From 8fafb3ec0af12443683c0ff95648f79841f92476 Mon Sep 17 00:00:00 2001 From: Ivan Santiago Paunovic Date: Tue, 12 May 2020 14:51:41 -0300 Subject: [PATCH] Remove MANUAL_BY_NODE liveliness API (#178) Signed-off-by: Ivan Santiago Paunovic --- rmw_cyclonedds_cpp/src/rmw_node.cpp | 16 +++------------- 1 file changed, 3 insertions(+), 13 deletions(-) diff --git a/rmw_cyclonedds_cpp/src/rmw_node.cpp b/rmw_cyclonedds_cpp/src/rmw_node.cpp index 0aa015d..71af8f4 100644 --- a/rmw_cyclonedds_cpp/src/rmw_node.cpp +++ b/rmw_cyclonedds_cpp/src/rmw_node.cpp @@ -1135,15 +1135,6 @@ extern "C" rmw_ret_t rmw_context_fini(rmw_context_t * context) /////////// /////////// ///////////////////////////////////////////////////////////////////////////////////////// -extern "C" rmw_ret_t rmw_node_assert_liveliness(const rmw_node_t * node) -{ - RET_WRONG_IMPLID(node); - if (dds_assert_liveliness(node->context->impl->ppant) != DDS_RETCODE_OK) { - return RMW_RET_ERROR; - } - return RMW_RET_OK; -} - extern "C" rmw_node_t * rmw_create_node( rmw_context_t * context, const char * name, const char * namespace_, size_t domain_id, @@ -1566,12 +1557,11 @@ static dds_qos_t * create_readwrite_qos( case RMW_QOS_POLICY_LIVELINESS_UNKNOWN: dds_qset_liveliness(qos, DDS_LIVELINESS_AUTOMATIC, ldur); break; - case RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE: - dds_qset_liveliness(qos, DDS_LIVELINESS_MANUAL_BY_PARTICIPANT, ldur); - break; case RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC: dds_qset_liveliness(qos, DDS_LIVELINESS_MANUAL_BY_TOPIC, ldur); break; + default: + rmw_cyclonedds_cpp::unreachable(); } if (ignore_local_publications) { dds_qset_ignorelocal(qos, DDS_IGNORELOCAL_PARTICIPANT); @@ -1696,7 +1686,7 @@ static bool dds_qos_to_rmw_qos(const dds_qos_t * dds_qos, rmw_qos_profile_t * qo qos_policies->liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC; break; case DDS_LIVELINESS_MANUAL_BY_PARTICIPANT: - qos_policies->liveliness = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE; + qos_policies->liveliness = RMW_QOS_POLICY_LIVELINESS_UNKNOWN; break; case DDS_LIVELINESS_MANUAL_BY_TOPIC: qos_policies->liveliness = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC;