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1 parent 96820bc commit 97eb371

7 files changed

Lines changed: 28 additions & 20 deletions

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‎rmw_microxrcedds_c/src/rmw_client.c‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -155,7 +155,7 @@ rmw_create_client(
155155
&custom_node->context->session, 1000, requests,
156156
status, 1))
157157
{
158-
RMW_SET_ERROR_MSG("Issues creating Micro XRCE-DDS entities");
158+
RMW_SET_ERROR_MSG("Issues creating Requester Micro XRCE-DDS entities");
159159
put_memory(&client_memory, &custom_client->mem);
160160
goto fail;
161161
}
@@ -229,7 +229,7 @@ rmw_destroy_client(
229229
&custom_node->context->session, 1000, requests, status,
230230
sizeof(status)))
231231
{
232-
RMW_SET_ERROR_MSG("unable to remove client from the server");
232+
RMW_SET_ERROR_MSG("Unable to remove client from the server");
233233
result_ret = RMW_RET_ERROR;
234234
} else {
235235
rmw_uxrce_fini_client_memory(client);

‎rmw_microxrcedds_c/src/rmw_microxrcedds_topic.c‎

Lines changed: 3 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -21,7 +21,6 @@
2121

2222
#include "./utils.h"
2323

24-
2524
rmw_uxrce_topic_t *
2625
create_topic(
2726
struct rmw_uxrce_node_t * custom_node,
@@ -34,7 +33,6 @@ create_topic(
3433
RMW_SET_ERROR_MSG("Not available memory node");
3534
goto fail;
3635
}
37-
3836
rmw_uxrce_topic_t * custom_topic = (rmw_uxrce_topic_t *)memory_node->data;
3937

4038

@@ -95,7 +93,7 @@ create_topic(
9593
}
9694
else if(!(custom_topic->sync_with_agent = uxr_run_session_until_all_status(&custom_node->context->session, 1000, &topic_req, &status, 1)))
9795
{
98-
RMW_SET_ERROR_MSG("Issues creating micro XRCE-DDS entities");
96+
RMW_SET_ERROR_MSG("Issues creating Topic Micro XRCE-DDS entities");
9997
rmw_uxrce_fini_topic_memory(custom_topic);
10098
custom_topic = NULL;
10199
goto fail;
@@ -120,12 +118,13 @@ rmw_ret_t destroy_topic(rmw_uxrce_topic_t * topic)
120118
if (UXR_BEST_EFFORT_STREAM == topic->owner_node->context->entity_creation_output->type)
121119
{
122120
uxr_flash_output_streams(&topic->owner_node->context->session);
121+
rmw_uxrce_fini_topic_memory(topic);
123122
}
124123
else if (!uxr_run_session_until_all_status(
125124
&topic->owner_node->context->session, 1000, requests,
126125
status, 1))
127126
{
128-
RMW_SET_ERROR_MSG("unable to remove topic from the server");
127+
RMW_SET_ERROR_MSG("Unable to remove topic from the server");
129128
result_ret = RMW_RET_ERROR;
130129
} else {
131130
rmw_uxrce_fini_topic_memory(topic);

‎rmw_microxrcedds_c/src/rmw_node.c‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -115,7 +115,7 @@ rmw_node_t * create_node(
115115
else if(!uxr_run_session_until_all_status(&node_info->context->session, 1000, requests, status, 1))
116116
{
117117
rmw_uxrce_fini_node_memory(node_handle);
118-
RMW_SET_ERROR_MSG("Issues creating micro XRCE-DDS entities");
118+
RMW_SET_ERROR_MSG("Issues creating Participant Micro XRCE-DDS entities");
119119
return NULL;
120120
}
121121

‎rmw_microxrcedds_c/src/rmw_publish.c‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -55,8 +55,8 @@ rmw_publish(
5555
topic_length))
5656
{
5757
written = functions->cdr_serialize(ros_message, &mb);
58-
59-
if (UXR_BEST_EFFORT_STREAM == custom_publisher->stream_id.type) {
58+
printf("WRITTEN %d\n",written);
59+
if (written && UXR_BEST_EFFORT_STREAM == custom_publisher->stream_id.type) {
6060
uxr_flash_output_streams(&custom_publisher->owner_node->context->session);
6161
} else {
6262
written &= uxr_run_session_until_confirm_delivery(

‎rmw_microxrcedds_c/src/rmw_publisher.c‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -99,7 +99,7 @@ rmw_create_publisher(
9999
memcpy(&custom_publisher->qos, qos_policies, sizeof(rmw_qos_profile_t));
100100

