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support the upcoming rmw changes from the rcl refactor #7

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Dec 18, 2015
Merged

support the upcoming rmw changes from the rcl refactor #7

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41 changes: 30 additions & 11 deletions rmw_fastrtps_cpp/src/functions.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -259,7 +259,10 @@ extern "C"

rmw_node_t* rmw_create_node(const char *name, size_t domain_id)
{
assert(name);
if (!name) {
RMW_SET_ERROR_MSG("name is null");
return NULL;
}

eprosima::Log::setVerbosity(eprosima::VERB_ERROR);

Expand All @@ -280,6 +283,14 @@ extern "C"
node_handle->implementation_identifier = eprosima_fastrtps_identifier;
node_handle->data = participant;

node_handle->name =
reinterpret_cast<const char *>(malloc(sizeof(char) * strlen(name) + 1));
if (!node_handle->name) {
RMW_SET_ERROR_MSG("failed to allocate memory");
return NULL;
}
memcpy(const_cast<char *>(node_handle->name), name, strlen(name) + 1);

return node_handle;
}

Expand All @@ -304,6 +315,10 @@ extern "C"
Domain::removeParticipant(participant);

node->data = nullptr;
if (node->name) {
delete(const_cast<char *>(node->name));
node->name = nullptr;
}
delete(node);

return RMW_RET_OK;
Expand All @@ -317,14 +332,15 @@ extern "C"
} CustomPublisherInfo;

rmw_publisher_t* rmw_create_publisher(const rmw_node_t *node, const rosidl_message_type_support_t *type_support,
const char* topic_name, const rmw_qos_profile_t & qos_policies)
const char* topic_name, const rmw_qos_profile_t * qos_policies)
{
rmw_publisher_t *rmw_publisher = nullptr;
const GUID_t *guid = nullptr;

assert(node);
assert(type_support);
assert(topic_name);
assert(qos_policies);

if(node->implementation_identifier != eprosima_fastrtps_identifier)
{
Expand Down Expand Up @@ -356,7 +372,7 @@ extern "C"
publisherParam.topic.topicDataType = std::string(members->package_name_) + "::msg::dds_::" + members->message_name_ + "_";
publisherParam.topic.topicName = topic_name;

if(!get_datawriter_qos(qos_policies, publisherParam))
if(!get_datawriter_qos(*qos_policies, publisherParam))
goto fail;

info->publisher_ = Domain::createPublisher(participant, publisherParam, NULL);
Expand Down Expand Up @@ -550,13 +566,14 @@ extern "C"
};

rmw_subscription_t* rmw_create_subscription(const rmw_node_t *node, const rosidl_message_type_support_t *type_support,
const char *topic_name, const rmw_qos_profile_t & qos_policies, bool ignore_local_publications)
const char *topic_name, const rmw_qos_profile_t * qos_policies, bool ignore_local_publications)
{
rmw_subscription_t *subscription = nullptr;

assert(node);
assert(type_support);
assert(topic_name);
assert(qos_policies);

if(node->implementation_identifier != eprosima_fastrtps_identifier)
{
Expand Down Expand Up @@ -588,7 +605,7 @@ extern "C"
subscriberParam.topic.topicDataType = std::string(members->package_name_) + "::msg::dds_::" + members->message_name_ + "_";
subscriberParam.topic.topicName = topic_name;

if(!get_datareader_qos(qos_policies, subscriberParam))
if(!get_datareader_qos(*qos_policies, subscriberParam))
goto fail;

info->listener_ = new SubListener(info);
Expand Down Expand Up @@ -955,14 +972,15 @@ extern "C"

rmw_client_t* rmw_create_client(const rmw_node_t *node,
const rosidl_service_type_support_t *type_support,
const char *service_name, const rmw_qos_profile_t & qos_policies)
const char *service_name, const rmw_qos_profile_t * qos_policies)
{
CustomClientInfo *info = nullptr;
rmw_client_t *client = nullptr;

assert(node);
assert(type_support);
assert(service_name);
assert(qos_policies);

if(node->implementation_identifier != eprosima_fastrtps_identifier)
{
Expand Down Expand Up @@ -1005,7 +1023,7 @@ extern "C"
subscriberParam.topic.topicDataType = info->response_type_support_->getName();
subscriberParam.topic.topicName = std::string(service_name) + "Reply";

if(!get_datareader_qos(qos_policies, subscriberParam))
if(!get_datareader_qos(*qos_policies, subscriberParam))
goto fail;

info->listener_ = new ClientListener(info);
Expand All @@ -1021,7 +1039,7 @@ extern "C"
publisherParam.topic.topicDataType = info->request_type_support_->getName();
publisherParam.topic.topicName = std::string(service_name) + "Request";

if(!get_datawriter_qos(qos_policies, publisherParam))
if(!get_datawriter_qos(*qos_policies, publisherParam))
goto fail;

info->request_publisher_ = Domain::createPublisher(participant, publisherParam, NULL);
Expand Down Expand Up @@ -1244,14 +1262,15 @@ extern "C"

rmw_service_t *rmw_create_service(const rmw_node_t *node,
const rosidl_service_type_support_t *type_support,
const char *service_name, const rmw_qos_profile_t & qos_policies)
const char *service_name, const rmw_qos_profile_t * qos_policies)
{
CustomServiceInfo *info = nullptr;
rmw_service_t *service = nullptr;

assert(node);
assert(type_support);
assert(service_name);
assert(qos_policies);

if(node->implementation_identifier != eprosima_fastrtps_identifier)
{
Expand Down Expand Up @@ -1294,7 +1313,7 @@ extern "C"
subscriberParam.topic.topicDataType = info->request_type_support_->getName();
subscriberParam.topic.topicName = std::string(service_name) + "Request";

if(!get_datareader_qos(qos_policies, subscriberParam))
if(!get_datareader_qos(*qos_policies, subscriberParam))
goto fail;

info->listener_ = new ServiceListener(info);
Expand All @@ -1310,7 +1329,7 @@ extern "C"
publisherParam.topic.topicDataType = info->response_type_support_->getName();
publisherParam.topic.topicName = std::string(service_name) + "Reply";

if(!get_datawriter_qos(qos_policies, publisherParam))
if(!get_datawriter_qos(*qos_policies, publisherParam))
goto fail;

info->response_publisher_ = Domain::createPublisher(participant, publisherParam, NULL);
Expand Down