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

Ensure compliant matched pub/sub count API. (#223)

Browse source 
Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
This commit is contained in:
Michel Hidalgo 2020-08-27 12:54:27 -03:00 • committed by Alejandro Hernández Cordero
parent ba077ce061
commit 16e27f6504
1 changed files with 22 additions and 10 deletions
Download patch file Download diff file Expand all files Collapse all files

28
rmw_cyclonedds_cpp/src/rmw_node.cpp
View file

@ -2052,16 +2052,22 @@ extern "C" rmw_ret_t rmw_publisher_count_matched_subscriptions(
const rmw_publisher_t * publisher, const rmw_publisher_t * publisher,
size_t * subscription_count) size_t * subscription_count)
{ {
RET_NULL(publisher); RMW_CHECK_ARGUMENT_FOR_NULL(publisher, RMW_RET_INVALID_ARGUMENT);
RET_WRONG_IMPLID(publisher); RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
publisher,
publisher->implementation_identifier,
eclipse_cyclonedds_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
RMW_CHECK_ARGUMENT_FOR_NULL(subscription_count, RMW_RET_INVALID_ARGUMENT);
auto pub = static_cast<CddsPublisher *>(publisher->data); auto pub = static_cast<CddsPublisher *>(publisher->data);
dds_publication_matched_status_t status; dds_publication_matched_status_t status;
if (dds_get_publication_matched_status(pub->enth, &status) < 0) { if (dds_get_publication_matched_status(pub->enth, &status) < 0) {
return RMW_RET_ERROR; return RMW_RET_ERROR;
} else { }
*subscription_count = status.current_count; *subscription_count = status.current_count;
return RMW_RET_OK; return RMW_RET_OK;
}
} }
rmw_ret_t rmw_publisher_assert_liveliness(const rmw_publisher_t * publisher) rmw_ret_t rmw_publisher_assert_liveliness(const rmw_publisher_t * publisher)
@ -2385,16 +2391,22 @@ extern "C" rmw_subscription_t * rmw_create_subscription(
extern "C" rmw_ret_t rmw_subscription_count_matched_publishers( extern "C" rmw_ret_t rmw_subscription_count_matched_publishers(
const rmw_subscription_t * subscription, size_t * publisher_count) const rmw_subscription_t * subscription, size_t * publisher_count)
{ {
RET_NULL(subscription); RMW_CHECK_ARGUMENT_FOR_NULL(subscription, RMW_RET_INVALID_ARGUMENT);
RET_WRONG_IMPLID(subscription); RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
subscription,
subscription->implementation_identifier,
eclipse_cyclonedds_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
RMW_CHECK_ARGUMENT_FOR_NULL(publisher_count, RMW_RET_INVALID_ARGUMENT);
auto sub = static_cast<CddsSubscription *>(subscription->data); auto sub = static_cast<CddsSubscription *>(subscription->data);
dds_subscription_matched_status_t status; dds_subscription_matched_status_t status;
if (dds_get_subscription_matched_status(sub->enth, &status) < 0) { if (dds_get_subscription_matched_status(sub->enth, &status) < 0) {
return RMW_RET_ERROR; return RMW_RET_ERROR;
} else { }
*publisher_count = status.current_count; *publisher_count = status.current_count;
return RMW_RET_OK; return RMW_RET_OK;
}
} }
extern "C" rmw_ret_t rmw_subscription_get_actual_qos( extern "C" rmw_ret_t rmw_subscription_get_actual_qos(