fix bool pInvokes in actions

ros2-dotnet · May 19, 2023 · 44a6ec0 · 44a6ec0
1 parent a8ed964
commit 44a6ec0
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Showing 7 changed files with 85 additions and 59 deletions.
diff --git a/rcldotnet/ActionClient.cs b/rcldotnet/ActionClient.cs
@@ -49,7 +49,7 @@ internal delegate RCLRet NativeRCLActionSendCancelRequestType(
 
         [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
         internal delegate RCLRet NativeRCLActionServerIsAvailableType(
-            SafeNodeHandle nodeHandle, SafeActionClientHandle clientHandle, out bool isAvailable);
+            SafeNodeHandle nodeHandle, SafeActionClientHandle clientHandle, out int isAvailable);
 
         internal static NativeRCLActionServerIsAvailableType native_rcl_action_server_is_available = null;
 
@@ -156,10 +156,10 @@ internal ActionClient(SafeActionClientHandle handle, Node node)
 
         public override bool ServerIsReady()
         {
-            RCLRet ret = ActionClientDelegates.native_rcl_action_server_is_available(_node.Handle, Handle, out var serverIsReady);
+            RCLRet ret = ActionClientDelegates.native_rcl_action_server_is_available(_node.Handle, Handle, out int serverIsReady);
             RCLExceptionHelper.CheckReturnValue(ret, $"{nameof(ActionClientDelegates.native_rcl_action_server_is_available)}() failed.");
 
-            return serverIsReady;
+            return serverIsReady != 0;
         }
 
         public Task<ActionClientGoalHandle<TAction, TGoal, TResult, TFeedback>> SendGoalAsync(TGoal goal)

diff --git a/rcldotnet/ActionServerGoalHandle.cs b/rcldotnet/ActionServerGoalHandle.cs
@@ -87,8 +87,8 @@ public override bool IsActive
         {
             get
             {
-                bool isActive = RCLdotnetDelegates.native_rcl_action_goal_handle_is_active(Handle);
-                return isActive;
+                int isActive = RCLdotnetDelegates.native_rcl_action_goal_handle_is_active(Handle);
+                return isActive != 0;
             }
         }
 

diff --git a/rcldotnet/RCLdotnet.cs b/rcldotnet/RCLdotnet.cs
@@ -188,7 +188,7 @@ internal delegate RCLRet NativeRCLActionWaitSetAddActionClientType(
 
         [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
         internal delegate RCLRet NativeRCLActionClientWaitSetGetEntitiesReadyType(
-            SafeWaitSetHandle waitSetHandle, SafeActionClientHandle actionClientHandle, out bool isFeedbackReady, out bool isStatusReady, out bool isGoalResponseReady, out bool isCancelResponseReady, out bool isResultResponseReady);
+            SafeWaitSetHandle waitSetHandle, SafeActionClientHandle actionClientHandle, out int isFeedbackReady, out int isStatusReady, out int isGoalResponseReady, out int isCancelResponseReady, out int isResultResponseReady);
 
         internal static NativeRCLActionClientWaitSetGetEntitiesReadyType native_rcl_action_client_wait_set_get_entities_ready = null;
 
@@ -206,7 +206,7 @@ internal delegate RCLRet NativeRCLActionWaitSetAddActionServerType(
 
         [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
         internal delegate RCLRet NativeRCLActionServerWaitSetGetEntitiesReadyType(
-                SafeWaitSetHandle waitSetHandle, SafeActionServerHandle actionServerHandle, out bool isGoalRequestReady, out bool isCancelRequestReady, out bool isResultRequestReady, out bool isGoalExpired);
+                SafeWaitSetHandle waitSetHandle, SafeActionServerHandle actionServerHandle, out int isGoalRequestReady, out int isCancelRequestReady, out int isResultRequestReady, out int isGoalExpired);
 
         internal static NativeRCLActionServerWaitSetGetEntitiesReadyType native_rcl_action_server_wait_set_get_entities_ready = null;
 
@@ -319,7 +319,7 @@ internal delegate RCLRet NativeRCLActionExpireGoalsType(
         internal static NativeRCLActionExpireGoalsType native_rcl_action_expire_goals = null;
 
