DDS_TypeCode * outer_struct_get_typecode(struct DDS_TypeCodeFactory *tcf) {
static DDS_TypeCode *tc = NULL;
DDS_TypeCode *innerTC = NULL;
struct DDS_StructMemberSeq members = DDS_SEQUENCE_INITIALIZER;
DDS_ExceptionCode_t ex;
/* First, we create the typeCode for a struct */
tc = DDS_TypeCodeFactory_create_struct_tc(tcf, "OuterStruct", &members,
&ex);
if (ex != DDS_NO_EXCEPTION_CODE) {
fprintf(stderr, "! Unable to create struct TC\n");
goto fail;
}
innerTC = inner_struct_get_typecode(tcf);
if (innerTC == NULL) {
fprintf(stderr, "! Unable to create struct TC\n");
goto fail;
}
/* Member 1 of outer struct will be a struct of type inner_struct
* called inner*/
DDS_TypeCode_add_member(tc, "inner", DDS_TYPECODE_MEMBER_ID_INVALID,
innerTC, DDS_TYPECODE_NONKEY_REQUIRED_MEMBER, &ex);
if (ex != DDS_NO_EXCEPTION_CODE) {
fprintf(stderr, "! Unable to add member x\n");
goto fail;
}
if (innerTC != NULL) {
DDS_TypeCodeFactory_delete_tc(tcf, innerTC, NULL);
}
DDS_StructMemberSeq_finalize(&members);
return tc;
fail:
if (tc != NULL) {
DDS_TypeCodeFactory_delete_tc(tcf, tc, &ex);
}
if (innerTC != NULL) {
DDS_TypeCodeFactory_delete_tc(tcf, innerTC, NULL);
}
DDS_StructMemberSeq_finalize(&members);
return NULL;
}
DDS_TypeCode *
inner_struct_get_typecode(struct DDS_TypeCodeFactory *tcf) {
static DDS_TypeCode *tc = NULL;
struct DDS_StructMemberSeq members = DDS_SEQUENCE_INITIALIZER;
DDS_ExceptionCode_t ex;
/* First, we create the typeCode for a struct */
tc = DDS_TypeCodeFactory_create_struct_tc(tcf, "InnerStruct", &members,
&ex);
if (ex != DDS_NO_EXCEPTION_CODE) {
fprintf(stderr, "! Unable to create struct TC\n");
goto fail;
}
/* Member 1 will be a double named x */
DDS_TypeCode_add_member(tc, "x", DDS_TYPECODE_MEMBER_ID_INVALID,
DDS_TypeCodeFactory_get_primitive_tc(tcf, DDS_TK_DOUBLE),
DDS_TYPECODE_NONKEY_REQUIRED_MEMBER, &ex);
if (ex != DDS_NO_EXCEPTION_CODE) {
fprintf(stderr, "! Unable to add member x\n");
goto fail;
}
/* Member 2 will be a double named y */
DDS_TypeCode_add_member(tc, "y", DDS_TYPECODE_MEMBER_ID_INVALID,
DDS_TypeCodeFactory_get_primitive_tc(tcf, DDS_TK_DOUBLE),
DDS_TYPECODE_NONKEY_REQUIRED_MEMBER, &ex);
if (ex != DDS_NO_EXCEPTION_CODE) {
fprintf(stderr, "! Unable to add member y\n");
goto fail;
}
DDS_StructMemberSeq_finalize(&members);
return tc;
fail:
if (tc != NULL) {
DDS_TypeCodeFactory_delete_tc(tcf, tc, &ex);
}
DDS_StructMemberSeq_finalize(&members);
return NULL;
}
DDS_TypeCode *
type_w_sequence_get_typecode(DDS_TypeCodeFactory *tcf) {
static DDS_TypeCode * tc = NULL;
struct DDS_TypeCode * sequenceTC = NULL;
struct DDS_StructMemberSeq members = DDS_SEQUENCE_INITIALIZER;
DDS_ExceptionCode_t err;
sequenceTC = sequence_get_typecode(tcf);
if (sequenceTC == NULL) {
fprintf(stderr, "! Unable to get sequenceTC\n");
goto fail;
}
tc = DDS_TypeCodeFactory_create_struct_tc(tcf, "TypeWithSequence", &members,
&err);
if (tc == NULL) {
fprintf(stderr, "! Unable to create Type with sequence TC\n");
goto fail;
}
DDS_TypeCode_add_member(tc, "sequence_member",
DDS_TYPECODE_MEMBER_ID_INVALID, sequenceTC,
DDS_TYPECODE_NONKEY_MEMBER, &err);
if (sequenceTC != NULL) {
DDS_TypeCodeFactory_delete_tc(tcf, sequenceTC, &err);
}
DDS_StructMemberSeq_finalize(&members);
return tc;
fail:
if (tc != NULL) {
DDS_TypeCodeFactory_delete_tc(tcf, tc, &err);
}
if (sequenceTC != NULL) {
DDS_TypeCodeFactory_delete_tc(tcf, sequenceTC, &err);
}
DDS_StructMemberSeq_finalize(&members);
return NULL;
}
DDS_TypeCode * create_type_code(
std::string type_name, const void * untyped_members, const char * introspection_identifier)
{
auto members = static_cast<const MembersType *>(untyped_members);
if (!members) {
RMW_SET_ERROR_MSG("members handle is null");
return NULL;
}
DDS_TypeCodeFactory * factory = DDS_TypeCodeFactory::get_instance();
if (!factory) {
RMW_SET_ERROR_MSG("failed to get typecode factory");
return NULL;
}
// Past this point, a failure results in unrolling code in the goto fail block.
