pub Topic %s", pubtopic_name.c_str()); RCUTILS_LOG_DEBUG_NAMED("rmw_cyclonedds_cpp", "Pub Topic %s", pubtopic_name.c_str());
@ -2595,8 +2609,9 @@ extern "C" rmw_client_t * rmw_create_client(
#if REPORT_BLOCKED_REQUESTS #if REPORT_BLOCKED_REQUESTS
info->lastcheck = 0; info->lastcheck = 0;
#endif #endif
if (rmw_init_cs(&info->client, node, type_supports, service_name, qos_policies, if (
false) != RMW_RET_OK) rmw_init_cs(
&info->client, node, type_supports, service_name, qos_policies, false) != RMW_RET_OK)
{ {
delete (info); delete (info);
return nullptr; return nullptr;
@ -2635,8 +2650,9 @@ extern "C" rmw_service_t * rmw_create_service(
const rmw_qos_profile_t * qos_policies) const rmw_qos_profile_t * qos_policies)
{ {
CddsService * info = new CddsService(); CddsService * info = new CddsService();
if (rmw_init_cs(&info->service, node, type_supports, service_name, qos_policies, if (
true) != RMW_RET_OK) rmw_init_cs(
&info->service, node, type_supports, service_name, qos_policies, true) != RMW_RET_OK)
{ {
delete (info); delete (info);
return nullptr; return nullptr;
@ -2680,8 +2696,9 @@ static rmw_ret_t do_for_node(
std::function<bool(const dds_builtintopic_participant_t & sample)> oper) std::function<bool(const dds_builtintopic_participant_t & sample)> oper)
{ {
dds_entity_t rd; dds_entity_t rd;
if ((rd = dds_create_reader(node_impl->enth, DDS_BUILTIN_TOPIC_DCPSPARTICIPANT, if (
NULL, NULL)) < 0) (rd = dds_create_reader(
node_impl->enth, DDS_BUILTIN_TOPIC_DCPSPARTICIPANT, NULL, NULL)) < 0)
{ {
RMW_SET_ERROR_MSG("rmw_get_node_names: failed to create reader"); RMW_SET_ERROR_MSG("rmw_get_node_names: failed to create reader");
return RMW_RET_ERROR; return RMW_RET_ERROR;
@ -2849,8 +2866,9 @@ static rmw_ret_t make_names_and_types(
if ((tptyp->names.data[index] = rcutils_strdup(tp.first.c_str(), *allocator)) == NULL) { if ((tptyp->names.data[index] = rcutils_strdup(tp.first.c_str(), *allocator)) == NULL) {
goto fail_mem; goto fail_mem;
} }
if (rcutils_string_array_init(&tptyp->types[index], tp.second.size(), if (
allocator) != RCUTILS_RET_OK) rcutils_string_array_init(
&tptyp->types[index], tp.second.size(), allocator) != RCUTILS_RET_OK)
{ {
goto fail_mem; goto fail_mem;
} }
@ -2923,8 +2941,8 @@ static rmw_ret_t get_endpoint_names_and_types_by_node(
int dummy_validation_result; int dummy_validation_result;
size_t dummy_invalid_index; size_t dummy_invalid_index;
if ((ret = if ((ret =
rmw_validate_node_name(node_name, &dummy_validation_result, rmw_validate_node_name(
&dummy_invalid_index)) != RMW_RET_OK) node_name, &dummy_validation_result, &dummy_invalid_index)) != RMW_RET_OK)
{ {
return ret; return ret;
} }
@ -2945,8 +2963,9 @@ static rmw_ret_t get_endpoint_names_and_types_by_node(
if (node_name != nullptr && guids.count(sample.participant_key) == 0) { if (node_name != nullptr && guids.count(sample.participant_key) == 0) {
return false; return false;
} else { } else {
if (!std::regex_search(sample.topic_name, cm_tp, if (
re_tp) || !std::regex_search(sample.type_name, cm_typ, re_typ)) !std::regex_search(sample.topic_name, cm_tp, re_tp) ||
!std::regex_search(sample.type_name, cm_typ, re_typ))
{ {
return false; return false;
} else { } else {
@ -2954,8 +2973,8 @@ static rmw_ret_t get_endpoint_names_and_types_by_node(
if (no_demangle) { if (no_demangle) {
type_name = std::string(type_name); type_name = std::string(type_name);
} else { } else {
std::string demangled_type = std::regex_replace(std::string(cm_typ[1]), std::regex( std::string demangled_type = std::regex_replace(
"::"), "/"); std::string(cm_typ[1]), std::regex("::"), "/");
type_name = std::string(demangled_type) + std::string(cm_typ[2]); type_name = std::string(demangled_type) + std::string(cm_typ[2]);
} }
return true; return true;
@ -2965,15 +2984,15 @@ static rmw_ret_t get_endpoint_names_and_types_by_node(
std::map<std::string, std::set<std::string>> tt; std::map<std::string, std::set<std::string>> tt;
if (subs && if (subs &&
(ret = (ret =
rmw_collect_tptyp_for_kind(tt, node_impl, DDS_BUILTIN_TOPIC_DCPSSUBSCRIPTION, rmw_collect_tptyp_for_kind(
