update to allow talker/listener demos to run
This commit adds stubs for the missing functions and fixes a few bugs in the serialisation code and topic creation. With these changes, the talker and listener demos of ROS2 Crystal Clemmys work.
This commit is contained in:
Erik Boasson
parent
c9a23a9b8a
commit
315d39a2ec
4 changed files with 182 additions and 36 deletions
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@ -63,7 +63,7 @@
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#define RET_ALLOC_X(var, code) do { if (!var) RET_ERR_X ("failed to allocate " #var, code); } while (0)
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#define RET_WRONG_IMPLID_X(var, code) do { \
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RET_NULL_X (var, code); \
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if ((var)->implementation_identifier != adlink_cyclonedds_identifier) { \
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if ((var)->implementation_identifier != eclipse_cyclonedds_identifier) { \
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RET_ERR_X (#var " not from this implementation", code); \
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} \
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} while (0)
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@ -78,7 +78,8 @@
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#define RET_WRONG_IMPLID(var) RET_WRONG_IMPLID_X (var, return RMW_RET_ERROR)
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#define RET_NULL_OR_EMPTYSTR(var) RET_NULL_OR_EMPTYSTR_X (var, return RMW_RET_ERROR)
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const char *const adlink_cyclonedds_identifier = "rmw_cyclonedds_cpp";
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const char *const eclipse_cyclonedds_identifier = "rmw_cyclonedds_cpp";
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const char * const eclipse_cyclonedds_serialization_format = "cdr";
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/* instance handles are unsigned 64-bit integers carefully constructed to be as close to uniformly
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distributed as possible for no other reason than making them near-perfect hash keys, hence we can
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@ -150,11 +151,85 @@ static void clean_waitset_caches ();
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extern "C" const char *rmw_get_implementation_identifier ()
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{
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return adlink_cyclonedds_identifier;
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return eclipse_cyclonedds_identifier;
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}
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extern "C" const char *rmw_get_serialization_format()
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{
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return eclipse_cyclonedds_serialization_format;
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}
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extern "C" rmw_ret_t rmw_init_options_init (rmw_init_options_t *init_options, rcutils_allocator_t allocator)
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{
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RMW_CHECK_ARGUMENT_FOR_NULL (init_options, RMW_RET_INVALID_ARGUMENT);
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RCUTILS_CHECK_ALLOCATOR (&allocator, return RMW_RET_INVALID_ARGUMENT);
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if (NULL != init_options->implementation_identifier) {
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RMW_SET_ERROR_MSG ("expected zero-initialized init_options");
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return RMW_RET_INVALID_ARGUMENT;
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}
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init_options->instance_id = 0;
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init_options->implementation_identifier = eclipse_cyclonedds_identifier;
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init_options->allocator = allocator;
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init_options->impl = nullptr;
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return RMW_RET_OK;
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}
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extern "C" rmw_ret_t rmw_init_options_copy (const rmw_init_options_t *src, rmw_init_options_t *dst)
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{
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RMW_CHECK_ARGUMENT_FOR_NULL (src, RMW_RET_INVALID_ARGUMENT);
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RMW_CHECK_ARGUMENT_FOR_NULL (dst, RMW_RET_INVALID_ARGUMENT);
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RMW_CHECK_TYPE_IDENTIFIERS_MATCH (
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src,
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src->implementation_identifier,
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eclipse_cyclonedds_identifier,
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return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
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if (NULL != dst->implementation_identifier) {
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RMW_SET_ERROR_MSG ("expected zero-initialized dst");
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return RMW_RET_INVALID_ARGUMENT;
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}
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*dst = *src;
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return RMW_RET_OK;
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}
