Merge pull request #116 from cwecht/event-listeners-updated

Event listeners updated
ros2 · May 9, 2023 · 78a5de3 · 78a5de3
2 parents 5a4ba5e + ecda67c
commit 78a5de3
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diff --git a/rmw_connextdds/CHANGELOG.rst b/rmw_connextdds/CHANGELOG.rst
@@ -2,6 +2,17 @@
 Changelog for package rmw_connextdds
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.15.0 (2023-04-27)
+-------------------
+
+0.14.0 (2023-04-12)
+-------------------
+* Dynamic Subscription (BONUS: Allocators): rmw_connextdds (`#115 <https://github.com/ros2/rmw_connextdds/issues/115>`_)
+* Revert "Refactor serialization support to use allocators and refs"
+* Refactor serialization support to use allocators and refs
+* Add stubs for new rmw interfaces (`#111 <https://github.com/ros2/rmw_connextdds/issues/111>`_)
+* Contributors: methylDragon
+
 0.13.0 (2022-11-02)
 -------------------
 * Add rmw_get_gid_for_client impl (`#92 <https://github.com/ros2/rmw_connextdds/issues/92>`_)

diff --git a/rmw_connextdds/package.xml b/rmw_connextdds/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rmw_connextdds</name>
-  <version>0.13.0</version>
+  <version>0.15.0</version>
   <description>A ROS 2 RMW implementation built with RTI Connext DDS Professional.</description>
   <maintainer email="[email protected]">Andrea Sorbini</maintainer>
   <license>Apache License 2.0</license>

diff --git a/rmw_connextdds/src/rmw_api_impl_ndds.cpp b/rmw_connextdds/src/rmw_api_impl_ndds.cpp
@@ -981,3 +981,54 @@ rmw_feature_supported(rmw_feature_t feature)
       }
   }
 }
+
+/******************************************************************************
+ * Dynamic message typesupport
+ ******************************************************************************/
+rmw_ret_t
+rmw_take_dynamic_message(
+  const rmw_subscription_t * subscription,
+  rosidl_dynamic_typesupport_dynamic_data_t * dynamic_message,
+  bool * taken,
+  rmw_subscription_allocation_t * allocation)
+{
+  static_cast<void>(subscription);
+  static_cast<void>(dynamic_message);
+  static_cast<void>(taken);
+  static_cast<void>(allocation);
+
+  RMW_SET_ERROR_MSG("rmw_take_dynamic_message: unimplemented");
+  return RMW_RET_UNSUPPORTED;
+}
+
+rmw_ret_t
+rmw_take_dynamic_message_with_info(
+  const rmw_subscription_t * subscription,
+  rosidl_dynamic_typesupport_dynamic_data_t * dynamic_message,
+  bool * taken,
+  rmw_message_info_t * message_info,
+  rmw_subscription_allocation_t * allocation)
+{
+  static_cast<void>(subscription);
+  static_cast<void>(dynamic_message);
+  static_cast<void>(taken);
+  static_cast<void>(message_info);
+  static_cast<void>(allocation);
+
+  RMW_SET_ERROR_MSG("rmw_take_dynamic_message_with_info: unimplemented");
+  return RMW_RET_UNSUPPORTED;
+}
+
+rmw_ret_t
+rmw_serialization_support_init(
+  const char * serialization_lib_name,
+  rcutils_allocator_t * allocator,
+  rosidl_dynamic_typesupport_serialization_support_t * serialization_support)
+{
+  static_cast<void>(serialization_lib_name);
+  static_cast<void>(allocator);
+  static_cast<void>(serialization_support);
+
+  RMW_SET_ERROR_MSG("rmw_serialization_support_init: unimplemented");
+  return RMW_RET_UNSUPPORTED;
+}
diff --git a/rmw_connextdds_common/CHANGELOG.rst b/rmw_connextdds_common/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package rmw_connextdds_common
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.15.0 (2023-04-27)
+-------------------
+
+0.14.0 (2023-04-12)
+-------------------
+* [rmw_connextdds] New RMW discovery options (`#108 <https://github.com/ros2/rmw_connextdds/issues/108>`_)
+* Call get_type_hash_func (`#113 <https://github.com/ros2/rmw_connextdds/issues/113>`_)
+* Type hash distribution during discovery (rep2011) (`#104 <https://github.com/ros2/rmw_connextdds/issues/104>`_)
+* Implement matched event (`#101 <https://github.com/ros2/rmw_connextdds/issues/101>`_)
+* Add in implementation of inconsistent topic. (`#103 <https://github.com/ros2/rmw_connextdds/issues/103>`_)
+* Contributors: Barry Xu, Chris Lalancette, Emerson Knapp, Grey, Michael Carroll
+
 0.13.0 (2022-11-02)
 -------------------
 * Add rmw_get_gid_for_client impl (`#92 <https://github.com/ros2/rmw_connextdds/issues/92>`_)

