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Fix somes compilation warnings #71

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9 changes: 6 additions & 3 deletions rmw_microxrcedds_c/src/rmw_init.c
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Original file line number Diff line number Diff line change
Expand Up @@ -26,14 +26,17 @@

#include "./callbacks.h"

#ifdef MICRO_XRCEDDS_SERIAL || defined(MICRO_XRCEDDS_CUSTOM_SERIAL)
#if defined(MICRO_XRCEDDS_SERIAL) || defined(MICRO_XRCEDDS_CUSTOM_SERIAL)
#define CLOSE_TRANSPORT(transport) uxr_close_serial_transport(transport)
#elif defined(MICRO_XRCEDDS_UDP)
#define CLOSE_TRANSPORT(transport) uxr_close_udp_transport(transport)
#else
#define CLOSE_TRANSPORT(transport)
#endif

/* Variables definition to fix compiler warnings */

#define NANOSEC_TO_SEC 1000000000UL

rmw_ret_t
rmw_init_options_init(rmw_init_options_t * init_options, rcutils_allocator_t allocator)
Expand Down Expand Up @@ -77,7 +80,7 @@ rmw_init_options_init(rmw_init_options_t * init_options, rcutils_allocator_t all

struct timespec ts;
clock_gettime(CLOCK_REALTIME, &ts);
srand((ts.tv_sec * 1000000000UL ) + ts.tv_nsec);
srand((ts.tv_sec * NANOSEC_TO_SEC) + ts.tv_nsec);

do {
init_options->impl->connection_params.client_key = rand();
Expand Down Expand Up @@ -224,7 +227,7 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
&context_impl->serial_platform, fd, 0, 1))
{
RMW_SET_ERROR_MSG("Can not create an serial connection");
return NULL;
return (rmw_ret_t) NULL;
}
}
}
Expand Down
2 changes: 1 addition & 1 deletion rmw_microxrcedds_c/src/rmw_microxrcedds_topic.c
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Original file line number Diff line number Diff line change
Expand Up @@ -80,7 +80,7 @@ create_topic(
#endif

// Generate request
uint16_t topic_req;
uint16_t topic_req = 0;
#ifdef MICRO_XRCEDDS_USE_XML
if (!build_topic_xml(topic_name, message_type_support_callbacks,
qos_policies, xml_buffer, sizeof(xml_buffer)))
Expand Down
8 changes: 6 additions & 2 deletions rmw_microxrcedds_c/src/rmw_node.c
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,10 @@
#include "./types.h"
#include "./utils.h"

/* Variables definition to fix compiler warnings */

#define TIMEOUT_IN_MS 1000

rmw_node_t * create_node(const char * name, const char * namespace_, size_t domain_id, const rmw_context_t * context)
{
if (!context) {
Expand Down Expand Up @@ -73,7 +77,7 @@ rmw_node_t * create_node(const char * name, const char * namespace_, size_t doma
memcpy((char *)node_handle->namespace_, namespace_, strlen(namespace_) + 1);

node_info->participant_id = uxr_object_id(node_info->context->id_participant++, UXR_PARTICIPANT_ID);
uint16_t participant_req;
uint16_t participant_req = 0;
#ifdef MICRO_XRCEDDS_USE_XML
char participant_xml[RMW_UXRCE_XML_BUFFER_LENGTH];
if (!build_participant_xml(domain_id, name, participant_xml, sizeof(participant_xml))) {
Expand All @@ -100,7 +104,7 @@ rmw_node_t * create_node(const char * name, const char * namespace_, size_t doma
uint8_t status[1];
uint16_t requests[] = {participant_req};

if (!uxr_run_session_until_all_status(&node_info->context->session, 1000, requests, status, 1)) {
if (!uxr_run_session_until_all_status(&node_info->context->session, TIMEOUT_IN_MS, requests, status, 1)) {
uxr_delete_session(&node_info->context->session);
rmw_uxrce_fini_node_memory(node_handle);
RMW_SET_ERROR_MSG("Issues creating micro XRCE-DDS entities");
Expand Down
7 changes: 6 additions & 1 deletion rmw_microxrcedds_c/src/rmw_publish.c
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,10 @@
#include <rmw/error_handling.h>
#include <rmw/rmw.h>

/* Variables definition to fix compiler warnings */

#define TIMEOUT_IN_MS 1000

rmw_ret_t
rmw_publish(
const rmw_publisher_t * publisher,
Expand Down Expand Up @@ -55,7 +59,8 @@ rmw_publish(
if (UXR_BEST_EFFORT_STREAM == custom_publisher->stream_id.type){
uxr_flash_output_streams(&custom_publisher->owner_node->context->session);
}else{
written &= uxr_run_session_until_confirm_delivery(&custom_publisher->owner_node->context->session, 1000);
written &= uxr_run_session_until_confirm_delivery(&custom_publisher->owner_node->context->session,
TIMEOUT_IN_MS);
}
}
if (!written) {
Expand Down
7 changes: 6 additions & 1 deletion rmw_microxrcedds_c/src/rmw_publisher.c
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,11 @@
#include <rmw/error_handling.h>
#include <rmw/rmw.h>