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extern "C" rmw_ret_t rmw_init_options_fini (rmw_init_options_t *init_options)
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{
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RMW_CHECK_ARGUMENT_FOR_NULL (init_options, RMW_RET_INVALID_ARGUMENT);
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RCUTILS_CHECK_ALLOCATOR (&init_options->allocator, return RMW_RET_INVALID_ARGUMENT);
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RMW_CHECK_TYPE_IDENTIFIERS_MATCH (
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init_options,
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init_options->implementation_identifier,
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eclipse_cyclonedds_identifier,
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return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
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*init_options = rmw_get_zero_initialized_init_options ();
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return RMW_RET_OK;
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}
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extern "C" rmw_ret_t rmw_init (const rmw_init_options_t *options __attribute__ ((unused)), rmw_context_t *context __attribute__ ((unused)))
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{
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RCUTILS_CHECK_ARGUMENT_FOR_NULL (options, RMW_RET_INVALID_ARGUMENT);
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RCUTILS_CHECK_ARGUMENT_FOR_NULL (context, RMW_RET_INVALID_ARGUMENT);
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RMW_CHECK_TYPE_IDENTIFIERS_MATCH (
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options,
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options->implementation_identifier,
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eclipse_cyclonedds_identifier,
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return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
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context->instance_id = options->instance_id;
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context->implementation_identifier = eclipse_cyclonedds_identifier;
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context->impl = nullptr;
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return RMW_RET_OK;
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}
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extern "C" rmw_ret_t rmw_shutdown (rmw_context_t *context)
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{
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RCUTILS_CHECK_ARGUMENT_FOR_NULL (context, RMW_RET_INVALID_ARGUMENT);
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RMW_CHECK_TYPE_IDENTIFIERS_MATCH (
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context,
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context->implementation_identifier,
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eclipse_cyclonedds_identifier,
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return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
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// context impl is explicitly supposed to be nullptr for now, see rmw_init's code
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// RCUTILS_CHECK_ARGUMENT_FOR_NULL (context->impl, RMW_RET_INVALID_ARGUMENT);
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*context = rmw_get_zero_initialized_context ();
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return RMW_RET_OK;
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}
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@ -208,7 +283,7 @@ extern "C" rmw_node_t *rmw_create_node (rmw_context_t *context __attribute__ ((u
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node_handle = rmw_node_allocate ();
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RET_ALLOC_X (node_handle, goto fail_node_handle);
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node_handle->implementation_identifier = adlink_cyclonedds_identifier;
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node_handle->implementation_identifier = eclipse_cyclonedds_identifier;
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node_handle->data = node_impl;
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node_handle->name = static_cast<const char *> (rmw_allocate (sizeof (char) * strlen (name) + 1));
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@ -265,6 +340,26 @@ extern "C" const rmw_guard_condition_t *rmw_node_get_graph_guard_condition (cons
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return node_impl->graph_guard_condition;
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}
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/////////////////////////////////////////////////////////////////////////////////////////
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/////////// ///////////
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/////////// (DE)SERIALIZATION ///////////
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/////////// ///////////
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/////////////////////////////////////////////////////////////////////////////////////////
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extern "C" rmw_ret_t rmw_serialize (const void *ros_message, const rosidl_message_type_support_t *type_support, rmw_serialized_message_t *serialized_message)
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{
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(void) ros_message; (void) type_support; (void) serialized_message;
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RMW_SET_ERROR_MSG ("rmw_serialize not implemented");
