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zero copy api for cyclonedds

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Signed-off-by: Karsten Knese <karsten@openrobotics.org>
This commit is contained in:
Karsten Knese 2019-10-20 22:15:24 -07:00 • committed by eboasson
parent d47de860aa
commit d8cb336f8f
1 changed files with 82 additions and 0 deletions
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82
rmw_cyclonedds_cpp/src/rmw_node.cpp
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@ -802,6 +802,19 @@ extern "C" rmw_ret_t rmw_publish_serialized_message(
return ok ? RMW_RET_OK : RMW_RET_ERROR; return ok ? RMW_RET_OK : RMW_RET_ERROR;
} }
extern "C" rmw_ret_t rmw_publish_loaned_message(
const rmw_publisher_t * publisher,
void * ros_message,
rmw_publisher_allocation_t * allocation)
{
(void) publisher;
(void) ros_message;
(void) allocation;
RMW_SET_ERROR_MSG("rmw_publish_loaned_message not implemented for rmw_cyclonedds_cpp");
return RMW_RET_UNSUPPORTED;
}
static const rosidl_message_type_support_t * get_typesupport( static const rosidl_message_type_support_t * get_typesupport(
const rosidl_message_type_support_t * type_supports) const rosidl_message_type_support_t * type_supports)
{ {
@ -1199,6 +1212,31 @@ rmw_ret_t rmw_publisher_get_actual_qos(const rmw_publisher_t * publisher, rmw_qo
} }
} }
extern "C" rmw_ret_t rmw_borrow_loaned_message(
const rmw_publisher_t * publisher,
const rosidl_message_type_support_t * type_support,
void ** ros_message)
{
(void) publisher;
(void) type_support;
(void) ros_message;
RMW_SET_ERROR_MSG("rmw_borrow_loaned_message not implemented for rmw_cyclonedds_cpp");
return RMW_RET_UNSUPPORTED;
}
extern "C" rmw_ret_t rmw_return_loaned_message_from_publisher(
const rmw_publisher_t * publisher,
void * loaned_message)
{
(void) publisher;
(void) loaned_message;
RMW_SET_ERROR_MSG(
"rmw_return_loaned_message_from_publisher not implemented for rmw_cyclonedds_cpp");
return RMW_RET_UNSUPPORTED;
}
extern "C" rmw_ret_t rmw_destroy_publisher(rmw_node_t * node, rmw_publisher_t * publisher) extern "C" rmw_ret_t rmw_destroy_publisher(rmw_node_t * node, rmw_publisher_t * publisher)
{ {
RET_WRONG_IMPLID(node); RET_WRONG_IMPLID(node);
@ -1511,6 +1549,50 @@ extern "C" rmw_ret_t rmw_take_serialized_message_with_info(
return rmw_take_ser_int(subscription, serialized_message, taken, message_info); return rmw_take_ser_int(subscription, serialized_message, taken, message_info);
} }
extern "C" rmw_ret_t rmw_take_loaned_message(
const rmw_subscription_t * subscription,
void ** loaned_message,
bool * taken,
rmw_subscription_allocation_t * allocation)
{
(void) subscription;
(void) loaned_message;
(void) taken;
(void) allocation;
RMW_SET_ERROR_MSG("rmw_take_loaned_message not implemented for rmw_cyclonedds_cpp");
return RMW_RET_UNSUPPORTED;
}
extern "C" rmw_ret_t rmw_take_loaned_message_with_info(
const rmw_subscription_t * subscription,
void ** loaned_message,
bool * taken,
rmw_message_info_t * message_info,
rmw_subscription_allocation_t * allocation)
{
(void) subscription;
(void) loaned_message;
(void) taken;
(void) message_info;
(void) allocation;
RMW_SET_ERROR_MSG("rmw_take_loaned_message_with_info not implemented for rmw_cyclonedds_cpp");
return RMW_RET_UNSUPPORTED;
}
extern "C" rmw_ret_t rmw_return_loaned_message_from_subscription(
const rmw_subscription_t * subscription,
void * loaned_message)
{
(void) subscription;
(void) loaned_message;
RMW_SET_ERROR_MSG(
"rmw_release_loaned_message_from_subscription not implemented for rmw_cyclonedds_cpp");
return RMW_RET_UNSUPPORTED;
}
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)