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Make loaned messages const on the subscription side #992

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Make loaned messages const on the subscription side #992

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accef14
Make loaned messages const on the subscription side
nnmm Jul 9, 2022
b8ef6a7
Fix compiler warnings by casting away constness explicitly
nnmm Jul 12, 2022
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4 changes: 2 additions & 2 deletions rcl/include/rcl/subscription.h
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Original file line number Diff line number Diff line change
Expand Up @@ -630,7 +630,7 @@ RCL_WARN_UNUSED
rcl_ret_t
rcl_take_loaned_message(
const rcl_subscription_t * subscription,
void ** loaned_message,
const void ** loaned_message,
rmw_message_info_t * message_info,
rmw_subscription_allocation_t * allocation);

Expand Down Expand Up @@ -662,7 +662,7 @@ RCL_WARN_UNUSED
rcl_ret_t
rcl_return_loaned_message_from_subscription(
const rcl_subscription_t * subscription,
void * loaned_message);
const void * loaned_message);

/// Get the topic name for the subscription.
/**
Expand Down
9 changes: 5 additions & 4 deletions rcl/src/rcl/subscription.c
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Expand Up @@ -610,7 +610,7 @@ rcl_take_serialized_message(
rcl_ret_t
rcl_take_loaned_message(
const rcl_subscription_t * subscription,
void ** loaned_message,
const void ** loaned_message,
rmw_message_info_t * message_info,
rmw_subscription_allocation_t * allocation)
{
Expand All @@ -630,7 +630,8 @@ rcl_take_loaned_message(
// Call rmw_take_with_info.
bool taken = false;
rmw_ret_t ret = rmw_take_loaned_message_with_info(
subscription->impl->rmw_handle, loaned_message, &taken, message_info_local, allocation);
subscription->impl->rmw_handle, (void **) loaned_message, &taken, message_info_local,
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It seems to me that rather than doing this cast here, we should first change rmw_take_loaned_message_with_info to take a const void ** loaned_message. At that point, everything will be const and no casts will be needed.

Same goes below for rmw_return_loaned_message_from_subscription.

allocation);
if (ret != RMW_RET_OK) {
RCL_SET_ERROR_MSG(rmw_get_error_string().str);
return rcl_convert_rmw_ret_to_rcl_ret(ret);
Expand All @@ -646,7 +647,7 @@ rcl_take_loaned_message(
rcl_ret_t
rcl_return_loaned_message_from_subscription(
const rcl_subscription_t * subscription,
void * loaned_message)
const void * loaned_message)
{
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Subscription releasing loaned message");
if (!rcl_subscription_is_valid(subscription)) {
Expand All @@ -655,7 +656,7 @@ rcl_return_loaned_message_from_subscription(
RCL_CHECK_ARGUMENT_FOR_NULL(loaned_message, RCL_RET_INVALID_ARGUMENT);
return rcl_convert_rmw_ret_to_rcl_ret(
rmw_return_loaned_message_from_subscription(
subscription->impl->rmw_handle, loaned_message));
subscription->impl->rmw_handle, (void *) loaned_message));
}

const char *
Expand Down
9 changes: 5 additions & 4 deletions rcl/test/rcl/test_subscription.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -703,9 +703,9 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
});
}

test_msgs__msg__Strings * msg_loaned = nullptr;
const test_msgs__msg__Strings * msg_loaned = nullptr;
ret = rcl_take_loaned_message(
&subscription, reinterpret_cast<void **>(&msg_loaned), nullptr, nullptr);
&subscription, reinterpret_cast<const void **>(&msg_loaned), nullptr, nullptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_EQ(
std::string(test_string),
Expand Down Expand Up @@ -764,8 +764,9 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_bad_take_loa
&subscription_options);
ASSERT_EQ(RMW_RET_OK, ret) << rcl_get_error_string().str;

test_msgs__msg__Strings * loaned_message = nullptr;
void ** type_erased_loaned_message_pointer = reinterpret_cast<void **>(&loaned_message);
const test_msgs__msg__Strings * loaned_message = nullptr;
const void ** type_erased_loaned_message_pointer =
reinterpret_cast<const void **>(&loaned_message);
rmw_message_info_t * message_info = nullptr; // is a valid argument
rmw_subscription_allocation_t * allocation = nullptr; // is a valid argument
EXPECT_EQ(
Expand Down