DDS_StructMemberSeq struct_members;
DDS_ExceptionCode_t ex = DDS_NO_EXCEPTION_CODE;
// Start initializing elements.
DDS_TypeCode * type_code = factory->create_struct_tc(type_name.c_str(), struct_members, ex);
if (!type_code || ex != DDS_NO_EXCEPTION_CODE) {
RMW_SET_ERROR_MSG("failed to create struct typecode");
goto fail;
}
USING_INTROSPECTION_TYPEIDS()
for (uint32_t i = 0; i < members->member_count_; ++i) {
auto * member = members->members_ + i;
const DDS_TypeCode * member_type_code = nullptr;
DDS_TypeCode * member_type_code_non_const = nullptr;
switch (member->type_id_) {
case rosidl_typesupport_introspection_cpp::ROS_TYPE_BOOL:
member_type_code = factory->get_primitive_tc(DDS_TK_BOOLEAN);
break;
case rosidl_typesupport_introspection_cpp::ROS_TYPE_BYTE:
member_type_code = factory->get_primitive_tc(DDS_TK_OCTET);
break;
case rosidl_typesupport_introspection_cpp::ROS_TYPE_CHAR:
member_type_code = factory->get_primitive_tc(DDS_TK_CHAR);
break;
case rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT32:
member_type_code = factory->get_primitive_tc(DDS_TK_FLOAT);
break;
case rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT64:
member_type_code = factory->get_primitive_tc(DDS_TK_DOUBLE);
break;
case rosidl_typesupport_introspection_cpp::ROS_TYPE_INT8:
member_type_code = factory->get_primitive_tc(DDS_TK_OCTET);
break;
case rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8:
member_type_code = factory->get_primitive_tc(DDS_TK_OCTET);
break;
case rosidl_typesupport_introspection_cpp::ROS_TYPE_INT16:
member_type_code = factory->get_primitive_tc(DDS_TK_SHORT);
break;
case rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT16:
member_type_code = factory->get_primitive_tc(DDS_TK_USHORT);
break;
case rosidl_typesupport_introspection_cpp::ROS_TYPE_INT32:
member_type_code = factory->get_primitive_tc(DDS_TK_LONG);
break;
case rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT32:
member_type_code = factory->get_primitive_tc(DDS_TK_ULONG);
break;
case rosidl_typesupport_introspection_cpp::ROS_TYPE_INT64:
member_type_code = factory->get_primitive_tc(DDS_TK_LONGLONG);
break;
case rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT64:
member_type_code = factory->get_primitive_tc(DDS_TK_ULONGLONG);
break;
case rosidl_typesupport_introspection_cpp::ROS_TYPE_STRING:
{
DDS_UnsignedLong max_string_size;
if (member->string_upper_bound_) {
if (member->string_upper_bound_ > (std::numeric_limits<DDS_UnsignedLong>::max)()) {
RMW_SET_ERROR_MSG(
"failed to create string typecode since the upper bound exceeds the DDS type");
goto fail;
}
max_string_size = static_cast<DDS_UnsignedLong>(member->string_upper_bound_);
} else {
max_string_size = RTI_INT32_MAX;
}
member_type_code_non_const = factory->create_string_tc(max_string_size, ex);
member_type_code = member_type_code_non_const;
}
if (!member_type_code || ex != DDS_NO_EXCEPTION_CODE) {
RMW_SET_ERROR_MSG("failed to create string typecode");
goto fail;
}
break;
case rosidl_typesupport_introspection_cpp::ROS_TYPE_MESSAGE:
{
if (!member->members_) {
RMW_SET_ERROR_MSG("members handle is null");
return NULL;
}
auto sub_members = static_cast<const MembersType *>(member->members_->data);
if (!sub_members) {