         [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
-        internal delegate bool NativeRCLActionGoalHandleIsActiveType(SafeActionGoalHandle actionGoalHandleHandle);
+        internal delegate int NativeRCLActionGoalHandleIsActiveType(SafeActionGoalHandle actionGoalHandleHandle);
         internal static NativeRCLActionGoalHandleIsActiveType native_rcl_action_goal_handle_is_active = null;
 
         [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
@@ -1205,18 +1205,18 @@ public static void SpinOnce(Node node, long timeout)
                         RCLRet ret = RCLdotnetDelegates.native_rcl_action_client_wait_set_get_entities_ready(
                             waitSetHandle,
                             actionClient.Handle,
-                            out bool isFeedbackReady,
-                            out bool isStatusReady,
-                            out bool isGoalResponseReady,
-                            out bool isCancelResponseReady,
-                            out bool isResultResponseReady);
+                            out int isFeedbackReady,
+                            out int isStatusReady,
+                            out int isGoalResponseReady,
+                            out int isCancelResponseReady,
+                            out int isResultResponseReady);
 
                         RCLExceptionHelper.CheckReturnValue(ret, $"{nameof(RCLdotnetDelegates.native_rcl_action_client_wait_set_get_entities_ready)}() failed.");
 
                         // Check isGoalResponseReady so that a new goalHandle is
                         // already created if the status or feedback for the new
                         // goal is received.
-                        if (isGoalResponseReady)
+                        if (isGoalResponseReady != 0)
                         {
                             var goalResponse = actionClient.CreateSendGoalResponse();
 
@@ -1231,7 +1231,7 @@ public static void SpinOnce(Node node, long timeout)
                         // Check isStatusReady before isFeedbackReady so that
                         // the feedback callback already has the newest status
                         // information if updates are received at the same time.
-                        if (isStatusReady)
+                        if (isStatusReady != 0)
                         {
                             var statusMessage = new GoalStatusArray();
 
@@ -1242,7 +1242,7 @@ public static void SpinOnce(Node node, long timeout)
                             }
                         }
 
-                        if (isFeedbackReady)
+                        if (isFeedbackReady != 0)
                         {
                             var feedbackMessage = actionClient.CreateFeedbackMessage();
 
@@ -1253,7 +1253,7 @@ public static void SpinOnce(Node node, long timeout)
                             }
                         }
 
-                        if (isCancelResponseReady)
+                        if (isCancelResponseReady != 0)
                         {
                             var cancelResponse = new CancelGoal_Response();
 
@@ -1265,7 +1265,7 @@ public static void SpinOnce(Node node, long timeout)
                             }
                         }
 
-                        if (isResultResponseReady)
+                        if (isResultResponseReady != 0)
                         {
                             var resultResponse = actionClient.CreateGetResultResponse();
 
@@ -1283,14 +1283,14 @@ public static void SpinOnce(Node node, long timeout)
                         RCLRet ret = RCLdotnetDelegates.native_rcl_action_server_wait_set_get_entities_ready(
                             waitSetHandle,
                             actionServer.Handle,
-                            out bool isGoalRequestReady,
-                            out bool isCancelRequestReady,
-                            out bool isResultRequestReady,
-                            out bool isGoalExpired);
+                            out int isGoalRequestReady,
+                            out int isCancelRequestReady,
+                            out int isResultRequestReady,
+                            out int isGoalExpired);
 
                         RCLExceptionHelper.CheckReturnValue(ret, $"{nameof(RCLdotnetDelegates.native_rcl_action_server_wait_set_get_entities_ready)}() failed.");
 
-                        if (isGoalRequestReady)
+                        if (isGoalRequestReady != 0)
                         {
                             var goalRequest = actionServer.CreateSendGoalRequest();
 
@@ -1301,7 +1301,7 @@ public static void SpinOnce(Node node, long timeout)
                             }
                         }
 
-                        if (isCancelRequestReady)
+                        if (isCancelRequestReady != 0)
                         {
                             var cancelRequest = new CancelGoal_Request();
 
@@ -1312,7 +1312,7 @@ public static void SpinOnce(Node node, long timeout)
                             }
                         }
 
-                        if (isResultRequestReady)
+                        if (isResultRequestReady != 0)
                         {
                             var resultRequest = actionServer.CreateGetResultRequest();
 
@@ -1327,7 +1327,7 @@ public static void SpinOnce(Node node, long timeout)
                             }
                         }
 
