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Add missing descructors

This commit is contained in:
Michael Hoy 2023-12-13 22:59:16 +08:00
parent f5ba556e2e
commit eb1f461943
1 changed files with 12 additions and 21 deletions
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33
r2r/src/msg_types.rs
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@ -73,26 +73,10 @@ pub trait WrappedTypesupport:
fn to_serialized_bytes(&self) -> Result<Vec<u8>> {
use r2r_rcl::*;
let msg = Self::create_msg();
self.copy_to_native(unsafe { msg.as_mut().expect("not null") });
// let mut msg_buf: rcl_serialized_message_t =
// unsafe { rcutils_get_zero_initialized_uint8_array() };
// let ret = unsafe {
// rcutils_uint8_array_init(
// &mut msg_buf as *mut rcl_serialized_message_t,
// 0,
// &rcutils_get_default_allocator(),
// )
// };
// if ret != RCL_RET_OK as i32 {
// return Err(Error::from_rcl_error(ret));
// }
SERIALIZED_MESSAGE_CACHE.with(|msg_buf| {
let msg = Self::create_msg();
self.copy_to_native(unsafe { msg.as_mut().expect("not null") });
let msg_buf: &mut rcl_serialized_message_t = &mut *msg_buf.as_ref().map_err(|err| Error::from_rcl_error(*err))?.borrow_mut();
@ -108,6 +92,8 @@ pub trait WrappedTypesupport:
std::slice::from_raw_parts(msg_buf.buffer, msg_buf.buffer_length).to_vec()
};
Self::destroy_msg(msg);
if result == RCL_RET_OK as i32 {
Ok(data_bytes)
} else {
@ -142,11 +128,16 @@ pub trait WrappedTypesupport:
)
};
if result == RCL_RET_OK as i32 {
let ret_val = if result == RCL_RET_OK as i32 {
Ok(Self::from_native(unsafe{ msg.as_ref().expect("not null") }))
} else {
Err(Error::from_rcl_error(result))
}
};
Self::destroy_msg(msg);
ret_val
}
}