ros2GH-17 Small cleanups (addressing review comments)

bosch-io · Nov 28, 2018 · 77608b5 · 77608b5
1 parent aa73556
commit 77608b5
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Showing 5 changed files with 13 additions and 10 deletions.
diff --git a/ros2bag/ros2bag/verb/record.py b/ros2bag/ros2bag/verb/record.py
@@ -72,7 +72,8 @@ def main(self, *, args):  # noqa: D102
                 all=True)
         elif args.topics and len(args.topics) > 0:
             rosbag2_transport_py.record(
-                uri=uri, storage_id=args.storage,
+                uri=uri,
+                storage_id=args.storage,
                 serialization_format=args.serialization_format,
                 topics=args.topics)
         else:

diff --git a/rosbag2/include/rosbag2/converter.hpp b/rosbag2/include/rosbag2/converter.hpp
@@ -37,7 +37,13 @@
 namespace rosbag2
 {
 
-struct ConverterTypeSupport;
+// Convenience struct to keep both type supports (rmw and introspection) together.
+// Only used internally.
+struct ConverterTypeSupport
+{
+  const rosidl_message_type_support_t * cpp_type_support;
+  const rosidl_message_type_support_t * introspection_type_support;
+};
 
 class ROSBAG2_PUBLIC Converter
 {

diff --git a/rosbag2/include/rosbag2/writer.hpp b/rosbag2/include/rosbag2/writer.hpp
@@ -54,6 +54,7 @@ class ROSBAG2_PUBLIC Writer
     std::make_shared<SerializationFormatConverterFactory>(),
     std::unique_ptr<rosbag2_storage::MetadataIo> metadata_io =
     std::make_unique<rosbag2_storage::MetadataIo>());
+
   virtual ~Writer();
 
   /**

diff --git a/rosbag2/src/rosbag2/converter.cpp b/rosbag2/src/rosbag2/converter.cpp
@@ -28,12 +28,6 @@
 namespace rosbag2
 {
 
-struct ConverterTypeSupport
-{
-  const rosidl_message_type_support_t * type_support;
-  const rosidl_message_type_support_t * introspection_type_support;
-};
-
 Converter::Converter(
   const std::string & input_format,
   const std::string & output_format,
@@ -60,7 +54,7 @@ Converter::~Converter()
 std::shared_ptr<SerializedBagMessage> Converter::convert(
   std::shared_ptr<const rosbag2::SerializedBagMessage> message)
 {
-  auto ts = topics_and_types_.at(message->topic_name).type_support;
+  auto ts = topics_and_types_.at(message->topic_name).cpp_type_support;
   auto introspection_ts = topics_and_types_.at(message->topic_name).introspection_type_support;
   auto allocator = rcutils_get_default_allocator();
   std::shared_ptr<rosbag2_ros2_message_t> allocated_ros_message =
@@ -76,7 +70,7 @@ std::shared_ptr<SerializedBagMessage> Converter::convert(
 void Converter::add_topic(const std::string & topic, const std::string & type)
 {
   ConverterTypeSupport type_support;
-  type_support.type_support = get_typesupport(type, "rosidl_typesupport_cpp");
+  type_support.cpp_type_support = get_typesupport(type, "rosidl_typesupport_cpp");
   type_support.introspection_type_support =
     get_typesupport(type, "rosidl_typesupport_introspection_cpp");
 

diff --git a/rosbag2/src/rosbag2/types/ros2_message.cpp b/rosbag2/src/rosbag2/types/ros2_message.cpp
@@ -50,6 +50,7 @@ void ros2_message_set_topic_name(rosbag2_ros2_message_t * msg, const char * topi
 {
   if (msg->topic_name) {
     msg->allocator.deallocate(msg->topic_name, msg->allocator.state);
+    msg->topic_name = nullptr;
   }
   msg->topic_name = rcutils_strdup(topic_name, msg->allocator);
 }