Address memory issue of type hash

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micro-ROS · Jan 5, 2024 · d380e13 · d380e13
1 parent 6dfc179
commit d380e13
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Showing 12 changed files with 42 additions and 6 deletions.
diff --git a/rcl/src/rcl/client.c b/rcl/src/rcl/client.c
@@ -51,7 +51,9 @@ struct rcl_client_impl_s
   atomic_int_least64_t sequence_number;
   rcl_service_event_publisher_t * service_event_publisher;
   char * remapped_service_name;
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   rosidl_type_hash_t type_hash;
+#endif // RCL_MICROROS_COMPLETE_IMPL
 };
 
 rcl_client_t
@@ -190,8 +192,8 @@ rcl_client_init(
     ret = RCL_RET_ERROR;
     goto destroy_client;
   }
-#endif // RCL_MICROROS_COMPLETE_IMPL
   client->impl->type_hash = *type_support->get_type_hash_func(type_support);
+#endif // RCL_MICROROS_COMPLETE_IMPL
 
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Client initialized");
   TRACEPOINT(

diff --git a/rcl/src/rcl/node.c b/rcl/src/rcl/node.c
@@ -208,8 +208,10 @@ rcl_node_init(
   node->impl->logger_name = NULL;
   node->impl->fq_name = NULL;
   node->impl->options = rcl_node_get_default_options();
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   node->impl->registered_types_by_type_hash = rcutils_get_zero_initialized_hash_map();
   node->impl->get_type_description_service = rcl_get_zero_initialized_service();
+#endif // RCL_MICROROS_COMPLETE_IMPL
   node->context = context;
   // Initialize node impl.
   ret = rcl_node_options_copy(options, &(node->impl->options));
@@ -625,6 +627,7 @@ void rcl_node_type_description_service_handle_request(
 
 rcl_ret_t rcl_node_type_description_service_init(rcl_node_t * node)
 {
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(node->impl, RCL_RET_NODE_INVALID);
 
@@ -660,10 +663,15 @@ rcl_ret_t rcl_node_type_description_service_init(rcl_node_t * node)
   allocator.deallocate(service_name, allocator.state);
 
   return ret;
+#else
+  (void)node;
+  return RCL_RET_UNSUPPORTED;
+#endif //RCL_MICROROS
 }
 
 rcl_ret_t rcl_node_type_description_service_fini(rcl_node_t * node)
 {
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(node->impl, RCL_RET_NODE_INVALID);
   if (!rcl_service_is_valid(&node->impl->get_type_description_service)) {
@@ -678,12 +686,17 @@ rcl_ret_t rcl_node_type_description_service_fini(rcl_node_t * node)
   }
 
   return ret;
+#else
+  (void)node;
+  return RCL_RET_UNSUPPORTED;
+#endif //RCL_MICROROS
 }
 
 rcl_ret_t rcl_node_get_type_description_service(
   const rcl_node_t * node,
   rcl_service_t ** service_out)
 {
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(node->impl, RCL_RET_NODE_INVALID);
   RCL_CHECK_ARGUMENT_FOR_NULL(service_out, RCL_RET_SERVICE_INVALID);
@@ -694,6 +707,11 @@ rcl_ret_t rcl_node_get_type_description_service(
 
   *service_out = &node->impl->get_type_description_service;
   return RCL_RET_OK;
+#else
+  (void)node;
+  (void)service_out;
+  return RCL_RET_UNSUPPORTED;
+#endif //RCL_MICROROS
 }
 
 #ifdef __cplusplus

diff --git a/rcl/src/rcl/node_impl.h b/rcl/src/rcl/node_impl.h
@@ -30,8 +30,10 @@ struct rcl_node_impl_s
   rcl_guard_condition_t * graph_guard_condition;
   const char * logger_name;
   const char * fq_name;
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   rcutils_hash_map_t registered_types_by_type_hash;
   rcl_service_t get_type_description_service;
+#endif  // RCL_MICROROS_COMPLETE_IMPL
 };
 
 #endif  // RCL__NODE_IMPL_H_
diff --git a/rcl/src/rcl/publisher.c b/rcl/src/rcl/publisher.c
@@ -140,8 +140,8 @@ rcl_publisher_init(
     RCL_SET_ERROR_MSG("Failed to register type for subscription");
     goto fail;
   }
-#endif // RCL_MICROROS_COMPLETE_IMPL
   publisher->impl->type_hash = *type_support->get_type_hash_func(type_support);
+#endif // RCL_MICROROS_COMPLETE_IMPL
 
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Publisher initialized");
   // context

diff --git a/rcl/src/rcl/publisher_impl.h b/rcl/src/rcl/publisher_impl.h
@@ -25,7 +25,9 @@ struct rcl_publisher_impl_s
   rmw_qos_profile_t actual_qos;
   rcl_context_t * context;
   rmw_publisher_t * rmw_handle;
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   rosidl_type_hash_t type_hash;
+#endif  // RCL_MICROROS_COMPLETE_IMPL
 };
 
