Minor fixes (#160) (#163)

* Minor fixes

* Update

(cherry picked from commit 4b56874)

Co-authored-by: Pablo Garrido <pablogs9@gmail.com>

Author: mergify[bot]

rmw_microxrcedds_c/src/rmw_init.c

@@ -300,10 +300,12 @@ rmw_context_fini(
     }
   }
 
-  uxr_delete_session(&context->impl->session);
-  rmw_uxrce_fini_session_memory(context->impl);
+  if (NULL != context->impl) {
+    uxr_delete_session(&context->impl->session);
+    rmw_uxrce_fini_session_memory(context->impl);
+    CLOSE_TRANSPORT(&context->impl->transport);
+  }
 
-  CLOSE_TRANSPORT(&context->impl->transport);
 
   context->impl = NULL;
 

rmw_microxrcedds_c/src/types.h

@@ -229,38 +229,20 @@ extern rmw_uxrce_static_input_buffer_t custom_static_buffers[RMW_UXRCE_MAX_HISTO
 
 // Memory init functions
 
-void rmw_uxrce_init_session_memory(
-  rmw_uxrce_mempool_t * memory,
-  rmw_context_impl_t * sessions,
-  size_t size);
-void rmw_uxrce_init_node_memory(
-  rmw_uxrce_mempool_t * memory,
-  rmw_uxrce_node_t * nodes,
-  size_t size);
-void rmw_uxrce_init_service_memory(
-  rmw_uxrce_mempool_t * memory,
-  rmw_uxrce_service_t * services,
-  size_t size);
-void rmw_uxrce_init_client_memory(
-  rmw_uxrce_mempool_t * memory,
-  rmw_uxrce_client_t * clients,
-  size_t size);
-void rmw_uxrce_init_publisher_memory(
-  rmw_uxrce_mempool_t * memory,
-  rmw_uxrce_publisher_t * publishers,
-  size_t size);
-void rmw_uxrce_init_subscription_memory(
-  rmw_uxrce_mempool_t * memory,
-  rmw_uxrce_subscription_t * subscribers,
-  size_t size);
-void rmw_uxrce_init_topic_memory(
-  rmw_uxrce_mempool_t * memory,
-  rmw_uxrce_topic_t * topics,
-  size_t size);
-void rmw_uxrce_init_static_input_buffer_memory(
-  rmw_uxrce_mempool_t * memory,
-  rmw_uxrce_static_input_buffer_t * buffers,
-  size_t size);
+#define RMW_INIT_DEFINE_MEMORY(X) \
+  void rmw_uxrce_init_ ## X ## _memory( \
+    rmw_uxrce_mempool_t * memory, \
+    rmw_uxrce_ ## X ## _t * array, \
+    size_t size);
+
+RMW_INIT_DEFINE_MEMORY(service)
+RMW_INIT_DEFINE_MEMORY(client)
+RMW_INIT_DEFINE_MEMORY(publisher)
+RMW_INIT_DEFINE_MEMORY(subscription)
+RMW_INIT_DEFINE_MEMORY(node)
+RMW_INIT_DEFINE_MEMORY(session)
+RMW_INIT_DEFINE_MEMORY(topic)
+RMW_INIT_DEFINE_MEMORY(static_input_buffer)
 
 // Memory management functions