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fix: typehash mismatch nested .action msg #334

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fix: typehash mismatch nested .action msg #334

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6 changes: 5 additions & 1 deletion crates/hiroz-codegen/src/resolver.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -517,6 +517,8 @@ impl Resolver {
// Add goal type description
let goal_desc = goal.type_description();
deps.insert(goal_desc.type_name.clone(), goal_desc.clone());
self.collect_nested_deps(&goal_desc, &mut deps);


// Calculate action service hash (uses /action/ path instead of /srv/)
let service_hash = crate::hashing::calculate_service_type_hash(
Expand Down Expand Up @@ -622,6 +624,7 @@ impl Resolver {
// Add result type description
let result_desc = result.type_description();
deps.insert(result_desc.type_name.clone(), result_desc.clone());
self.collect_nested_deps(&result_desc, &mut deps);

// Calculate action service hash
let service_hash = crate::hashing::calculate_service_type_hash(
Expand Down Expand Up @@ -681,7 +684,8 @@ impl Resolver {

// Add feedback type description
let feedback_desc = feedback.type_description();
deps.insert(feedback_desc.type_name.clone(), feedback_desc);
deps.insert(feedback_desc.type_name.clone(), feedback_desc.clone());
self.collect_nested_deps(&feedback_desc, &mut deps);

// Build TypeDescriptionMsg and calculate hash
use crate::hashing::{TypeDescriptionMsg, to_hash_version, to_ros2_json};
Expand Down
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