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Fixing uncrustify
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@richiware
richiware committed Jul 1, 2022
1 parent 6cf47a7 commit d49bf2e
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Showing 31 changed files with 3,344 additions and 3,559 deletions.
308 changes: 149 additions & 159 deletions rmw_fastrtps_cpp/src/init_rmw_context_impl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,177 +43,167 @@ using rmw_dds_common::msg::ParticipantEntitiesInfo;
static
rmw_ret_t
init_context_impl(
rmw_context_t* context)
rmw_context_t * context)
{
rmw_publisher_options_t publisher_options = rmw_get_default_publisher_options();
rmw_subscription_options_t subscription_options = rmw_get_default_subscription_options();

// This is currently not implemented in fastrtps
subscription_options.ignore_local_publications = true;

std::unique_ptr<rmw_dds_common::Context> common_context(
new(std::nothrow) rmw_dds_common::Context());
if (!common_context)
rmw_publisher_options_t publisher_options = rmw_get_default_publisher_options();
rmw_subscription_options_t subscription_options = rmw_get_default_subscription_options();

// This is currently not implemented in fastrtps
subscription_options.ignore_local_publications = true;

std::unique_ptr<rmw_dds_common::Context> common_context(
new(std::nothrow) rmw_dds_common::Context());
if (!common_context) {
return RMW_RET_BAD_ALLOC;
}

std::unique_ptr<CustomParticipantInfo, std::function<void(CustomParticipantInfo *)>>
participant_info(
rmw_fastrtps_shared_cpp::create_participant(
eprosima_fastrtps_identifier,
context->actual_domain_id,
&context->options.security_options,
(context->options.localhost_only == RMW_LOCALHOST_ONLY_ENABLED) ? 1 : 0,
context->options.enclave,
common_context.get()),
[&](CustomParticipantInfo * participant_info)
{
return RMW_RET_BAD_ALLOC;
}

std::unique_ptr<CustomParticipantInfo, std::function<void(CustomParticipantInfo*)>>
participant_info(
rmw_fastrtps_shared_cpp::create_participant(
eprosima_fastrtps_identifier,
context->actual_domain_id,
&context->options.security_options,
(context->options.localhost_only == RMW_LOCALHOST_ONLY_ENABLED) ? 1 : 0,
context->options.enclave,
common_context.get()),
[&](CustomParticipantInfo* participant_info)
{
if (RMW_RET_OK != rmw_fastrtps_shared_cpp::destroy_participant(participant_info))
{
RCUTILS_SAFE_FWRITE_TO_STDERR(
"Failed to destroy participant after function: '"
RCUTILS_STRINGIFY(__function__) "' failed.\n");
}
});
if (!participant_info)
if (RMW_RET_OK != rmw_fastrtps_shared_cpp::destroy_participant(participant_info)) {
RCUTILS_SAFE_FWRITE_TO_STDERR(
"Failed to destroy participant after function: '"
RCUTILS_STRINGIFY(__function__) "' failed.\n");
}
});
if (!participant_info) {
return RMW_RET_BAD_ALLOC;
}

rmw_qos_profile_t qos = rmw_qos_profile_default;

qos.avoid_ros_namespace_conventions = true;
qos.history = RMW_QOS_POLICY_HISTORY_KEEP_LAST;
qos.depth = 1;
qos.durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
qos.reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;

std::unique_ptr<rmw_publisher_t, std::function<void(rmw_publisher_t *)>>
publisher(
rmw_fastrtps_cpp::create_publisher(
participant_info.get(),
rosidl_typesupport_cpp::get_message_type_support_handle<ParticipantEntitiesInfo>(),
"ros_discovery_info",
&qos,
&publisher_options,
false, // our fastrtps typesupport doesn't support keyed topics
true),
[&](rmw_publisher_t * pub)
{
return RMW_RET_BAD_ALLOC;
}

rmw_qos_profile_t qos = rmw_qos_profile_default;

qos.avoid_ros_namespace_conventions = true;
qos.history = RMW_QOS_POLICY_HISTORY_KEEP_LAST;
qos.depth = 1;
qos.durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
qos.reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;

std::unique_ptr<rmw_publisher_t, std::function<void(rmw_publisher_t*)>>
publisher(
rmw_fastrtps_cpp::create_publisher(
participant_info.get(),
rosidl_typesupport_cpp::get_message_type_support_handle<ParticipantEntitiesInfo>(),
"ros_discovery_info",
&qos,
&publisher_options,
false, // our fastrtps typesupport doesn't support keyed topics
true),
[&](rmw_publisher_t* pub)
{
if (RMW_RET_OK != rmw_fastrtps_shared_cpp::destroy_publisher(
eprosima_fastrtps_identifier,
participant_info.get(),
pub))
{
RCUTILS_SAFE_FWRITE_TO_STDERR(
"Failed to destroy publisher after function: '"
RCUTILS_STRINGIFY(__function__) "' failed.\n");
}
});
if (!publisher)
{
return RMW_RET_BAD_ALLOC;
}

