From 71c743f9b240b3284e4d24cbdbb7a7299fe632c2 Mon Sep 17 00:00:00 2001
From: Martin Dahl <martin.dahl@gmail.com>
Date: Thu, 29 Apr 2021 13:26:06 +0200
Subject: [PATCH] fix build on arm64

---
 msg_gen/build.rs | 1 +
 rcl/build.rs     | 7 +++----
 rcl/src/lib.rs   | 6 ++++++
 tests/threads.rs | 5 ++++-
 4 files changed, 14 insertions(+), 5 deletions(-)

diff --git a/msg_gen/build.rs b/msg_gen/build.rs
index ded050b..7813151 100644
--- a/msg_gen/build.rs
+++ b/msg_gen/build.rs
@@ -100,6 +100,7 @@ fn main() {
         .blacklist_type("rosidl_runtime_c__uint64__Sequence")
         .blacklist_type("rosidl_runtime_c__int64__Sequence")
         .size_t_is_usize(true)
+        .no_debug("_OSUnaligned.*")
         .default_enum_style(bindgen::EnumVariation::Rust {
             non_exhaustive: false,
         });
diff --git a/rcl/build.rs b/rcl/build.rs
index 2222807..2020cfd 100644
--- a/rcl/build.rs
+++ b/rcl/build.rs
@@ -23,17 +23,16 @@ fn main() {
     }
 
     println!("cargo:rustc-link-lib=dylib=rcl");
-    // println!("cargo:rustc-link-lib=dylib=rcl_logging_noop");
-    // default logging seem to be changed to spdlog
     println!("cargo:rustc-link-lib=dylib=rcl_logging_spdlog");
     println!("cargo:rustc-link-lib=dylib=rcl_yaml_param_parser");
     println!("cargo:rustc-link-lib=dylib=rcutils");
     println!("cargo:rustc-link-lib=dylib=rmw");
-    println!("cargo:rustc-link-lib=dylib=rmw_implementation");
     println!("cargo:rustc-link-lib=dylib=rosidl_typesupport_c");
     println!("cargo:rustc-link-lib=dylib=rosidl_runtime_c");
 
-    let bindings = builder.generate().expect("Unable to generate bindings");
+    let bindings = builder
+        .no_debug("_OSUnaligned.*")
+        .generate().expect("Unable to generate bindings");
 
     let out_path = PathBuf::from(env::var("OUT_DIR").unwrap());
     bindings
diff --git a/rcl/src/lib.rs b/rcl/src/lib.rs
index a662e41..c651cca 100644
--- a/rcl/src/lib.rs
+++ b/rcl/src/lib.rs
@@ -135,7 +135,13 @@ macro_rules! primitive_sequence {
 
 primitive_sequence!(rosidl_runtime_c__float32, f32);
 primitive_sequence!(rosidl_runtime_c__float64, f64);
+
+#[cfg(target_arch = "aarch64")]
+primitive_sequence!(rosidl_runtime_c__long_double, f64);
+
+#[cfg(not(target_arch = "aarch64"))]
 primitive_sequence!(rosidl_runtime_c__long_double, u128);
+
 primitive_sequence!(rosidl_runtime_c__char, i8);
 primitive_sequence!(rosidl_runtime_c__wchar, u16);
 primitive_sequence!(rosidl_runtime_c__boolean, bool);
diff --git a/tests/threads.rs b/tests/threads.rs
index 5bd655e..b293a80 100644
--- a/tests/threads.rs
+++ b/tests/threads.rs
@@ -12,7 +12,10 @@ fn doesnt_crash() -> Result<(), Error> {
 
     for c in 0..10 {
         let mut ths = Vec::new();
-        for i in 0..30 {
+        // I have lowered this from 30 to 10 because cyclonedds can only handle a hard-coded number of
+        // publishers in threads. See
+        // https://github.com/eclipse-cyclonedds/cyclonedds/blob/cd2136d9321212bd52fdc613f07bbebfddd90dec/src/core/ddsc/src/dds_init.c#L115
+        for i in 0..10 {
             // create concurrent nodes that max out the cpu
             let ctx = ctx.clone();
             ths.push(thread::spawn(move || {