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Add rmw_*_event_init() functions (#115)

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Signed-off-by: Miaofei <miaofei@amazon.com>
This commit is contained in:
Miaofei Mei 2020-03-19 13:15:07 -07:00 • committed by GitHub
parent 137678e99e
commit 025762ac4f
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GPG key ID: 4AEE18F83AFDEB23
1 changed files with 65 additions and 18 deletions
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83
rmw_cyclonedds_cpp/src/rmw_node.cpp
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@ -1856,6 +1856,71 @@ extern "C" rmw_ret_t rmw_return_loaned_message_from_subscription(
return RMW_RET_UNSUPPORTED; return RMW_RET_UNSUPPORTED;
} }
/////////////////////////////////////////////////////////////////////////////////////////
/////////// ///////////
/////////// EVENTS ///////////
/////////// ///////////
/////////////////////////////////////////////////////////////////////////////////////////
/// mapping of RMW_EVENT to the corresponding DDS status
static const std::unordered_map<rmw_event_type_t, uint32_t> mask_map{
{RMW_EVENT_LIVELINESS_CHANGED, DDS_LIVELINESS_CHANGED_STATUS},
{RMW_EVENT_REQUESTED_DEADLINE_MISSED, DDS_REQUESTED_DEADLINE_MISSED_STATUS},
{RMW_EVENT_LIVELINESS_LOST, DDS_LIVELINESS_LOST_STATUS},
{RMW_EVENT_OFFERED_DEADLINE_MISSED, DDS_OFFERED_DEADLINE_MISSED_STATUS},
};
static bool is_event_supported(const rmw_event_type_t event_t)
{
return mask_map.count(event_t) == 1;
}
static uint32_t get_status_kind_from_rmw(const rmw_event_type_t event_t)
{
return mask_map.at(event_t);
}
static rmw_ret_t init_rmw_event(
rmw_event_t * rmw_event, const char * topic_endpoint_impl_identifier, void * data,
rmw_event_type_t event_type)
{
RMW_CHECK_ARGUMENT_FOR_NULL(rmw_event, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(topic_endpoint_impl_identifier, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(data, RMW_RET_INVALID_ARGUMENT);
if (!is_event_supported(event_type)) {
RMW_SET_ERROR_MSG("provided event_type is not supported by rmw_cyclonedds_cpp");
return RMW_RET_UNSUPPORTED;
}
rmw_event->implementation_identifier = topic_endpoint_impl_identifier;
rmw_event->data = data;
rmw_event->event_type = event_type;
return RMW_RET_OK;
}
extern "C" rmw_ret_t rmw_publisher_event_init(
rmw_event_t * rmw_event, const rmw_publisher_t * publisher, rmw_event_type_t event_type)
{
RET_WRONG_IMPLID_X(publisher, return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
return init_rmw_event(
rmw_event,
publisher->implementation_identifier,
publisher->data,
event_type);
}
extern "C" rmw_ret_t rmw_subscription_event_init(
rmw_event_t * rmw_event, const rmw_subscription_t * subscription, rmw_event_type_t event_type)
{
RET_WRONG_IMPLID_X(subscription, return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
return init_rmw_event(
rmw_event,
subscription->implementation_identifier,
subscription->data,
event_type);
}
extern "C" rmw_ret_t rmw_take_event( extern "C" rmw_ret_t rmw_take_event(
const rmw_event_t * event_handle, void * event_info, const rmw_event_t * event_handle, void * event_info,
bool * taken) bool * taken)
@ -2165,24 +2230,6 @@ static void clean_waitset_caches()
} }
} }
/// mapping of RMW_EVENT to the corresponding DDS status
static const std::unordered_map<rmw_event_type_t, uint32_t> mask_map{
{RMW_EVENT_LIVELINESS_CHANGED, DDS_LIVELINESS_CHANGED_STATUS},
{RMW_EVENT_REQUESTED_DEADLINE_MISSED, DDS_REQUESTED_DEADLINE_MISSED_STATUS},
{RMW_EVENT_LIVELINESS_LOST, DDS_LIVELINESS_LOST_STATUS},
{RMW_EVENT_OFFERED_DEADLINE_MISSED, DDS_OFFERED_DEADLINE_MISSED_STATUS},
};
static uint32_t get_status_kind_from_rmw(const rmw_event_type_t event_t)
{
return mask_map.at(event_t);
}
static bool is_event_supported(const rmw_event_type_t event_t)
{
return mask_map.count(event_t) > 0;
}
static rmw_ret_t gather_event_entities( static rmw_ret_t gather_event_entities(
const rmw_events_t * events, const rmw_events_t * events,
std::unordered_set<dds_entity_t> & entities) std::unordered_set<dds_entity_t> & entities)