Added C interfaces to obtain service and action type support. (#143)

Signed-off-by: Stefan Fabian <[email protected]> Co-authored-by: Stefan Fabian <[email protected]>
ros2 · May 15, 2023 · 9062d91 · 9062d91
1 parent da0e300
commit 9062d91
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diff --git a/rosidl_typesupport_cpp/resource/action__type_support.cpp.em b/rosidl_typesupport_cpp/resource/action__type_support.cpp.em
@@ -71,3 +71,18 @@ get_action_type_support_handle<@('::'.join([package_name] + list(interface_path.
 }
 
 }  // namespace rosidl_typesupport_cpp
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+ROSIDL_TYPESUPPORT_CPP_PUBLIC
+const rosidl_action_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__ACTION_SYMBOL_NAME(rosidl_typesupport_cpp, @(', '.join([package_name] + list(interface_path.parents[0].parts) + [interface_path.stem])))() {
+  return ::rosidl_typesupport_cpp::get_action_type_support_handle<@('::'.join([package_name] + list(interface_path.parents[0].parts) + [interface_path.stem]))>();
+}
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/rosidl_typesupport_cpp/resource/srv__type_support.cpp.em b/rosidl_typesupport_cpp/resource/srv__type_support.cpp.em
@@ -175,3 +175,18 @@ get_service_type_support_handle<@('::'.join([package_name] + list(interface_path
 }
 
 }  // namespace rosidl_typesupport_cpp
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+ROSIDL_TYPESUPPORT_CPP_PUBLIC
+const rosidl_service_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME(rosidl_typesupport_cpp, @(', '.join([package_name] + list(interface_path.parents[0].parts) + [service.namespaced_type.name])))() {
+  return ::rosidl_typesupport_cpp::get_service_type_support_handle<@('::'.join([package_name] + list(interface_path.parents[0].parts) + [service.namespaced_type.name]))>();
+}
+
+#ifdef __cplusplus
+}
+#endif