Exit rmw_wait without session _run (#171) (#172)

* Modify char array to static

* Exit rmw_wait if no items

* Uncrustify

(cherry picked from commit 945c000)

Co-authored-by: Antonio Cuadros <49162117+Acuadros95@users.noreply.github.com>

Author: mergify[bot]

rmw_microxrcedds_c/src/rmw_client.c

@@ -121,14 +121,14 @@ rmw_create_client(
       custom_client->client_id,
       custom_node->participant_id, rmw_uxrce_entity_naming_buffer, UXR_REPLACE | UXR_REUSE);
 #else
-    char req_type_name[RMW_UXRCE_TYPE_NAME_MAX_LENGTH];
-    char res_type_name[RMW_UXRCE_TYPE_NAME_MAX_LENGTH];
+    static char req_type_name[RMW_UXRCE_TYPE_NAME_MAX_LENGTH];
+    static char res_type_name[RMW_UXRCE_TYPE_NAME_MAX_LENGTH];
     generate_service_types(
       custom_client->type_support_callbacks, req_type_name, res_type_name,
       RMW_UXRCE_TYPE_NAME_MAX_LENGTH);
 
-    char req_topic_name[RMW_UXRCE_TOPIC_NAME_MAX_LENGTH];
-    char res_topic_name[RMW_UXRCE_TOPIC_NAME_MAX_LENGTH];
+    static char req_topic_name[RMW_UXRCE_TOPIC_NAME_MAX_LENGTH];
+    static char res_topic_name[RMW_UXRCE_TOPIC_NAME_MAX_LENGTH];
     generate_service_topics(
       service_name, req_topic_name, res_topic_name,
       RMW_UXRCE_TOPIC_NAME_MAX_LENGTH);

rmw_microxrcedds_c/src/rmw_microxrcedds_topic.c

@@ -69,8 +69,8 @@ create_topic(
     *custom_node->context->creation_destroy_stream, custom_topic->topic_id,
     custom_node->participant_id, rmw_uxrce_entity_naming_buffer, UXR_REPLACE | UXR_REUSE);
 #else
-  char full_topic_name[RMW_UXRCE_TOPIC_NAME_MAX_LENGTH];
-  char type_name[RMW_UXRCE_TYPE_NAME_MAX_LENGTH];
+  static char full_topic_name[RMW_UXRCE_TOPIC_NAME_MAX_LENGTH];
+  static char type_name[RMW_UXRCE_TYPE_NAME_MAX_LENGTH];
 
   generate_topic_name(topic_name, full_topic_name, sizeof(full_topic_name));
   generate_type_name(message_type_support_callbacks, type_name, sizeof(type_name));

rmw_microxrcedds_c/src/rmw_service.c

@@ -118,14 +118,14 @@ rmw_create_service(
       *custom_node->context->creation_destroy_stream, custom_service->service_id,
       custom_node->participant_id, rmw_uxrce_entity_naming_buffer, UXR_REPLACE | UXR_REUSE);
 #else
-    char req_type_name[RMW_UXRCE_TYPE_NAME_MAX_LENGTH];
-    char res_type_name[RMW_UXRCE_TYPE_NAME_MAX_LENGTH];
+    static char req_type_name[RMW_UXRCE_TYPE_NAME_MAX_LENGTH];
+    static char res_type_name[RMW_UXRCE_TYPE_NAME_MAX_LENGTH];
     generate_service_types(
       custom_service->type_support_callbacks, req_type_name, res_type_name,
       RMW_UXRCE_TYPE_NAME_MAX_LENGTH);
 
-    char req_topic_name[RMW_UXRCE_TOPIC_NAME_MAX_LENGTH];
-    char res_topic_name[RMW_UXRCE_TOPIC_NAME_MAX_LENGTH];
+    static char req_topic_name[RMW_UXRCE_TOPIC_NAME_MAX_LENGTH];
+    static char res_topic_name[RMW_UXRCE_TOPIC_NAME_MAX_LENGTH];
     generate_service_topics(
       service_name, req_topic_name, res_topic_name,
       RMW_UXRCE_TOPIC_NAME_MAX_LENGTH);

rmw_microxrcedds_c/src/rmw_wait.c

@@ -30,11 +30,13 @@ rmw_wait(
   rmw_wait_set_t * wait_set,
   const rmw_time_t * wait_timeout)
 {
-  (void)services;
-  (void)clients;
   (void)events;
   (void)wait_set;
 
+  if (!services && !clients && !subscriptions && !guard_conditions) {
+    return RMW_RET_OK;
+  }
+
   // Check if timeout
   uint64_t timeout;
   if (wait_timeout != NULL) {