Add support for complex arrays (#52)

Signed-off-by: Juan López Fernández <juanlopez@eprosima.com>
eProsima · Feb 2, 2023 · 265a22e · 265a22e
1 parent 016db34
commit 265a22e
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Showing 2 changed files with 11 additions and 14 deletions.
diff --git a/plugins/datastreamer_plugin/fastdds/Participant.cpp b/plugins/datastreamer_plugin/fastdds/Participant.cpp
@@ -266,15 +266,6 @@ void Participant::on_type_discovery(
         const fastrtps::types::TypeObject* object,
         fastrtps::types::DynamicType_ptr dyn_type)
 {
-    if (!dyn_type)
-    {
-        // Fast DDS may call this callback with a nullptr in dyn_type because of reasons. Avoid break.
-        WARNING("on_type_discovery callback called with nullptr dyn type");
-        return;
-    }
-
-    DEBUG("TypeObject discovered: " << dyn_type->get_name() << " for topic: " << topic.to_string());
-
     // TOOD study this
     // In case of complex data types, registering here means that the data type will be incorrectly registered
     // because the internal data will be received and registered faster than lookup service, which produces an error
@@ -286,6 +277,15 @@ void Participant::on_type_discovery(
     // not only check it has been registered but it has been discovered by the Service, that may be in process of
     // registering when this callback arrives
 
+    // if (!dyn_type)
+    // {
+    //     // Fast DDS may call this callback with a nullptr in dyn_type because of reasons. Avoid break.
+    //     WARNING("on_type_discovery callback called with nullptr dyn type");
+    //     return;
+    // }
+
+    // DEBUG("TypeObject discovered: " << dyn_type->get_name() << " for topic: " << topic.to_string());
+
     // Create TypeSupport and register it
     // eprosima::fastdds::dds::TypeSupport(
     //     new eprosima::fastrtps::types::DynamicPubSubType(dyn_type)).register_type(participant_);

diff --git a/plugins/datastreamer_plugin/utils/dynamic_types_utils.cpp b/plugins/datastreamer_plugin/utils/dynamic_types_utils.cpp
@@ -280,6 +280,7 @@ DynamicData* get_parent_data_of_member(
         switch (kind)
         {
             case fastrtps::types::TK_STRUCTURE:
+            case fastrtps::types::TK_ARRAY:
             {
                 // Access to the data inside the structure
                 DynamicData* child_data;
@@ -294,11 +295,7 @@ DynamicData* get_parent_data_of_member(
                     kind_tree,
                     array_indexes + 1);
             }
-            case fastrtps::types::TK_ARRAY:
-            {
-                // TODO (this is not so important as a type with a complex array will die before
-                // arriving here)
-            }
+
             // TODO
             default:
                 // TODO add exception