Add rmw_publisher_wait_for_all_acked (#188)

Signed-off-by: Barry Xu <barry.xu@sony.com>
ros2 · Jun 17, 2021 · a2e93cd · a2e93cd
1 parent 6454f91
commit a2e93cd
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Showing 2 changed files with 16 additions and 0 deletions.
diff --git a/rmw_implementation/src/functions.cpp b/rmw_implementation/src/functions.cpp
@@ -359,6 +359,11 @@ RMW_INTERFACE_FN(
   rmw_ret_t, RMW_RET_ERROR,
   1, ARG_TYPES(const rmw_publisher_t *))
 
+RMW_INTERFACE_FN(
+  rmw_publisher_wait_for_all_acked,
+  rmw_ret_t, RMW_RET_ERROR,
+  2, ARG_TYPES(const rmw_publisher_t *, rmw_time_t))
+
 RMW_INTERFACE_FN(
   rmw_serialize,
   rmw_ret_t, RMW_RET_ERROR,
@@ -702,6 +707,7 @@ void prefetch_symbols(void)
   GET_SYMBOL(rmw_publisher_event_init)
   GET_SYMBOL(rmw_publish_serialized_message)
   GET_SYMBOL(rmw_publisher_assert_liveliness)
+  GET_SYMBOL(rmw_publisher_wait_for_all_acked)
   GET_SYMBOL(rmw_get_serialized_message_size)
   GET_SYMBOL(rmw_serialize)
   GET_SYMBOL(rmw_deserialize)
@@ -804,6 +810,7 @@ unload_library()
   symbol_rmw_publish_serialized_message = nullptr;
   symbol_rmw_get_serialized_message_size = nullptr;
   symbol_rmw_publisher_assert_liveliness = nullptr;
+  symbol_rmw_publisher_wait_for_all_acked = nullptr;
   symbol_rmw_serialize = nullptr;
   symbol_rmw_deserialize = nullptr;
   symbol_rmw_init_subscription_allocation = nullptr;

diff --git a/test_rmw_implementation/test/test_publisher.cpp b/test_rmw_implementation/test/test_publisher.cpp
@@ -527,6 +527,15 @@ TEST_F(CLASSNAME(TestPublisherUse, RMW_IMPLEMENTATION), publish_serialized_with_
   });
 }
 
+TEST_F(CLASSNAME(TestPublisherUse, RMW_IMPLEMENTATION), wait_for_all_acked_with_best_effort) {
+  // For best effort, alway return RMW_RET_OK immediately
+  rmw_ret_t ret = rmw_publisher_wait_for_all_acked(pub, {0, 0});
+  EXPECT_EQ(ret, RMW_RET_OK);
+
+  ret = rmw_publisher_wait_for_all_acked(nullptr, {0, 0});
+  EXPECT_EQ(ret, RMW_RET_INVALID_ARGUMENT);
+}
+
 
 class CLASSNAME (TestPublisherUseLoan, RMW_IMPLEMENTATION)
   : public CLASSNAME(TestPublisherUse, RMW_IMPLEMENTATION)