micro-ROS get_type_description fix

Signed-off-by: acuadros95 <acuadros1995@gmail.com> Revert minor change Signed-off-by: acuadros95 <acuadros1995@gmail.com> Remove vscode file Signed-off-by: acuadros95 <acuadros1995@gmail.com>
micro-ROS · Jul 19, 2023 · 0d583e2 · 0d583e2
1 parent 8aa3c11
commit 0d583e2
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Showing 8 changed files with 43 additions and 14 deletions.
diff --git a/rcl/CMakeLists.txt b/rcl/CMakeLists.txt
@@ -67,7 +67,7 @@ set(${PROJECT_NAME}_sources
   src/rcl/network_flow_endpoints.c
   src/rcl/node.c
   src/rcl/node_options.c
-  src/rcl/node_type_cache.c
+  $<$<NOT:$<BOOL:${RCL_MICROROS}>>:src/rcl/node_type_cache.c>
   src/rcl/publisher.c
   src/rcl/remap.c
   src/rcl/node_resolve_name.c
@@ -79,7 +79,7 @@ set(${PROJECT_NAME}_sources
   src/rcl/time.c
   src/rcl/timer.c
   src/rcl/type_hash.c
-  src/rcl/type_description_conversions.c
+  $<$<NOT:$<BOOL:${RCL_MICROROS}>>:src/rcl/type_description_conversions.c>
   src/rcl/validate_enclave_name.c
   src/rcl/validate_topic_name.c
   src/rcl/wait.c

diff --git a/rcl/src/rcl/client.c b/rcl/src/rcl/client.c
@@ -24,7 +24,9 @@ extern "C"
 
 #include "rcl/error_handling.h"
 #include "rcl/node.h"
+#ifdef RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/node_type_cache.h"
+#endif // RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/publisher.h"
 #include "rcl/time.h"
 #include "rcutils/logging_macros.h"
@@ -177,7 +179,7 @@ rcl_client_init(
   // options
   client->impl->options = *options;
   atomic_init(&client->impl->sequence_number, 0);
-
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   if (RCL_RET_OK != rcl_node_type_cache_register_type(
       node, type_support->get_type_hash_func(type_support),
       type_support->get_type_description_func(type_support),
@@ -188,6 +190,7 @@ rcl_client_init(
     ret = RCL_RET_ERROR;
     goto destroy_client;
   }
+#endif // RCL_MICROROS_COMPLETE_IMPL
   client->impl->type_hash = *type_support->get_type_hash_func(type_support);
 
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Client initialized");
@@ -250,15 +253,15 @@ rcl_client_fini(rcl_client_t * client, rcl_node_t * node)
       RCL_SET_ERROR_MSG(rmw_get_error_string().str);
       result = RCL_RET_ERROR;
     }
-
+#ifdef RCL_MICROROS_COMPLETE_IMPL
     if (
       ROSIDL_TYPE_HASH_VERSION_UNSET != client->impl->type_hash.version &&
       RCL_RET_OK != rcl_node_type_cache_unregister_type(node, &client->impl->type_hash))
     {
       RCUTILS_SAFE_FWRITE_TO_STDERR(rcl_get_error_string().str);
       result = RCL_RET_ERROR;
     }
-
+#endif // RCL_MICROROS_COMPLETE_IMPL
     allocator.deallocate(client->impl->remapped_service_name, allocator.state);
     client->impl->remapped_service_name = NULL;
 

diff --git a/rcl/src/rcl/node.c b/rcl/src/rcl/node.c
@@ -561,6 +561,7 @@ void rcl_node_type_description_service_handle_request(
   const type_description_interfaces__srv__GetTypeDescription_Request * request,
   type_description_interfaces__srv__GetTypeDescription_Response * response)
 {
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   rcl_type_info_t type_info;
   RCL_CHECK_FOR_NULL_WITH_MSG(node, "invalid node handle", return;);
   RCL_CHECK_FOR_NULL_WITH_MSG(node->impl, "invalid node", return;);
@@ -619,6 +620,7 @@ void rcl_node_type_description_service_handle_request(
   }
 
   response->successful = true;
+#endif //RCL_MICROROS
 }
 
 rcl_ret_t rcl_node_type_description_service_init(rcl_node_t * node)

diff --git a/rcl/src/rcl/publisher.c b/rcl/src/rcl/publisher.c
@@ -25,7 +25,9 @@ extern "C"
 #include "rcl/allocator.h"
 #include "rcl/error_handling.h"
 #include "rcl/node.h"
+#ifdef RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/node_type_cache.h"
+#endif // RCL_MICROROS_COMPLETE_IMPL
 #include "rcutils/logging_macros.h"
 #include "rcutils/macros.h"
 #include "rcl/time.h"
@@ -128,7 +130,7 @@ rcl_publisher_init(
     options->qos.avoid_ros_namespace_conventions;
   // options
   publisher->impl->options = *options;
-
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   if (RCL_RET_OK != rcl_node_type_cache_register_type(
       node, type_support->get_type_hash_func(type_support),
       type_support->get_type_description_func(type_support),
@@ -138,6 +140,7 @@ rcl_publisher_init(
     RCL_SET_ERROR_MSG("Failed to register type for subscription");
     goto fail;
   }
+#endif // RCL_MICROROS_COMPLETE_IMPL
   publisher->impl->type_hash = *type_support->get_type_hash_func(type_support);
 
