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update signature for added pub/sub options #46

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update signature for added pub/sub options #46

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10 changes: 7 additions & 3 deletions rmw_cyclonedds_cpp/src/rmw_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1088,10 +1088,11 @@ extern "C" rmw_ret_t rmw_fini_publisher_allocation(rmw_publisher_allocation_t *
extern "C" rmw_publisher_t * 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)
const rmw_qos_profile_t * qos_policies, const rmw_publisher_options_t * publisher_options)
{
CddsPublisher * pub;
rmw_publisher_t * rmw_publisher;
RET_NULL_X(publisher_options, return nullptr);
if ((pub = create_cdds_publisher(node, type_supports, topic_name, qos_policies)) == nullptr) {
goto fail_common_init;
}
Expand All @@ -1102,6 +1103,7 @@ extern "C" rmw_publisher_t * rmw_create_publisher(
rmw_publisher->topic_name = reinterpret_cast<char *>(rmw_allocate(strlen(topic_name) + 1));
RET_ALLOC_X(rmw_publisher->topic_name, goto fail_topic_name);
memcpy(const_cast<char *>(rmw_publisher->topic_name), topic_name, strlen(topic_name) + 1);
rmw_publisher->options = *publisher_options;
return rmw_publisher;
fail_topic_name:
rmw_publisher_free(rmw_publisher);
Expand Down Expand Up @@ -1273,13 +1275,14 @@ extern "C" rmw_ret_t rmw_fini_subscription_allocation(rmw_subscription_allocatio
extern "C" rmw_subscription_t * rmw_create_subscription(
const rmw_node_t * node,
const rosidl_message_type_support_t * type_supports, const char * topic_name,
const rmw_qos_profile_t * qos_policies, bool ignore_local_publications)
const rmw_qos_profile_t * qos_policies, const rmw_subscription_options_t * subscription_options)
{
CddsSubscription * sub;
rmw_subscription_t * rmw_subscription;
RET_NULL_X(subscription_options, return nullptr);
if ((sub =
create_cdds_subscription(node, type_supports, topic_name, qos_policies,
ignore_local_publications)) == nullptr)
subscription_options->ignore_local_publications)) == nullptr)
{
goto fail_common_init;
}
Expand All @@ -1291,6 +1294,7 @@ extern "C" rmw_subscription_t * rmw_create_subscription(
reinterpret_cast<const char *>(rmw_allocate(strlen(topic_name) + 1));
RET_ALLOC_X(rmw_subscription->topic_name, goto fail_topic_name);
memcpy(const_cast<char *>(rmw_subscription->topic_name), topic_name, strlen(topic_name) + 1);
rmw_subscription->options = *subscription_options;
return rmw_subscription;
fail_topic_name:
rmw_subscription_free(rmw_subscription);
Expand Down