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Updates for preallocation API. #274

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merged 4 commits into from
May 2, 2019
Merged

Updates for preallocation API. #274

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2090bd3
Updates for preallocation API.
mjcarroll Apr 30, 2019
d53d485
Add allocation to serialized methods.
mjcarroll May 1, 2019
e3e2625
Stub for serialized message size.
mjcarroll May 1, 2019
e0ea3ce
Address reviewer feedback.
mjcarroll May 1, 2019
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14 changes: 10 additions & 4 deletions rmw_fastrtps_cpp/src/rmw_publish.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,17 +26,23 @@
extern "C"
{
rmw_ret_t
rmw_publish(const rmw_publisher_t * publisher, const void * ros_message)
rmw_publish(
const rmw_publisher_t * publisher,
const void * ros_message,
rmw_publisher_allocation_t * allocation)
{
(void) allocation;
return rmw_fastrtps_shared_cpp::__rmw_publish(
eprosima_fastrtps_identifier, publisher, ros_message);
eprosima_fastrtps_identifier, publisher, ros_message, allocation);
}

rmw_ret_t
rmw_publish_serialized_message(
const rmw_publisher_t * publisher, const rmw_serialized_message_t * serialized_message)
const rmw_publisher_t * publisher,
const rmw_serialized_message_t * serialized_message,
rmw_publisher_allocation_t * allocation)
{
return rmw_fastrtps_shared_cpp::__rmw_publish_serialized_message(
eprosima_fastrtps_identifier, publisher, serialized_message);
eprosima_fastrtps_identifier, publisher, serialized_message, allocation);
}
} // extern "C"
21 changes: 21 additions & 0 deletions rmw_fastrtps_cpp/src/rmw_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,27 @@ using TopicDataType = eprosima::fastrtps::TopicDataType;

extern "C"
{
rmw_ret_t
rmw_init_publisher_allocation(
const rosidl_message_type_support_t * type_support,
const rosidl_message_bounds_t * message_bounds,
rmw_publisher_allocation_t * allocation)
{
// Unused in current implementation.
(void) type_support;
(void) message_bounds;
(void) allocation;
return RMW_RET_OK;
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I know that this is a stub that is meant to be filled out later. But until later comes, I think this should probably return an error since we aren't actually doing what the user asked. Same below. Thoughts?

}

rmw_ret_t
rmw_fini_publisher_allocation(rmw_publisher_allocation_t * allocation)
{
// Unused in current implementation.
(void) allocation;
return RMW_RET_OK;
}

rmw_publisher_t *
rmw_create_publisher(
const rmw_node_t * node,
Expand Down
10 changes: 10 additions & 0 deletions rmw_fastrtps_cpp/src/rmw_serialize.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -89,4 +89,14 @@ rmw_deserialize(
delete tss;
return ret == true ? RMW_RET_OK : RMW_RET_ERROR;
}

rmw_ret_t
rmw_get_serialized_message_size(
const rosidl_message_type_support_t * /*type_support*/,
const rosidl_message_bounds_t * /*message_bounds*/,
size_t * /*size*/)
{
RMW_SET_ERROR_MSG("unimplemented");
return RMW_RET_ERROR;
}
} // extern "C"
19 changes: 19 additions & 0 deletions rmw_fastrtps_cpp/src/rmw_subscription.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,25 @@ using TopicDataType = eprosima::fastrtps::TopicDataType;

extern "C"
{
rmw_ret_t
rmw_init_subscription_allocation(
const rosidl_message_type_support_t * type_support,
const rosidl_message_bounds_t * message_bounds,
rmw_subscription_allocation_t * allocation)
{
(void) type_support;
(void) message_bounds;
(void) allocation;
return RMW_RET_OK;
}

rmw_ret_t
rmw_fini_subscription_allocation(rmw_subscription_allocation_t * allocation)
{
(void) allocation;
return RMW_RET_OK;
}

rmw_subscription_t *
rmw_create_subscription(
const rmw_node_t * node,
Expand Down
26 changes: 18 additions & 8 deletions rmw_fastrtps_cpp/src/rmw_take.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -24,41 +24,51 @@
extern "C"
{
rmw_ret_t
rmw_take(const rmw_subscription_t * subscription, void * ros_message, bool * taken)
rmw_take(
const rmw_subscription_t * subscription,
void * ros_message,
bool * taken,
rmw_subscription_allocation_t * allocation)
{
(void) allocation;
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return rmw_fastrtps_shared_cpp::__rmw_take(
eprosima_fastrtps_identifier, subscription, ros_message, taken);
eprosima_fastrtps_identifier, subscription, ros_message, taken, allocation);
}

rmw_ret_t
rmw_take_with_info(
const rmw_subscription_t * subscription,
void * ros_message,
bool * taken,
rmw_message_info_t * message_info)
rmw_message_info_t * message_info,
rmw_subscription_allocation_t * allocation)
{
(void) allocation;
return rmw_fastrtps_shared_cpp::__rmw_take_with_info(
eprosima_fastrtps_identifier, subscription, ros_message, taken, message_info);
eprosima_fastrtps_identifier, subscription, ros_message, taken, message_info, allocation);
}

