From 89956a992af782ca140239723b37381c8638a3ad Mon Sep 17 00:00:00 2001
From: CoprDistGit <infra@openeuler.org>
Date: Sat, 8 Mar 2025 13:23:52 +0000
Subject: automatic import of ros-humble-microstrain-inertial-driver

---
 ...train-inertial-driver-fix_error_no_define.patch | 67 ++++++++++++++++++++++
 1 file changed, 67 insertions(+)
 create mode 100644 microstrain-inertial-driver-fix_error_no_define.patch

(limited to 'microstrain-inertial-driver-fix_error_no_define.patch')

diff --git a/microstrain-inertial-driver-fix_error_no_define.patch b/microstrain-inertial-driver-fix_error_no_define.patch
new file mode 100644
index 0000000..72729ab
--- /dev/null
+++ b/microstrain-inertial-driver-fix_error_no_define.patch
@@ -0,0 +1,67 @@
+diff -Naur ros-humble-microstrain-inertial-driver-3.0.1_org/microstrain_inertial_driver_common/include/microstrain_inertial_driver_common/services.h ros-humble-microstrain-inertial-driver-3.0.1/microstrain_inertial_driver_common/include/microstrain_inertial_driver_common/services.h
+--- ros-humble-microstrain-inertial-driver-3.0.1_org/microstrain_inertial_driver_common/include/microstrain_inertial_driver_common/services.h	2023-02-11 05:19:58.000000000 +0800
++++ ros-humble-microstrain-inertial-driver-3.0.1/microstrain_inertial_driver_common/include/microstrain_inertial_driver_common/services.h	2023-10-21 17:04:27.000000000 +0800
+@@ -172,7 +172,12 @@
+    * \return Pointer to an initialized service
+    */
+   template<typename ServiceType>
+-  typename RosServiceType<ServiceType>::SharedPtr configureService(const std::string& name, bool (Services::*callback)(typename ServiceType::Request&, typename ServiceType::Response&));
++  typename RosServiceType<ServiceType>::SharedPtr configureService(const std::string& name, bool (Services::*callback)(typename ServiceType::Request&, typename ServiceType::Response&))
++{
++  MICROSTRAIN_DEBUG(node_, "Configuring service %s", name.c_str());
++  return createService<ServiceType>(node_, name, callback, this);
++}
++
+ 
+   /**
+    * \brief Configures a MIP command dependent service. This service will only be configured if the device supports the command
+@@ -184,7 +189,19 @@
+    * \return Pointer to an initialized service, or nullptr if the device does not support the MipType
+    */
+   template<typename ServiceType, typename MipType, uint8_t DescriptorSet = MipType::DESCRIPTOR_SET>
+-  typename RosServiceType<ServiceType>::SharedPtr configureService(const std::string& name, bool (Services::*callback)(typename ServiceType::Request&, typename ServiceType::Response&));
++  typename RosServiceType<ServiceType>::SharedPtr configureService(const std::string& name, bool (Services::*callback)(typename ServiceType::Request&, typename ServiceType::Response&))
++{
++  if (config_->mip_device_->supportsDescriptor(DescriptorSet, MipType::FIELD_DESCRIPTOR))
++  {
++    MICROSTRAIN_DEBUG(node_, "Configuring service %s to execute MIP command 0x%02x%02x", name.c_str(), DescriptorSet, MipType::FIELD_DESCRIPTOR);
++    return createService<ServiceType>(node_, name, callback, this);
++  }
++  else
++  {
++    MICROSTRAIN_DEBUG(node_, "Device does not support the %s service because the device does not support descriptor 0x%02x%02x", name.c_str(), DescriptorSet, MipType::FIELD_DESCRIPTOR);
++    return nullptr;
++  }
++}
+ 
+   // Handles to the ROS node and the config
+   RosNodeType* node_;
+@@ -253,27 +270,8 @@
+   RosServiceType<SetFilterSpeedLeverArmServiceMsg>::SharedPtr set_filter_speed_lever_arm_service_;
+ };
+ 
+-template<typename ServiceType>
+-typename RosServiceType<ServiceType>::SharedPtr Services::configureService(const std::string& name, bool (Services::*callback)(typename ServiceType::Request&, typename ServiceType::Response&))
+-{
+-  MICROSTRAIN_DEBUG(node_, "Configuring service %s", name.c_str());
+-  return createService<ServiceType>(node_, name, callback, this);
+-}
+ 
+-template<typename ServiceType, typename MipType, uint8_t DescriptorSet = MipType::DESCRIPTOR_SET>
+-typename RosServiceType<ServiceType>::SharedPtr Services::configureService(const std::string& name, bool (Services::*callback)(typename ServiceType::Request&, typename ServiceType::Response&))
+-{
+-  if (config_->mip_device_->supportsDescriptor(DescriptorSet, MipType::FIELD_DESCRIPTOR))
+-  {
+-    MICROSTRAIN_DEBUG(node_, "Configuring service %s to execute MIP command 0x%02x%02x", name.c_str(), DescriptorSet, MipType::FIELD_DESCRIPTOR);
+-    return createService<ServiceType>(node_, name, callback, this);
+-  }
+-  else
+-  {
+-    MICROSTRAIN_DEBUG(node_, "Device does not support the %s service because the device does not support descriptor 0x%02x%02x", name.c_str(), DescriptorSet, MipType::FIELD_DESCRIPTOR);
+-    return nullptr;
+-  }
+-}
++
+ 
+ }  // namespace microstrain
+ 
-- 
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