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Use get_type_hash_func on typesupports (rep2011) #448

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Merged
clalancette merged 1 commit into from
Apr 6, 2023
Merged

Use get_type_hash_func on typesupports (rep2011) #448

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19 changes: 13 additions & 6 deletions rmw_cyclonedds_cpp/src/rmw_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2377,7 +2377,9 @@ static CddsPublisher * create_cdds_publisher(
set_error_message_from_create_topic(topic, fqtopic_name);
goto fail_topic;
}
if ((qos = create_readwrite_qos(qos_policies, *type_support->type_hash, false, "")) == nullptr) {
qos = create_readwrite_qos(
qos_policies, *type_support->get_type_hash_func(type_support), false, "");
if (qos == nullptr) {
goto fail_qos;
}
if ((pub->enth = dds_create_writer(dds_pub, topic, qos, listener)) < 0) {
Expand Down Expand Up @@ -2910,7 +2912,8 @@ static CddsSubscription * create_cdds_subscription(
goto fail_topic;
}
if ((qos = create_readwrite_qos(
qos_policies, *type_support->type_hash, ignore_local_publications, "")) == nullptr)
qos_policies, *type_support->get_type_hash_func(type_support), ignore_local_publications, ""
)) == nullptr)
{
goto fail_qos;
}
Expand Down Expand Up @@ -4792,10 +4795,12 @@ static rmw_ret_t rmw_init_cs(

sub_type_support = create_request_type_support(
type_support->data, type_support->typesupport_identifier);
sub_type_hash = type_supports->request_typesupport->type_hash;
sub_type_hash = type_supports->request_typesupport->get_type_hash_func(
type_supports->request_typesupport);
pub_type_support = create_response_type_support(
type_support->data, type_support->typesupport_identifier);
pub_type_hash = type_supports->response_typesupport->type_hash;
pub_type_hash = type_supports->response_typesupport->get_type_hash_func(
type_supports->response_typesupport);
subtopic_name =
make_fqtopic(ROS_SERVICE_REQUESTER_PREFIX, service_name, "Request", qos_policies);
pubtopic_name = make_fqtopic(ROS_SERVICE_RESPONSE_PREFIX, service_name, "Reply", qos_policies);
Expand All @@ -4805,10 +4810,12 @@ static rmw_ret_t rmw_init_cs(

pub_type_support = create_request_type_support(
type_support->data, type_support->typesupport_identifier);
pub_type_hash = type_supports->request_typesupport->type_hash;
pub_type_hash = type_supports->request_typesupport->get_type_hash_func(
type_supports->request_typesupport);
sub_type_support = create_response_type_support(
type_support->data, type_support->typesupport_identifier);
sub_type_hash = type_supports->response_typesupport->type_hash;
sub_type_hash = type_supports->response_typesupport->get_type_hash_func(
type_supports->response_typesupport);
pubtopic_name =
make_fqtopic(ROS_SERVICE_REQUESTER_PREFIX, service_name, "Request", qos_policies);
subtopic_name = make_fqtopic(ROS_SERVICE_RESPONSE_PREFIX, service_name, "Reply", qos_policies);
Expand Down