rmw_ret_t
rmw_take_serialized_message(
const rmw_subscription_t * subscription,
rmw_serialized_message_t * serialized_message,
bool * taken)
bool * taken,
rmw_subscription_allocation_t * allocation)
{
return rmw_fastrtps_shared_cpp::__rmw_take_serialized_message(
eprosima_fastrtps_identifier, subscription, serialized_message, taken);
eprosima_fastrtps_identifier, subscription, serialized_message, taken, allocation);
}

rmw_ret_t
rmw_take_serialized_message_with_info(
const rmw_subscription_t * subscription,
rmw_serialized_message_t * serialized_message,
bool * taken,
rmw_message_info_t * message_info)
rmw_message_info_t * message_info,
rmw_subscription_allocation_t * allocation)
{
return rmw_fastrtps_shared_cpp::__rmw_take_serialized_message_with_info(
eprosima_fastrtps_identifier, subscription, serialized_message, taken, message_info);
eprosima_fastrtps_identifier, subscription, serialized_message, taken, message_info,
allocation);
}
} // extern "C"
13 changes: 9 additions & 4 deletions rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,17 +26,22 @@
extern "C"
{
rmw_ret_t
rmw_publish(const rmw_publisher_t * publisher, const void * ros_message)
rmw_publish(
const rmw_publisher_t * publisher,
const void * ros_message,
rmw_publisher_allocation_t * allocation)
{
return rmw_fastrtps_shared_cpp::__rmw_publish(
eprosima_fastrtps_identifier, publisher, ros_message);
eprosima_fastrtps_identifier, publisher, ros_message, allocation);
}

rmw_ret_t
rmw_publish_serialized_message(
const rmw_publisher_t * publisher, const rmw_serialized_message_t * serialized_message)
const rmw_publisher_t * publisher,
const rmw_serialized_message_t * serialized_message,
rmw_publisher_allocation_t * allocation)
{
return rmw_fastrtps_shared_cpp::__rmw_publish_serialized_message(
eprosima_fastrtps_identifier, publisher, serialized_message);
eprosima_fastrtps_identifier, publisher, serialized_message, allocation);
}
} // extern "C"
21 changes: 21 additions & 0 deletions rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,27 @@ using TopicDataType = eprosima::fastrtps::TopicDataType;

extern "C"
{
rmw_ret_t
rmw_init_publisher_allocation(
const rosidl_message_type_support_t * type_support,
const rosidl_message_bounds_t * message_bounds,
rmw_publisher_allocation_t * allocation)
{
// Unused in current implementation.
(void) type_support;
(void) message_bounds;
(void) allocation;
return RMW_RET_OK;
}

rmw_ret_t
rmw_fini_publisher_allocation(rmw_publisher_allocation_t * allocation)
{
// Unused in current implementation.
(void) allocation;
return RMW_RET_OK;
}

rmw_publisher_t *
rmw_create_publisher(
const rmw_node_t * node,
Expand Down
10 changes: 10 additions & 0 deletions rmw_fastrtps_dynamic_cpp/src/rmw_serialize.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -88,4 +88,14 @@ rmw_deserialize(
delete tss;
return ret == true ? RMW_RET_OK : RMW_RET_ERROR;
}

rmw_ret_t
rmw_get_serialized_message_size(
const rosidl_message_type_support_t * /*type_support*/,
const rosidl_message_bounds_t * /*message_bounds*/,
size_t * /*size*/)
{
RMW_SET_ERROR_MSG("unimplemented");
return RMW_RET_ERROR;
}
} // extern "C"
21 changes: 21 additions & 0 deletions rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,27 @@ using TopicDataType = eprosima::fastrtps::TopicDataType;

extern "C"
{
rmw_ret_t
rmw_init_subscription_allocation(
const rosidl_message_type_support_t * type_support,
const rosidl_message_bounds_t * message_bounds,
rmw_subscription_allocation_t * allocation)
{
// Unused in current implementation.
(void) type_support;
(void) message_bounds;
(void) allocation;
return RMW_RET_OK;
}

rmw_ret_t
rmw_fini_subscription_allocation(rmw_subscription_allocation_t * allocation)
{
// Unused in current implementation.
(void) allocation;
return RMW_RET_OK;
}

rmw_subscription_t *
rmw_create_subscription(
const rmw_node_t * node,
Expand Down
24 changes: 16 additions & 8 deletions rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -24,41 +24,49 @@
extern "C"
{
rmw_ret_t
rmw_take(const rmw_subscription_t * subscription, void * ros_message, bool * taken)
rmw_take(
const rmw_subscription_t * subscription,
void * ros_message,
bool * taken,
rmw_subscription_allocation_t * allocation)
{
return rmw_fastrtps_shared_cpp::__rmw_take(
eprosima_fastrtps_identifier, subscription, ros_message, taken);
eprosima_fastrtps_identifier, subscription, ros_message, taken, allocation);
}

