Fix OSX and MSbuild warnings

Signed-off-by: Emerson Knapp <eknapp@amazon.com>
ros2 · May 3, 2019 · 883ba2e · 883ba2e
1 parent fa97d23
commit 883ba2e
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Showing 4 changed files with 24 additions and 21 deletions.
diff --git a/rmw_connext_cpp/include/rmw_connext_cpp/connext_static_publisher_info.hpp b/rmw_connext_cpp/include/rmw_connext_cpp/connext_static_publisher_info.hpp
@@ -31,8 +31,6 @@
 
 class ConnextPublisherListener;
 
-extern "C"
-{
 struct ConnextStaticPublisherInfo : ConnextCustomEventInfo
 {
   DDS::Publisher * dds_publisher_;
@@ -55,7 +53,6 @@ struct ConnextStaticPublisherInfo : ConnextCustomEventInfo
    */
   DDS::Entity * get_entity() override;
 };
-}  // extern "C"
 
 class ConnextPublisherListener : public DDS::PublisherListener
 {

diff --git a/rmw_connext_cpp/include/rmw_connext_cpp/connext_static_subscriber_info.hpp b/rmw_connext_cpp/include/rmw_connext_cpp/connext_static_subscriber_info.hpp
@@ -30,8 +30,6 @@
 
 class ConnextSubscriberListener;
 
-extern "C"
-{
 struct ConnextStaticSubscriberInfo : ConnextCustomEventInfo
 {
   DDS::Subscriber * dds_subscriber_;
@@ -52,7 +50,6 @@ struct ConnextStaticSubscriberInfo : ConnextCustomEventInfo
    */
   DDS::Entity * get_entity() override;
 };
-}  // extern "C"
 
 class ConnextSubscriberListener : public DDS::SubscriberListener
 {

diff --git a/rmw_connext_shared_cpp/include/rmw_connext_shared_cpp/connext_static_event_info.hpp b/rmw_connext_shared_cpp/include/rmw_connext_shared_cpp/connext_static_event_info.hpp
@@ -15,15 +15,14 @@
 #ifndef RMW_CONNEXT_SHARED_CPP__CONNEXT_STATIC_EVENT_INFO_HPP_
 #define RMW_CONNEXT_SHARED_CPP__CONNEXT_STATIC_EVENT_INFO_HPP_
 
-#include "ndds/ndds_cpp.h"
-#include "ndds/ndds_namespace_cpp.h"
-
 #include "rmw/ret_types.h"
 
 #include "rmw_connext_shared_cpp/ndds_include.hpp"
 
 typedef struct ConnextCustomEventInfo
 {
+  virtual ~ConnextCustomEventInfo() = default;
+
   /// Get the corresponding rmw status given the status mask.
   /**
    * Return the corresponding RMW status given the input DDS_StatusMask and its corresponding event.

diff --git a/rmw_connext_shared_cpp/src/qos.cpp b/rmw_connext_shared_cpp/src/qos.cpp
@@ -18,6 +18,21 @@
 namespace
 {
 
+bool
+is_time_default(const rmw_time_t & time)
+{
+  return time.sec == 0 && time.nsec == 0;
+}
+
+DDS_Duration_t
+rmw_time_to_dds(const rmw_time_t & time)
+{
+  DDS_Duration_t duration;
+  duration.sec = static_cast<DDS_Long>(time.sec);
+  duration.nanosec = static_cast<DDS_UnsignedLong>(time.nsec);
+  return duration;
+}
+
 template<typename DDSEntityQos>
 bool
 set_entity_qos_from_profile_generic(
@@ -71,10 +86,9 @@ set_entity_qos_from_profile_generic(
     entity_qos.history.depth = static_cast<DDS::Long>(qos_profile.depth);
   }
 
-  // DDS_DeadlineQosPolicy has default value of DDS_DURATION_INFINITE, don't touch it for 0
-  if (qos_profile.deadline.sec != 0 || qos_profile.deadline.nsec != 0) {
-    entity_qos.deadline.period.sec = qos_profile.deadline.sec;
-    entity_qos.deadline.period.nanosec = qos_profile.deadline.nsec;
+  // DDS_DeadlineQosPolicy has default value of DDS_DURATION_INFINITE, don't overwrite if default passed
+  if (!is_time_default(qos_profile.deadline)) {
+    entity_qos.deadline.period = rmw_time_to_dds(qos_profile.deadline);
   }
 
   switch (qos_profile.liveliness) {
@@ -93,11 +107,8 @@ set_entity_qos_from_profile_generic(
       RMW_SET_ERROR_MSG("Unknown QoS liveliness policy");
       return false;
   }
-  if (qos_profile.liveliness_lease_duration.sec != 0 ||
-    qos_profile.liveliness_lease_duration.nsec != 0)
-  {
-    entity_qos.liveliness.lease_duration.sec = qos_profile.liveliness_lease_duration.sec;
-    entity_qos.liveliness.lease_duration.nanosec = qos_profile.liveliness_lease_duration.nsec;
+  if (!is_time_default(qos_profile.liveliness_lease_duration)) {
+    entity_qos.liveliness.lease_duration = rmw_time_to_dds(qos_profile.liveliness_lease_duration);
   }
 
   // ensure the history depth is at least the requested queue size
@@ -131,9 +142,8 @@ set_entity_qos_from_profile(
   DDS::DataWriterQos & entity_qos)
 {
   // Set any QoS settings that are specific to DataWriter, then call the shared version
-  if (qos_profile.lifespan.sec != 0 || qos_profile.lifespan.nsec != 0) {
-    entity_qos.lifespan.duration.sec = qos_profile.lifespan.sec;
-    entity_qos.lifespan.duration.nanosec = qos_profile.lifespan.nsec;
+  if (!is_time_default(qos_profile.lifespan)) {
+    entity_qos.lifespan.duration = rmw_time_to_dds(qos_profile.lifespan);
   }
   return set_entity_qos_from_profile_generic(qos_profile, entity_qos);
 }