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pass context to wait set, and provide fini function for context #163

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Jan 25, 2019
Merged

pass context to wait set, and provide fini function for context #163

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f7f7d58
pass context to wait set
wjwwood Jan 10, 2019
c518842
add fini for context
wjwwood Jan 10, 2019
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27 changes: 27 additions & 0 deletions rmw/include/rmw/init.h
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Original file line number Diff line number Diff line change
Expand Up @@ -108,6 +108,33 @@ RMW_WARN_UNUSED
rmw_ret_t
rmw_shutdown(rmw_context_t * context);

/// Finalize a context.
/**
* The context to be finalized must have been previously initialized with
* `rmw_init()`, and then later invalidated with `rmw_shutdown()`.
* If context is `NULL`, then `RMW_RET_INVALID_ARGUMENT` is returned.
* If context is zero-initialized, then `RMW_RET_INVALID_ARGUMENT` is returned.
* If context is initialized and valid (`rmw_shutdown()` was not called on it),
* then `RMW_RET_INVALID_ARGUMENT` is returned.
*
* <hr>
* Attribute | Adherence
* ------------------ | -------------
* Allocates Memory | Yes
* Thread-Safe | No
* Uses Atomics | Yes
* Lock-Free | Yes [1]
* <i>[1] if `atomic_is_lock_free()` returns true for `atomic_uint_least64_t`</i>
*
* \return `RMW_RET_OK` if the shutdown was completed successfully, or
* \return `RMW_RET_INVALID_ARGUMENT` if any arguments are invalid, or
* \return `RMW_RET_ERROR` if an unspecified error occur.
*/
RMW_PUBLIC
RMW_WARN_UNUSED
rmw_ret_t
rmw_context_fini(rmw_context_t * context);
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#ifdef __cplusplus
}
#endif
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10 changes: 9 additions & 1 deletion rmw/include/rmw/rmw.h
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Expand Up @@ -521,18 +521,26 @@ rmw_trigger_guard_condition(const rmw_guard_condition_t * guard_condition);

/// Create a wait set to store conditions that the middleware will block on.
/**
* This function can fail, and therefore return `NULL`, if:
* - context is `NULL`
* - context is invalid
* - memory allocation fails during wait set creation
* - an unspecified error occurs
*
* If `max_conditions` is `0`, the wait set can store an unbounded number of
* conditions to wait on.
* If `max_conditions` is greater than `0`, the number of conditions that can
* be attached to the wait set is bounded at `max_conditions`.
*
* \param[in] context init context that this node should be associated with
* \param[in] max_conditions
* The maximum number of conditions that can be attached to the wait set.
* \return A pointer to the created wait set, `NULL` if an error occurred.
*/
RMW_PUBLIC
RMW_WARN_UNUSED
rmw_wait_set_t *
rmw_create_wait_set(size_t max_conditions);
rmw_create_wait_set(rmw_context_t * context, size_t max_conditions);

RMW_PUBLIC
RMW_WARN_UNUSED
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