pass context to wait set and fini context (#257)

* pass context to wait set and fini context

Signed-off-by: William Woodall <william@osrfoundation.org>

* use nullptr in C++

rmw_opensplice_cpp/src/rmw_init.cpp

@@ -111,6 +111,20 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
 
 rmw_ret_t
 rmw_shutdown(rmw_context_t * context)
+{
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    context,
+    context->implementation_identifier,
+    opensplice_cpp_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  // Nothing to do here for now.
+  // This is just the middleware's notification that shutdown was called.
+  return RMW_RET_OK;
+}
+
+rmw_ret_t
+rmw_context_fini(rmw_context_t * context)
 {
   RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_TYPE_IDENTIFIERS_MATCH(

rmw_opensplice_cpp/src/rmw_wait_set.cpp

@@ -42,8 +42,16 @@
 extern "C"
 {
 rmw_wait_set_t *
-rmw_create_wait_set(size_t max_conditions)
+rmw_create_wait_set(rmw_context_t * context, size_t max_conditions)
 {
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, NULL);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    init context,
+    context->implementation_identifier,
+    opensplice_cpp_identifier,
+    // TODO(wjwwood): replace this with RMW_RET_INCORRECT_RMW_IMPLEMENTATION when refactored
+    return nullptr);
+
   rmw_wait_set_t * wait_set = rmw_wait_set_allocate();
   OpenSpliceWaitSetInfo * wait_set_info = nullptr;