-                        if (isGoalExpired)
+                        if (isGoalExpired != 0)
                         {
                             actionServer.HandleGoalExpired();
                         }

diff --git a/rcldotnet/rcldotnet.c b/rcldotnet/rcldotnet.c
@@ -318,45 +318,67 @@ bool native_rcl_wait_set_guard_condition_ready(void *wait_set_handle, int32_t in
 int32_t native_rcl_action_client_wait_set_get_entities_ready(
     void *wait_set_handle,
     void *action_client_handle,
-    bool *is_feedback_ready,
-    bool *is_status_ready,
-    bool *is_goal_response_ready,
-    bool *is_cancel_response_ready,
-    bool *is_result_response_ready)
+    int32_t *is_feedback_ready,
+    int32_t *is_status_ready,
+    int32_t *is_goal_response_ready,
+    int32_t *is_cancel_response_ready,
+    int32_t *is_result_response_ready)
 {
     rcl_wait_set_t *wait_set = (rcl_wait_set_t *)wait_set_handle;
     rcl_action_client_t *action_client = (rcl_action_client_t *)action_client_handle;
 
+    bool is_feedback_ready_as_bool;
+    bool is_status_ready_as_bool;
+    bool is_goal_response_ready_as_bool;
+    bool is_cancel_response_ready_as_bool;
+    bool is_result_response_ready_as_bool;
+
     rcl_ret_t ret = rcl_action_client_wait_set_get_entities_ready(
         wait_set,
         action_client,
-        is_feedback_ready,
-        is_status_ready,
-        is_goal_response_ready,
-        is_cancel_response_ready,
-        is_result_response_ready);
+        &is_feedback_ready_as_bool,
+        &is_status_ready_as_bool,
+        &is_goal_response_ready_as_bool,
+        &is_cancel_response_ready_as_bool,
+        &is_result_response_ready_as_bool);
+
+    *is_feedback_ready = is_feedback_ready_as_bool ? 1 : 0;
+    *is_status_ready = is_status_ready_as_bool ? 1 : 0;
+    *is_goal_response_ready = is_goal_response_ready_as_bool ? 1 : 0;
+    *is_cancel_response_ready = is_cancel_response_ready_as_bool ? 1 : 0;
+    *is_result_response_ready = is_result_response_ready_as_bool ? 1 : 0;
 
     return ret;
 }
 
 int32_t native_rcl_action_server_wait_set_get_entities_ready(
     void *wait_set_handle,
     void *action_server_handle,
-    bool *is_goal_request_ready,
-    bool *is_cancel_request_ready,
-    bool *is_result_request_ready,
-    bool *is_goal_expired)
+    int32_t *is_goal_request_ready,
+    int32_t *is_cancel_request_ready,
+    int32_t *is_result_request_ready,
+    int32_t *is_goal_expired)
 {
     rcl_wait_set_t *wait_set = (rcl_wait_set_t *)wait_set_handle;
     rcl_action_server_t *action_server = (rcl_action_server_t *)action_server_handle;
 
+    bool is_goal_request_ready_as_bool;
+    bool is_cancel_request_ready_as_bool;
+    bool is_result_request_ready_as_bool;
+    bool is_goal_expired_as_bool;
+
     rcl_ret_t ret = rcl_action_server_wait_set_get_entities_ready(
         wait_set,
         action_server,
-        is_goal_request_ready,
-        is_cancel_request_ready,
-        is_result_request_ready,
-        is_goal_expired);
+        &is_goal_request_ready_as_bool,
+        &is_cancel_request_ready_as_bool,
+        &is_result_request_ready_as_bool,
+        &is_goal_expired_as_bool);
+
+    *is_goal_request_ready = is_goal_request_ready_as_bool ? 1 : 0;
+    *is_cancel_request_ready = is_cancel_request_ready_as_bool ? 1 : 0;
+    *is_result_request_ready = is_result_request_ready_as_bool ? 1 : 0;
+    *is_goal_expired = is_goal_expired_as_bool ? 1 : 0;
 
     return ret;
 }
@@ -626,10 +648,11 @@ int32_t native_rcl_action_expire_goals(void *action_server_handle, void *goal_in
   return ret;
 }
 
