Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Fix compiler warnings with Iceoryx #300

Merged
merged 1 commit into from
Apr 9, 2021
Merged

Fix compiler warnings with Iceoryx #300

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 4 additions & 4 deletions rmw_cyclonedds_cpp/src/rmw_node.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1611,7 +1611,7 @@ static rmw_ret_t publish_loaned_int(
// if the publisher allow loaning
if (cdds_publisher->is_loaning_available) {
auto d = std::make_unique<serdata_rmw>(cdds_publisher->sertype, ddsi_serdata_kind::SDK_DATA);
d->iox_chunk = SHIFT_BACK_ICEORYX_HEADER(ros_message);
d->iox_chunk = SHIFT_BACK_TO_ICEORYX_HEADER(ros_message);
if (dds_writecdr(cdds_publisher->enth, d.release()) >= 0) {
return RMW_RET_OK;
} else {
Expand Down Expand Up @@ -2304,7 +2304,7 @@ static rmw_ret_t borrow_loaned_message_int(
dds_data_allocator_init(cdds_publisher->enth, &cdds_publisher->data_allocator);
// allocate memory for message + header
auto sample_size = rmw_cyclonedds_cpp::get_message_size(type_support);
auto chunk_size = GET_ICEORYX_CHUNK_SIZE(sample_size);
auto chunk_size = DETERMINE_ICEORYX_CHUNK_SIZE(sample_size);
auto chunk_ptr = dds_data_allocator_alloc(
&cdds_publisher->data_allocator, chunk_size);
RMW_CHECK_FOR_NULL_WITH_MSG(
Expand Down Expand Up @@ -2371,7 +2371,7 @@ static rmw_ret_t return_loaned_message_from_publisher_int(
// free the message memory
dds_data_allocator_free(
&cdds_publisher->data_allocator,
SHIFT_BACK_ICEORYX_HEADER(loaned_message));
SHIFT_BACK_TO_ICEORYX_HEADER(loaned_message));
// fini data collector
dds_data_allocator_fini(&cdds_publisher->data_allocator);
return RMW_RET_OK;
Expand Down Expand Up @@ -3165,7 +3165,7 @@ static rmw_ret_t return_loaned_message_from_subscription_int(
if (cdds_subscription->is_loaning_available) {
dds_data_allocator_t data_allocator;
dds_data_allocator_init(cdds_subscription->enth, &data_allocator);
dds_data_allocator_free(&data_allocator, SHIFT_BACK_ICEORYX_HEADER(loaned_message));
dds_data_allocator_free(&data_allocator, SHIFT_BACK_TO_ICEORYX_HEADER(loaned_message));
dds_data_allocator_fini(&data_allocator);
} else {
RMW_SET_ERROR_MSG("returning loan for a non fixed type is not allowed");
Expand Down
13 changes: 2 additions & 11 deletions rmw_cyclonedds_cpp/src/serdata.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,9 @@
#include "bytewise.hpp"
#include "dds/dds.h"
#include "dds/ddsi/ddsi_serdata.h"
#ifdef DDS_HAS_SHM
#include "dds/ddsi/q_xmsg.h"
#endif // DDS_HAS_SHM

#if !DDS_HAS_DDSI_SERTYPE
#define ddsi_sertype ddsi_sertopic
Expand All @@ -30,17 +32,6 @@
#define sertype_rmw_ops sertopic_rmw_ops
#endif

#ifdef DDS_HAS_SHM
#define GET_ICEORYX_CHUNK_SIZE(sample_size) \
(uint32_t) (sizeof(iceoryx_header_t) + 8 - (sizeof(iceoryx_header_t) % 8) + (sample_size))
#define SHIFT_PAST_ICEORYX_HEADER(chunk) \
(static_cast<void *>((reinterpret_cast<char *>(chunk)) + \
sizeof(iceoryx_header_t) + 8 - (sizeof(iceoryx_header_t) % 8)))
#define SHIFT_BACK_ICEORYX_HEADER(chunk) \
(static_cast<void *>((reinterpret_cast<char *>(chunk)) - \
sizeof(iceoryx_header_t) - 8 + (sizeof(iceoryx_header_t) % 8)))
#endif // DDS_HAS_SHM

namespace rmw_cyclonedds_cpp
{
class BaseCDRWriter;
Expand Down