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Use NO_KEY GUID variant if Cyclone DDS supports it

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Signed-off-by: Erik Boasson <eb@ilities.com>
This commit is contained in:
Erik Boasson 2019-08-21 15:14:44 +02:00 • committed by eboasson
parent 8844880edd
commit 43f70ed2eb
2 changed files with 11 additions and 1 deletions
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2
rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/serdata.hpp
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@ -30,9 +30,11 @@ struct sertopic_rmw : ddsi_sertopic
{ {
CddsTypeSupport type_support; CddsTypeSupport type_support;
bool is_request_header; bool is_request_header;
#if !DDSI_SERTOPIC_HAS_TOPICKIND_NO_KEY
std::string cpp_name; std::string cpp_name;
std::string cpp_type_name; std::string cpp_type_name;
std::string cpp_name_type_name; std::string cpp_name_type_name;
#endif
}; };
struct serdata_rmw : ddsi_serdata struct serdata_rmw : ddsi_serdata

10
rmw_cyclonedds_cpp/src/serdata.cpp
View file

@ -336,6 +336,9 @@ static const struct ddsi_serdata_ops serdata_rmw_ops = {
static void sertopic_rmw_free(struct ddsi_sertopic * tpcmn) static void sertopic_rmw_free(struct ddsi_sertopic * tpcmn)
{ {
struct sertopic_rmw * tp = static_cast<struct sertopic_rmw *>(tpcmn); struct sertopic_rmw * tp = static_cast<struct sertopic_rmw *>(tpcmn);
#if DDSI_SERTOPIC_HAS_TOPICKIND_NO_KEY
ddsi_sertopic_fini(tpcmn);
#endif
delete tp; delete tp;
} }
@ -421,6 +424,11 @@ struct sertopic_rmw * create_sertopic(
void * type_support, bool is_request_header) void * type_support, bool is_request_header)
{ {
struct sertopic_rmw * st = new struct sertopic_rmw; struct sertopic_rmw * st = new struct sertopic_rmw;
#if DDSI_SERTOPIC_HAS_TOPICKIND_NO_KEY
std::string type_name = get_type_name(type_support_identifier, type_support);
ddsi_sertopic_init(static_cast<struct ddsi_sertopic *>(st), topicname,
type_name.c_str(), &sertopic_rmw_ops, &serdata_rmw_ops, true);
#else
memset(st, 0, sizeof(struct ddsi_sertopic)); memset(st, 0, sizeof(struct ddsi_sertopic));
st->cpp_name = std::string(topicname); st->cpp_name = std::string(topicname);
st->cpp_type_name = get_type_name(type_support_identifier, type_support); st->cpp_type_name = get_type_name(type_support_identifier, type_support);
@ -433,7 +441,7 @@ struct sertopic_rmw * create_sertopic(
st->type_name = const_cast<char *>(st->cpp_type_name.c_str()); st->type_name = const_cast<char *>(st->cpp_type_name.c_str());
st->iid = ddsi_iid_gen(); st->iid = ddsi_iid_gen();
ddsrt_atomic_st32(&st->refc, 1); ddsrt_atomic_st32(&st->refc, 1);
#endif
st->type_support.typesupport_identifier_ = type_support_identifier; st->type_support.typesupport_identifier_ = type_support_identifier;
st->type_support.type_support_ = type_support; st->type_support.type_support_ = type_support;
st->is_request_header = is_request_header; st->is_request_header = is_request_header;