-bool native_rcl_action_goal_handle_is_active(void *action_goal_handle_handle) {
+int32_t native_rcl_action_goal_handle_is_active(void *action_goal_handle_handle) {
   rcl_action_goal_handle_t *goal_handle = (rcl_action_goal_handle_t *)action_goal_handle_handle;
 
-  return rcl_action_goal_handle_is_active(goal_handle);
+  bool result = rcl_action_goal_handle_is_active(goal_handle);
+  return result ? 1 : 0;
 }
 
 int32_t native_rcl_action_goal_handle_get_status(void *action_goal_handle_handle, int8_t *status) {

diff --git a/rcldotnet/rcldotnet.h b/rcldotnet/rcldotnet.h
@@ -117,20 +117,20 @@ RCLDOTNET_EXPORT
 int32_t RCLDOTNET_CDECL native_rcl_action_client_wait_set_get_entities_ready(
     void *wait_set_handle,
     void *action_client_handle,
-    bool *is_feedback_ready,
-    bool *is_status_ready,
-    bool *is_goal_response_ready,
-    bool *is_cancel_response_ready,
-    bool *is_result_response_ready);
+    int32_t *is_feedback_ready,
+    int32_t *is_status_ready,
+    int32_t *is_goal_response_ready,
+    int32_t *is_cancel_response_ready,
+    int32_t *is_result_response_ready);
 
 RCLDOTNET_EXPORT
 int32_t RCLDOTNET_CDECL native_rcl_action_server_wait_set_get_entities_ready(
     void *wait_set_handle,
     void *action_server_handle,
-    bool *is_goal_request_ready,
-    bool *is_cancel_request_ready,
-    bool *is_result_request_ready,
-    bool *is_goal_expired);
+    int32_t *is_goal_request_ready,
+    int32_t *is_cancel_request_ready,
+    int32_t *is_result_request_ready,
+    int32_t *is_goal_expired);
 
 RCLDOTNET_EXPORT
 int32_t RCLDOTNET_CDECL native_rcl_take(void *, void *);
@@ -211,7 +211,7 @@ RCLDOTNET_EXPORT
 int32_t RCLDOTNET_CDECL native_rcl_action_expire_goals(void *action_server_handle, void *goal_info_handle, int32_t *num_expired);
 
 RCLDOTNET_EXPORT
-bool RCLDOTNET_CDECL native_rcl_action_goal_handle_is_active(void *action_goal_handle_handle);
+int32_t RCLDOTNET_CDECL native_rcl_action_goal_handle_is_active(void *action_goal_handle_handle);
 
 RCLDOTNET_EXPORT
 int32_t RCLDOTNET_CDECL native_rcl_action_goal_handle_get_status(void *action_goal_handle_handle, int8_t *status);

diff --git a/rcldotnet/rcldotnet_action_client.c b/rcldotnet/rcldotnet_action_client.c
@@ -49,10 +49,13 @@ int32_t native_rcl_action_send_cancel_request(void *action_client_handle, void *
   return ret;
 }
 
-int32_t native_rcl_action_server_is_available(void *node_handle, void *client_handle, bool *is_available) {
+int32_t native_rcl_action_server_is_available(void *node_handle, void *client_handle, int32_t *is_available) {
   rcl_node_t * node = (rcl_node_t *)node_handle;
   rcl_action_client_t * client = (rcl_action_client_t *)client_handle;
 
-  rcl_ret_t ret = rcl_action_server_is_available(node, client, is_available);
+  bool is_available_as_bool;
+  rcl_ret_t ret = rcl_action_server_is_available(node, client, &is_available_as_bool);
+  *is_available = is_available_as_bool ? 1 : 0;
+
   return ret;
 }
diff --git a/rcldotnet/rcldotnet_action_client.h b/rcldotnet/rcldotnet_action_client.h
@@ -27,6 +27,6 @@ RCLDOTNET_EXPORT
 int32_t RCLDOTNET_CDECL native_rcl_action_send_cancel_request(void *action_client_handle, void *cancel_request_handle, int64_t *sequence_number);
 
 RCLDOTNET_EXPORT
-int32_t RCLDOTNET_CDECL native_rcl_action_server_is_available(void *node_handle, void *action_client_handle, bool *is_available);
+int32_t RCLDOTNET_CDECL native_rcl_action_server_is_available(void *node_handle, void *action_client_handle, int32_t *is_available);
 
 #endif // RCLDOTNET_CLIENT_H