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Fix build warning in Ubuntu Focal #346

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11 changes: 4 additions & 7 deletions rmw_fastrtps_cpp/src/rmw_publisher.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@

#include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
#include "rmw_fastrtps_shared_cpp/custom_publisher_info.hpp"
#include "rmw_fastrtps_shared_cpp/guid_utils.hpp"
#include "rmw_fastrtps_shared_cpp/names.hpp"
#include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
#include "rmw_fastrtps_shared_cpp/qos.hpp"
Expand Down Expand Up @@ -117,7 +118,6 @@ rmw_create_publisher(
CustomPublisherInfo * info = nullptr;
rmw_publisher_t * rmw_publisher = nullptr;
eprosima::fastrtps::PublisherAttributes publisherParam;
const eprosima::fastrtps::rtps::GUID_t * guid = nullptr;

if (!is_valid_qos(*qos_policies)) {
return nullptr;
Expand Down Expand Up @@ -193,12 +193,9 @@ rmw_create_publisher(
);

memset(info->publisher_gid.data, 0, RMW_GID_STORAGE_SIZE);
guid = &info->publisher_->getGuid();
if (!guid) {
RMW_SET_ERROR_MSG("no guid found for publisher");
goto fail;
}
memcpy(info->publisher_gid.data, guid, sizeof(eprosima::fastrtps::rtps::GUID_t));
rmw_fastrtps_shared_cpp::copy_from_fastrtps_guid_to_byte_array(
info->publisher_->getGuid(),
info->publisher_gid.data);

rmw_publisher = rmw_publisher_allocate();
if (!rmw_publisher) {
Expand Down
11 changes: 4 additions & 7 deletions rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@

#include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
#include "rmw_fastrtps_shared_cpp/custom_publisher_info.hpp"
#include "rmw_fastrtps_shared_cpp/guid_utils.hpp"
#include "rmw_fastrtps_shared_cpp/names.hpp"
#include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
#include "rmw_fastrtps_shared_cpp/qos.hpp"
Expand Down Expand Up @@ -121,7 +122,6 @@ rmw_create_publisher(
CustomPublisherInfo * info = nullptr;
rmw_publisher_t * rmw_publisher = nullptr;
eprosima::fastrtps::PublisherAttributes publisherParam;
const eprosima::fastrtps::rtps::GUID_t * guid = nullptr;

// Load default XML profile.
Domain::getDefaultPublisherAttributes(publisherParam);
Expand Down Expand Up @@ -188,12 +188,9 @@ rmw_create_publisher(
);

memset(info->publisher_gid.data, 0, RMW_GID_STORAGE_SIZE);
guid = &info->publisher_->getGuid();
if (!guid) {
RMW_SET_ERROR_MSG("no guid found for publisher");
goto fail;
}
memcpy(info->publisher_gid.data, guid, sizeof(eprosima::fastrtps::rtps::GUID_t));
rmw_fastrtps_shared_cpp::copy_from_fastrtps_guid_to_byte_array(
info->publisher_->getGuid(),
info->publisher_gid.data);

rmw_publisher = rmw_publisher_allocate();
if (!rmw_publisher) {
Expand Down
Original file line number Diff line number Diff line change
@@ -0,0 +1,60 @@
// Copyright 2020 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef RMW_FASTRTPS_SHARED_CPP__GUID_UTILS_HPP_
#define RMW_FASTRTPS_SHARED_CPP__GUID_UTILS_HPP_

#include <cassert>
#include <cstring>
#include <type_traits>

#include "fastrtps/rtps/common/Guid.h"

namespace rmw_fastrtps_shared_cpp
{

template<typename ByteT>
void
copy_from_byte_array_to_fastrtps_guid(
const ByteT * guid_byte_array,
eprosima::fastrtps::rtps::GUID_t * guid)
{
static_assert(
std::is_same<uint8_t, ByteT>::value || std::is_same<int8_t, ByteT>::value,
"ByteT should be either int8_t or uint8_t");
assert(guid_byte_array);
assert(guid);
constexpr auto prefix_size = sizeof(guid->guidPrefix.value);
memcpy(guid->guidPrefix.value, guid_byte_array, prefix_size);
memcpy(guid->entityId.value, &guid_byte_array[prefix_size], guid->entityId.size);
}

template<typename ByteT>
void
copy_from_fastrtps_guid_to_byte_array(
const eprosima::fastrtps::rtps::GUID_t & guid,
ByteT * guid_byte_array)
{
static_assert(
std::is_same<uint8_t, ByteT>::value || std::is_same<int8_t, ByteT>::value,
"ByteT should be either int8_t or uint8_t");
assert(guid_byte_array);
constexpr auto prefix_size = sizeof(guid.guidPrefix.value);
memcpy(guid_byte_array, &guid.guidPrefix, prefix_size);
memcpy(&guid_byte_array[prefix_size], &guid.entityId, guid.entityId.size);
}

