From 8a82b96757d482082133d0097e1e0151462c80ae Mon Sep 17 00:00:00 2001 From: acuadros95 Date: Tue, 11 Jul 2023 10:39:02 +0200 Subject: [PATCH] Disable get_type_description service Signed-off-by: acuadros95 --- rcl/src/rcl/node.c | 13 ++++++++++++- 1 file changed, 12 insertions(+), 1 deletion(-) diff --git a/rcl/src/rcl/node.c b/rcl/src/rcl/node.c index cc66451e3..e70c14db1 100644 --- a/rcl/src/rcl/node.c +++ b/rcl/src/rcl/node.c @@ -580,6 +580,7 @@ void rcl_node_type_description_service_handle_request( const type_description_interfaces__srv__GetTypeDescription_Request * request, type_description_interfaces__srv__GetTypeDescription_Response * response) { +#ifdef RCL_MICROROS_COMPLETE_IMPL rcl_type_info_t type_info; RCL_CHECK_FOR_NULL_WITH_MSG(node, "invalid node handle", return;); RCL_CHECK_FOR_NULL_WITH_MSG(node->impl, "invalid node", return;); @@ -638,10 +639,12 @@ void rcl_node_type_description_service_handle_request( } response->successful = true; +#endif //RCL_MICROROS } 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); @@ -675,12 +678,15 @@ rcl_ret_t rcl_node_type_description_service_init(rcl_node_t * node) &node->impl->get_type_description_service, node, type_support, service_name, &service_ops); allocator.deallocate(service_name, allocator.state); - return ret; +#else + return RCL_RET_OK; +#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)) { @@ -695,12 +701,16 @@ rcl_ret_t rcl_node_type_description_service_fini(rcl_node_t * node) } return ret; +#else + return RCL_RET_OK; +#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); @@ -710,6 +720,7 @@ rcl_ret_t rcl_node_get_type_description_service( } *service_out = &node->impl->get_type_description_service; +#endif return RCL_RET_OK; }