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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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8
rmw_cyclonedds_cpp/src/rmw_node.cpp
View file

@ -475,7 +475,7 @@ static CddsPublisher *create_cdds_publisher (const rmw_node_t *node, const rosid
std::string fqtopic_name = make_fqtopic (ros_topic_prefix, topic_name, "", qos_policies); std::string fqtopic_name = make_fqtopic (ros_topic_prefix, topic_name, "", qos_policies);
auto sertopic = create_sertopic (fqtopic_name.c_str (), type_support->typesupport_identifier, create_message_type_support (type_support->data, type_support->typesupport_identifier), false); auto sertopic = create_sertopic (fqtopic_name.c_str (), type_support->typesupport_identifier, create_message_type_support (type_support->data, type_support->typesupport_identifier), false);
if ((topic = dds_create_topic_arbitrary (gcdds.ppant, sertopic, fqtopic_name.c_str (), nullptr, nullptr, nullptr)) < 0) { if ((topic = dds_create_topic_arbitrary (gcdds.ppant, sertopic, nullptr, nullptr, nullptr)) < 0) {
RMW_SET_ERROR_MSG ("failed to create topic"); RMW_SET_ERROR_MSG ("failed to create topic");
goto fail_topic; goto fail_topic;
} }
@ -604,7 +604,7 @@ static CddsSubscription *create_cdds_subscription (const rmw_node_t *node, const
std::string fqtopic_name = make_fqtopic (ros_topic_prefix, topic_name, "", qos_policies); std::string fqtopic_name = make_fqtopic (ros_topic_prefix, topic_name, "", qos_policies);
auto sertopic = create_sertopic (fqtopic_name.c_str (), type_support->typesupport_identifier, create_message_type_support (type_support->data, type_support->typesupport_identifier), false); auto sertopic = create_sertopic (fqtopic_name.c_str (), type_support->typesupport_identifier, create_message_type_support (type_support->data, type_support->typesupport_identifier), false);
if ((topic = dds_create_topic_arbitrary (gcdds.ppant, sertopic, fqtopic_name.c_str (), nullptr, nullptr, nullptr)) < 0) { if ((topic = dds_create_topic_arbitrary (gcdds.ppant, sertopic, nullptr, nullptr, nullptr)) < 0) {
RMW_SET_ERROR_MSG ("failed to create topic"); RMW_SET_ERROR_MSG ("failed to create topic");
goto fail_topic; goto fail_topic;
} }
@ -1097,11 +1097,11 @@ static rmw_ret_t rmw_init_cs (CddsCS *cs, const rmw_node_t *node, const rosidl_s
auto sub_st = create_sertopic (subtopic_name.c_str (), type_support->typesupport_identifier, sub_type_support, true); auto sub_st = create_sertopic (subtopic_name.c_str (), type_support->typesupport_identifier, sub_type_support, true);
dds_qos_t *qos; dds_qos_t *qos;
if ((pubtopic = dds_create_topic_arbitrary (gcdds.ppant, pub_st, pubtopic_name.c_str (), nullptr, nullptr, nullptr)) < 0) { if ((pubtopic = dds_create_topic_arbitrary (gcdds.ppant, pub_st, nullptr, nullptr, nullptr)) < 0) {
RMW_SET_ERROR_MSG ("failed to create topic"); RMW_SET_ERROR_MSG ("failed to create topic");
goto fail_pubtopic; goto fail_pubtopic;
} }
if ((subtopic = dds_create_topic_arbitrary (gcdds.ppant, sub_st, subtopic_name.c_str (), nullptr, nullptr, nullptr)) < 0) { if ((subtopic = dds_create_topic_arbitrary (gcdds.ppant, sub_st, nullptr, nullptr, nullptr)) < 0) {
RMW_SET_ERROR_MSG ("failed to create topic"); RMW_SET_ERROR_MSG ("failed to create topic");
goto fail_subtopic; goto fail_subtopic;
} }

15
rmw_cyclonedds_cpp/src/serdata.cpp
View file

@ -95,7 +95,7 @@ static void serdata_rmw_free (struct ddsi_serdata *dcmn)
delete d; 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; struct serdata_rmw *sd = new serdata_rmw;
ddsi_serdata_init (sd, topic, kind); 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) 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; uint32_t off = 0;
assert (fragchain->min == 0); assert (fragchain->min == 0);
assert (fragchain->maxp1 >= off); /* CDR header must be in first fragment */ 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))) 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 */ /* 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) 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); 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) { if (kind != SDK_DATA) {
/* ROS2 doesn't do keys, so SDK_KEY is trivial */ /* ROS2 doesn't do keys, so SDK_KEY is trivial */
} else if (!topic->is_request_header) { } 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) 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); 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; d1->topic = nullptr;
return d1; return d1;
} }
@ -255,7 +255,7 @@ static const struct ddsi_serdata_ops serdata_rmw_ops = {
.free = serdata_rmw_free .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); struct sertopic_rmw *tp = static_cast<struct sertopic_rmw *> (tpcmn);
delete tp; 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 /* Not using code paths that rely on this (dispose, unregister with instance handle, content
filters) */ filters) */
assert (!(op & DDS_FREE_ALL_BIT)); assert (!(op & DDS_FREE_ALL_BIT));
(void) op;
} }
static const struct ddsi_sertopic_ops sertopic_rmw_ops = { static const struct ddsi_sertopic_ops sertopic_rmw_ops = {
.deinit = sertopic_rmw_deinit, .free = sertopic_rmw_free,
.zero_samples = sertopic_rmw_zero_samples, .zero_samples = sertopic_rmw_zero_samples,
.realloc_samples = sertopic_rmw_realloc_samples, .realloc_samples = sertopic_rmw_realloc_samples,
.free_samples = sertopic_rmw_free_samples .free_samples = sertopic_rmw_free_samples