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refactor to support init options and context (#237)
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* refactor to support init options and context

Signed-off-by: William Woodall <[email protected]>

* add missing rmw_shutdown

* fix incorrect check for null

Signed-off-by: William Woodall <[email protected]>
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@wjwwood
wjwwood authored Nov 30, 2018
1 parent 6c99127 commit fae9283
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Showing 6 changed files with 190 additions and 4 deletions.
10 changes: 9 additions & 1 deletion rmw_fastrtps_cpp/src/rmw_guard_condition.cpp
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Expand Up @@ -13,6 +13,7 @@
// limitations under the License.

#include "rmw/error_handling.h"
#include "rmw/impl/cpp/macros.hpp"
#include "rmw/rmw.h"

#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
Expand All @@ -22,8 +23,15 @@
extern "C"
{
rmw_guard_condition_t *
rmw_create_guard_condition()
rmw_create_guard_condition(rmw_context_t * context)
{
RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, NULL);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
init context,
context->implementation_identifier,
eprosima_fastrtps_identifier,
// TODO(wjwwood): replace this with RMW_RET_INCORRECT_RMW_IMPLEMENTATION when refactored
return NULL);
return rmw_fastrtps_shared_cpp::__rmw_create_guard_condition(
eprosima_fastrtps_identifier);
}
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78 changes: 77 additions & 1 deletion rmw_fastrtps_cpp/src/rmw_init.cpp
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Expand Up @@ -12,13 +12,89 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include "rmw/impl/cpp/macros.hpp"
#include "rmw/rmw.h"

#include "rmw_fastrtps_cpp/identifier.hpp"

extern "C"
{
rmw_ret_t
rmw_init()
rmw_init_options_init(rmw_init_options_t * init_options, rcutils_allocator_t allocator)
{
RMW_CHECK_ARGUMENT_FOR_NULL(init_options, RMW_RET_INVALID_ARGUMENT);
RCUTILS_CHECK_ALLOCATOR(&allocator, return RMW_RET_INVALID_ARGUMENT);
if (NULL != init_options->implementation_identifier) {
RMW_SET_ERROR_MSG("expected zero-initialized init_options");
return RMW_RET_INVALID_ARGUMENT;
}
init_options->instance_id = 0;
init_options->implementation_identifier = eprosima_fastrtps_identifier;
init_options->allocator = allocator;
init_options->impl = nullptr;
return RMW_RET_OK;
}

rmw_ret_t
rmw_init_options_copy(const rmw_init_options_t * src, rmw_init_options_t * dst)
{
RMW_CHECK_ARGUMENT_FOR_NULL(src, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(dst, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
src,
src->implementation_identifier,
eprosima_fastrtps_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
if (NULL != dst->implementation_identifier) {
RMW_SET_ERROR_MSG("expected zero-initialized dst");
return RMW_RET_INVALID_ARGUMENT;
}
*dst = *src;
return RMW_RET_OK;
}

rmw_ret_t
rmw_init_options_fini(rmw_init_options_t * init_options)
{
RMW_CHECK_ARGUMENT_FOR_NULL(init_options, RMW_RET_INVALID_ARGUMENT);
RCUTILS_CHECK_ALLOCATOR(&(init_options->allocator), return RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
init_options,
init_options->implementation_identifier,
eprosima_fastrtps_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
*init_options = rmw_get_zero_initialized_init_options();
return RMW_RET_OK;
}

rmw_ret_t
rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
{
RCUTILS_CHECK_ARGUMENT_FOR_NULL(options, RMW_RET_INVALID_ARGUMENT);
RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
options,
options->implementation_identifier,
eprosima_fastrtps_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
context->instance_id = options->instance_id;
context->implementation_identifier = eprosima_fastrtps_identifier;
context->impl = nullptr;
return RMW_RET_OK;
}

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,
eprosima_fastrtps_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
// context impl is explicitly supposed to be nullptr for now, see rmw_init's code
// RCUTILS_CHECK_ARGUMENT_FOR_NULL(context->impl, RMW_RET_INVALID_ARGUMENT);
*context = rmw_get_zero_initialized_context();
return RMW_RET_OK;
}
} // extern "C"
9 changes: 9 additions & 0 deletions rmw_fastrtps_cpp/src/rmw_node.cpp
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Expand Up @@ -22,6 +22,7 @@

#include "rmw/allocators.h"
#include "rmw/error_handling.h"
#include "rmw/impl/cpp/macros.hpp"
#include "rmw/rmw.h"

#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
Expand All @@ -32,11 +33,19 @@ extern "C"
{
rmw_node_t *
rmw_create_node(
rmw_context_t * context,
const char * name,
const char * namespace_,
size_t domain_id,
const rmw_node_security_options_t * security_options)
{
RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, NULL);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
init context,
context->implementation_identifier,
eprosima_fastrtps_identifier,
// TODO(wjwwood): replace this with RMW_RET_INCORRECT_RMW_IMPLEMENTATION when refactored
return NULL);
return rmw_fastrtps_shared_cpp::__rmw_create_node(
eprosima_fastrtps_identifier, name, namespace_, domain_id, security_options);
}
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10 changes: 9 additions & 1 deletion rmw_fastrtps_dynamic_cpp/src/rmw_guard_condition.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@
// limitations under the License.