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return RMW_RET_ERROR;
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}
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extern "C" rmw_ret_t rmw_deserialize (const rmw_serialized_message_t *serialized_message, const rosidl_message_type_support_t *type_support, void *ros_message)
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{
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(void) ros_message; (void) type_support; (void) serialized_message;
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RMW_SET_ERROR_MSG ("rmw_deserialize not implemented");
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return RMW_RET_ERROR;
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}
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/////////////////////////////////////////////////////////////////////////////////////////
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/////////// ///////////
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/////////// PUBLICATIONS ///////////
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@ -287,6 +382,13 @@ extern "C" rmw_ret_t rmw_publish (const rmw_publisher_t *publisher, const void *
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}
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}
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extern "C" rmw_ret_t rmw_publish_serialized_message (const rmw_publisher_t *publisher, const rmw_serialized_message_t *serialized_message)
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{
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(void) publisher; (void) serialized_message;
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RMW_SET_ERROR_MSG ("rmw_publish_serialized_message not implemented");
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return RMW_RET_ERROR;
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}
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static const rosidl_message_type_support_t *get_typesupport (const rosidl_message_type_support_t *type_supports)
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{
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const rosidl_message_type_support_t *ts;
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@ -370,7 +472,7 @@ static CddsPublisher *create_cdds_publisher (const rmw_node_t *node, const rosid
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std::string fqtopic_name = make_fqtopic (ros_topic_prefix, topic_name, "", qos_policies);
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auto sertopic = create_sertopic (topic_name, type_support->typesupport_identifier, create_message_type_support (type_support->data, type_support->typesupport_identifier), false);
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auto sertopic = create_sertopic (fqtopic_name.c_str (), type_support->typesupport_identifier, create_message_type_support (type_support->data, type_support->typesupport_identifier), false);
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if ((topic = dds_create_topic_arbitrary (gcdds.ppant, sertopic, fqtopic_name.c_str (), nullptr, nullptr, nullptr)) < 0) {
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RMW_SET_ERROR_MSG ("failed to create topic");
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goto fail_topic;
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@ -387,7 +489,6 @@ static CddsPublisher *create_cdds_publisher (const rmw_node_t *node, const rosid
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goto fail_instance_handle;
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}
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dds_delete_qos (qos);
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ddsi_sertopic_unref (sertopic);
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/* FIXME: leak the topic for now */
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return pub;
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@ -402,7 +503,6 @@ static CddsPublisher *create_cdds_publisher (const rmw_node_t *node, const rosid
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things in cyclone as well */
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fail_topic:
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delete pub;
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ddsi_sertopic_unref (sertopic);
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return nullptr;
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}
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@ -415,7 +515,7 @@ extern "C" rmw_publisher_t *rmw_create_publisher (const rmw_node_t *node, const
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}
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rmw_publisher = rmw_publisher_allocate ();
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RET_ALLOC_X (rmw_publisher, goto fail_publisher);
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rmw_publisher->implementation_identifier = adlink_cyclonedds_identifier;
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rmw_publisher->implementation_identifier = eclipse_cyclonedds_identifier;
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rmw_publisher->data = pub;
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rmw_publisher->topic_name = reinterpret_cast<char *> (rmw_allocate (strlen (topic_name) + 1));
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RET_ALLOC_X (rmw_publisher->topic_name, goto fail_topic_name);
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@ -438,7 +538,7 @@ extern "C" rmw_ret_t rmw_get_gid_for_publisher (const rmw_publisher_t *publisher
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RET_NULL (gid);
