add mechanism to pass rmw impl specific payloads during pub/sub creat…

…ion (#513) * add optional rmw payload to rcl options for pub and sub Signed-off-by: William Woodall <[email protected]> * move ignore_local_publications into rmw options structure for subs Signed-off-by: William Woodall <[email protected]>
ros2 · Oct 8, 2019 · e673988 · e673988
1 parent 0198ffe
commit e673988
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Showing 5 changed files with 15 additions and 13 deletions.
diff --git a/rcl/include/rcl/publisher.h b/rcl/include/rcl/publisher.h
@@ -43,6 +43,8 @@ typedef struct rcl_publisher_options_t
   /// Custom allocator for the publisher, used for incidental allocations.
   /** For default behavior (malloc/free), use: rcl_get_default_allocator() */
   rcl_allocator_t allocator;
+  /// rmw specific publisher options, e.g. the rmw implementation specific payload.
+  rmw_publisher_options_t rmw_publisher_options;
 } rcl_publisher_options_t;
 
 /// Return a rcl_publisher_t struct with members set to `NULL`.

diff --git a/rcl/include/rcl/subscription.h b/rcl/include/rcl/subscription.h
@@ -40,11 +40,11 @@ typedef struct rcl_subscription_options_t
 {
   /// Middleware quality of service settings for the subscription.
   rmw_qos_profile_t qos;
-  /// If true, messages published from within the same node are ignored.
-  bool ignore_local_publications;
   /// Custom allocator for the subscription, used for incidental allocations.
   /** For default behavior (malloc/free), see: rcl_get_default_allocator() */
   rcl_allocator_t allocator;
+  /// rmw specific subscription options, e.g. the rmw implementation specific payload.
+  rmw_subscription_options_t rmw_subscription_options;
 } rcl_subscription_options_t;
 
 /// Return a rcl_subscription_t struct with members set to `NULL`.

diff --git a/rcl/src/rcl/publisher.c b/rcl/src/rcl/publisher.c
@@ -166,7 +166,8 @@ rcl_publisher_init(
     rcl_node_get_rmw_handle(node),
     type_support,
     remapped_topic_name,
-    &(options->qos));
+    &(options->qos),
+    &(options->rmw_publisher_options));
   RCL_CHECK_FOR_NULL_WITH_MSG(publisher->impl->rmw_handle,
     rmw_get_error_string().str, goto fail);
   // get actual qos, and store it
@@ -240,6 +241,7 @@ rcl_publisher_get_default_options()
   // Must set the allocator and qos after because they are not a compile time constant.
   default_options.qos = rmw_qos_profile_default;
   default_options.allocator = rcl_get_default_allocator();
+  default_options.rmw_publisher_options = rmw_get_default_publisher_options();
   return default_options;
 }
 

diff --git a/rcl/src/rcl/subscription.c b/rcl/src/rcl/subscription.c
@@ -162,7 +162,7 @@ rcl_subscription_init(
     type_support,
     remapped_topic_name,
     &(options->qos),
-    options->ignore_local_publications);
+    &(options->rmw_subscription_options));
   if (!subscription->impl->rmw_handle) {
     RCL_SET_ERROR_MSG(rmw_get_error_string().str);
     goto fail;
@@ -230,12 +230,11 @@ rcl_subscription_options_t
 rcl_subscription_get_default_options()
 {
   // !!! MAKE SURE THAT CHANGES TO THESE DEFAULTS ARE REFLECTED IN THE HEADER DOC STRING
-  static rcl_subscription_options_t default_options = {
-    .ignore_local_publications = false,
-  };
-  // Must set the allocator and qos after because they are not a compile time constant.
+  static rcl_subscription_options_t default_options;
+  // Must set these after declaration because they are not a compile time constants.
   default_options.qos = rmw_qos_profile_default;
   default_options.allocator = rcl_get_default_allocator();
+  default_options.rmw_subscription_options = rmw_get_default_subscription_options();
   return default_options;
 }
 

diff --git a/rcl_action/src/rcl_action/action_client.c b/rcl_action/src/rcl_action/action_client.c
@@ -110,11 +110,10 @@ rcl_action_get_zero_initialized_client(void)
     } \
     goto fail; \
   } \
-  rcl_subscription_options_t Type ## _topic_subscription_options = { \
-    .qos = options->Type ## _topic_qos, \
-    .ignore_local_publications = false, \
-    .allocator = allocator \
-  }; \
+  rcl_subscription_options_t Type ## _topic_subscription_options = \
+    rcl_subscription_get_default_options(); \
+  Type ## _topic_subscription_options.qos = options->Type ## _topic_qos; \
+  Type ## _topic_subscription_options.allocator = allocator; \
   action_client->impl->Type ## _subscription = rcl_get_zero_initialized_subscription(); \
   ret = rcl_subscription_init( \
     &action_client->impl->Type ## _subscription, \