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use string_array_t from c_utilities package #100

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Merged
merged 3 commits into from
Apr 14, 2017
Merged

use string_array_t from c_utilities package #100

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ba4b4fc
use c_utilities package
Karsten1987 Apr 11, 2017
12bce59
merge ament_export_dependencies
Karsten1987 Apr 13, 2017
857f0cd
[style] put ) on new line
wjwwood Apr 13, 2017
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17 changes: 12 additions & 5 deletions rmw/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,8 @@ endif()

find_package(ament_cmake_ros REQUIRED)

find_package(c_utilities REQUIRED)

include(cmake/configure_rmw_library.cmake)

include_directories(include)
Expand All @@ -18,14 +20,19 @@ set(rmw_sources
"src/validate_namespace.c"
"src/validate_node_name.c"
"src/validate_topic_name.c"
"src/sanity_checks.c")
set_source_files_properties(
${rmw_sources}
PROPERTIES LANGUAGE "C")
"src/sanity_checks.c"
)
set_source_files_properties(${rmw_sources} PROPERTIES LANGUAGE "C")
add_library(${PROJECT_NAME} ${rmw_sources})
ament_target_dependencies(${PROJECT_NAME}
"c_utilities"
)
configure_rmw_library(${PROJECT_NAME} LANGUAGE "C")

ament_export_dependencies(rosidl_generator_c)
ament_export_dependencies(
c_utilities
rosidl_generator_c
)
ament_export_include_directories(include)
ament_export_libraries(${PROJECT_NAME})

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10 changes: 3 additions & 7 deletions rmw/include/rmw/rmw.h
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Expand Up @@ -67,6 +67,8 @@ extern "C"
#include <stddef.h>
#include <stdint.h>

#include "c_utilities/types.h"

#include "rosidl_generator_c/message_type_support_struct.h"
#include "rosidl_generator_c/service_type_support.h"

Expand Down Expand Up @@ -336,13 +338,7 @@ RMW_WARN_UNUSED
rmw_ret_t
rmw_get_node_names(
const rmw_node_t * node,
rmw_string_array_t * node_names);

RMW_PUBLIC
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@tfoote tfoote Apr 11, 2017

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Why are you removing this function instead of just changing the type?

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@Karsten1987 Karsten1987 Apr 11, 2017

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the destroy function is part of the c_utilities package, here:

https://github.com/ros2/c_utilities/blob/master/include/c_utilities/types/string_array.h#L77

RMW_WARN_UNUSED
rmw_ret_t
rmw_destroy_node_names(
rmw_string_array_t * node_names);
utilities_string_array_t * node_names);

RMW_PUBLIC
RMW_WARN_UNUSED
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4 changes: 3 additions & 1 deletion rmw/include/rmw/sanity_checks.h
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,8 @@ extern "C"
{
#endif

#include "c_utilities/types.h"

#include "rmw/macros.h"
#include "rmw/types.h"
#include "rmw/visibility_control.h"
Expand All @@ -34,7 +36,7 @@ rmw_check_zero_rmw_topic_names_and_types(rmw_topic_names_and_types_t * tnat);
RMW_PUBLIC
RMW_WARN_UNUSED
rmw_ret_t
rmw_check_zero_rmw_string_array(rmw_string_array_t * array);
rmw_check_zero_rmw_string_array(utilities_string_array_t * array);

#if __cplusplus
}
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6 changes: 0 additions & 6 deletions rmw/include/rmw/types.h
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Original file line number Diff line number Diff line change
Expand Up @@ -198,12 +198,6 @@ typedef struct RMW_PUBLIC_TYPE rmw_topic_names_and_types_t
char ** type_names;
} rmw_topic_names_and_types_t;

typedef struct RMW_PUBLIC_TYPE rmw_string_array_t
{
size_t size;
char ** data;
} rmw_string_array_t;

typedef struct RMW_PUBLIC_TYPE rmw_gid_t
{
const char * implementation_identifier;
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3 changes: 3 additions & 0 deletions rmw/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,9 @@

<buildtool_depend>ament_cmake_ros</buildtool_depend>

<build_depend>c_utilities</build_depend>
<build_export_depend>c_utilities</build_export_depend>

<!-- This is required for the definition of the rosidl typesupport types -->
<build_export_depend>rosidl_generator_c</build_export_depend>

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4 changes: 3 additions & 1 deletion rmw/src/sanity_checks.c
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,8 @@
#include <stdlib.h>
#include <string.h>

#include "c_utilities/types.h"

#include "rmw/error_handling.h"
#include "rmw/types.h"

Expand Down Expand Up @@ -45,7 +47,7 @@ rmw_check_zero_rmw_topic_names_and_types(

rmw_ret_t
rmw_check_zero_rmw_string_array(
rmw_string_array_t * array)
utilities_string_array_t * array)
{
if (!array) {
RMW_SET_ERROR_MSG("array is null");
Expand Down