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auto pub = static_cast<const CddsPublisher *> (publisher->data);
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RET_NULL (pub);
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gid->implementation_identifier = adlink_cyclonedds_identifier;
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gid->implementation_identifier = eclipse_cyclonedds_identifier;
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memset (gid->data, 0, sizeof (gid->data));
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assert (sizeof (pub->pubiid) <= sizeof (gid->data));
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memcpy (gid->data, &pub->pubiid, sizeof (pub->pubiid));
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@ -456,6 +556,13 @@ extern "C" rmw_ret_t rmw_compare_gids_equal (const rmw_gid_t *gid1, const rmw_gi
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return RMW_RET_OK;
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}
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extern "C" rmw_ret_t rmw_publisher_count_matched_subscriptions (const rmw_publisher_t *publisher, size_t *subscription_count)
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{
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(void) publisher;
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*subscription_count = 0;
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return RMW_RET_OK;
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}
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extern "C" rmw_ret_t rmw_destroy_publisher (rmw_node_t *node, rmw_publisher_t *publisher)
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{
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RET_WRONG_IMPLID (node);
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@ -494,7 +601,7 @@ static CddsSubscription *create_cdds_subscription (const rmw_node_t *node, const
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std::string fqtopic_name = make_fqtopic (ros_topic_prefix, topic_name, "", qos_policies);
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auto sertopic = create_sertopic (topic_name, type_support->typesupport_identifier, create_message_type_support (type_support->data, type_support->typesupport_identifier), false);
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auto sertopic = create_sertopic (fqtopic_name.c_str (), type_support->typesupport_identifier, create_message_type_support (type_support->data, type_support->typesupport_identifier), false);
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if ((topic = dds_create_topic_arbitrary (gcdds.ppant, sertopic, fqtopic_name.c_str (), nullptr, nullptr, nullptr)) < 0) {
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RMW_SET_ERROR_MSG ("failed to create topic");
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goto fail_topic;
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@ -511,7 +618,6 @@ static CddsSubscription *create_cdds_subscription (const rmw_node_t *node, const
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goto fail_readcond;
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}
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dds_delete_qos (qos);
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ddsi_sertopic_unref (sertopic);
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return sub;
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fail_readcond:
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if (dds_delete (sub->subh) < 0) {
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@ -523,7 +629,6 @@ static CddsSubscription *create_cdds_subscription (const rmw_node_t *node, const
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/* FIXME: leak topic */
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fail_topic:
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delete sub;
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ddsi_sertopic_unref (sertopic);
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return nullptr;
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}
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@ -536,7 +641,7 @@ extern "C" rmw_subscription_t *rmw_create_subscription (const rmw_node_t *node,
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}
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rmw_subscription = rmw_subscription_allocate ();
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RET_ALLOC_X (rmw_subscription, goto fail_subscription);
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rmw_subscription->implementation_identifier = adlink_cyclonedds_identifier;
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rmw_subscription->implementation_identifier = eclipse_cyclonedds_identifier;
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rmw_subscription->data = sub;
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rmw_subscription->topic_name = reinterpret_cast<const char *> (rmw_allocate (strlen (topic_name) + 1));
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RET_ALLOC_X (rmw_subscription->topic_name, goto fail_topic_name);
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@ -556,6 +661,13 @@ extern "C" rmw_subscription_t *rmw_create_subscription (const rmw_node_t *node,
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return nullptr;
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}
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extern "C" rmw_ret_t rmw_subscription_count_matched_publishers (const rmw_subscription_t *subscription, size_t *publisher_count)
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{
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(void) subscription;
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*publisher_count = 0;
