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Disable get_type_description service #22

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Merged
Acuadros95 merged 1 commit into from
Jul 11, 2023
Merged

Disable get_type_description service #22

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13 changes: 12 additions & 1 deletion rcl/src/rcl/node.c
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Original file line number Diff line number Diff line change
Expand Up @@ -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;);
Expand Down Expand Up @@ -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);

Expand Down Expand Up @@ -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)) {
Expand All @@ -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);
Expand All @@ -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;
}

Expand Down