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fix for waitset api change

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Jackie Kay 2015-12-18 11:35:20 -08:00 • committed by Jackie Kay
parent 0fd8b01564
commit 6d25f56568
1 changed files with 5 additions and 0 deletions
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5
rcl/src/rcl/wait.c
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@ -35,6 +35,7 @@ typedef struct rcl_wait_set_impl_t
rmw_subscriptions_t rmw_subscriptions; rmw_subscriptions_t rmw_subscriptions;
size_t guard_condition_index; size_t guard_condition_index;
rmw_guard_conditions_t rmw_guard_conditions; rmw_guard_conditions_t rmw_guard_conditions;
rmw_waitset_t * rmw_waitset;
size_t timer_index; size_t timer_index;
rcl_allocator_t allocator; rcl_allocator_t allocator;
} rcl_wait_set_impl_t; } rcl_wait_set_impl_t;
@ -113,6 +114,9 @@ rcl_wait_set_init(
wait_set->impl->rmw_subscriptions.subscriber_count = 0; wait_set->impl->rmw_subscriptions.subscriber_count = 0;
wait_set->impl->rmw_guard_conditions.guard_conditions = NULL; wait_set->impl->rmw_guard_conditions.guard_conditions = NULL;
wait_set->impl->rmw_guard_conditions.guard_condition_count = 0; wait_set->impl->rmw_guard_conditions.guard_condition_count = 0;
wait_set->impl->rmw_waitset = rmw_create_waitset(
NULL, 2*number_of_subscriptions + number_of_guard_conditions);
// Initialize subscription space. // Initialize subscription space.
rcl_ret_t ret; rcl_ret_t ret;
if ((ret = rcl_wait_set_resize_subscriptions(wait_set, number_of_subscriptions)) != RCL_RET_OK) { if ((ret = rcl_wait_set_resize_subscriptions(wait_set, number_of_subscriptions)) != RCL_RET_OK) {
@ -409,6 +413,7 @@ rcl_wait(rcl_wait_set_t * wait_set, int64_t timeout)
&wait_set->impl->rmw_guard_conditions, &wait_set->impl->rmw_guard_conditions,
&dummy_services, &dummy_services,
&dummy_clients, &dummy_clients,
wait_set->impl->rmw_waitset,
timeout_argument); timeout_argument);
// Check for error. // Check for error.
if (ret != RMW_RET_OK) { if (ret != RMW_RET_OK) {