remove compile error when gcc 7
This commit is contained in:
YuSheng T
eboasson
parent
315d39a2ec
commit
f7de5522d7
3 changed files with 30 additions and 26 deletions
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@ -21,6 +21,7 @@
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#include <cassert>
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#include <string>
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#include <functional>
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#include "rcutils/logging_macros.h"
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@ -18,6 +18,7 @@
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#include <array>
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#include <string>
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#include <vector>
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#include <string.h>
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#include <type_traits>
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class cycser {
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@ -60,7 +61,7 @@ public:
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SIMPLE (float);
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SIMPLE (double);
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#undef SIMPLE
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inline void serialize (bool x) {
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serialize (static_cast<unsigned char> (x));
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}
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@ -103,7 +104,7 @@ public:
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template<class T> inline void serializeA (const T *x, size_t cnt) {
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for (size_t i = 0; i < cnt; i++) serialize (x[i]);
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}
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template<class T> inline void serialize (const std::vector<T>& x)
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{
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serialize (static_cast<uint32_t> (x.size ()));
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@ -123,7 +124,7 @@ public:
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private:
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inline void resize (size_t n) { dst.resize (n + 4); }
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inline unsigned char *data () { return dst.data () + 4; }
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std::vector<unsigned char>& dst;
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size_t off;
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};
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@ -166,7 +167,7 @@ public:
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SIMPLE (float);
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SIMPLE (double);
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#undef SIMPLE
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inline void deserialize (bool& x) {
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unsigned char z; deserialize (z); x = (z != 0);
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}
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@ -204,7 +205,7 @@ public:
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template<class T> inline void deserializeA (T *x, size_t cnt) {
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for (size_t i = 0; i < cnt; i++) deserialize (x[i]);
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}
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template<class T> inline void deserialize (std::vector<T>& x) {
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const uint32_t sz = deserialize32 ();
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x.resize (sz);
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@ -219,7 +220,7 @@ public:
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template<class T, size_t S> inline void deserialize (std::array<T, S>& x) {
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deserializeA (x.data (), x.size ());
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}
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private:
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inline void align (size_t a)
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{
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@ -36,6 +36,8 @@
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#include <mutex>
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#include <unordered_set>
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#include <algorithm>
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#include <atomic>
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#include "rcutils/logging_macros.h"
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@ -260,7 +262,7 @@ static void unref_ppant ()
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/////////// NODES ///////////
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/////////// ///////////
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/////////////////////////////////////////////////////////////////////////////////////////
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extern "C" rmw_node_t *rmw_create_node (rmw_context_t *context __attribute__ ((unused)), const char *name, const char *namespace_, size_t domain_id, const rmw_node_security_options_t *security_options)
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{
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RET_NULL_X (name, return nullptr);
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@ -285,11 +287,11 @@ extern "C" rmw_node_t *rmw_create_node (rmw_context_t *context __attribute__ ((u
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RET_ALLOC_X (node_handle, goto fail_node_handle);
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node_handle->implementation_identifier = eclipse_cyclonedds_identifier;
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node_handle->data = node_impl;
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node_handle->name = static_cast<const char *> (rmw_allocate (sizeof (char) * strlen (name) + 1));
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RET_ALLOC_X (node_handle->name, goto fail_node_handle_name);
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memcpy (const_cast<char *> (node_handle->name), name, strlen (name) + 1);
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node_handle->namespace_ = static_cast<const char *> (rmw_allocate (sizeof (char) * strlen (namespace_) + 1));
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RET_ALLOC_X (node_handle->namespace_, goto fail_node_handle_namespace);
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memcpy (const_cast<char *> (node_handle->namespace_), namespace_, strlen (namespace_) + 1);
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@ -345,7 +347,7 @@ extern "C" const rmw_guard_condition_t *rmw_node_get_graph_guard_condition (cons
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/////////// (DE)SERIALIZATION ///////////
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/////////// ///////////
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/////////////////////////////////////////////////////////////////////////////////////////
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extern "C" rmw_ret_t rmw_serialize (const void *ros_message, const rosidl_message_type_support_t *type_support, rmw_serialized_message_t *serialized_message)
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{
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(void) ros_message; (void) type_support; (void) serialized_message;
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@ -365,7 +367,7 @@ extern "C" rmw_ret_t rmw_deserialize (const rmw_serialized_message_t *serialized
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/////////// PUBLICATIONS ///////////
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/////////// ///////////
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/////////////////////////////////////////////////////////////////////////////////////////
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extern "C" rmw_ret_t rmw_publish (const rmw_publisher_t *publisher, const void *ros_message)
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{
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RET_WRONG_IMPLID (publisher);
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@ -455,8 +457,8 @@ static dds_qos_t *create_readwrite_qos (const rmw_qos_profile_t *qos_policies, b
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dds_qset_ignorelocal (qos, DDS_IGNORELOCAL_PARTICIPANT);
