Galactic backport of #648 and #650

rosidl_generator_c/resource/msg__functions.c.em

@@ -232,6 +232,90 @@ for line in lines:
 }@
 }
 
+bool
+@(message_typename)__are_equal(const @(message_typename) * lhs, const @(message_typename) * rhs)
+{
+  if (!lhs || !rhs) {
+    return false;
+  }
+@[for member in message.structure.members]@
+  // @(member.name)
+@[  if isinstance(member.type, Array)]@
+  for (size_t i = 0; i < @(member.type.size); ++i) {
+@[     if isinstance(member.type.value_type, (AbstractGenericString, NamespacedType))]@
+    if (!@(basetype_to_c(member.type.value_type))__are_equal(
+        &(lhs->@(member.name)[i]), &(rhs->@(member.name)[i])))
+    {
+      return false;
+    }
+@[     else]@
+    if (lhs->@(member.name)[i] != rhs->@(member.name)[i]) {
+      return false;
+    }
+@[     end if]@
+  }
+@[  elif isinstance(member.type, AbstractSequence)]@
+  if (!@(idl_type_to_c(member.type))__are_equal(
+      &(lhs->@(member.name)), &(rhs->@(member.name))))
+  {
+    return false;
+  }
+@[  elif isinstance(member.type, (AbstractGenericString, NamespacedType))]@
+  if (!@(basetype_to_c(member.type))__are_equal(
+      &(lhs->@(member.name)), &(rhs->@(member.name))))
+  {
+    return false;
+  }
+@[  else]@
+  if (lhs->@(member.name) != rhs->@(member.name)) {
+    return false;
+  }
+@[  end if]@
+@[end for]@
+  return true;
+}
+
+bool
+@(message_typename)__copy(
+  const @(message_typename) * input,
+  @(message_typename) * output)
+{
+  if (!input || !output) {
+    return false;
+  }
+@[for member in message.structure.members]@
+  // @(member.name)
+@[  if isinstance(member.type, Array)]@
+  for (size_t i = 0; i < @(member.type.size); ++i) {
+@[     if isinstance(member.type.value_type, (AbstractGenericString, NamespacedType))]@
+    if (!@(basetype_to_c(member.type.value_type))__copy(
+        &(input->@(member.name)[i]), &(output->@(member.name)[i])))
+    {
+      return false;
+    }
+@[     else]@
+    output->@(member.name)[i] = input->@(member.name)[i];
+@[     end if]@
+  }
+@[  elif isinstance(member.type, AbstractSequence)]@
+  if (!@(idl_type_to_c(member.type))__copy(
+      &(input->@(member.name)), &(output->@(member.name))))
+  {
+    return false;
+  }
+@[  elif isinstance(member.type, (AbstractGenericString, NamespacedType))]@
+  if (!@(basetype_to_c(member.type))__copy(
+      &(input->@(member.name)), &(output->@(member.name))))
+  {
+    return false;
+  }
+@[  else]@
+  output->@(member.name) = input->@(member.name);
+@[  end if]@
+@[end for]@
+  return true;
+}
+
 @(message_typename) *
 @(message_typename)__create()
 {
@@ -343,3 +427,60 @@ void
   }
   free(array);
 }
+
+bool
+@(array_typename)__are_equal(const @(array_typename) * lhs, const @(array_typename) * rhs)
+{
+  if (!lhs || !rhs) {
+    return false;
+  }
+  if (lhs->size != rhs->size) {
+    return false;
+  }
+  for (size_t i = 0; i < lhs->size; ++i) {
+    if (!@(message_typename)__are_equal(&(lhs->data[i]), &(rhs->data[i]))) {
+      return false;
+    }
+  }
+  return true;
+}
+
+bool
+@(array_typename)__copy(
+  const @(array_typename) * input,
+  @(array_typename) * output)
+{
+  if (!input || !output) {
+    return false;
+  }
+  if (output->capacity < input->size) {
+    const size_t allocation_size =
+      input->size * sizeof(@(message_typename));
+    @(message_typename) * data =
+      (@(message_typename) *)realloc(output->data, allocation_size);
+    if (!data) {
+      return false;
+    }
+    for (size_t i = output->capacity; i < input->size; ++i) {
+      if (!@(message_typename)__init(&data[i])) {
+        /* free currently allocated and return false */
+        for (; i-- > output->capacity; ) {
+          @(message_typename)__fini(&data[i]);
+        }
+        free(data);
+        return false;
+      }
+    }
+    output->data = data;
+    output->capacity = input->size;
+  }
+  output->size = input->size;
+  for (size_t i = 0; i < input->size; ++i) {
+    if (!@(message_typename)__copy(
+        &(input->data[i]), &(output->data[i])))
+    {
+      return false;
+    }
+  }
+  return true;
+}

