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update for fixes in Cyclone sertopic interface

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This commit is contained in:
Erik Boasson 2019-05-05 12:34:02 +08:00
parent d298359822
commit b925d5591c
2 changed files with 12 additions and 11 deletions
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15
rmw_cyclonedds_cpp/src/serdata.cpp
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@ -95,7 +95,7 @@ static void serdata_rmw_free (struct ddsi_serdata *dcmn)
delete d;
}
static struct serdata_rmw *new_serdata_rmw (const struct ddsi_sertopic *topic, enum ddsi_serdata_kind kind)
static struct serdata_rmw *rmw_serdata_new (const struct ddsi_sertopic *topic, enum ddsi_serdata_kind kind)
{
struct serdata_rmw *sd = new serdata_rmw;
ddsi_serdata_init (sd, topic, kind);
@ -104,7 +104,7 @@ static struct serdata_rmw *new_serdata_rmw (const struct ddsi_sertopic *topic, e
static struct ddsi_serdata *serdata_rmw_from_ser (const struct ddsi_sertopic *topic, enum ddsi_serdata_kind kind, const struct nn_rdata *fragchain, size_t size)
{
struct serdata_rmw *d = new_serdata_rmw (topic, kind);
struct serdata_rmw *d = rmw_serdata_new (topic, kind);
uint32_t off = 0;
assert (fragchain->min == 0);
assert (fragchain->maxp1 >= off); /* CDR header must be in first fragment */
@ -124,13 +124,13 @@ static struct ddsi_serdata *serdata_rmw_from_ser (const struct ddsi_sertopic *to
static struct ddsi_serdata *serdata_rmw_from_keyhash (const struct ddsi_sertopic *topic, const struct nn_keyhash *keyhash __attribute__ ((unused)))
{
/* there is no key field, so from_keyhash is trivial */
return new_serdata_rmw (topic, SDK_KEY);
return rmw_serdata_new (topic, SDK_KEY);
}
static struct ddsi_serdata *serdata_rmw_from_sample (const struct ddsi_sertopic *topiccmn, enum ddsi_serdata_kind kind, const void *sample)
{
const struct sertopic_rmw *topic = static_cast<const struct sertopic_rmw *> (topiccmn);
struct serdata_rmw *d = new_serdata_rmw (topic, kind);
struct serdata_rmw *d = rmw_serdata_new (topic, kind);
if (kind != SDK_DATA) {
/* ROS2 doesn't do keys, so SDK_KEY is trivial */
} else if (!topic->is_request_header) {
@ -168,7 +168,7 @@ static struct ddsi_serdata *serdata_rmw_from_sample (const struct ddsi_sertopic
static struct ddsi_serdata *serdata_rmw_to_topicless (const struct ddsi_serdata *dcmn)
{
const struct serdata_rmw *d = static_cast<const struct serdata_rmw *> (dcmn);
struct serdata_rmw *d1 = new_serdata_rmw (d->topic, SDK_KEY);
struct serdata_rmw *d1 = rmw_serdata_new (d->topic, SDK_KEY);
d1->topic = nullptr;
return d1;
}
@ -255,7 +255,7 @@ static const struct ddsi_serdata_ops serdata_rmw_ops = {
.free = serdata_rmw_free
};
static void sertopic_rmw_deinit (struct ddsi_sertopic *tpcmn)
static void sertopic_rmw_free (struct ddsi_sertopic *tpcmn)
{
struct sertopic_rmw *tp = static_cast<struct sertopic_rmw *> (tpcmn);
delete tp;
@ -278,10 +278,11 @@ static void sertopic_rmw_free_samples (const struct ddsi_sertopic *d __attribute
/* Not using code paths that rely on this (dispose, unregister with instance handle, content
filters) */
assert (!(op & DDS_FREE_ALL_BIT));
(void) op;
}
static const struct ddsi_sertopic_ops sertopic_rmw_ops = {
.deinit = sertopic_rmw_deinit,
.free = sertopic_rmw_free,
.zero_samples = sertopic_rmw_zero_samples,
.realloc_samples = sertopic_rmw_realloc_samples,
.free_samples = sertopic_rmw_free_samples