101101
custom_publisher->stream_id =
102-
(qos_policies->reliability == RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT) ?
102+
(qos_policies->reliability == RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT) || (custom_node->context->entity_creation_output->type == UXR_BEST_EFFORT_STREAM) ?
103103
custom_node->context->best_effort_input :
104104
custom_node->context->reliable_input;
105105

@@ -218,7 +218,7 @@ rmw_create_publisher(
218218
&custom_publisher->owner_node->context->session, 1000, requests,
219219
status, sizeof(status)))
220220
{
221-
RMW_SET_ERROR_MSG("Issues creating micro XRCE-DDS entities");
221+
RMW_SET_ERROR_MSG("Issues creating Publisher Micro XRCE-DDS entities");
222222
put_memory(&publisher_memory, &custom_publisher->mem);
223223
goto fail;
224224
}
@@ -346,7 +346,7 @@ rmw_destroy_publisher(
346346
&custom_publisher->owner_node->context->session, 1000, requests, status,
347347
sizeof(status)))
348348
{
349-
RMW_SET_ERROR_MSG("unable to remove publisher from the server");
349+
RMW_SET_ERROR_MSG("Unable to remove publisher from the server");
350350
result_ret = RMW_RET_ERROR;
351351
}
352352
else

‎rmw_microxrcedds_c/src/rmw_service.c‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -152,7 +152,7 @@ rmw_create_service(
152152
&custom_node->context->session, 1000, requests,
153153
status, 1))
154154
{
155-
RMW_SET_ERROR_MSG("Issues creating Micro XRCE-DDS entities");
155+
RMW_SET_ERROR_MSG("Issues creating Replier Micro XRCE-DDS entities");
156156
put_memory(&service_memory, &custom_service->mem);
157157
goto fail;
158158
}
@@ -225,7 +225,7 @@ rmw_destroy_service(
225225
&custom_node->context->session, 1000, requests, status,
226226
sizeof(status)))
227227
{
228-
RMW_SET_ERROR_MSG("unable to remove service from the server");
228+
RMW_SET_ERROR_MSG("Unable to remove service from the server");
229229
result_ret = RMW_RET_ERROR;
230230
} else {
231231
rmw_uxrce_fini_service_memory(service);

‎rmw_microxrcedds_c/src/rmw_subscription.c‎

Lines changed: 15 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -212,11 +212,14 @@ rmw_create_subscription(
212212

213213
uint16_t requests[] = {subscriber_req, datareader_req};
214214
uint8_t status[sizeof(requests) / 2];
215-
if (!uxr_run_session_until_all_status(
216-
&custom_node->context->session, 1000, requests,
217-
status, sizeof(status)))
215+
216+
if (UXR_BEST_EFFORT_STREAM == custom_node->context->entity_creation_output->type)
217+
{
218+
uxr_flash_output_streams(&custom_node->context->session);
219+
}
220+
else if(!uxr_run_session_until_all_status(&custom_node->context->session, 1000, requests, status,sizeof(status)))
218221
{
219-
RMW_SET_ERROR_MSG("Issues creating Micro XRCE-DDS entities");
222+
RMW_SET_ERROR_MSG("Issues creating Subscriber Micro XRCE-DDS entities");
220223
put_memory(&subscription_memory, &custom_subscription->mem);
221224
goto fail;
222225
}
@@ -314,11 +317,17 @@ rmw_destroy_subscription(rmw_node_t * node, rmw_subscription_t * subscription)
314317

315318
uint16_t requests[] = {delete_datareader, delete_subscriber};
316319
uint8_t status[sizeof(requests) / 2];
317-
if (!uxr_run_session_until_all_status(
320+
321+
if (UXR_BEST_EFFORT_STREAM == custom_subscription->owner_node->context->entity_creation_output->type)
322+
{
323+
uxr_flash_output_streams(&custom_subscription->owner_node->context->session);
324+
rmw_uxrce_fini_subscription_memory(subscription);
325+
}
326+
else if (!uxr_run_session_until_all_status(
318327
&custom_subscription->owner_node->context->session, 1000, requests, status,
319328
sizeof(status)))
320329
{
321-
RMW_SET_ERROR_MSG("unable to remove publisher from the server");
330+
RMW_SET_ERROR_MSG("Unable to remove subscriber from the server");
322331
result_ret = RMW_RET_ERROR;
323332
} else {
324333
rmw_uxrce_fini_subscription_memory(subscription);

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