Fix windows warning about integer size

Signed-off-by: Emerson Knapp <eknapp@amazon.com>

rclpy/src/rclpy/_rclpy.c

@@ -39,39 +39,6 @@
 #include "rclpy_common/common.h"
 #include "./_rclpy_qos_event.c"
 
-typedef struct
-{
-  // Important: a pointer to a structure is also a pointer to its first member.
-  // The subscription must be first in the struct to compare sub.handle.pointer to an address
-  // in a wait set.
-  rcl_subscription_t subscription;
-  rcl_node_t * node;
-} rclpy_subscription_t;
-
-typedef struct
-{
-  rcl_publisher_t publisher;
-  rcl_node_t * node;
-} rclpy_publisher_t;
-
-typedef struct
-{
-  // Important: a pointer to a structure is also a pointer to its first member.
-  // The client must be first in the struct to compare cli.handle.pointer to an address
-  // in a wait set.
-  rcl_client_t client;
-  rcl_node_t * node;
-} rclpy_client_t;
-
-typedef struct
-{
-  // Important: a pointer to a structure is also a pointer to its first member.
-  // The service must be first in the struct to compare srv.handle.pointer to an address
-  // in a wait set.
-  rcl_service_t service;
-  rcl_node_t * node;
-} rclpy_service_t;
-
 void
 _rclpy_context_capsule_destructor(PyObject * capsule)
 {
@@ -3641,9 +3608,9 @@ rclpy_assert_liveliness(PyObject * Py_UNUSED(self), PyObject * args)
       return NULL;
     }
   } else if (PyCapsule_IsValid(pyentity, "rclpy_publisher_t")) {
-    rcl_publisher_t * publisher = (rcl_publisher_t *)PyCapsule_GetPointer(
+    rclpy_publisher_t * publisher = (rclpy_publisher_t *)PyCapsule_GetPointer(
       pyentity, "rclpy_publisher_t");
-    if (RCL_RET_OK != rcl_publisher_assert_liveliness(publisher)) {
+    if (RCL_RET_OK != rcl_publisher_assert_liveliness(&publisher->publisher)) {
       PyErr_Format(PyExc_RuntimeError,
         "Failed to assert liveliness on the Publisher: %s", rcl_get_error_string().str);
       rcl_reset_error();

rclpy/src/rclpy/_rclpy_qos_event.c

@@ -72,20 +72,6 @@ _is_pycapsule_rcl_publisher(PyObject * pycapsule)
   return PyCapsule_IsValid(pycapsule, "rclpy_publisher_t");
 }
 
-static
-rcl_subscription_t *
-_pycapsule_to_rcl_subscription(PyObject * pycapsule)
-{
-  return (rcl_subscription_t *)PyCapsule_GetPointer(pycapsule, "rclpy_subscription_t");
-}
-
-static
-rcl_publisher_t *
-_pycapsule_to_rcl_publisher(PyObject * pycapsule)
-{
-  return (rcl_publisher_t *)PyCapsule_GetPointer(pycapsule, "rclpy_publisher_t");
-}
-
 static
 rcl_event_t *
 _pycapsule_to_rcl_event(PyObject * pycapsule)
@@ -264,9 +250,13 @@ rclpy_create_event(PyObject * Py_UNUSED(self), PyObject * args)
   }
 
   if (_is_pycapsule_rcl_subscription(pyparent)) {
-    subscription = _pycapsule_to_rcl_subscription(pyparent);
+    rclpy_subscription_t * py_subscription =
+      (rclpy_subscription_t *)PyCapsule_GetPointer(pyparent, "rclpy_subscription_t");
+    subscription = py_subscription ? &py_subscription->subscription : NULL;
   } else if (_is_pycapsule_rcl_publisher(pyparent)) {
-    publisher = _pycapsule_to_rcl_publisher(pyparent);
+    rclpy_publisher_t * py_publisher =
+      (rclpy_publisher_t *)PyCapsule_GetPointer(pyparent, "rclpy_publisher_t");
+    publisher = py_publisher ? &py_publisher->publisher : NULL;
   } else {
     PyErr_Format(PyExc_TypeError, "Event parent was not a valid Publisher or Subscription.");
     return NULL;

rclpy/src/rclpy_common/include/rclpy_common/common.h

@@ -17,6 +17,7 @@
 #include <Python.h>
 
 #include <rcl/graph.h>  // rcl_names_and_types_t
+#include <rcl/rcl.h>
 #include <rmw/types.h>
 
 #include "rclpy_common/visibility_control.h"
@@ -26,6 +27,38 @@ typedef void destroy_ros_message_signature (void *);
 typedef bool convert_from_py_signature (PyObject *, void *);
 typedef PyObject * convert_to_py_signature (void *);
 
+typedef struct
+{
+  // Important: a pointer to a structure is also a pointer to its first member.
+  // The subscription must be first in the struct to compare sub.handle.pointer to an address
+  // in a wait set.
+  rcl_subscription_t subscription;
+  rcl_node_t * node;
+} rclpy_subscription_t;
+
+typedef struct
+{
+  rcl_publisher_t publisher;
+  rcl_node_t * node;
+} rclpy_publisher_t;
+
+typedef struct
+{
+  // Important: a pointer to a structure is also a pointer to its first member.
+  // The client must be first in the struct to compare cli.handle.pointer to an address
+  // in a wait set.
+  rcl_client_t client;
+  rcl_node_t * node;
+} rclpy_client_t;
+
+typedef struct
+{
+  // Important: a pointer to a structure is also a pointer to its first member.
+  // The service must be first in the struct to compare srv.handle.pointer to an address
+  // in a wait set.
+  rcl_service_t service;
+  rcl_node_t * node;
+} rclpy_service_t;
 
 /// Finalize names and types struct with error setting.
 /**