Renamed argument to size for clarity

BlueAndi · Aug 20, 2024 · f07c556 · f07c556
1 parent b8fd056
commit f07c556
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Showing 2 changed files with 11 additions and 15 deletions.
diff --git a/lib/APPTurtle/src/CustomRosTransport.cpp b/lib/APPTurtle/src/CustomRosTransport.cpp
@@ -114,11 +114,11 @@ bool custom_transport_close(uxrCustomTransport* transport)
     return true;
 }
 
-size_t custom_transport_write(uxrCustomTransport* transport, const uint8_t* buffer, size_t length, uint8_t* errorCode)
+size_t custom_transport_write(uxrCustomTransport* transport, const uint8_t* buffer, size_t size, uint8_t* errorCode)
 {
     size_t sent = 0;
 
-    if ((nullptr == transport) || (nullptr == buffer) || (0 == length) || (nullptr == errorCode))
+    if ((nullptr == transport) || (nullptr == buffer) || (0 == size) || (nullptr == errorCode))
     {
         LOG_ERROR("One or more parameters are invalid.");
     }
@@ -136,9 +136,9 @@ size_t custom_transport_write(uxrCustomTransport* transport, const uint8_t* buff
         }
         else
         {
-            size_t bytesToWrite = udpClient.write(buffer, length);
+            size_t bytesToWrite = udpClient.write(buffer, size);
 
-            if (bytesToWrite != length)
+            if (bytesToWrite != size)
             {
                 LOG_ERROR("UDP write error");
             }
@@ -170,13 +170,13 @@ size_t custom_transport_write(uxrCustomTransport* transport, const uint8_t* buff
     return sent;
 }
 
-size_t custom_transport_read(uxrCustomTransport* transport, uint8_t* buffer, size_t length, int timeout,
+size_t custom_transport_read(uxrCustomTransport* transport, uint8_t* buffer, size_t size, int timeout,
                              uint8_t* errorCode)
 {
     UTIL_NOT_USED(transport);
     size_t readBytes = 0;
 
-    if ((nullptr == buffer) || (0 == length) || (0 == timeout) || (nullptr == errorCode))
+    if ((nullptr == buffer) || (0 == size) || (0 == timeout) || (nullptr == errorCode))
     {
         LOG_ERROR("One or more parameters are invalid.");
     }
@@ -199,11 +199,7 @@ size_t custom_transport_read(uxrCustomTransport* transport, uint8_t* buffer, siz
         }
         else
         {
-            /*
-             * Micro-ROS always wants to read 512 bytes.
-             * Therefore, not checking the amount of bytes read against expected.
-             */
-            readBytes = udpClient.read(buffer, length);
+            readBytes = udpClient.read(buffer, size);
         }
     }
 

diff --git a/lib/APPTurtle/src/CustomRosTransport.h b/lib/APPTurtle/src/CustomRosTransport.h
@@ -94,26 +94,26 @@ bool custom_transport_close(uxrCustomTransport* transport);
  *
  * @param[in]  transport The arguments passed through uxr_init_custom_transport.
  * @param[in]  buffer The buffer to write.
- * @param[in]  length The length of the buffer.
+ * @param[in]  size The size of the buffer.
  * @param[out] errorCode The error code.
  *
  * @return The number of bytes written.
  */
-size_t custom_transport_write(uxrCustomTransport* transport, const uint8_t* buffer, size_t length, uint8_t* errorCode);
+size_t custom_transport_write(uxrCustomTransport* transport, const uint8_t* buffer, size_t size, uint8_t* errorCode);
 
 /**
  * Read data from the custom transport.
  * https://micro.ros.org/docs/tutorials/advanced/create_custom_transports/
  *
  * @param[in]  transport The arguments passed through uxr_init_custom_transport.
  * @param[out] buffer The buffer to read into.
- * @param[in]  length The length of the buffer.
+ * @param[in]  size The size of the buffer.
  * @param[in]  timeout The timeout in milliseconds.
  * @param[out] errorCode The error code.
  *
  * @return The number of bytes read.
  */
-size_t custom_transport_read(uxrCustomTransport* transport, uint8_t* buffer, size_t length, int timeout,
+size_t custom_transport_read(uxrCustomTransport* transport, uint8_t* buffer, size_t size, int timeout,
                              uint8_t* errorCode);
 
 #endif /* CUSTOM_ROS_TRANSPORT_H */