rosidl_generator_c/resource/msg__functions.h.em

@@ -59,6 +59,32 @@ ROSIDL_GENERATOR_C_PUBLIC_@(package_name)
 void
 @(message_typename)__destroy(@(message_typename) * msg);
 
+/// Check for @(interface_path_to_string(interface_path)) message equality.
+/**
+ * \param[in] lhs The message on the left hand size of the equality operator.
+ * \param[in] rhs The message on the right hand size of the equality operator.
+ * \return true if messages are equal, otherwise false.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_@(package_name)
+bool
+@(message_typename)__are_equal(const @(message_typename) * lhs, const @(message_typename) * rhs);
+
+/// Copy a @(interface_path_to_string(interface_path)) message.
+/**
+ * This functions performs a deep copy, as opposed to the shallow copy that
+ * plain assignment yields.
+ *
+ * \param[in] input The source message pointer.
+ * \param[out] output The target message pointer, which must
+ *   have been initialized before calling this function.
+ * \return true if successful, or false if either pointer is null
+ *   or memory allocation fails.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_@(package_name)
+bool
+@(message_typename)__copy(
+  const @(message_typename) * input,
+  @(message_typename) * output);
 
 @#######################################################################
 @# array functions
@@ -112,3 +138,30 @@ ROSIDL_GENERATOR_C_PUBLIC_@(package_name)
 ROSIDL_GENERATOR_C_PUBLIC_@(package_name)
 void
 @(array_typename)__destroy(@(array_typename) * array);
+
+/// Check for @(interface_path_to_string(interface_path)) message array equality.
+/**
+ * \param[in] lhs The message array on the left hand size of the equality operator.
+ * \param[in] rhs The message array on the right hand size of the equality operator.
+ * \return true if message arrays are equal in size and content, otherwise false.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_@(package_name)
+bool
+@(array_typename)__are_equal(const @(array_typename) * lhs, const @(array_typename) * rhs);
+
+/// Copy an array of @(interface_path_to_string(interface_path)) messages.
+/**
+ * This functions performs a deep copy, as opposed to the shallow copy that
+ * plain assignment yields.
+ *
+ * \param[in] input The source array pointer.
+ * \param[out] output The target array pointer, which must
+ *   have been initialized before calling this function.
+ * \return true if successful, or false if either pointer
+ *   is null or memory allocation fails.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_@(package_name)
+bool
+@(array_typename)__copy(
+  const @(array_typename) * input,
+  @(array_typename) * output);

rosidl_generator_c/test/test_interfaces.c

@@ -49,6 +49,14 @@
 #define STRINGIFY(x) _STRINGIFY(x)
 #define _STRINGIFY(x) #x
 
+#define EXPECT_FALSE(arg) if (arg) { \
+    fputs(STRINGIFY(arg) " is not false\n", stderr); \
+    return 1; \
+}
+#define EXPECT_TRUE(arg) if (!(arg)) { \
+    fputs(STRINGIFY(arg) " is not true\n", stderr); \
+    return 1; \
+}
 #define EXPECT_EQ(arg1, arg2) if ((arg1) != (arg2)) { \
     fputs(STRINGIFY(arg1) " != " STRINGIFY(arg2) "\n", stderr); \
     return 1; \
@@ -189,6 +197,19 @@ int test_basic_types(void)
   basic->uint64_value = UINT64_MAX;
   EXPECT_EQ(UINT64_MAX, basic->uint64_value);
 
