Create branch eloquent to support Eloquent (#18)

* Remove all feature flags and support Eloquent only Signed-off-by: Andrea Sorbini <asorbini@rti.com>
ros2 · Mar 29, 2021 · 83bfd82 · 83bfd82
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diff --git a/README.md b/README.md
@@ -81,12 +81,20 @@ The following table summarizes which branch of the repository should be
 checked out in order to compile the RMW implementations for a specific ROS 2
 release:
 
-|ROS 2 Release|Branch|
-|-------------|------|
-|Rolling      |`master`|
-|Foxy         |`master`|
-|Eloquent     |`dashing`|
-|Dashing      |`dashing`|
+|ROS 2 Release|Branch|Status|
+|-------------|------|------|
+|Rolling      |`master`|Developed|
+|Foxy         |`foxy`|LTS (May 2023)|
+|Eloquent     |`eloquent`|EOL (Nov 2020)|
+|Dashing      |`dashing`|LTS (May 2021)|
+
+Branch `master` is actively developed and maintained. It is used to create
+other branches for specific ROS 2 releases (starting from Galactic).
+
+Branches marked as `LTS` will receive updates for critical bug fixes and
+important patches only (until they reach `EOL`).
+
+Branches marked as `EOL` will not receive any future updates.
 
 ## RTI Connext DDS Requirements
 

diff --git a/rmw_connextdds/CMakeLists.txt b/rmw_connextdds/CMakeLists.txt
@@ -47,13 +47,7 @@ target_include_directories(${PROJECT_NAME} PRIVATE
 target_link_libraries(${PROJECT_NAME}
     rmw_connextdds_common::rmw_connextdds_common_pro)
 
-# Unless we need to link the rmw_dds_common shim library generated
-# by rmw_connextdds_common (produced if RMW_CONNEXT_PROVIDE_RMW_DDS_COMMON)
-# we don't need to call ament_target_dependencies() since we are already
-# linking library rmw_connextdds_common_pro above.
-if(RMW_CONNEXT_PROVIDE_RMW_DDS_COMMON)
-  ament_target_dependencies(${PROJECT_NAME} rmw_connextdds_common)
-endif()
+ament_target_dependencies(${PROJECT_NAME} rmw_connextdds_common)
 
 configure_rmw_library(${PROJECT_NAME})
 

diff --git a/rmw_connextdds/src/rmw_api_impl_ndds.cpp b/rmw_connextdds/src/rmw_api_impl_ndds.cpp
@@ -287,40 +287,13 @@ rmw_node_t *
 rmw_create_node(
   rmw_context_t * context,
   const char * name,
-  const char * ns
-#if RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_DASHING
-  ,
-  size_t domain_id,
-  const rmw_node_security_options_t * security_options
-#elif RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_ELOQUENT
-  ,
+  const char * ns,
   size_t domain_id,
   const rmw_node_security_options_t * security_options,
-  bool localhost_only
-#elif RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_FOXY
-  ,
-  size_t domain_id,
-  bool localhost_only
-#endif /* RMW_CONNEXT_RELEASE */
-)
+  bool localhost_only)
 {
   return rmw_api_connextdds_create_node(
-    context, name, ns
-#if RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_DASHING
-    ,
-    domain_id,
-    security_options
-#elif RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_ELOQUENT
-    ,
-    domain_id,
-    security_options,
-    localhost_only
-#elif RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_FOXY
-    ,
-    domain_id,
-    localhost_only
-#endif /* RMW_CONNEXT_RELEASE */
-  );
+    context, name, ns, domain_id, security_options, localhost_only);
 }
 
 
@@ -337,14 +310,11 @@ rmw_node_get_graph_guard_condition(const rmw_node_t * rmw_node)
   return rmw_api_connextdds_node_get_graph_guard_condition(rmw_node);
 }
 
