From fa27d8bdc2a7e5769cb7b9beb2be14605601adbd Mon Sep 17 00:00:00 2001
From: William Woodall <william@osrfoundation.org>
Date: Wed, 21 Nov 2018 13:51:09 -0600
Subject: [PATCH] add missing rmw_shutdown

---
 rmw_connext_cpp/src/rmw_init.cpp          | 14 ++++++++++++++
 rmw_connext_dynamic_cpp/src/functions.cpp | 14 ++++++++++++++
 2 files changed, 28 insertions(+)

diff --git a/rmw_connext_cpp/src/rmw_init.cpp b/rmw_connext_cpp/src/rmw_init.cpp
index 0b913ec8..4b081ebb 100644
--- a/rmw_connext_cpp/src/rmw_init.cpp
+++ b/rmw_connext_cpp/src/rmw_init.cpp
@@ -84,4 +84,18 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
   context->impl = nullptr;
   return init();
 }
+
+rmw_ret_t
+rmw_shutdown(rmw_context_t * context)
+{
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    context,
+    context->implementation_identifier,
+    rti_connext_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(context->impl, RMW_RET_INVALID_ARGUMENT);
+  *context = rmw_get_zero_initialized_context();
+  return RMW_RET_OK;
+}
 }  // extern "C"
diff --git a/rmw_connext_dynamic_cpp/src/functions.cpp b/rmw_connext_dynamic_cpp/src/functions.cpp
index 13c54fe2..27470f73 100644
--- a/rmw_connext_dynamic_cpp/src/functions.cpp
+++ b/rmw_connext_dynamic_cpp/src/functions.cpp
@@ -266,6 +266,20 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
   return init();
 }
 
+rmw_ret_t
+rmw_shutdown(rmw_context_t * context)
+{
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    context,
+    context->implementation_identifier,
+    rti_connext_dynamic_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(context->impl, RMW_RET_INVALID_ARGUMENT);
+  *context = rmw_get_zero_initialized_context();
+  return RMW_RET_OK;
+}
+
 rmw_node_t *
 rmw_create_node(
   rmw_context_t * context,