/* Variables definition to fix compiler warnings */

#define PUBR_MAX_NAME 20
#define TIMEOUT_IN_MS 1000

rmw_ret_t
rmw_init_publisher_allocation(
const rosidl_message_type_support_t * type_support,
Expand Down Expand Up @@ -142,7 +147,7 @@ rmw_create_publisher(
custom_publisher->publisher_id = uxr_object_id(custom_node->context->id_publisher++, UXR_PUBLISHER_ID);
uint16_t publisher_req;
#ifdef MICRO_XRCEDDS_USE_XML
char publisher_name[20];
char publisher_name[PUBR_MAX_NAME];
generate_name(&custom_publisher->publisher_id, publisher_name, sizeof(publisher_name));
if (!build_publisher_xml(publisher_name, xml_buffer, sizeof(xml_buffer))) {
RMW_SET_ERROR_MSG("failed to generate xml request for publisher creation");
Expand Down
6 changes: 5 additions & 1 deletion rmw_microxrcedds_c/src/rmw_request.c
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,10 @@
#include <rmw/rmw.h>
#include <rmw/error_handling.h>

/* Variables definition to fix compiler warnings */

#define TIMEOUT_IN_MS 100

rmw_ret_t
rmw_send_request(
const rmw_client_t * client,
Expand Down Expand Up @@ -52,7 +56,7 @@ rmw_send_request(
return RMW_RET_ERROR;
}

uxr_run_session_time(&custom_node->context->session,100);
uxr_run_session_time(&custom_node->context->session, TIMEOUT_IN_MS);

return RMW_RET_OK;
}
Expand Down
7 changes: 6 additions & 1 deletion rmw_microxrcedds_c/src/rmw_service.c
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,11 @@

#include "./utils.h"

/* Variables definition to fix compiler warnings */

#define SERVICE_MAX_NAME 20
#define TIMEOUT_IN_MS 1000

rmw_service_t *
rmw_create_service(
const rmw_node_t * node,
Expand Down Expand Up @@ -115,7 +120,7 @@ rmw_create_service(

uint16_t service_req;
#ifdef MICRO_XRCEDDS_USE_XML
char service_name_id[20];
char service_name_id[SERVICE_MAX_NAME];
generate_name(&custom_service->service_id, service_name_id, sizeof(service_name_id));
if (!build_service_xml(service_name_id, service_name, false, custom_service->type_support_callbacks, qos_policies, xml_buffer, sizeof(xml_buffer))) {
RMW_SET_ERROR_MSG("failed to generate xml request for service creation");
Expand Down
9 changes: 7 additions & 2 deletions rmw_microxrcedds_c/src/rmw_subscription.c
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,11 @@
#include <rmw/types.h>
#include <rmw/allocators.h>

/* Variables definition to fix compiler warnings */

#define SUB_MAX_NAME 20
#define TIMEOUT_IN_MS 1000

rmw_ret_t
rmw_init_subscription_allocation(
const rosidl_message_type_support_t * type_support,
Expand Down Expand Up @@ -146,7 +151,7 @@ rmw_create_subscription(
custom_subscription->subscriber_id = uxr_object_id(custom_node->context->id_subscriber++, UXR_SUBSCRIBER_ID);
uint16_t subscriber_req;
#ifdef MICRO_XRCEDDS_USE_XML
char subscriber_name[20];
char subscriber_name[SUB_MAX_NAME];
generate_name(&custom_subscription->subscriber_id, subscriber_name, sizeof(subscriber_name));
if (!build_subscriber_xml(subscriber_name, xml_buffer, sizeof(xml_buffer))) {
RMW_SET_ERROR_MSG("failed to generate xml request for subscriber creation");
Expand All @@ -165,7 +170,7 @@ rmw_create_subscription(


custom_subscription->datareader_id = uxr_object_id(custom_node->context->id_datareader++, UXR_DATAREADER_ID);
uint16_t datareader_req;
uint16_t datareader_req = 0;
#ifdef MICRO_XRCEDDS_USE_XML
if (!build_datareader_xml(topic_name, custom_subscription->type_support_callbacks,
qos_policies, xml_buffer,
Expand Down
12 changes: 9 additions & 3 deletions rmw_microxrcedds_c/src/rmw_wait.c
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,12 @@
#include <limits.h>
#include <math.h>

/* Variables definition to fix compiler warnings */

#define TIMEOUT_IN_MS 1000
#define MILISEC_TO_SEC 1000
#define NANOSEC_TO_MS 1000000

rmw_ret_t
rmw_wait(
rmw_subscriptions_t * subscriptions,
Expand All @@ -40,13 +46,13 @@ rmw_wait(
uint64_t timeout;
if (wait_timeout != NULL) {
// Convert to int (checking overflow)
if (wait_timeout->sec >= (UINT64_MAX / 1000)) {
if (wait_timeout->sec >= (UINT64_MAX / MILISEC_TO_SEC)) {
// Overflow
timeout = INT_MAX;
RMW_SET_ERROR_MSG("Wait timeout overflow");
} else {
timeout = wait_timeout->sec * 1000;
uint64_t timeout_ms = wait_timeout->nsec / 1000000;
timeout = wait_timeout->sec * MILISEC_TO_SEC;
uint64_t timeout_ms = wait_timeout->nsec / NANOSEC_TO_MS;
if ((UINT64_MAX - timeout) <= timeout_ms) {
// Overflow
timeout = INT_MAX;
Expand Down