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Publisher initialized");
@@ -201,13 +204,15 @@ rcl_publisher_fini(rcl_publisher_t * publisher, rcl_node_t * node)
       RCL_SET_ERROR_MSG(rmw_get_error_string().str);
       result = RCL_RET_ERROR;
     }
+#ifdef RCL_MICROROS_COMPLETE_IMPL
     if (
       ROSIDL_TYPE_HASH_VERSION_UNSET != publisher->impl->type_hash.version &&
       RCL_RET_OK != rcl_node_type_cache_unregister_type(node, &publisher->impl->type_hash))
     {
       RCUTILS_SAFE_FWRITE_TO_STDERR(rcl_get_error_string().str);
       result = RCL_RET_ERROR;
     }
+#endif // RCL_MICROROS_COMPLETE_IMPL
     allocator.deallocate(publisher->impl, allocator.state);
     publisher->impl = NULL;
   }

diff --git a/rcl/src/rcl/service.c b/rcl/src/rcl/service.c
@@ -24,7 +24,9 @@ extern "C"
 
 #include "rcl/error_handling.h"
 #include "rcl/node.h"
+#ifdef RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/node_type_cache.h"
+#endif // RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/publisher.h"
 #include "rcl/time.h"
 #include "rcl/types.h"
@@ -188,7 +190,7 @@ rcl_service_init(
 
   // options
   service->impl->options = *options;
-
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   if (RCL_RET_OK != rcl_node_type_cache_register_type(
       node, type_support->get_type_hash_func(type_support),
       type_support->get_type_description_func(type_support),
@@ -199,6 +201,7 @@ rcl_service_init(
     ret = RCL_RET_ERROR;
     goto destroy_service;
   }
+#endif // RCL_MICROROS_COMPLETE_IMPL
   service->impl->type_hash = *type_support->get_type_hash_func(type_support);
 
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Service initialized");
@@ -262,15 +265,15 @@ rcl_service_fini(rcl_service_t * service, rcl_node_t * node)
       RCL_SET_ERROR_MSG(rmw_get_error_string().str);
       result = RCL_RET_ERROR;
     }
-
+#ifdef RCL_MICROROS_COMPLETE_IMPL
     if (
       ROSIDL_TYPE_HASH_VERSION_UNSET != service->impl->type_hash.version &&
       RCL_RET_OK != rcl_node_type_cache_unregister_type(node, &service->impl->type_hash))
     {
       RCUTILS_SAFE_FWRITE_TO_STDERR(rcl_get_error_string().str);
       result = RCL_RET_ERROR;
     }
-
+#endif // RCL_MICROROS_COMPLETE_IMPL
     allocator.deallocate(service->impl->remapped_service_name, allocator.state);
     service->impl->remapped_service_name = NULL;
 

diff --git a/rcl/src/rcl/subscription.c b/rcl/src/rcl/subscription.c
@@ -23,7 +23,9 @@ extern "C"
 
 #include "rcl/error_handling.h"
 #include "rcl/node.h"
+#ifdef RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/node_type_cache.h"
+#endif // RCL_MICROROS_COMPLETE_IMPL
 #include "rcutils/logging_macros.h"
 #include "rcutils/strdup.h"
 #include "rcutils/types/string_array.h"
@@ -123,7 +125,7 @@ rcl_subscription_init(
     options->qos.avoid_ros_namespace_conventions;
   // options
   subscription->impl->options = *options;
-
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   if (RCL_RET_OK != rcl_node_type_cache_register_type(
       node, type_support->get_type_hash_func(type_support),
       type_support->get_type_description_func(type_support),
@@ -133,6 +135,7 @@ rcl_subscription_init(
     RCL_SET_ERROR_MSG("Failed to register type for subscription");
     goto fail;
   }
+#endif // RCL_MICROROS_COMPLETE_IMPL
   subscription->impl->type_hash = *type_support->get_type_hash_func(type_support);
 
