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Stub out new allocation APIs. #353

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May 2, 2019
Merged

Stub out new allocation APIs. #353

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81c365c
Stub out new allocation APIs.
mjcarroll May 1, 2019
28a7f85
Lint.
mjcarroll May 1, 2019
ff90062
Address reviewer feedback.
mjcarroll May 1, 2019
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11 changes: 9 additions & 2 deletions rmw_connext_cpp/src/rmw_publish.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -73,8 +73,12 @@ publish(DDS::DataWriter * dds_data_writer, const rcutils_uint8_array_t * cdr_str
extern "C"
{
rmw_ret_t
rmw_publish(const rmw_publisher_t * publisher, const void * ros_message)
rmw_publish(
const rmw_publisher_t * publisher,
const void * ros_message,
rmw_publisher_allocation_t * allocation)
{
(void) allocation;
if (!publisher) {
RMW_SET_ERROR_MSG("publisher handle is null");
return RMW_RET_ERROR;
Expand Down Expand Up @@ -137,8 +141,11 @@ rmw_publish(const rmw_publisher_t * publisher, const void * ros_message)

rmw_ret_t
rmw_publish_serialized_message(
const rmw_publisher_t * publisher, const rmw_serialized_message_t * serialized_message)
const rmw_publisher_t * publisher,
const rmw_serialized_message_t * serialized_message,
rmw_publisher_allocation_t * allocation)
{
(void) allocation;
if (!publisher) {
RMW_SET_ERROR_MSG("publisher handle is null");
return RMW_RET_ERROR;
Expand Down
23 changes: 23 additions & 0 deletions rmw_connext_cpp/src/rmw_publisher.cpp
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Expand Up @@ -39,6 +39,29 @@

extern "C"
{
rmw_ret_t
rmw_init_publisher_allocation(
const rosidl_message_type_support_t * type_support,
const rosidl_message_bounds_t * message_bounds,
rmw_publisher_allocation_t * allocation)
{
// Unused in current implementation.
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As with the other rmw implementations, I think we should probably return an error here and below.

(void) type_support;
(void) message_bounds;
(void) allocation;
RMW_SET_ERROR_MSG("unimplemented");
return RMW_RET_ERROR;
}

rmw_ret_t
rmw_fini_publisher_allocation(rmw_publisher_allocation_t * allocation)
{
// Unused in current implementation.
(void) allocation;
RMW_SET_ERROR_MSG("unimplemented");
return RMW_RET_ERROR;
}

rmw_publisher_t *
rmw_create_publisher(
const rmw_node_t * node,
Expand Down
23 changes: 23 additions & 0 deletions rmw_connext_cpp/src/rmw_subscription.cpp
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Expand Up @@ -38,6 +38,29 @@

extern "C"
{
rmw_ret_t
rmw_init_subscription_allocation(
const rosidl_message_type_support_t * type_support,
const rosidl_message_bounds_t * message_bounds,
rmw_subscription_allocation_t * allocation)
{
// Unused in current implementation.
(void) type_support;
(void) message_bounds;
(void) allocation;
RMW_SET_ERROR_MSG("unimplemented");
return RMW_RET_ERROR;
}

rmw_ret_t
rmw_fini_subscription_allocation(rmw_subscription_allocation_t * allocation)
{
// Unused in current implementation.
(void) allocation;
RMW_SET_ERROR_MSG("unimplemented");
return RMW_RET_ERROR;
}

