From cbdcac500ef3dbcba5aa73bc35a4ec50f8bb2e74 Mon Sep 17 00:00:00 2001
From: Caian Benedicto <caianbene@gmail.com>
Date: Sat, 16 Dec 2023 07:35:16 -0300
Subject: [PATCH] Make socket transport independent on the framework

---
 extra_script.py                               |  4 +-
 .../wiringpi/socket/micro_ros_transport.cpp   | 84 -------------------
 .../wiringpi/socket/micro_ros_transport.h     | 21 -----
 3 files changed, 3 insertions(+), 106 deletions(-)
 delete mode 100644 platform_code/wiringpi/socket/micro_ros_transport.cpp
 delete mode 100644 platform_code/wiringpi/socket/micro_ros_transport.h

diff --git a/extra_script.py b/extra_script.py
index 2d40072a..b0fbc46c 100644
--- a/extra_script.py
+++ b/extra_script.py
@@ -29,13 +29,15 @@
 main_path = os.path.realpath(".")
 global_env = DefaultEnvironment()
 board = env['BOARD']
-framework = env['PIOFRAMEWORK'][0]
 platform = env.get('PIOPLATFORM', None)
 extra_packages_path = "{}/extra_packages".format(env['PROJECT_DIR'])
 
 if platform == 'linux_arm':
+    # Transports built for linux do not depend on the framework
+    framework = 'linux'
     selected_board_meta = 'linux.meta'
 else:
+    framework = env['PIOFRAMEWORK'][0]
     selected_board_meta = boards_metas[board] if board in boards_metas else "colcon.meta"
 
 # Retrieve the required transport. Default iron
diff --git a/platform_code/wiringpi/socket/micro_ros_transport.cpp b/platform_code/wiringpi/socket/micro_ros_transport.cpp
deleted file mode 100644
index cf10344d..00000000
--- a/platform_code/wiringpi/socket/micro_ros_transport.cpp
+++ /dev/null
@@ -1,84 +0,0 @@
-#include <micro_ros_platformio.h>
-
-#include <uxr/client/util/time.h>
-#include <uxr/client/profile/transport/custom/custom_transport.h>
-
-#include <sys/types.h>
-#include <sys/socket.h>
-#include <netdb.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <poll.h>
-#include <string>
-
-extern "C" {
-
-static int fd;
-
-bool platformio_transport_open(struct uxrCustomTransport * transport)
-{
-  const auto * locator = (const struct micro_ros_agent_locator *) transport->args;
-
-  struct addrinfo hints;
-
-  memset(&hints, 0, sizeof(hints));
-
-  hints.ai_family = AF_UNSPEC;
-  hints.ai_socktype = SOCK_DGRAM;
-  hints.ai_flags = AI_NUMERICSERV;
-  hints.ai_protocol = 0;
-
-  const auto port_s = std::to_string(locator->port);
-  struct addrinfo * p_addrs = nullptr;
-
-  if(getaddrinfo(locator->address, port_s.c_str(), &hints, &p_addrs) != 0)
-    return false;
-
-  struct addrinfo * p_addr;
-
-  for(p_addr = p_addrs; p_addr != nullptr; p_addr = p_addr->ai_next){
-    if(0 > (fd = socket(p_addr->ai_family, p_addr->ai_socktype, p_addr->ai_protocol)))
-      continue;
-
-    if(0 == connect(fd, p_addr->ai_addr, p_addr->ai_addrlen))
-      break;
-
-    close(fd);
-  }
-
-  freeaddrinfo(p_addrs);
-
-  return p_addr != nullptr;
-}
-
-bool platformio_transport_close(struct uxrCustomTransport * transport)
-{
-  close(fd);
-  return true;
-}
-
-size_t platformio_transport_write(struct uxrCustomTransport * transport, const uint8_t *buf, size_t len, uint8_t *)
-{
-  auto ret = send(fd, buf, len, 0);
-  return ret < 0 ? 0 : (size_t)ret;
-}
-
-size_t platformio_transport_read(struct uxrCustomTransport * transport, uint8_t *buf, size_t len, int timeout, uint8_t *)
-{
-  struct pollfd pfd;
-  int ret;
-
-  pfd.fd = fd;
-  pfd.events = POLLIN;
-  ret = poll(&pfd, 1, timeout);
-  switch(ret){
-    case -1:
-    case 0:
-      return 0;
-    default:
-      ret = recv(fd, buf, len, 0);
-      return ret < 0 ? 0 : (size_t)ret;
-  }
-}
-
-}
diff --git a/platform_code/wiringpi/socket/micro_ros_transport.h b/platform_code/wiringpi/socket/micro_ros_transport.h
deleted file mode 100644
index ab3138f6..00000000
--- a/platform_code/wiringpi/socket/micro_ros_transport.h
+++ /dev/null
@@ -1,21 +0,0 @@
-#include <string.h>
-
-struct micro_ros_agent_locator {
-    char * address;
-    int port;
-};
-
-static inline void set_microros_socket_transports(const char * agent_address, uint16_t agent_port){
-    static struct micro_ros_agent_locator locator;
-    locator.address = strdup(agent_address);
-    locator.port = agent_port;
-
-    rmw_uros_set_custom_transport(
-        false,
-        (void *) &locator,
-        platformio_transport_open,
-        platformio_transport_close,
-        platformio_transport_write,
-        platformio_transport_read
-    );
-}