// If we would have support for keyed topics, this could be KEEP_LAST and depth 1.
qos.history = RMW_QOS_POLICY_HISTORY_KEEP_ALL;
std::unique_ptr<rmw_subscription_t, std::function<void(rmw_subscription_t*)>>
subscription(
rmw_fastrtps_cpp::create_subscription(
participant_info.get(),
rosidl_typesupport_cpp::get_message_type_support_handle<ParticipantEntitiesInfo>(),
"ros_discovery_info",
&qos,
&subscription_options,
false), // our fastrtps typesupport doesn't support keyed topics
[&](rmw_subscription_t* sub)
{
if (RMW_RET_OK != rmw_fastrtps_shared_cpp::destroy_subscription(
eprosima_fastrtps_identifier,
participant_info.get(),
sub))
{
RMW_SAFE_FWRITE_TO_STDERR(
"Failed to destroy subscription after function: '"
RCUTILS_STRINGIFY(__function__) "' failed.\n");
}
});
if (!subscription)
if (RMW_RET_OK != rmw_fastrtps_shared_cpp::destroy_publisher(
eprosima_fastrtps_identifier,
participant_info.get(),
pub))
{
RCUTILS_SAFE_FWRITE_TO_STDERR(
"Failed to destroy publisher after function: '"
RCUTILS_STRINGIFY(__function__) "' failed.\n");
}
});
if (!publisher) {
return RMW_RET_BAD_ALLOC;
}

// If we would have support for keyed topics, this could be KEEP_LAST and depth 1.
qos.history = RMW_QOS_POLICY_HISTORY_KEEP_ALL;
std::unique_ptr<rmw_subscription_t, std::function<void(rmw_subscription_t *)>>
subscription(
rmw_fastrtps_cpp::create_subscription(
participant_info.get(),
rosidl_typesupport_cpp::get_message_type_support_handle<ParticipantEntitiesInfo>(),
"ros_discovery_info",
&qos,
&subscription_options,
false), // our fastrtps typesupport doesn't support keyed topics
[&](rmw_subscription_t * sub)
{
return RMW_RET_BAD_ALLOC;
}

std::unique_ptr<rmw_guard_condition_t, std::function<void(rmw_guard_condition_t*)>>
graph_guard_condition(
rmw_fastrtps_shared_cpp::__rmw_create_guard_condition(eprosima_fastrtps_identifier),
[&](rmw_guard_condition_t* p)
{
rmw_ret_t ret = rmw_fastrtps_shared_cpp::__rmw_destroy_guard_condition(p);
if (ret != RMW_RET_OK)
{
RMW_SAFE_FWRITE_TO_STDERR(
"Failed to destroy guard condition after function: '"
RCUTILS_STRINGIFY(__function__) "' failed.\n");
}
});
if (!graph_guard_condition)
if (RMW_RET_OK != rmw_fastrtps_shared_cpp::destroy_subscription(
eprosima_fastrtps_identifier,
participant_info.get(),
sub))
{
RMW_SAFE_FWRITE_TO_STDERR(
"Failed to destroy subscription after function: '"
RCUTILS_STRINGIFY(__function__) "' failed.\n");
}
});
if (!subscription) {
return RMW_RET_BAD_ALLOC;
}

std::unique_ptr<rmw_guard_condition_t, std::function<void(rmw_guard_condition_t *)>>
graph_guard_condition(
rmw_fastrtps_shared_cpp::__rmw_create_guard_condition(eprosima_fastrtps_identifier),
[&](rmw_guard_condition_t * p)
{
return RMW_RET_BAD_ALLOC;
}

common_context->gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
eprosima_fastrtps_identifier, participant_info->participant_->guid());
common_context->pub = publisher.get();
common_context->sub = subscription.get();
common_context->graph_guard_condition = graph_guard_condition.get();

context->impl->common = common_context.get();
context->impl->participant_info = participant_info.get();

rmw_ret_t ret = rmw_fastrtps_shared_cpp::run_listener_thread(context);
if (RMW_RET_OK != ret)
rmw_ret_t ret = rmw_fastrtps_shared_cpp::__rmw_destroy_guard_condition(p);
if (ret != RMW_RET_OK) {
RMW_SAFE_FWRITE_TO_STDERR(
"Failed to destroy guard condition after function: '"
RCUTILS_STRINGIFY(__function__) "' failed.\n");
}
});
if (!graph_guard_condition) {
return RMW_RET_BAD_ALLOC;
}