#include "rmw/error_handling.h"
#include "rmw/impl/cpp/macros.hpp"
#include "rmw/rmw.h"

#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
Expand All @@ -22,8 +23,15 @@
extern "C"
{
rmw_guard_condition_t *
rmw_create_guard_condition()
rmw_create_guard_condition(rmw_context_t * context)
{
RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, NULL);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
init context,
context->implementation_identifier,
eprosima_fastrtps_identifier,
// TODO(wjwwood): replace this with RMW_RET_INCORRECT_RMW_IMPLEMENTATION when refactored
return NULL);
return rmw_fastrtps_shared_cpp::__rmw_create_guard_condition(
eprosima_fastrtps_identifier);
}
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78 changes: 77 additions & 1 deletion rmw_fastrtps_dynamic_cpp/src/rmw_init.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -12,13 +12,89 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include "rmw/impl/cpp/macros.hpp"
#include "rmw/rmw.h"

#include "rmw_fastrtps_dynamic_cpp/identifier.hpp"

extern "C"
{
rmw_ret_t
rmw_init()
rmw_init_options_init(rmw_init_options_t * init_options, rcutils_allocator_t allocator)
{
RMW_CHECK_ARGUMENT_FOR_NULL(init_options, RMW_RET_INVALID_ARGUMENT);
RCUTILS_CHECK_ALLOCATOR(&allocator, return RMW_RET_INVALID_ARGUMENT);
if (NULL != init_options->implementation_identifier) {
RMW_SET_ERROR_MSG("expected zero-initialized init_options");
return RMW_RET_INVALID_ARGUMENT;
}
init_options->instance_id = 0;
init_options->implementation_identifier = eprosima_fastrtps_identifier;
init_options->allocator = allocator;
init_options->impl = nullptr;
return RMW_RET_OK;
}

rmw_ret_t
rmw_init_options_copy(const rmw_init_options_t * src, rmw_init_options_t * dst)
{
RMW_CHECK_ARGUMENT_FOR_NULL(src, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(dst, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
src,
src->implementation_identifier,
eprosima_fastrtps_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
if (NULL != dst->implementation_identifier) {
RMW_SET_ERROR_MSG("expected zero-initialized dst");
return RMW_RET_INVALID_ARGUMENT;
}
*dst = *src;
return RMW_RET_OK;
}

rmw_ret_t
rmw_init_options_fini(rmw_init_options_t * init_options)
{
RMW_CHECK_ARGUMENT_FOR_NULL(init_options, RMW_RET_INVALID_ARGUMENT);
RCUTILS_CHECK_ALLOCATOR(&(init_options->allocator), return RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
init_options,
init_options->implementation_identifier,
eprosima_fastrtps_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
*init_options = rmw_get_zero_initialized_init_options();
return RMW_RET_OK;
}

rmw_ret_t
rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
{
RCUTILS_CHECK_ARGUMENT_FOR_NULL(options, RMW_RET_INVALID_ARGUMENT);
RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
options,
options->implementation_identifier,
eprosima_fastrtps_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
context->instance_id = options->instance_id;
context->implementation_identifier = eprosima_fastrtps_identifier;
context->impl = nullptr;
return RMW_RET_OK;
}

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,
eprosima_fastrtps_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
// context impl is explicitly supposed to be nullptr for now, see rmw_init's code
// RCUTILS_CHECK_ARGUMENT_FOR_NULL(context->impl, RMW_RET_INVALID_ARGUMENT);
*context = rmw_get_zero_initialized_context();
return RMW_RET_OK;
}
} // extern "C"
9 changes: 9 additions & 0 deletions rmw_fastrtps_dynamic_cpp/src/rmw_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@

#include "rmw/allocators.h"
#include "rmw/error_handling.h"
#include "rmw/impl/cpp/macros.hpp"
#include "rmw/rmw.h"

#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
Expand All @@ -32,11 +33,19 @@ extern "C"
{
rmw_node_t *
rmw_create_node(
rmw_context_t * context,
const char * name,
const char * namespace_,
size_t domain_id,
const rmw_node_security_options_t * security_options)
{
RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, NULL);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
init context,
context->implementation_identifier,
eprosima_fastrtps_identifier,
// TODO(wjwwood): replace this with RMW_RET_INCORRECT_RMW_IMPLEMENTATION when refactored
return NULL);
return rmw_fastrtps_shared_cpp::__rmw_create_node(
eprosima_fastrtps_identifier, name, namespace_, domain_id, security_options);
}
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