+  EXPECT_FALSE(rosidl_generator_c__msg__BasicTypes__are_equal(NULL, NULL));
+  EXPECT_FALSE(rosidl_generator_c__msg__BasicTypes__are_equal(basic, NULL));
+  EXPECT_FALSE(rosidl_generator_c__msg__BasicTypes__are_equal(NULL, basic));
+  EXPECT_TRUE(rosidl_generator_c__msg__BasicTypes__are_equal(basic, basic));
+
+  rosidl_generator_c__msg__BasicTypes * basic_copy = NULL;
+  basic_copy = rosidl_generator_c__msg__BasicTypes__create();
+  EXPECT_NE(basic_copy, NULL);
+  EXPECT_FALSE(rosidl_generator_c__msg__BasicTypes__are_equal(basic, basic_copy));
+  EXPECT_TRUE(rosidl_generator_c__msg__BasicTypes__copy(basic, basic_copy));
+  EXPECT_TRUE(rosidl_generator_c__msg__BasicTypes__are_equal(basic, basic_copy));
+  rosidl_generator_c__msg__BasicTypes__destroy(basic_copy);
+
   rosidl_generator_c__msg__BasicTypes__destroy(basic);
   return 0;
 }
@@ -232,6 +253,20 @@ int test_defaults()
   EXPECT_EQ(-40000000, def->int64_value);
   EXPECT_EQ(50000000, def->uint64_value);
 
+  EXPECT_FALSE(rosidl_generator_c__msg__Defaults__are_equal(NULL, NULL));
+  EXPECT_FALSE(rosidl_generator_c__msg__Defaults__are_equal(def, NULL));
+  EXPECT_FALSE(rosidl_generator_c__msg__Defaults__are_equal(NULL, def));
+  EXPECT_TRUE(rosidl_generator_c__msg__Defaults__are_equal(def, def));
+
+  rosidl_generator_c__msg__Defaults * def_copy = NULL;
+  def_copy = rosidl_generator_c__msg__Defaults__create();
+  EXPECT_NE(def_copy, NULL);
+  def->bool_value = false;  // mutate message to force a difference
+  EXPECT_FALSE(rosidl_generator_c__msg__Defaults__are_equal(def, def_copy));
+  EXPECT_TRUE(rosidl_generator_c__msg__Defaults__copy(def, def_copy));
+  EXPECT_TRUE(rosidl_generator_c__msg__Defaults__are_equal(def, def_copy));
+  rosidl_generator_c__msg__Defaults__destroy(def_copy);
+
   rosidl_generator_c__msg__Defaults__destroy(def);
   return 0;
 }
@@ -447,6 +482,19 @@ int test_bounded_sequences()
   EXPECT_EQ(0, strcmp(seq->string_values_default.data[1].data, "max value"));
   EXPECT_EQ(0, strcmp(seq->string_values_default.data[2].data, "min value"));
 