 #endif  // RCL__PUBLISHER_IMPL_H_
diff --git a/rcl/src/rcl/service.c b/rcl/src/rcl/service.c
@@ -50,7 +50,9 @@ struct rcl_service_impl_s
   rmw_service_t * rmw_handle;
   rcl_service_event_publisher_t * service_event_publisher;
   char * remapped_service_name;
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   rosidl_type_hash_t type_hash;
+#endif // RCL_MICROROS_COMPLETE_IMPL
 };
 
 rcl_service_t
@@ -201,8 +203,8 @@ rcl_service_init(
     ret = RCL_RET_ERROR;
     goto destroy_service;
   }
-#endif // RCL_MICROROS_COMPLETE_IMPL
   service->impl->type_hash = *type_support->get_type_hash_func(type_support);
+#endif // RCL_MICROROS_COMPLETE_IMPL
 
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Service initialized");
   TRACEPOINT(

diff --git a/rcl/src/rcl/subscription.c b/rcl/src/rcl/subscription.c
@@ -136,8 +136,8 @@ rcl_subscription_init(
     RCL_SET_ERROR_MSG("Failed to register type for subscription");
     goto fail;
   }
-#endif // RCL_MICROROS_COMPLETE_IMPL
   subscription->impl->type_hash = *type_support->get_type_hash_func(type_support);
+#endif // RCL_MICROROS_COMPLETE_IMPL
 
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Subscription initialized");
   ret = RCL_RET_OK;

diff --git a/rcl/src/rcl/subscription_impl.h b/rcl/src/rcl/subscription_impl.h
@@ -24,7 +24,9 @@ struct rcl_subscription_impl_s
   rcl_subscription_options_t options;
   rmw_qos_profile_t actual_qos;
   rmw_subscription_t * rmw_handle;
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   rosidl_type_hash_t type_hash;
+#endif  // RCL_MICROROS_COMPLETE_IMPL
 };
 
 #endif  // RCL__SUBSCRIPTION_IMPL_H_
diff --git a/rcl_action/src/rcl_action/action_client.c b/rcl_action/src/rcl_action/action_client.c
@@ -67,7 +67,9 @@ _rcl_action_get_zero_initialized_client_impl(void)
     0,
     0,
     0,
+#ifdef RCL_MICROROS_COMPLETE_IMPL
     rosidl_get_zero_initialized_type_hash()
+#endif // RCL_MICROROS_COMPLETE_IMPL
   };
   return null_action_client;
 }
@@ -244,8 +246,8 @@ rcl_action_client_init(
     RCL_SET_ERROR_MSG("Failed to register type for action");
     goto fail;
   }
-#endif // RCL_MICROROS_COMPLETE_IMPL
   action_client->impl->type_hash = *type_support->get_type_hash_func(type_support);
+#endif // RCL_MICROROS_COMPLETE_IMPL
 
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Action client initialized");
   return ret;

diff --git a/rcl_action/src/rcl_action/action_client_impl.h b/rcl_action/src/rcl_action/action_client_impl.h
@@ -33,7 +33,9 @@ typedef struct rcl_action_client_impl_s
   size_t wait_set_result_client_index;
   size_t wait_set_feedback_subscription_index;
   size_t wait_set_status_subscription_index;
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   rosidl_type_hash_t type_hash;
+#endif // RCL_MICROROS_COMPLETE_IMPL
 } rcl_action_client_impl_t;
 
 

diff --git a/rcl_action/src/rcl_action/action_server.c b/rcl_action/src/rcl_action/action_server.c
@@ -162,7 +162,9 @@ rcl_action_server_init(
   action_server->impl->goal_handles = NULL;
   action_server->impl->num_goal_handles = 0u;
   action_server->impl->clock = NULL;
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   action_server->impl->type_hash = rosidl_get_zero_initialized_type_hash();
+#endif // RCL_MICROROS_COMPLETE_IMPL
 
   rcl_ret_t ret = RCL_RET_OK;
   // Initialize services
@@ -208,8 +210,8 @@ rcl_action_server_init(
     RCL_SET_ERROR_MSG("Failed to register type for action");
     goto fail;
   }
-#endif // RCL_MICROROS_COMPLETE_IMPL
   action_server->impl->type_hash = *type_support->get_type_hash_func(type_support);
+#endif // RCL_MICROROS_COMPLETE_IMPL
 
   return ret;
 fail:

diff --git a/rcl_action/src/rcl_action/action_server_impl.h b/rcl_action/src/rcl_action/action_server_impl.h
@@ -39,7 +39,9 @@ typedef struct rcl_action_server_impl_s
   size_t wait_set_cancel_service_index;
   size_t wait_set_result_service_index;
   size_t wait_set_expire_timer_index;
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   rosidl_type_hash_t type_hash;
+#endif // RCL_MICROROS_COMPLETE_IMPL
 } rcl_action_server_impl_t;