RMW_SET_ERROR_MSG("sub members handle is null");
return NULL;
}
std::string field_type_name = _create_type_name<MembersType>(sub_members, "msg");
member_type_code = create_type_code<MembersType>(field_type_name, sub_members,
introspection_identifier);
if (!member_type_code) {
// error string was set within the function
goto fail;
}
}
break;
default:
RMW_SET_ERROR_MSG(
(std::string("unknown type id ") + std::to_string(member->type_id_)).c_str());
goto fail;
}
if (!member_type_code) {
RMW_SET_ERROR_MSG("failed to create typecode");
goto fail;
}
if (member->is_array_) {
if (member->array_size_) {
if (member->array_size_ > (std::numeric_limits<DDS_UnsignedLong>::max)()) {
RMW_SET_ERROR_MSG("failed to create array typecode since the size exceeds the DDS type");
goto fail;
}
DDS_UnsignedLong array_size = static_cast<DDS_UnsignedLong>(member->array_size_);
if (!member->is_upper_bound_) {
member_type_code_non_const = factory->create_array_tc(array_size, member_type_code, ex);
member_type_code = member_type_code_non_const;
if (!member_type_code || ex != DDS_NO_EXCEPTION_CODE) {
RMW_SET_ERROR_MSG("failed to create array typecode");
goto fail;
}
} else {
member_type_code_non_const =
factory->create_sequence_tc(array_size, member_type_code, ex);
member_type_code = member_type_code_non_const;
if (!member_type_code || ex != DDS_NO_EXCEPTION_CODE) {
RMW_SET_ERROR_MSG("failed to create sequence typecode");
goto fail;
}
}
} else {
member_type_code_non_const = factory->create_sequence_tc(
RTI_INT32_MAX, member_type_code, ex);
member_type_code = member_type_code_non_const;
if (!member_type_code || ex != DDS_NO_EXCEPTION_CODE) {
RMW_SET_ERROR_MSG("failed to create sequence typecode");
goto fail;
}
}
}
auto zero_based_index = type_code->add_member(
(std::string(member->name_) + "_").c_str(),
i,
member_type_code,
DDS_TYPECODE_NONKEY_REQUIRED_MEMBER, ex);
if (ex != DDS_NO_EXCEPTION_CODE) {
RMW_SET_ERROR_MSG("failed to add member");
goto fail;
}
if (zero_based_index != i) {
RMW_SET_ERROR_MSG("unexpected member index");
return NULL;
}
}
// since empty message definitions are not supported
// we have to add the same dummy field as in rosidl_generator_dds_idl
if (members->member_count_ == 0) {
const DDS_TypeCode * member_type_code;
member_type_code = factory->get_primitive_tc(DDS_TK_BOOLEAN);
if (!member_type_code) {
RMW_SET_ERROR_MSG("failed to get primitive typecode");
goto fail;
}
type_code->add_member("_dummy", DDS_TYPECODE_MEMBER_ID_INVALID,
member_type_code,
DDS_TYPECODE_NONKEY_REQUIRED_MEMBER, ex);
if (ex != DDS_NO_EXCEPTION_CODE) {
RMW_SET_ERROR_MSG("failed to add member");
goto fail;
}
}
DDS_StructMemberSeq_finalize(&struct_members);
return type_code;
fail:
if (type_code) {
if (factory) {
DDS_ExceptionCode_t exc = DDS_NO_EXCEPTION_CODE;
factory->delete_tc(type_code, exc);
if (exc != DDS_NO_EXCEPTION_CODE) {
std::stringstream ss;
ss << "failed to delete type code during handling of failure at " <<
__FILE__ << ":" << __LINE__ << '\n';
(std::cerr << ss.str()).flush();
}
} else {
std::stringstream ss;
ss << "leaking type code during handling of failure at " <<
__FILE__ << ":" << __LINE__ << '\n';
(std::cerr << ss.str()).flush();
}
}
return nullptr;
}
