Fix type sources conversion for actually empty sources

Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
achim-k · Jun 26, 2023 · a9e72c5 · a9e72c5
1 parent 7fc9f12
commit a9e72c5
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Showing 3 changed files with 41 additions and 9 deletions.
diff --git a/rcl/src/rcl/node_type_cache.c b/rcl/src/rcl/node_type_cache.c
@@ -182,7 +182,7 @@ rcl_ret_t rcl_node_type_cache_register_type(
     type_info_with_registrations.type_info.type_sources =
       rcl_convert_type_source_sequence_runtime_to_msg(type_description_sources);
     RCL_CHECK_FOR_NULL_WITH_MSG(
-      type_info_with_registrations.type_info.type_description,
+      type_info_with_registrations.type_info.type_sources,
       "converting type sources struct failed",
       type_description_interfaces__msg__TypeDescription__destroy(
         type_info_with_registrations.type_info.type_description);

diff --git a/rcl/src/rcl/type_description_conversions.c b/rcl/src/rcl/type_description_conversions.c
@@ -252,10 +252,12 @@ rcl_convert_type_source_sequence_runtime_to_msg(
       goto fail;
     }
     // raw_file_contents
-    if (!rosidl_runtime_c__String__copy(
-        &(runtime_type_sources->data[i].raw_file_contents), &(out->data[i].raw_file_contents)))
-    {
-      goto fail;
+    if (runtime_type_sources->data[i].raw_file_contents.size > 0) {
+      if (!rosidl_runtime_c__String__copy(
+          &(runtime_type_sources->data[i].raw_file_contents), &(out->data[i].raw_file_contents)))
+      {
+        goto fail;
+      }
     }
   }
 

diff --git a/rcl/test/rcl/test_type_description_conversions.cpp b/rcl/test/rcl/test_type_description_conversions.cpp
@@ -18,11 +18,12 @@
 #include "rosidl_runtime_c/message_type_support_struct.h"
 #include "rosidl_runtime_c/type_description/type_description__functions.h"
 #include "rosidl_runtime_c/type_description/type_source__functions.h"
-#include "test_msgs/msg/basic_types.h"
+#include "test_msgs/msg/constants.h"
+#include "test_msgs/srv/basic_types.h"
 
 TEST(TestTypeDescriptionConversions, type_description_conversion_round_trip) {
   const rosidl_message_type_support_t * ts =
-    ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
+    ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Constants);
 
   type_description_interfaces__msg__TypeDescription * type_description_msg =
     rcl_convert_type_description_runtime_to_msg(ts->get_type_description_func(ts));
@@ -49,16 +50,35 @@ TEST(TestTypeDescriptionConversions, type_description_invalid_input) {
 
 TEST(TestTypeDescriptionConversions, type_source_sequence_conversion_round_trip) {
   const rosidl_message_type_support_t * ts =
-    ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
+    ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Constants);
 
+  const rosidl_runtime_c__type_description__TypeSource__Sequence * original_sources =
+    ts->get_type_description_sources_func(ts);
   type_description_interfaces__msg__TypeSource__Sequence * type_sources_msg =
-    rcl_convert_type_source_sequence_runtime_to_msg(ts->get_type_description_sources_func(ts));
+    rcl_convert_type_source_sequence_runtime_to_msg(original_sources);
   EXPECT_TRUE(NULL != type_sources_msg);
+  ASSERT_EQ(1, type_sources_msg->size);
+  {
+    auto source = type_sources_msg->data[0];
+    std::string type_name = source.type_name.data;
+    EXPECT_GT(source.raw_file_contents.size, 0);
+    std::string encoding = source.encoding.data;
+    EXPECT_EQ(encoding, "msg");
+  }
 
   rosidl_runtime_c__type_description__TypeSource__Sequence * type_sources_rt =
     rcl_convert_type_source_sequence_msg_to_runtime(type_sources_msg);
   EXPECT_TRUE(NULL != type_sources_rt);
 
+  ASSERT_EQ(1, type_sources_rt->size);
+  {
+    auto source = type_sources_rt->data[0];
+    std::string type_name = source.type_name.data;
+    EXPECT_GT(source.raw_file_contents.size, 0);
+    std::string encoding = source.encoding.data;
+    EXPECT_EQ(encoding, "msg");
+  }
+
   EXPECT_TRUE(
     rosidl_runtime_c__type_description__TypeSource__Sequence__are_equal(
       type_sources_rt, ts->get_type_description_sources_func(ts)));
@@ -69,6 +89,16 @@ TEST(TestTypeDescriptionConversions, type_source_sequence_conversion_round_trip)
     type_sources_rt);
 }
 
+TEST(TestTypeDescriptionConversions, actually_empty_sources_ok) {
+  // Implicit definition will always be empty
+  const rosidl_message_type_support_t * ts =
+    ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, srv, BasicTypes_Request);
+
+  const auto * sources = ts->get_type_description_sources_func(ts);
+  auto * msg = rcl_convert_type_source_sequence_runtime_to_msg(sources);
+  ASSERT_NE(nullptr, msg);
+}
+
 TEST(TestTypeDescriptionConversions, type_source_sequence_invalid_input) {
   EXPECT_TRUE(NULL == rcl_convert_type_source_sequence_msg_to_runtime(NULL));
   EXPECT_TRUE(NULL == rcl_convert_type_source_sequence_runtime_to_msg(NULL));