fix coordinator not knowing the string names of types (#62)

basis-robotics · Oct 31, 2024 · 70f9a3f · 70f9a3f
1 parent a4176bf
commit 70f9a3f
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Showing 2 changed files with 15 additions and 2 deletions.
diff --git a/cpp/unit/include/basis/unit.h b/cpp/unit/include/basis/unit.h
@@ -204,10 +204,18 @@ struct HandlerPubSubWithOptions : public HandlerPubSub {
       constexpr bool is_raw = std::string_view(T_DERIVED::subscription_serializers[INDEX]) == "raw";
       using T_SERIALIZER = typename RawSerializationHelper<MessageType, is_raw>::type;
 
+      basis::core::serialization::MessageTypeInfo mti;
+      if constexpr (is_raw) {
+        mti = {"raw", derived->subscription_message_type_names[INDEX], "", ""};
+      }
+      else {
+        mti = T_SERIALIZER::template DeduceMessageTypeInfo<MessageType>();
+      }
+
       derived->*subscriber_member_ptr =
           transport_manager->SubscribeCallable<MessageType, T_SERIALIZER, MessageInprocType>(
               runtime_topic_name, CreateOnMessageCallback<INDEX, false>(), thread_pool, subscriber_queue,
-              T_SERIALIZER::template DeduceMessageTypeInfo<MessageType>(), CreateOnMessageCallback<INDEX, true>());
+              mti, CreateOnMessageCallback<INDEX, true>());
     }
 
     type_erased_callbacks[runtime_topic_name] = CreateTypeErasedOnMessageCallback<INDEX>();

diff --git a/python/unit/templates/unit_base.cpp.j2 b/python/unit/templates/unit_base.cpp.j2
@@ -83,7 +83,12 @@ namespace {{handler_name}} {
         {% endif %}
             >
     {% endif %}
-        (templated_topic_to_runtime_topic.at("{{topic_name}}"));
+        (templated_topic_to_runtime_topic.at("{{topic_name}}")
+        {% if output.serializer == "raw" %}
+        {# cpp makes it hard to convert a templated type to a string, so we just supply it here #}
+        , {"raw", "{{output.cpp_message_type}}", "", ""}
+        {% endif %}
+        );
         {{output.cpp_topic_name}}_publisher->SetMaxQueueSize({{output['qos']['depth']}});
     {% endfor %}
     {% if 'rate' in handler.sync %}