rmw_subscription_t *
rmw_create_subscription(
const rmw_node_t * node,
Expand Down
38 changes: 25 additions & 13 deletions rmw_connext_cpp/src/rmw_take.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,8 +33,10 @@ take(
bool ignore_local_publications,
rcutils_uint8_array_t * cdr_stream,
bool * taken,
void * sending_publication_handle)
void * sending_publication_handle,
rmw_subscription_allocation_t * allocation)
{
(void) allocation;
if (!dds_data_reader) {
RMW_SET_ERROR_MSG("dds_data_reader is null");
return false;
Expand Down Expand Up @@ -134,7 +136,8 @@ _take(
const rmw_subscription_t * subscription,
void * ros_message,
bool * taken,
DDS::InstanceHandle_t * sending_publication_handle)
DDS::InstanceHandle_t * sending_publication_handle,
rmw_subscription_allocation_t * allocation)
{
if (!subscription) {
RMW_SET_ERROR_MSG("subscription handle is null");
Expand Down Expand Up @@ -175,7 +178,7 @@ _take(
rcutils_uint8_array_t cdr_stream = rcutils_get_zero_initialized_uint8_array();
if (!take(
topic_reader, subscriber_info->ignore_local_publications, &cdr_stream, taken,
sending_publication_handle))
sending_publication_handle, allocation))
{
RMW_SET_ERROR_MSG("error occured while taking message");
return RMW_RET_ERROR;
Expand All @@ -194,24 +197,29 @@ _take(
}

rmw_ret_t
rmw_take(const rmw_subscription_t * subscription, void * ros_message, bool * taken)
rmw_take(
const rmw_subscription_t * subscription,
void * ros_message,
bool * taken,
rmw_subscription_allocation_t * allocation)
{
return _take(subscription, ros_message, taken, nullptr);
return _take(subscription, ros_message, taken, nullptr, allocation);
}

rmw_ret_t
rmw_take_with_info(
const rmw_subscription_t * subscription,
void * ros_message,
bool * taken,
rmw_message_info_t * message_info)
rmw_message_info_t * message_info,
rmw_subscription_allocation_t * allocation)
{
if (!message_info) {
RMW_SET_ERROR_MSG("message info is null");
return RMW_RET_ERROR;
}
DDS::InstanceHandle_t sending_publication_handle;
auto ret = _take(subscription, ros_message, taken, &sending_publication_handle);
auto ret = _take(subscription, ros_message, taken, &sending_publication_handle, allocation);
if (ret != RMW_RET_OK) {
// Error string is already set.
return RMW_RET_ERROR;
Expand All @@ -231,7 +239,8 @@ _take_serialized_message(
const rmw_subscription_t * subscription,
rmw_serialized_message_t * serialized_message,
bool * taken,
DDS::InstanceHandle_t * sending_publication_handle)
DDS::InstanceHandle_t * sending_publication_handle,
rmw_subscription_allocation_t * allocation)
{
if (!subscription) {
RMW_SET_ERROR_MSG("subscription handle is null");
Expand Down Expand Up @@ -271,7 +280,7 @@ _take_serialized_message(
// fetch the incoming message as cdr stream
if (!take(
topic_reader, subscriber_info->ignore_local_publications, serialized_message, taken,
sending_publication_handle))
sending_publication_handle, allocation))
{
RMW_SET_ERROR_MSG("error occured while taking message");
return RMW_RET_ERROR;
Expand All @@ -284,25 +293,28 @@ rmw_ret_t
rmw_take_serialized_message(
const rmw_subscription_t * subscription,
rmw_serialized_message_t * serialized_message,
bool * taken)
bool * taken,
rmw_subscription_allocation_t * allocation)
{
return _take_serialized_message(subscription, serialized_message, taken, nullptr);
return _take_serialized_message(subscription, serialized_message, taken, nullptr, allocation);
}

rmw_ret_t
rmw_take_serialized_message_with_info(
const rmw_subscription_t * subscription,
rmw_serialized_message_t * serialized_message,
bool * taken,
rmw_message_info_t * message_info)
rmw_message_info_t * message_info,
rmw_subscription_allocation_t * allocation)
{
if (!message_info) {
RMW_SET_ERROR_MSG("message info is null");
return RMW_RET_ERROR;
}
DDS::InstanceHandle_t sending_publication_handle;
auto ret =
_take_serialized_message(subscription, serialized_message, taken, &sending_publication_handle);
_take_serialized_message(subscription, serialized_message, taken,
&sending_publication_handle, allocation);
if (ret != RMW_RET_OK) {
// Error string is already set.
return RMW_RET_ERROR;
Expand Down