diff --git a/rmw_connextdds_common/include/rmw_connextdds/context.hpp b/rmw_connextdds_common/include/rmw_connextdds/context.hpp
@@ -22,6 +22,7 @@
 #include <mutex>
 #include <regex>
 #include <string>
+#include <memory>
 
 #include "rmw_connextdds/dds_api.hpp"
 #include "rmw_connextdds/log.hpp"
@@ -78,8 +79,11 @@ struct rmw_context_impl_s
   DDS_DataReader * dr_publications;
   DDS_DataReader * dr_subscriptions;
 
-  /* Keep track of whether the DomainParticipant is localhost only */
-  bool localhost_only;
+  /* Keep track of what discovery settings were used when initializing */
+  rmw_discovery_options_t * discovery_options;
+
+  /* Manage the memory of the domain tag */
+  char * domain_tag;
 
   /* Global configuration for QoS profiles */
   std::string qos_ctx_name;
@@ -160,7 +164,8 @@ struct rmw_context_impl_s
     dr_participants(nullptr),
     dr_publications(nullptr),
     dr_subscriptions(nullptr),
-    localhost_only(base->options.localhost_only == RMW_LOCALHOST_ONLY_ENABLED)
+    discovery_options(nullptr),
+    domain_tag(nullptr)
   {
     /* destructor relies on these being initialized properly */
     common.thread_is_running.store(false);
@@ -180,17 +185,15 @@ struct rmw_context_impl_s
   // node_count is increased
   rmw_ret_t
   initialize_node(
-    const char * const node_name,
-    const char * const node_namespace,
-    const bool localhost_only);
+    const rmw_discovery_options_t * const discovery_options);
 
   // Destroys the participant, when node_count reaches 0.
   rmw_ret_t
   finalize_node();
 
   // Initialize the DomainParticipant associated with the context.
   rmw_ret_t
-  initialize_participant(const bool localhost_only);
+  initialize_participant();
 
   // Enable the DomainParticipant associated with the context.
   rmw_ret_t

diff --git a/rmw_connextdds_common/include/rmw_connextdds/rmw_waitset_std.hpp b/rmw_connextdds_common/include/rmw_connextdds/rmw_waitset_std.hpp
@@ -381,6 +381,9 @@ class RMW_Connext_StatusCondition : public RMW_Connext_Condition
       user_data_[event_type] = nullptr;
       new_event_cb_[event_type] = nullptr;
     }
+  }
+
+  void
   on_inconsistent_topic(const struct DDS_InconsistentTopicStatus * status);
 
   void
@@ -848,6 +851,7 @@ class RMW_Connext_SubscriberStatusCondition : public RMW_Connext_StatusCondition
   }
 
   void notify_new_data();
+
   inline rmw_ret_t
   get_matched_status(rmw_matched_status_t * const status)
   {

diff --git a/rmw_connextdds_common/include/rmw_connextdds/type_support.hpp b/rmw_connextdds_common/include/rmw_connextdds/type_support.hpp
@@ -86,7 +86,7 @@ class RMW_Connext_MessageTypeSupport
 
   const rosidl_type_hash_t & type_hash() const
   {
-    return *_type_support_fastrtps->type_hash;
+    return *_type_support_fastrtps->get_type_hash_func(_type_support_fastrtps);
   }
 
   uint32_t type_serialized_size_max() const

diff --git a/rmw_connextdds_common/package.xml b/rmw_connextdds_common/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rmw_connextdds_common</name>
-  <version>0.13.0</version>
+  <version>0.15.0</version>
   <description>Common source for RMW implementations built with RTI Connext DDS Professional and RTI Connext DDS Micro.</description>
   <maintainer email="[email protected]">Andrea Sorbini</maintainer>
   <license>Apache License 2.0</license>