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Acuadros95Acuadros95
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Fix services (#62)
* Update ubuntu version Signed-off-by: acuadros95 <[email protected]> * Add missing methods Signed-off-by: acuadros95 <[email protected]> * Update Signed-off-by: acuadros95 <[email protected]> * Add missing definition Signed-off-by: acuadros95 <[email protected]> * Add on all srv files Signed-off-by: acuadros95 <[email protected]> * Fix event template Signed-off-by: acuadros95 <[email protected]> * Add fix to cpp Signed-off-by: acuadros95 <[email protected]> * Add mising include Signed-off-by: acuadros95 <[email protected]> * Remove cpp modifications Signed-off-by: acuadros95 <[email protected]> * Fix headers generation Signed-off-by: acuadros95 <[email protected]> --------- Signed-off-by: acuadros95 <[email protected]>
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6 files changed

+62
-4
lines changed

6 files changed

+62
-4
lines changed

‎.github/workflows/ci.yml

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@@ -14,11 +14,7 @@ jobs:
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strategy:
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fail-fast: false
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matrix:
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os: [ ubuntu-20.04 ]
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ros_distribution: [ rolling ]
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include:
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- docker_image: ubuntu:jammy
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ros_distribution: rolling
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container:
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image: ubuntu:jammy
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‎rosidl_typesupport_microxrcedds_c/package.xml

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@@ -18,6 +18,7 @@
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<buildtool_export_depend>python3</buildtool_export_depend>
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<buildtool_export_depend>rosidl_cmake</buildtool_export_depend>
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<buildtool_export_depend>rosidl_runtime_c</buildtool_export_depend>
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<buildtool_export_depend>rosidl_generator_c</buildtool_export_depend>
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<depend>rmw</depend>
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‎rosidl_typesupport_microxrcedds_c/resource/idl__type_support_c.c.em

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@@ -18,6 +18,7 @@ include_parts = [package_name] + list(interface_path.parents[0].parts) + [
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include_base = '/'.join(include_parts)
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}@
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#include "@(include_base)__rosidl_typesupport_microxrcedds_c.h"
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#include "@(include_base)__functions.h"
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@{
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include_directives = set()

‎rosidl_typesupport_microxrcedds_c/resource/msg__type_support_c.c.em

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@@ -1,12 +1,19 @@
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@# Included from rosidl_typesupport_microxrcedds_c/resource/idl__type_support_c.cpp.em
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@{
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from rosidl_cmake import convert_camel_case_to_lower_case_underscore
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from rosidl_generator_c import idl_structure_type_to_c_typename
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from rosidl_generator_type_description import GET_DESCRIPTION_FUNC
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from rosidl_generator_type_description import GET_HASH_FUNC
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from rosidl_generator_type_description import GET_SOURCES_FUNC
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from rosidl_parser.definition import AbstractGenericString
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from rosidl_parser.definition import AbstractNestedType
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from rosidl_parser.definition import AbstractSequence
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from rosidl_parser.definition import AbstractString
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from rosidl_parser.definition import BoundedString
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from rosidl_parser.definition import AbstractWString
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from rosidl_parser.definition import SERVICE_REQUEST_MESSAGE_SUFFIX
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from rosidl_parser.definition import SERVICE_RESPONSE_MESSAGE_SUFFIX
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from rosidl_parser.definition import SERVICE_EVENT_MESSAGE_SUFFIX
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from rosidl_parser.definition import ACTION_FEEDBACK_SUFFIX
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from rosidl_parser.definition import ACTION_GOAL_SUFFIX
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from rosidl_parser.definition import ACTION_RESULT_SUFFIX
@@ -109,6 +116,12 @@ for member in message.structure.members:
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keys.add('rosidl_runtime_c/u16string.h')
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keys.add('rosidl_runtime_c/u16string_functions.h')
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elif isinstance(type_, NamespacedType):
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import sys
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if (
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type_.name.endswith(SERVICE_REQUEST_MESSAGE_SUFFIX) or
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type_.name.endswith(SERVICE_RESPONSE_MESSAGE_SUFFIX)
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):
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continue
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if (
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type_.name.endswith(ACTION_GOAL_SUFFIX) or
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type_.name.endswith(ACTION_RESULT_SUFFIX) or
@@ -546,6 +559,10 @@ static rosidl_message_type_support_t _@(message.structure.namespaced_type.name)_
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ROSIDL_TYPESUPPORT_MICROXRCEDDS_C__IDENTIFIER_VALUE,
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&__callbacks_@(message.structure.namespaced_type.name),
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get_message_typesupport_handle_function,
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&@(idl_structure_type_to_c_typename(message.structure.namespaced_type))__@(GET_HASH_FUNC),
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&@(idl_structure_type_to_c_typename(message.structure.namespaced_type))__@(GET_DESCRIPTION_FUNC),
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&@(idl_structure_type_to_c_typename(message.structure.namespaced_type))__@(GET_SOURCES_FUNC),
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};
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const rosidl_message_type_support_t *