-#if RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_ELOQUENT
-
 rmw_ret_t
 rmw_node_assert_liveliness(const rmw_node_t * node)
 {
   return rmw_api_connextdds_node_assert_liveliness(node);
 }
-#endif /* RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_ELOQUENT */
 
 /*****************************************************************************
  * Publication API
@@ -385,21 +355,11 @@ rmw_publish_loaned_message(
 rmw_ret_t
 rmw_init_publisher_allocation(
   const rosidl_message_type_support_t * type_support,
-#if RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_ELOQUENT
   const rosidl_message_bounds_t * message_bounds,
-#else
-  const rosidl_runtime_c__Sequence__bound * message_bounds,
-#endif /* RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_ELOQUENT */
   rmw_publisher_allocation_t * allocation)
 {
   return rmw_api_connextdds_init_publisher_allocation(
-    type_support,
-#if RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_ELOQUENT
-    message_bounds,
-#else
-    message_bounds,
-#endif /* RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_ELOQUENT */
-    allocation);
+    type_support, message_bounds, allocation);
 }
 
 
@@ -416,19 +376,11 @@ rmw_create_publisher(
   const rmw_node_t * node,
   const rosidl_message_type_support_t * type_supports,
   const char * topic_name,
-  const rmw_qos_profile_t * qos_policies
-#if RMW_CONNEXT_HAVE_OPTIONS_PUBSUB
-  ,
-  const rmw_publisher_options_t * publisher_options
-#endif /* RMW_CONNEXT_HAVE_OPTIONS_PUBSUB */
-)
+  const rmw_qos_profile_t * qos_policies,
+  const rmw_publisher_options_t * publisher_options)
 {
   return rmw_api_connextdds_create_publisher(
-    node, type_supports, topic_name, qos_policies
-#if RMW_CONNEXT_HAVE_OPTIONS_PUBSUB
-    , publisher_options
-#endif /* RMW_CONNEXT_HAVE_OPTIONS_PUBSUB */
-  );
+    node, type_supports, topic_name, qos_policies, publisher_options);
 }
 
 
@@ -518,21 +470,11 @@ rmw_destroy_publisher(
 rmw_ret_t
 rmw_get_serialized_message_size(
   const rosidl_message_type_support_t * type_supports,
-#if RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_ELOQUENT
   const rosidl_message_bounds_t * message_bounds,
-#else
-  const rosidl_runtime_c__Sequence__bound * message_bounds,
-#endif /* RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_ELOQUENT */
   size_t * size)
 {
   return rmw_api_connextdds_get_serialized_message_size(
-    type_supports,
-#if RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_ELOQUENT
-    message_bounds,
-#else
-    message_bounds,
-#endif /* RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_ELOQUENT */
-    size);
+    type_supports, message_bounds, size);
 }
 
 
@@ -564,21 +506,13 @@ rmw_deserialize(
 rmw_ret_t
 rmw_take_response(
   const rmw_client_t * client,
-#if RMW_CONNEXT_HAVE_SERVICE_INFO
-  rmw_service_info_t * request_header,
-#else
   rmw_request_id_t * request_header,
-#endif /* RMW_CONNEXT_HAVE_SERVICE_INFO */
   void * ros_response,
   bool * taken)
 {
   return rmw_api_connextdds_take_response(
     client,
-#if RMW_CONNEXT_HAVE_SERVICE_INFO
-    request_header,
-#else
     request_header,
-#endif /* RMW_CONNEXT_HAVE_SERVICE_INFO */
     ros_response,
     taken);
 }
@@ -587,21 +521,13 @@ rmw_take_response(
 rmw_ret_t
 rmw_take_request(
   const rmw_service_t * service,
-#if RMW_CONNEXT_HAVE_SERVICE_INFO
-  rmw_service_info_t * request_header,
-#else
   rmw_request_id_t * request_header,
-#endif /* RMW_CONNEXT_HAVE_SERVICE_INFO */
   void * ros_request,
   bool * taken)
 {
   return rmw_api_connextdds_take_request(
     service,
-#if RMW_CONNEXT_HAVE_SERVICE_INFO
     request_header,
-#else
-    request_header,
-#endif /* RMW_CONNEXT_HAVE_SERVICE_INFO */
     ros_request,
     taken);
 }
@@ -674,21 +600,11 @@ rmw_destroy_service(
 rmw_ret_t
 rmw_init_subscription_allocation(
   const rosidl_message_type_support_t * type_support,
-#if RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_ELOQUENT
   const rosidl_message_bounds_t * message_bounds,
-#else
-  const rosidl_runtime_c__Sequence__bound * message_bounds,
-#endif /* RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_ELOQUENT */
   rmw_subscription_allocation_t * allocation)
 {
   return rmw_api_connextdds_init_subscription_allocation(
-    type_support,
-#if RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_ELOQUENT
-    message_bounds,
-#else
-    message_bounds,
-#endif /* RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_ELOQUENT */
-    allocation);
+    type_support, message_bounds, allocation);
 }
 