+  EXPECT_FALSE(rosidl_generator_c__msg__BoundedSequences__are_equal(NULL, NULL));
+  EXPECT_FALSE(rosidl_generator_c__msg__BoundedSequences__are_equal(seq, NULL));
+  EXPECT_FALSE(rosidl_generator_c__msg__BoundedSequences__are_equal(NULL, seq));
+  EXPECT_TRUE(rosidl_generator_c__msg__BoundedSequences__are_equal(seq, seq));
+
+  rosidl_generator_c__msg__BoundedSequences * seq_copy = NULL;
+  seq_copy = rosidl_generator_c__msg__BoundedSequences__create();
+  EXPECT_NE(seq_copy, NULL);
+  EXPECT_FALSE(rosidl_generator_c__msg__BoundedSequences__are_equal(seq, seq_copy));
+  EXPECT_TRUE(rosidl_generator_c__msg__BoundedSequences__copy(seq, seq_copy));
+  EXPECT_TRUE(rosidl_generator_c__msg__BoundedSequences__are_equal(seq, seq_copy));
+  rosidl_generator_c__msg__BoundedSequences__destroy(seq_copy);
+
   rosidl_generator_c__msg__BoundedSequences__destroy(seq);
   return 0;
 }
@@ -663,6 +711,19 @@ int test_unbounded_sequences()
   EXPECT_EQ(0, strcmp(seq->string_values_default.data[1].data, "max value"));
   EXPECT_EQ(0, strcmp(seq->string_values_default.data[2].data, "min value"));
 
+  EXPECT_FALSE(rosidl_generator_c__msg__UnboundedSequences__are_equal(NULL, NULL));
+  EXPECT_FALSE(rosidl_generator_c__msg__UnboundedSequences__are_equal(seq, NULL));
+  EXPECT_FALSE(rosidl_generator_c__msg__UnboundedSequences__are_equal(NULL, seq));
+  EXPECT_TRUE(rosidl_generator_c__msg__UnboundedSequences__are_equal(seq, seq));
+
+  rosidl_generator_c__msg__UnboundedSequences * seq_copy = NULL;
+  seq_copy = rosidl_generator_c__msg__UnboundedSequences__create();
+  EXPECT_NE(seq_copy, NULL);
+  EXPECT_FALSE(rosidl_generator_c__msg__UnboundedSequences__are_equal(seq, seq_copy));
+  EXPECT_TRUE(rosidl_generator_c__msg__UnboundedSequences__copy(seq, seq_copy));
+  EXPECT_TRUE(rosidl_generator_c__msg__UnboundedSequences__are_equal(seq, seq_copy));
+  rosidl_generator_c__msg__UnboundedSequences__destroy(seq_copy);
+
   rosidl_generator_c__msg__UnboundedSequences__destroy(seq);
   return 0;
 }
@@ -694,6 +755,19 @@ int test_strings()
   EXPECT_EQ(0, strcmp(str->bounded_string_value_default1.data, "Hello world!"));
   EXPECT_EQ(0, strcmp(str->bounded_string_value_default5.data, "Hello\"world!"));
 
+  EXPECT_FALSE(rosidl_generator_c__msg__Strings__are_equal(NULL, NULL));
+  EXPECT_FALSE(rosidl_generator_c__msg__Strings__are_equal(str, NULL));
+  EXPECT_FALSE(rosidl_generator_c__msg__Strings__are_equal(NULL, str));
+  EXPECT_TRUE(rosidl_generator_c__msg__Strings__are_equal(str, str));
+
+  rosidl_generator_c__msg__Strings * str_copy = NULL;
+  str_copy = rosidl_generator_c__msg__Strings__create();
+  EXPECT_NE(str_copy, NULL);
+  EXPECT_FALSE(rosidl_generator_c__msg__Strings__are_equal(str, str_copy));
+  EXPECT_TRUE(rosidl_generator_c__msg__Strings__copy(str, str_copy));
+  EXPECT_TRUE(rosidl_generator_c__msg__Strings__are_equal(str, str_copy));
+  rosidl_generator_c__msg__Strings__destroy(str_copy);
+
   rosidl_generator_c__msg__Strings__destroy(str);
   return 0;
 }
@@ -732,6 +806,19 @@ int test_nested()
   EXPECT_EQ(-40000000, nested->basic_types_value.int64_value);
   EXPECT_EQ(50000000, nested->basic_types_value.uint64_value);
 