‎rosidl_typesupport_microxrcedds_c/resource/srv__rosidl_typesupport_microxrcedds_c.h.em

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@@ -17,6 +17,15 @@ TEMPLATE(
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include_directives=include_directives)
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}@
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@{
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TEMPLATE(
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'msg__rosidl_typesupport_microxrcedds_c.h.em',
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package_name=package_name,
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interface_path=interface_path,
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message=service.event_message,
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include_directives=include_directives)
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}@
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@{
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header_files = [
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'rosidl_runtime_c/service_type_support_struct.h',

‎rosidl_typesupport_microxrcedds_c/resource/srv__type_support_c.c.em

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@@ -1,5 +1,13 @@
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@# Included from rosidl_typesupport_microxrcedds_c/resource/idl__type_support_c.c.em
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@{
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from rosidl_generator_c import idl_structure_type_to_c_typename
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from rosidl_generator_type_description import GET_DESCRIPTION_FUNC
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from rosidl_generator_type_description import GET_HASH_FUNC
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from rosidl_generator_type_description import GET_SOURCES_FUNC
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from rosidl_parser.definition import SERVICE_EVENT_MESSAGE_SUFFIX
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from rosidl_parser.definition import SERVICE_REQUEST_MESSAGE_SUFFIX
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from rosidl_parser.definition import SERVICE_RESPONSE_MESSAGE_SUFFIX
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TEMPLATE(
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'msg__type_support_c.c.em',
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package_name=package_name,
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include_directives=include_directives)
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}@
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@{
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TEMPLATE(
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'msg__type_support_c.c.em',
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package_name=package_name,
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interface_path=interface_path,
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message=service.event_message,
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include_directives=include_directives)
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}@
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@{
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from rosidl_cmake import convert_camel_case_to_lower_case_underscore
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ROSIDL_TYPESUPPORT_MICROXRCEDDS_C__IDENTIFIER_VALUE,
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&@(service.namespaced_type.name)__callbacks,
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get_service_typesupport_handle_function,
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&_@(service.namespaced_type.name)@(SERVICE_REQUEST_MESSAGE_SUFFIX)__type_support,
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&_@(service.namespaced_type.name)@(SERVICE_RESPONSE_MESSAGE_SUFFIX)__type_support,
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&_@(service.namespaced_type.name)@(SERVICE_EVENT_MESSAGE_SUFFIX)__type_support,
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ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_CREATE_EVENT_MESSAGE_SYMBOL_NAME(
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rosidl_typesupport_c,
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@(',\n '.join(service.namespaced_type.namespaced_name()))
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),
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ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_DESTROY_EVENT_MESSAGE_SYMBOL_NAME(
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rosidl_typesupport_c,
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@(',\n '.join(service.namespaced_type.namespaced_name()))
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),
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&@(idl_structure_type_to_c_typename(service.namespaced_type))__@(GET_HASH_FUNC),
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&@(idl_structure_type_to_c_typename(service.namespaced_type))__@(GET_DESCRIPTION_FUNC),
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&@(idl_structure_type_to_c_typename(service.namespaced_type))__@(GET_SOURCES_FUNC),
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};
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const rosidl_service_type_support_t *

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