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}
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return qos;
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}
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}
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static CddsPublisher *create_cdds_publisher (const rmw_node_t *node, const rosidl_message_type_support_t *type_supports, const char *topic_name, const rmw_qos_profile_t *qos_policies)
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{
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RET_WRONG_IMPLID_X (node, return nullptr);
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@ -758,7 +760,7 @@ extern "C" rmw_guard_condition_t *rmw_create_guard_condition (rmw_context_t *con
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guard_condition_handle->implementation_identifier = eclipse_cyclonedds_identifier;
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guard_condition_handle->data = gcond_impl;
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return guard_condition_handle;
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fail_guardcond:
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unref_ppant ();
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fail_ppant:
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@ -812,8 +814,8 @@ extern "C" rmw_wait_set_t *rmw_create_wait_set (size_t max_conditions)
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gcdds.waitsets.insert (ws);
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}
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return wait_set;
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fail_waitset:
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fail_waitset:
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fail_ws:
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RMW_TRY_DESTRUCTOR_FROM_WITHIN_FAILURE (ws->~CddsWaitset (), ws);
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fail_placement_new:
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@ -894,7 +896,7 @@ extern "C" rmw_ret_t rmw_wait (rmw_subscriptions_t *subs, rmw_guard_conditions_t
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}
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ws->inuse = true;
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}
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if (require_reattach (ws->subs, subs ? subs->subscriber_count : 0, subs ? subs->subscribers : nullptr) ||
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require_reattach (ws->gcs, gcs ? gcs->guard_condition_count : 0, gcs ? gcs->guard_conditions : nullptr) ||
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require_reattach (ws->srvs, srvs ? srvs->service_count : 0, srvs ? srvs->services : nullptr) ||
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@ -920,7 +922,7 @@ extern "C" rmw_ret_t rmw_wait (rmw_subscriptions_t *subs, rmw_guard_conditions_t
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#undef ATTACH
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ws->trigs.reserve (nelems + 1);
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}
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const dds_duration_t timeout =
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(wait_timeout == NULL) ? DDS_NEVER : (dds_duration_t) wait_timeout->sec * 1000000000 + wait_timeout->nsec;
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const dds_return_t ntrig = dds_waitset_wait (ws->waitseth, ws->trigs.data (), ws->trigs.capacity (), timeout);
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@ -953,12 +955,12 @@ extern "C" rmw_ret_t rmw_wait (rmw_subscriptions_t *subs, rmw_guard_conditions_t
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DETACH (CddsClient, cls, client, client.sub->rdcondh, (void) x);
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#undef DETACH
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}
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{
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std::lock_guard<std::mutex> lock (ws->lock);
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ws->inuse = false;
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}
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return (ws->trigs.size () == 0) ? RMW_RET_TIMEOUT : RMW_RET_OK;
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}
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@ -992,14 +994,14 @@ static rmw_ret_t rmw_take_response_request (CddsCS *cs, rmw_request_id_t *reques
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*taken = false;
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return RMW_RET_OK;
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}
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extern "C" rmw_ret_t rmw_take_response (const rmw_client_t *client, rmw_request_id_t *request_header, void *ros_response, bool *taken)
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{
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RET_WRONG_IMPLID (client);
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auto info = static_cast<CddsClient *> (client->data);
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return rmw_take_response_request (&info->client, request_header, ros_response, taken, info->client.pub->pubiid);
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}
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extern "C" rmw_ret_t rmw_take_request (const rmw_service_t *service, rmw_request_id_t *request_header, void *ros_request, bool *taken)
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{
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RET_WRONG_IMPLID (service);
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@ -1057,7 +1059,7 @@ static const rosidl_service_type_support_t *get_service_typesupport (const rosid
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return nullptr;
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}
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}
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static rmw_ret_t rmw_init_cs (CddsCS *cs, const rmw_node_t *node, const rosidl_service_type_support_t *type_supports, const char *service_name, const rmw_qos_profile_t *qos_policies, bool is_service)
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{
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RET_WRONG_IMPLID (node);
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@ -1093,7 +1095,7 @@ static rmw_ret_t rmw_init_cs (CddsCS *cs, const rmw_node_t *node, const rosidl_s
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auto pub_st = create_sertopic (pubtopic_name.c_str (), type_support->typesupport_identifier, pub_type_support, true);
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auto sub_st = create_sertopic (subtopic_name.c_str (), type_support->typesupport_identifier, sub_type_support, true);
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dds_qos_t *qos;
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if ((pubtopic = dds_create_topic_arbitrary (gcdds.ppant, pub_st, pubtopic_name.c_str (), nullptr, nullptr, nullptr)) < 0) {
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RMW_SET_ERROR_MSG ("failed to create topic");
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@ -1226,7 +1228,7 @@ extern "C" rmw_ret_t rmw_destroy_service (rmw_node_t *node, rmw_service_t *servi
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/////////// INTROSPECTION ///////////
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/////////// ///////////
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/////////////////////////////////////////////////////////////////////////////////////////
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extern "C" rmw_ret_t rmw_get_node_names (const rmw_node_t *node, rcutils_string_array_t *node_names, rcutils_string_array_t *node_namespaces)
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{
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#if 0 // NIY
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@ -1605,7 +1607,7 @@ extern "C" rmw_ret_t rmw_service_server_is_available (const rmw_node_t * node, c
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return RMW_RET_TIMEOUT;
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#endif
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}
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extern "C" rmw_ret_t rmw_count_publishers (const rmw_node_t *node, const char *topic_name, size_t *count)
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{
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#if 0
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