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return RMW_RET_OK;
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}
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extern "C" rmw_ret_t rmw_destroy_subscription (rmw_node_t *node, rmw_subscription_t *subscription)
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{
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RET_WRONG_IMPLID (node);
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@ -588,7 +700,7 @@ static rmw_ret_t rmw_take_int (const rmw_subscription_t *subscription, void *ros
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while (dds_take (sub->subh, &ros_message, &info, 1, 1) == 1) {
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if (info.valid_data) {
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if (message_info) {
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message_info->publisher_gid.implementation_identifier = adlink_cyclonedds_identifier;
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message_info->publisher_gid.implementation_identifier = eclipse_cyclonedds_identifier;
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memset (message_info->publisher_gid.data, 0, sizeof (message_info->publisher_gid.data));
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assert (sizeof (info.publication_handle) <= sizeof (message_info->publisher_gid.data));
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memcpy (message_info->publisher_gid.data, &info.publication_handle, sizeof (info.publication_handle));
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@ -611,6 +723,20 @@ extern "C" rmw_ret_t rmw_take_with_info (const rmw_subscription_t *subscription,
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return rmw_take_int (subscription, ros_message, taken, message_info);
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}
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extern "C" rmw_ret_t rmw_take_serialized_message (const rmw_subscription_t *subscription, rmw_serialized_message_t *serialized_message, bool *taken)
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{
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(void) subscription; (void) serialized_message; (void) taken;
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RMW_SET_ERROR_MSG ("rmw_take_serialized_message not implemented");
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return RMW_RET_ERROR;
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}
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extern "C" 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)
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{
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(void) subscription; (void) serialized_message; (void) taken; (void) message_info;
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RMW_SET_ERROR_MSG ("rmw_take_serialized_message_with_info not implemented");
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return RMW_RET_ERROR;
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}
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/////////////////////////////////////////////////////////////////////////////////////////
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/////////// ///////////
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/////////// GUARDS AND WAITSETS ///////////
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@ -629,7 +755,7 @@ extern "C" rmw_guard_condition_t *rmw_create_guard_condition (rmw_context_t *con
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goto fail_guardcond;
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}
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guard_condition_handle = new rmw_guard_condition_t;
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guard_condition_handle->implementation_identifier = adlink_cyclonedds_identifier;
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guard_condition_handle->implementation_identifier = eclipse_cyclonedds_identifier;
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guard_condition_handle->data = gcond_impl;
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return guard_condition_handle;
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@ -666,7 +792,7 @@ extern "C" rmw_wait_set_t *rmw_create_wait_set (size_t max_conditions)
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rmw_wait_set_t *wait_set = rmw_wait_set_allocate ();
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CddsWaitset *ws = nullptr;
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RET_ALLOC_X (wait_set, goto fail_alloc_wait_set);
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wait_set->implementation_identifier = adlink_cyclonedds_identifier;
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wait_set->implementation_identifier = eclipse_cyclonedds_identifier;
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wait_set->data = rmw_allocate (sizeof (CddsWaitset));
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RET_ALLOC_X (wait_set->data, goto fail_alloc_wait_set_data);
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// This should default-construct the fields of CddsWaitset
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@ -999,8 +1125,6 @@ static rmw_ret_t rmw_init_cs (CddsCS *cs, const rmw_node_t *node, const rosidl_s
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goto fail_instance_handle;
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}
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dds_delete_qos (qos);
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ddsi_sertopic_unref (pub_st);
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ddsi_sertopic_unref (sub_st);
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cs->pub = pub;