common_context->gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
eprosima_fastrtps_identifier, participant_info->participant_->guid());
common_context->pub = publisher.get();
common_context->sub = subscription.get();
common_context->graph_guard_condition = graph_guard_condition.get();

context->impl->common = common_context.get();
context->impl->participant_info = participant_info.get();

rmw_ret_t ret = rmw_fastrtps_shared_cpp::run_listener_thread(context);
if (RMW_RET_OK != ret) {
return ret;
}

common_context->graph_cache.set_on_change_callback(
[guard_condition = graph_guard_condition.get()]()
{
return ret;
}

common_context->graph_cache.set_on_change_callback(
[guard_condition = graph_guard_condition.get()]()
{
rmw_fastrtps_shared_cpp::__rmw_trigger_guard_condition(
eprosima_fastrtps_identifier,
guard_condition);
});

common_context->graph_cache.add_participant(
common_context->gid,
context->options.enclave);

graph_guard_condition.release();
publisher.release();
subscription.release();
common_context.release();
participant_info.release();
return RMW_RET_OK;
rmw_fastrtps_shared_cpp::__rmw_trigger_guard_condition(
eprosima_fastrtps_identifier,
guard_condition);
});

common_context->graph_cache.add_participant(
common_context->gid,
context->options.enclave);

graph_guard_condition.release();
publisher.release();
subscription.release();
common_context.release();
participant_info.release();
return RMW_RET_OK;
}

rmw_ret_t
rmw_fastrtps_cpp::increment_context_impl_ref_count(
rmw_context_t* context)
rmw_context_t * context)
{
assert(context);
assert(context->impl);
assert(context);
assert(context->impl);

std::lock_guard<std::mutex> guard(context->impl->mutex);
std::lock_guard<std::mutex> guard(context->impl->mutex);

if (!context->impl->count)
{
rmw_ret_t ret = init_context_impl(context);
if (RMW_RET_OK != ret)
{
return ret;
}
if (!context->impl->count) {
rmw_ret_t ret = init_context_impl(context);
if (RMW_RET_OK != ret) {
return ret;
}
context->impl->count++;
return RMW_RET_OK;
}
context->impl->count++;
return RMW_RET_OK;
}
3 changes: 2 additions & 1 deletion rmw_fastrtps_cpp/src/publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -281,7 +281,8 @@ rmw_fastrtps_cpp::create_publisher(
return nullptr;
}

info->data_writer_->get_statuscondition().set_enabled_statuses(eprosima::fastdds::dds::StatusMask::none());
info->data_writer_->get_statuscondition().set_enabled_statuses(
eprosima::fastdds::dds::StatusMask::none());

// lambda to delete datawriter
auto cleanup_datawriter = rcpputils::make_scope_exit(
Expand Down
6 changes: 4 additions & 2 deletions rmw_fastrtps_cpp/src/rmw_client.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -337,7 +337,8 @@ rmw_create_client(
return nullptr;
}

info->response_reader_->get_statuscondition().set_enabled_statuses(eprosima::fastdds::dds::StatusMask::data_available());
info->response_reader_->get_statuscondition().set_enabled_statuses(
eprosima::fastdds::dds::StatusMask::data_available());

// lambda to delete datareader
auto cleanup_datareader = rcpputils::make_scope_exit(
Expand Down Expand Up @@ -390,7 +391,8 @@ rmw_create_client(
return nullptr;
}

info->request_writer_->get_statuscondition().set_enabled_statuses(eprosima::fastdds::dds::StatusMask::none());
info->request_writer_->get_statuscondition().set_enabled_statuses(
eprosima::fastdds::dds::StatusMask::none());

// lambda to delete datawriter
auto cleanup_datawriter = rcpputils::make_scope_exit(
Expand Down
6 changes: 4 additions & 2 deletions rmw_fastrtps_cpp/src/rmw_service.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -336,7 +336,8 @@ rmw_create_service(
return nullptr;
}

info->request_reader_->get_statuscondition().set_enabled_statuses(eprosima::fastdds::dds::StatusMask::data_available());
info->request_reader_->get_statuscondition().set_enabled_statuses(
eprosima::fastdds::dds::StatusMask::data_available());

// lambda to delete datareader
auto cleanup_datareader = rcpputils::make_scope_exit(
Expand Down Expand Up @@ -393,7 +394,8 @@ rmw_create_service(
return nullptr;
}

info->response_writer_->get_statuscondition().set_enabled_statuses(eprosima::fastdds::dds::StatusMask::none());
info->response_writer_->get_statuscondition().set_enabled_statuses(
eprosima::fastdds::dds::StatusMask::none());

// lambda to delete datawriter
auto cleanup_datawriter = rcpputils::make_scope_exit(
Expand Down
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