rmw_ret_t
rmw_take_with_info(
const rmw_subscription_t * subscription,
void * ros_message,
bool * taken,
rmw_message_info_t * message_info)
rmw_message_info_t * message_info,
rmw_subscription_allocation_t * allocation)
{
return rmw_fastrtps_shared_cpp::__rmw_take_with_info(
eprosima_fastrtps_identifier, subscription, ros_message, taken, message_info);
eprosima_fastrtps_identifier, subscription, ros_message, taken, message_info, allocation);
}

rmw_ret_t
rmw_take_serialized_message(
const rmw_subscription_t * subscription,
rmw_serialized_message_t * serialized_message,
bool * taken)
bool * taken,
rmw_subscription_allocation_t * allocation)
{
return rmw_fastrtps_shared_cpp::__rmw_take_serialized_message(
eprosima_fastrtps_identifier, subscription, serialized_message, taken);
eprosima_fastrtps_identifier, subscription, serialized_message, taken, allocation);
}

rmw_ret_t
rmw_take_serialized_message_with_info(
const rmw_subscription_t * subscription,
rmw_serialized_message_t * serialized_message,
bool * taken,
rmw_message_info_t * message_info)
rmw_message_info_t * message_info,
rmw_subscription_allocation_t * allocation)
{
return rmw_fastrtps_shared_cpp::__rmw_take_serialized_message_with_info(
eprosima_fastrtps_identifier, subscription, serialized_message, taken, message_info);
eprosima_fastrtps_identifier, subscription, serialized_message, taken, message_info,
allocation);
}
} // extern "C"
18 changes: 12 additions & 6 deletions rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -113,14 +113,16 @@ rmw_ret_t
__rmw_publish(
const char * identifier,
const rmw_publisher_t * publisher,
const void * ros_message);
const void * ros_message,
rmw_publisher_allocation_t * allocation);

RMW_FASTRTPS_SHARED_CPP_PUBLIC
rmw_ret_t
__rmw_publish_serialized_message(
const char * identifier,
const rmw_publisher_t * publisher,
const rmw_serialized_message_t * serialized_message);
const rmw_serialized_message_t * serialized_message,
rmw_publisher_allocation_t * allocation);

RMW_FASTRTPS_SHARED_CPP_PUBLIC
rmw_ret_t
Expand Down Expand Up @@ -249,7 +251,8 @@ __rmw_take(
const char * identifier,
const rmw_subscription_t * subscription,
void * ros_message,
bool * taken);
bool * taken,
rmw_subscription_allocation_t * allocation);

RMW_FASTRTPS_SHARED_CPP_PUBLIC
rmw_ret_t
Expand All @@ -258,15 +261,17 @@ __rmw_take_with_info(
const rmw_subscription_t * subscription,
void * ros_message,
bool * taken,
rmw_message_info_t * message_info);
rmw_message_info_t * message_info,
rmw_subscription_allocation_t * allocation);

RMW_FASTRTPS_SHARED_CPP_PUBLIC
rmw_ret_t
__rmw_take_serialized_message(
const char * identifier,
const rmw_subscription_t * subscription,
rmw_serialized_message_t * serialized_message,
bool * taken);
bool * taken,
rmw_subscription_allocation_t * allocation);

RMW_FASTRTPS_SHARED_CPP_PUBLIC
rmw_ret_t
Expand All @@ -275,7 +280,8 @@ __rmw_take_serialized_message_with_info(
const rmw_subscription_t * subscription,
rmw_serialized_message_t * serialized_message,
bool * taken,
rmw_message_info_t * message_info);
rmw_message_info_t * message_info,
rmw_subscription_allocation_t * allocation);

RMW_FASTRTPS_SHARED_CPP_PUBLIC
rmw_ret_t
Expand Down
8 changes: 6 additions & 2 deletions rmw_fastrtps_shared_cpp/src/rmw_publish.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,8 +29,10 @@ rmw_ret_t
__rmw_publish(
const char * identifier,
const rmw_publisher_t * publisher,
const void * ros_message)
const void * ros_message,
rmw_publisher_allocation_t * allocation)
{
(void) allocation;
RCUTILS_CHECK_FOR_NULL_WITH_MSG(publisher, "publisher pointer is null", return RMW_RET_ERROR);
RCUTILS_CHECK_FOR_NULL_WITH_MSG(
ros_message, "ros_message pointer is null", return RMW_RET_ERROR);
Expand Down Expand Up @@ -58,8 +60,10 @@ rmw_ret_t
__rmw_publish_serialized_message(
const char * identifier,
const rmw_publisher_t * publisher,
const rmw_serialized_message_t * serialized_message)
const rmw_serialized_message_t * serialized_message,
rmw_publisher_allocation_t * allocation)
{
(void) allocation;
RCUTILS_CHECK_FOR_NULL_WITH_MSG(publisher, "publisher pointer is null", return RMW_RET_ERROR);
RCUTILS_CHECK_FOR_NULL_WITH_MSG(
serialized_message, "serialized_message pointer is null", return RMW_RET_ERROR);
Expand Down
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