} // namespace rmw_fastrtps_shared_cpp

#endif // RMW_FASTRTPS_SHARED_CPP__GUID_UTILS_HPP_
11 changes: 7 additions & 4 deletions rmw_fastrtps_shared_cpp/src/rmw_get_topic_endpoint_info.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -23,11 +23,13 @@
#include "rmw/topic_endpoint_info_array.h"
#include "rmw/topic_endpoint_info.h"

#include "demangle.hpp"
#include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
#include "rmw_fastrtps_shared_cpp/guid_utils.hpp"
#include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"

#include "demangle.hpp"

namespace rmw_fastrtps_shared_cpp
{

Expand Down Expand Up @@ -143,9 +145,10 @@ _set_rmw_topic_endpoint_info(
return ret;
}
// set endpoint gid
uint8_t rmw_gid[RMW_GID_STORAGE_SIZE];
memset(&rmw_gid, 0, RMW_GID_STORAGE_SIZE);
memcpy(&rmw_gid, &topic_data.entity_guid, sizeof(eprosima::fastrtps::rtps::GUID_t));
uint8_t rmw_gid[RMW_GID_STORAGE_SIZE] = {};
rmw_fastrtps_shared_cpp::copy_from_fastrtps_guid_to_byte_array(
topic_data.entity_guid,
rmw_gid);
ret = rmw_topic_endpoint_info_set_gid(
topic_endpoint_info,
rmw_gid,
Expand Down
9 changes: 5 additions & 4 deletions rmw_fastrtps_shared_cpp/src/rmw_request.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -23,9 +23,10 @@
#include "rmw/rmw.h"
#include "rmw/types.h"

#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
#include "rmw_fastrtps_shared_cpp/custom_client_info.hpp"
#include "rmw_fastrtps_shared_cpp/custom_service_info.hpp"
#include "rmw_fastrtps_shared_cpp/guid_utils.hpp"
#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
#include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"

namespace rmw_fastrtps_shared_cpp
Expand Down Expand Up @@ -99,9 +100,9 @@ __rmw_take_request(
deser, ros_request, info->request_type_support_impl_);

// Get header
memcpy(
request_header->writer_guid, &request.sample_identity_.writer_guid(),
sizeof(eprosima::fastrtps::rtps::GUID_t));
rmw_fastrtps_shared_cpp::copy_from_fastrtps_guid_to_byte_array(
request.sample_identity_.writer_guid(),
request_header->writer_guid);
request_header->sequence_number = ((int64_t)request.sample_identity_.sequence_number().high) <<
32 | request.sample_identity_.sequence_number().low;

Expand Down
9 changes: 5 additions & 4 deletions rmw_fastrtps_shared_cpp/src/rmw_response.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -21,9 +21,10 @@
#include "rmw/error_handling.h"
#include "rmw/rmw.h"

#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
#include "rmw_fastrtps_shared_cpp/custom_client_info.hpp"
#include "rmw_fastrtps_shared_cpp/custom_service_info.hpp"
#include "rmw_fastrtps_shared_cpp/guid_utils.hpp"
#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
#include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"

namespace rmw_fastrtps_shared_cpp
Expand Down Expand Up @@ -92,9 +93,9 @@ __rmw_send_response(
assert(info);

eprosima::fastrtps::rtps::WriteParams wparams;
memcpy(
&wparams.related_sample_identity().writer_guid(), request_header->writer_guid,
sizeof(eprosima::fastrtps::rtps::GUID_t));
rmw_fastrtps_shared_cpp::copy_from_byte_array_to_fastrtps_guid(
request_header->writer_guid,
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&wparams.related_sample_identity().writer_guid());
wparams.related_sample_identity().sequence_number().high =
(int32_t)((request_header->sequence_number & 0xFFFFFFFF00000000) >> 32);
wparams.related_sample_identity().sequence_number().low =
Expand Down
10 changes: 6 additions & 4 deletions rmw_fastrtps_shared_cpp/src/rmw_take.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -24,8 +24,9 @@
#include "fastcdr/Cdr.h"
#include "fastcdr/FastBuffer.h"

#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
#include "rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp"
#include "rmw_fastrtps_shared_cpp/guid_utils.hpp"
#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
#include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"

namespace rmw_fastrtps_shared_cpp
Expand All @@ -39,9 +40,10 @@ _assign_message_info(
rmw_gid_t * sender_gid = &message_info->publisher_gid;
sender_gid->implementation_identifier = identifier;
memset(sender_gid->data, 0, RMW_GID_STORAGE_SIZE);
memcpy(
sender_gid->data, &sinfo->sample_identity.writer_guid(),
sizeof(eprosima::fastrtps::rtps::GUID_t));

rmw_fastrtps_shared_cpp::copy_from_fastrtps_guid_to_byte_array(
sinfo->sample_identity.writer_guid(),
sender_gid->data);
}

rmw_ret_t
Expand Down