filter_and_map)) != RMW_RET_OK) tt, node_impl, DDS_BUILTIN_TOPIC_DCPSSUBSCRIPTION, filter_and_map)) != RMW_RET_OK)
{ {
return ret; return ret;
} }
if (pubs && if (pubs &&
(ret = (ret =
rmw_collect_tptyp_for_kind(tt, node_impl, DDS_BUILTIN_TOPIC_DCPSPUBLICATION, rmw_collect_tptyp_for_kind(
filter_and_map)) != RMW_RET_OK) tt, node_impl, DDS_BUILTIN_TOPIC_DCPSPUBLICATION, filter_and_map)) != RMW_RET_OK)
{ {
return ret; return ret;
} }
@ -3013,8 +3032,8 @@ static rmw_ret_t get_cs_names_and_types_by_node(
int dummy_validation_result; int dummy_validation_result;
size_t dummy_invalid_index; size_t dummy_invalid_index;
if ((ret = if ((ret =
rmw_validate_node_name(node_name, &dummy_validation_result, rmw_validate_node_name(
&dummy_invalid_index)) != RMW_RET_OK) node_name, &dummy_validation_result, &dummy_invalid_index)) != RMW_RET_OK)
{ {
return ret; return ret;
} }
@ -3060,11 +3079,11 @@ static rmw_ret_t get_cs_names_and_types_by_node(
}; };
std::map<std::string, std::set<std::string>> tt; std::map<std::string, std::set<std::string>> tt;
if ((ret = if ((ret =
rmw_collect_tptyp_for_kind(tt, node_impl, DDS_BUILTIN_TOPIC_DCPSSUBSCRIPTION, rmw_collect_tptyp_for_kind(
filter_and_map)) != RMW_RET_OK || tt, node_impl, DDS_BUILTIN_TOPIC_DCPSSUBSCRIPTION, filter_and_map)) != RMW_RET_OK ||
(ret = (ret =
rmw_collect_tptyp_for_kind(tt, node_impl, DDS_BUILTIN_TOPIC_DCPSPUBLICATION, rmw_collect_tptyp_for_kind(
filter_and_map)) != RMW_RET_OK) tt, node_impl, DDS_BUILTIN_TOPIC_DCPSPUBLICATION, filter_and_map)) != RMW_RET_OK)
{ {
return ret; return ret;
} }
@ -3076,8 +3095,8 @@ extern "C" rmw_ret_t rmw_get_topic_names_and_types(
rcutils_allocator_t * allocator, rcutils_allocator_t * allocator,
bool no_demangle, rmw_names_and_types_t * tptyp) bool no_demangle, rmw_names_and_types_t * tptyp)
{ {
return get_endpoint_names_and_types_by_node(node, allocator, nullptr, nullptr, no_demangle, tptyp, return get_endpoint_names_and_types_by_node(
true, true); node, allocator, nullptr, nullptr, no_demangle, tptyp, true, true);
} }
extern "C" rmw_ret_t rmw_get_service_names_and_types( extern "C" rmw_ret_t rmw_get_service_names_and_types(
@ -3166,8 +3185,8 @@ extern "C" rmw_ret_t rmw_get_subscriber_names_and_types_by_node(
bool no_demangle, bool no_demangle,
rmw_names_and_types_t * tptyp) rmw_names_and_types_t * tptyp)
{ {
return get_endpoint_names_and_types_by_node(node, allocator, node_name, node_namespace, return get_endpoint_names_and_types_by_node(
no_demangle, tptyp, true, false); node, allocator, node_name, node_namespace, no_demangle, tptyp, true, false);
} }
extern "C" rmw_ret_t rmw_get_publisher_names_and_types_by_node( extern "C" rmw_ret_t rmw_get_publisher_names_and_types_by_node(
@ -3178,8 +3197,8 @@ extern "C" rmw_ret_t rmw_get_publisher_names_and_types_by_node(
bool no_demangle, bool no_demangle,
rmw_names_and_types_t * tptyp) rmw_names_and_types_t * tptyp)
{ {
return get_endpoint_names_and_types_by_node(node, allocator, node_name, node_namespace, return get_endpoint_names_and_types_by_node(
no_demangle, tptyp, false, true); node, allocator, node_name, node_namespace, no_demangle, tptyp, false, true);
} }
extern "C" rmw_ret_t rmw_get_service_names_and_types_by_node( extern "C" rmw_ret_t rmw_get_service_names_and_types_by_node(

3
rmw_cyclonedds_cpp/src/serdata.cpp
View file

@ -470,7 +470,8 @@ struct sertopic_rmw * create_sertopic(
struct sertopic_rmw * st = new struct sertopic_rmw; struct sertopic_rmw * st = new struct sertopic_rmw;
#if DDSI_SERTOPIC_HAS_TOPICKIND_NO_KEY #if DDSI_SERTOPIC_HAS_TOPICKIND_NO_KEY
std::string type_name = get_type_name(type_support_identifier, type_support); std::string type_name = get_type_name(type_support_identifier, type_support);
ddsi_sertopic_init(static_cast<struct ddsi_sertopic *>(st), topicname, ddsi_sertopic_init(
static_cast<struct ddsi_sertopic *>(st), topicname,
type_name.c_str(), &sertopic_rmw_ops, &serdata_rmw_ops, true); type_name.c_str(), &sertopic_rmw_ops, &serdata_rmw_ops, true);
#else #else
memset(st, 0, sizeof(struct ddsi_sertopic)); memset(st, 0, sizeof(struct ddsi_sertopic));