+  EXPECT_FALSE(rosidl_generator_c__msg__Nested__are_equal(NULL, NULL));
+  EXPECT_FALSE(rosidl_generator_c__msg__Nested__are_equal(nested, NULL));
+  EXPECT_FALSE(rosidl_generator_c__msg__Nested__are_equal(NULL, nested));
+  EXPECT_TRUE(rosidl_generator_c__msg__Nested__are_equal(nested, nested));
+
+  rosidl_generator_c__msg__Nested * nested_copy = NULL;
+  nested_copy = rosidl_generator_c__msg__Nested__create();
+  EXPECT_NE(nested_copy, NULL);
+  EXPECT_FALSE(rosidl_generator_c__msg__Nested__are_equal(nested, nested_copy));
+  EXPECT_TRUE(rosidl_generator_c__msg__Nested__copy(nested, nested_copy));
+  EXPECT_TRUE(rosidl_generator_c__msg__Nested__are_equal(nested, nested_copy));
+  rosidl_generator_c__msg__Nested__destroy(nested_copy);
+
   rosidl_generator_c__msg__Nested__destroy(nested);
   return 0;
 }
@@ -971,6 +1058,19 @@ int test_multi_nested()
     EXPECT_EQ(UINT64_MAX, msg->array_of_arrays[0].uint64_values_default[2]);
   }
 
+  EXPECT_FALSE(rosidl_generator_c__msg__MultiNested__are_equal(NULL, NULL));
+  EXPECT_FALSE(rosidl_generator_c__msg__MultiNested__are_equal(msg, NULL));
+  EXPECT_FALSE(rosidl_generator_c__msg__MultiNested__are_equal(NULL, msg));
+  EXPECT_TRUE(rosidl_generator_c__msg__MultiNested__are_equal(msg, msg));
+
+  rosidl_generator_c__msg__MultiNested * msg_copy = NULL;
+  msg_copy = rosidl_generator_c__msg__MultiNested__create();
+  EXPECT_NE(msg_copy, NULL);
+  EXPECT_FALSE(rosidl_generator_c__msg__MultiNested__are_equal(msg, msg_copy));
+  EXPECT_TRUE(rosidl_generator_c__msg__MultiNested__copy(msg, msg_copy));
+  EXPECT_TRUE(rosidl_generator_c__msg__MultiNested__are_equal(msg, msg_copy));
+  rosidl_generator_c__msg__MultiNested__destroy(msg_copy);
+
   rosidl_generator_c__msg__MultiNested__destroy(msg);
   return 0;
 }
@@ -1182,6 +1282,19 @@ int test_arrays()
   EXPECT_EQ(0, strcmp(arr->string_values_default[1].data, "max value"));
   EXPECT_EQ(0, strcmp(arr->string_values_default[2].data, "min value"));
 
+  EXPECT_FALSE(rosidl_generator_c__msg__Arrays__are_equal(NULL, NULL));
+  EXPECT_FALSE(rosidl_generator_c__msg__Arrays__are_equal(arr, NULL));
+  EXPECT_FALSE(rosidl_generator_c__msg__Arrays__are_equal(NULL, arr));
+  EXPECT_TRUE(rosidl_generator_c__msg__Arrays__are_equal(arr, arr));
+
+  rosidl_generator_c__msg__Arrays * arr_copy = NULL;
+  arr_copy = rosidl_generator_c__msg__Arrays__create();
+  EXPECT_NE(arr_copy, NULL);
+  EXPECT_FALSE(rosidl_generator_c__msg__Arrays__are_equal(arr, arr_copy));
+  EXPECT_TRUE(rosidl_generator_c__msg__Arrays__copy(arr, arr_copy));
+  EXPECT_TRUE(rosidl_generator_c__msg__Arrays__are_equal(arr, arr_copy));
+  rosidl_generator_c__msg__Arrays__destroy(arr_copy);
+
   rosidl_generator_c__msg__Arrays__destroy(arr);
   return 0;
 }