 
@@ -706,21 +622,10 @@ rmw_create_subscription(
   const rosidl_message_type_support_t * type_supports,
   const char * topic_name,
   const rmw_qos_profile_t * qos_policies,
-#if RMW_CONNEXT_HAVE_OPTIONS_PUBSUB
-  const rmw_subscription_options_t * subscription_options
-#else
-  bool ignore_local_publications
-#endif /* RMW_CONNEXT_HAVE_OPTIONS_PUBSUB */
-)
+  const rmw_subscription_options_t * subscription_options)
 {
   return rmw_api_connextdds_create_subscription(
-    node, type_supports, topic_name, qos_policies,
-#if RMW_CONNEXT_HAVE_OPTIONS_PUBSUB
-    subscription_options
-#else
-    ignore_local_publications
-#endif /* RMW_CONNEXT_HAVE_OPTIONS_PUBSUB */
-  );
+    node, type_supports, topic_name, qos_policies, subscription_options);
 }
 
 
@@ -775,25 +680,6 @@ rmw_take_with_info(
     subscription, ros_message, taken, message_info, allocation);
 }
 
-#if RMW_CONNEXT_HAVE_TAKE_SEQ
-
-rmw_ret_t
-rmw_take_sequence(
-  const rmw_subscription_t * subscription,
-  size_t count,
-  rmw_message_sequence_t * message_sequence,
-  rmw_message_info_sequence_t * message_info_sequence,
-  size_t * taken,
-  rmw_subscription_allocation_t * allocation)
-{
-  return rmw_api_connextdds_take_sequence(
-    subscription, count, message_sequence, message_info_sequence,
-    taken, allocation);
-}
-
-#endif /* RMW_CONNEXT_HAVE_TAKE_SEQ */
-
-
 rmw_ret_t
 rmw_take_serialized_message(
   const rmw_subscription_t * subscription,
@@ -910,25 +796,3 @@ rmw_wait(
   return rmw_api_connextdds_wait(
     subs, gcs, srvs, cls, evs, wait_set, wait_timeout);
 }
-
-
-/******************************************************************************
- * QoS Profile functions
- ******************************************************************************/
-#if RMW_CONNEXT_HAVE_QOS_PROFILE_API
-rmw_ret_t
-rmw_qos_profile_check_compatible(
-  const rmw_qos_profile_t publisher_profile,
-  const rmw_qos_profile_t subscription_profile,
-  rmw_qos_compatibility_type_t * compatibility,
-  char * reason,
-  size_t reason_size)
-{
-  return rmw_api_connextdds_qos_profile_check_compatible(
-    publisher_profile,
-    subscription_profile,
-    compatibility,
-    reason,
-    reason_size);
-}
-#endif /* RMW_CONNEXT_HAVE_QOS_PROFILE_API */