Exclude missing sample info fields when building rmw_connextddsmicro (r…

…os2#79) * Exclude missing sample info fields when building micro. * Report features individually for each RMW implementation. * Return special value for unsupported sequence numbers. Signed-off-by: Andrea Sorbini <[email protected]> Co-authored-by: Chris Lalancette <[email protected]>
cwecht · Mar 16, 2023 · d24d1ae · d24d1ae
1 parent be74aa2
commit d24d1ae
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Showing 5 changed files with 25 additions and 36 deletions.
diff --git a/rmw_connextdds/src/rmw_api_impl_ndds.cpp b/rmw_connextdds/src/rmw_api_impl_ndds.cpp
@@ -962,5 +962,15 @@ rmw_subscription_get_network_flow_endpoints(
 bool
 rmw_feature_supported(rmw_feature_t feature)
 {
-  return rmw_api_connextdds_feature_supported(feature);
+  switch (feature) {
+    case RMW_FEATURE_MESSAGE_INFO_RECEPTION_SEQUENCE_NUMBER:
+    case RMW_FEATURE_MESSAGE_INFO_PUBLICATION_SEQUENCE_NUMBER:
+      {
+        return true;
+      }
+    default:
+      {
+        return false;
+      }
+  }
 }
diff --git a/rmw_connextdds_common/CMakeLists.txt b/rmw_connextdds_common/CMakeLists.txt
@@ -135,7 +135,6 @@ set(RMW_CONNEXT_COMMON_SOURCE_CPP
     src/common/rmw_network_flow_endpoints.cpp
     src/common/rmw_graph.cpp
     src/common/rmw_event.cpp
-    src/common/rmw_features.cpp
     src/common/rmw_impl.cpp
     src/common/rmw_impl_waitset_std.cpp
     src/common/rmw_info.cpp

diff --git a/rmw_connextdds_common/src/common/rmw_features.cpp b/rmw_connextdds_common/src/common/rmw_features.cpp
diff --git a/rmw_connextdds_common/src/common/rmw_impl.cpp b/rmw_connextdds_common/src/common/rmw_impl.cpp
@@ -1970,9 +1970,13 @@ rmw_connextdds_message_info_from_dds(
   to->publication_sequence_number =
     static_cast<uint64_t>((from->publication_sequence_number).high) << 32 |
     static_cast<uint64_t>((from->publication_sequence_number).low);
+#if RMW_CONNEXT_DDS_API == RMW_CONNEXT_DDS_API_PRO
   to->reception_sequence_number =
     static_cast<uint64_t>((from->reception_sequence_number).high) << 32 |
     static_cast<uint64_t>((from->reception_sequence_number).low);
+#else
+  to->reception_sequence_number = RMW_MESSAGE_INFO_SEQUENCE_NUMBER_UNSUPPORTED;
+#endif  // RMW_CONNEXT_DDS_API == RMW_CONNEXT_DDS_API_PRO
 }
 
 /******************************************************************************

diff --git a/rmw_connextddsmicro/src/rmw_api_impl_rtime.cpp b/rmw_connextddsmicro/src/rmw_api_impl_rtime.cpp
@@ -967,5 +967,14 @@ rmw_subscription_get_network_flow_endpoints(
 bool
 rmw_feature_supported(rmw_feature_t feature)
 {
-  return rmw_api_connextdds_feature_supported(feature);
+  switch (feature) {
+    case RMW_FEATURE_MESSAGE_INFO_PUBLICATION_SEQUENCE_NUMBER:
+      {
+        return true;
+      }
+    default:
+      {
+        return false;
+      }
+  }
 }