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cs->sub = sub;
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@ -1019,8 +1143,6 @@ static rmw_ret_t rmw_init_cs (CddsCS *cs, const rmw_node_t *node, const rosidl_s
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fail_subtopic:
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/* leak pubtopic */
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fail_pubtopic:
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ddsi_sertopic_unref (pub_st);
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ddsi_sertopic_unref (sub_st);
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return RMW_RET_ERROR;
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}
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@ -1040,7 +1162,7 @@ extern "C" rmw_client_t *rmw_create_client (const rmw_node_t *node, const rosidl
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}
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rmw_client_t *rmw_client = rmw_client_allocate ();
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RET_NULL_X (rmw_client, goto fail_client);
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rmw_client->implementation_identifier = adlink_cyclonedds_identifier;
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rmw_client->implementation_identifier = eclipse_cyclonedds_identifier;
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rmw_client->data = info;
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rmw_client->service_name = reinterpret_cast<const char *> (rmw_allocate (strlen (service_name) + 1));
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RET_NULL_X (rmw_client->service_name, goto fail_service_name);
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@ -1074,7 +1196,7 @@ extern "C" rmw_service_t *rmw_create_service (const rmw_node_t *node, const rosi
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}
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rmw_service_t *rmw_service = rmw_service_allocate ();
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RET_NULL_X (rmw_service, goto fail_service);
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rmw_service->implementation_identifier = adlink_cyclonedds_identifier;
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rmw_service->implementation_identifier = eclipse_cyclonedds_identifier;
|
||||
rmw_service->data = info;
|
||||
rmw_service->service_name = reinterpret_cast<const char *> (rmw_allocate (strlen (service_name) + 1));
|
||||
RET_NULL_X (rmw_service->service_name, goto fail_service_name);
|
||||
|
|
@ -1277,7 +1399,7 @@ extern "C" rmw_ret_t rmw_get_service_names_and_types (const rmw_node_t *node, rc
|
|||
}
|
||||
|
||||
// Get participant pointer from node
|
||||
if (node->implementation_identifier != adlink_cyclonedds_identifier) {
|
||||
if (node->implementation_identifier != eclipse_cyclonedds_identifier) {
|
||||
RMW_SET_ERROR_MSG_ALLOC ("node handle not from this implementation", *allocator);
|
||||
return RMW_RET_ERROR;
|
||||
}
|
||||
|
|
@ -1397,7 +1519,7 @@ extern "C" rmw_ret_t rmw_service_server_is_available (const rmw_node_t * node, c
|
|||
|
||||
RMW_CHECK_TYPE_IDENTIFIERS_MATCH (
|
||||
node handle,
|
||||
node->implementation_identifier, adlink_cyclonedds_identifier,
|
||||
node->implementation_identifier, eclipse_cyclonedds_identifier,
|
||||
return RMW_RET_ERROR);
|
||||
|
||||
if (!client) {
|
||||
|
|
@ -1494,7 +1616,7 @@ extern "C" rmw_ret_t rmw_count_publishers (const rmw_node_t *node, const char *t
|
|||
return RMW_RET_ERROR;
|
||||
}
|
||||
// Get participant pointer from node
|
||||
if (node->implementation_identifier != eprosima_fastrtps_identifier) {
|
||||
if (node->implementation_identifier != eclipse_cyclonedds_identifier) {
|
||||
RMW_SET_ERROR_MSG ("node handle not from this implementation");
|
||||
return RMW_RET_ERROR;
|
||||
}
|
||||
|
|
@ -1534,7 +1656,7 @@ extern "C" rmw_ret_t rmw_count_subscribers (const rmw_node_t *node, const char *
|
|||
return RMW_RET_ERROR;
|
||||
}
|
||||
// Get participant pointer from node
|
||||
if (node->implementation_identifier != eprosima_fastrtps_identifier) {
|
||||
if (node->implementation_identifier != eclipse_cyclonedds_identifier) {
|
||||
RMW_SET_ERROR_MSG ("node handle not from this implementation");
|
||||
return RMW_RET_ERROR;
|
||||
}
|
||||
|
|
@ -1563,3 +1685,21 @@ extern "C" rmw_ret_t rmw_count_subscribers (const rmw_node_t *node, const char *
|
|||
return RMW_RET_TIMEOUT;
|
||||
#endif
|
||||
}
|
||||
|
||||
extern "C" rmw_ret_t rmw_get_subscriber_names_and_types_by_node (const rmw_node_t *node, rcutils_allocator_t *allocator, const char *node_name, const char *node_namespace, bool no_demangle, rmw_names_and_types_t *topic_names_and_types)
|
||||
{
|
||||
(void) node; (void) allocator; (void) node_name; (void) node_namespace; (void) no_demangle; (void) topic_names_and_types;
|
||||
return RMW_RET_TIMEOUT;
|
||||
}
|
||||
|
||||
extern "C" rmw_ret_t rmw_get_publisher_names_and_types_by_node (const rmw_node_t *node, rcutils_allocator_t *allocator, const char *node_name, const char *node_namespace, bool no_demangle, rmw_names_and_types_t *topic_names_and_types)
|
||||
{
|
||||
(void) node; (void) allocator; (void) node_name; (void) node_namespace; (void) no_demangle; (void) topic_names_and_types;
|
||||
return RMW_RET_TIMEOUT;
|
||||
}
|
||||
|
||||
extern "C" rmw_ret_t rmw_get_service_names_and_types_by_node (const rmw_node_t *node, rcutils_allocator_t *allocator, const char *node_name, const char *node_namespace, bool no_demangle, rmw_names_and_types_t *topic_names_and_types)
|
||||
{
|
||||
(void) node; (void) allocator; (void) node_name; (void) node_namespace; (void) no_demangle; (void) topic_names_and_types;
|
||||
return RMW_RET_TIMEOUT;
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue