niklas/rclcpp
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

rename return functions for loaned messages (#896)

Browse source 
* fix up documentation for zero copy api

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

* rename loan_message to borrow_loaned_message

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

* use return_loaned_message_from

Signed-off-by: Karsten Knese <karsten@openrobotics.org>
This commit is contained in:
Karsten Knese 2019-10-21 20:47:42 -07:00 • committed by Michael Carroll
parent 3de5337376
commit a6e3412bb0
5 changed files with 12 additions and 12 deletions
Download patch file Download diff file Expand all files Collapse all files

2
rclcpp/include/rclcpp/loaned_message.hpp
View file

@ -137,7 +137,7 @@ public:
if (pub_.can_loan_messages()) {
// return allocated memory to the middleware
auto ret =
rcl_return_loaned_message(pub_.get_publisher_handle(), message_);
rcl_return_loaned_message_from_publisher(pub_.get_publisher_handle(), message_);
if (ret != RCL_RET_OK) {
RCLCPP_ERROR(
error_logger, "rcl_deallocate_loaned_message failed: %s", rcl_get_error_string().str);

13
rclcpp/include/rclcpp/publisher.hpp
View file

@ -129,7 +129,7 @@ public:
virtual ~Publisher()
{}
/// Loan memory for a ROS message from the middleware
/// Borrow a loaned ROS message from the middleware.
/**
* If the middleware is capable of loaning memory for a ROS message instance,
* the loaned message will be directly allocated in the middleware.
@ -137,14 +137,15 @@ public:
*
* With a call to \sa `publish` the LoanedMessage instance is being returned to the middleware
* or free'd accordingly to the allocator.
* If the message is not being published but processed differently, the message has to be
* returned by calling \sa `return_loaned_message`.
* If the message is not being published but processed differently, the destructor of this
* class will either return the message to the middleware or deallocate it via the internal
* allocator.
* \sa rclcpp::LoanedMessage for details of the LoanedMessage class.
*
* \return LoanedMessage containing memory for a ROS message of type MessageT
*/
rclcpp::LoanedMessage<MessageT, AllocatorT>
loan_message()
borrow_loaned_message()
{
return rclcpp::LoanedMessage<MessageT, AllocatorT>(this, this->get_allocator());
}
@ -201,9 +202,9 @@ public:
return this->do_serialized_publish(&serialized_msg);
}
/// Publish an instance of a LoanedMessage
/// Publish an instance of a LoanedMessage.
/**
* When publishing a loaned message, the memory for this ROS instance will be deallocated
* When publishing a loaned message, the memory for this ROS message will be deallocated
* after being published.
* The instance of the loaned message is no longer valid after this call.
*

1
rclcpp/include/rclcpp/subscription_base.hpp
View file

@ -134,7 +134,6 @@ public:
void
handle_message(std::shared_ptr<void> & message, const rmw_message_info_t & message_info) = 0;
// TODO(karsten1987): Does it make sense to pass in a weak_ptr?
RCLCPP_PUBLIC
virtual
void

4
rclcpp/src/rclcpp/executor.cpp
View file

@ -344,13 +344,13 @@ Executor::execute_subscription(
subscription->get_topic_name(), rcl_get_error_string().str);
rcl_reset_error();
}
ret = rcl_release_loaned_message(
ret = rcl_return_loaned_message_from_subscription(
subscription->get_subscription_handle().get(),
loaned_msg);
if (RCL_RET_OK != ret) {
RCUTILS_LOG_ERROR_NAMED(
"rclcpp",
"release_loaned failed for subscription on topic '%s': %s",
"return_loaned_message failed for subscription on topic '%s': %s",
subscription->get_topic_name(), rcl_get_error_string().str);
}
loaned_msg = nullptr;

4
rclcpp/test/test_loaned_message.cpp
View file

@ -53,7 +53,7 @@ TEST_F(TestLoanedMessage, loan_from_pub) {
auto node = std::make_shared<rclcpp::Node>("loaned_message_test_node");
auto pub = node->create_publisher<MessageT>("loaned_message_test_topic", 1);
auto loaned_msg = pub->loan_message();
auto loaned_msg = pub->borrow_loaned_message();
ASSERT_TRUE(loaned_msg.is_valid());
loaned_msg.get().float64_value = 42.0f;
ASSERT_EQ(42.0f, loaned_msg.get().float64_value);
@ -67,7 +67,7 @@ TEST_F(TestLoanedMessage, release) {
MessageT * msg = nullptr;
{
auto loaned_msg = pub->loan_message();
auto loaned_msg = pub->borrow_loaned_message();
ASSERT_TRUE(loaned_msg.is_valid());
loaned_msg.get().float64_value = 42.0f;
ASSERT_EQ(42.0f, loaned_msg.get().float64_value);