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Subscription initialized");
@@ -205,7 +208,7 @@ rcl_subscription_fini(rcl_subscription_t * subscription, rcl_node_t * node)
       RCUTILS_SAFE_FWRITE_TO_STDERR("\n");
       result = RCL_RET_ERROR;
     }
-
+#ifdef RCL_MICROROS_COMPLETE_IMPL
     if (
       ROSIDL_TYPE_HASH_VERSION_UNSET != subscription->impl->type_hash.version &&
       RCL_RET_OK != rcl_node_type_cache_unregister_type(node, &subscription->impl->type_hash))
@@ -214,7 +217,7 @@ rcl_subscription_fini(rcl_subscription_t * subscription, rcl_node_t * node)
       RCUTILS_SAFE_FWRITE_TO_STDERR("\n");
       result = RCL_RET_ERROR;
     }
-
+#endif // RCL_MICROROS_COMPLETE_IMPL
     allocator.deallocate(subscription->impl, allocator.state);
     subscription->impl = NULL;
   }

diff --git a/rcl_action/src/rcl_action/action_client.c b/rcl_action/src/rcl_action/action_client.c
@@ -25,10 +25,12 @@ extern "C"
 #include "rcl_action/types.h"
 #include "rcl_action/wait.h"
 
+#ifdef RCL_MICROROS_COMPLETE_IMPL
+#include "rcl/node_type_cache.h"
+#endif // RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/client.h"
 #include "rcl/error_handling.h"
 #include "rcl/graph.h"
-#include "rcl/node_type_cache.h"
 #include "rcl/subscription.h"
 #include "rcl/types.h"
 #include "rcl/wait.h"
@@ -93,12 +95,14 @@ _rcl_action_client_fini_impl(
   if (RCL_RET_OK != rcl_subscription_fini(&action_client->impl->status_subscription, node)) {
     ret = RCL_RET_ERROR;
   }
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   if (
     ROSIDL_TYPE_HASH_VERSION_UNSET != action_client->impl->type_hash.version &&
     RCL_RET_OK != rcl_node_type_cache_unregister_type(node, &action_client->impl->type_hash))
   {
     ret = RCL_RET_ERROR;
   }
+#endif // RCL_MICROROS_COMPLETE_IMPL
   allocator.deallocate(action_client->impl->action_name, allocator.state);
   allocator.deallocate(action_client->impl, allocator.state);
   action_client->impl = NULL;
@@ -230,6 +234,7 @@ rcl_action_client_init(
   SUBSCRIPTION_INIT(feedback);
   SUBSCRIPTION_INIT(status);
 
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   if (RCL_RET_OK != rcl_node_type_cache_register_type(
       node, type_support->get_type_hash_func(type_support),
       type_support->get_type_description_func(type_support),
@@ -239,6 +244,7 @@ rcl_action_client_init(
     RCL_SET_ERROR_MSG("Failed to register type for action");
     goto fail;
   }
+#endif // RCL_MICROROS_COMPLETE_IMPL
   action_client->impl->type_hash = *type_support->get_type_hash_func(type_support);
 
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Action client initialized");

diff --git a/rcl_action/src/rcl_action/action_server.c b/rcl_action/src/rcl_action/action_server.c
@@ -26,8 +26,10 @@ extern "C"
 #include "rcl_action/types.h"
 #include "rcl_action/wait.h"
 
-#include "rcl/error_handling.h"
+#ifdef RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/node_type_cache.h"
+#endif // RCL_MICROROS_COMPLETE_IMPL
+#include "rcl/error_handling.h"
 #include "rcl/rcl.h"
 #include "rcl/time.h"
 
@@ -195,6 +197,7 @@ rcl_action_server_init(
     goto fail;
   }
 
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   // Store type hash
   if (RCL_RET_OK != rcl_node_type_cache_register_type(
       node, type_support->get_type_hash_func(type_support),
@@ -205,6 +208,7 @@ rcl_action_server_init(
     RCL_SET_ERROR_MSG("Failed to register type for action");
     goto fail;
   }
+#endif // RCL_MICROROS_COMPLETE_IMPL
   action_server->impl->type_hash = *type_support->get_type_hash_func(type_support);
 
   return ret;
@@ -264,12 +268,15 @@ rcl_action_server_fini(rcl_action_server_t * action_server, rcl_node_t * node)
     }
     allocator.deallocate(action_server->impl->goal_handles, allocator.state);
     action_server->impl->goal_handles = NULL;
+
+#ifdef RCL_MICROROS_COMPLETE_IMPL
     if (
       ROSIDL_TYPE_HASH_VERSION_UNSET != action_server->impl->type_hash.version &&
       RCL_RET_OK != rcl_node_type_cache_unregister_type(node, &action_server->impl->type_hash))
     {
       ret = RCL_RET_ERROR;
     }
+#endif // RCL_MICROROS_COMPLETE_IMPL
     // Deallocate struct
     allocator.deallocate(action_server->impl, allocator.state);
     action_server->impl = NULL;