Add qos interfaces with no-op (#271)

* Add qos interfaces with no-op Add unsupported qos checks on initialize Signed-off-by: Ross Desmond <44277324+ross-desmond@users.noreply.github.com> * add qos interfaces with no-op for assert_liveliness() Signed-off-by: Miaofei <miaofei@amazon.com> * remove duplicate qos.hpp/qos.cpp source files Signed-off-by: Miaofei <miaofei@amazon.com> * address feedback in pull request Signed-off-by: Miaofei <miaofei@amazon.com> * fix cpplint issues Signed-off-by: Miaofei <miaofei@amazon.com> * fix windows build warnings Signed-off-by: Miaofei <miaofei@amazon.com>
ros2 · May 3, 2019 · 8f8b44a · 8f8b44a
1 parent b27c4a5
commit 8f8b44a
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Showing 30 changed files with 265 additions and 453 deletions.
diff --git a/rmw_fastrtps_cpp/CMakeLists.txt b/rmw_fastrtps_cpp/CMakeLists.txt
@@ -53,7 +53,6 @@ add_library(rmw_fastrtps_cpp
   src/get_service.cpp
   src/get_subscriber.cpp
   src/identifier.cpp
-  src/qos.cpp
   src/rmw_logging.cpp
   src/rmw_client.cpp
   src/rmw_compare_gids_equal.cpp

diff --git a/rmw_fastrtps_cpp/src/qos.cpp b/rmw_fastrtps_cpp/src/qos.cpp
diff --git a/rmw_fastrtps_cpp/src/qos.hpp b/rmw_fastrtps_cpp/src/qos.hpp
diff --git a/rmw_fastrtps_cpp/src/rmw_client.cpp b/rmw_fastrtps_cpp/src/rmw_client.cpp
@@ -22,11 +22,11 @@
 #include "rmw_fastrtps_shared_cpp/custom_client_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 #include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
+#include "rmw_fastrtps_shared_cpp/qos.hpp"
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 
 #include "rmw_fastrtps_cpp/identifier.hpp"
 
-#include "./qos.hpp"
 #include "./type_support_common.hpp"
 
 using Domain = eprosima::fastrtps::Domain;

diff --git a/rmw_fastrtps_cpp/src/rmw_node.cpp b/rmw_fastrtps_cpp/src/rmw_node.cpp
@@ -57,6 +57,13 @@ rmw_destroy_node(rmw_node_t * node)
     eprosima_fastrtps_identifier, node);
 }
 
+rmw_ret_t
+rmw_node_assert_liveliness(const rmw_node_t * node)
+{
+  return rmw_fastrtps_shared_cpp::__rmw_node_assert_liveliness(
+    eprosima_fastrtps_identifier, node);
+}
+
 const rmw_guard_condition_t *
 rmw_node_get_graph_guard_condition(const rmw_node_t * node)
 {

diff --git a/rmw_fastrtps_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_cpp/src/rmw_publisher.cpp
@@ -18,14 +18,14 @@
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
 
-#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_publisher_info.hpp"
 #include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
+#include "rmw_fastrtps_shared_cpp/qos.hpp"
+#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 
 #include "rmw_fastrtps_cpp/identifier.hpp"
 
-#include "./qos.hpp"
 #include "./type_support_common.hpp"
 
 using Domain = eprosima::fastrtps::Domain;
@@ -111,6 +111,10 @@ rmw_create_publisher(
   eprosima::fastrtps::PublisherAttributes publisherParam;
   const eprosima::fastrtps::rtps::GUID_t * guid = nullptr;
 
+  if (!is_valid_qos(*qos_policies)) {
+    return nullptr;
+  }
+
   // Load default XML profile.
   Domain::getDefaultPublisherAttributes(publisherParam);
 
@@ -233,6 +237,13 @@ rmw_publisher_count_matched_subscriptions(
     publisher, subscription_count);
 }
 
+rmw_ret_t
+rmw_publisher_assert_liveliness(const rmw_publisher_t * publisher)
+{
+  return rmw_fastrtps_shared_cpp::__rmw_publisher_assert_liveliness(
+    eprosima_fastrtps_identifier, publisher);
+}
+
 rmw_ret_t
 rmw_publisher_get_actual_qos(
   const rmw_publisher_t * publisher,

diff --git a/rmw_fastrtps_cpp/src/rmw_service.cpp b/rmw_fastrtps_cpp/src/rmw_service.cpp
@@ -30,15 +30,15 @@
 #include "rmw/allocators.h"
 #include "rmw/rmw.h"
 
-#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_service_info.hpp"
 #include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
+#include "rmw_fastrtps_shared_cpp/qos.hpp"
+#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 
 #include "rmw_fastrtps_cpp/identifier.hpp"
 
 #include "./type_support_common.hpp"
-#include "./qos.hpp"
 
 using Domain = eprosima::fastrtps::Domain;
 using Participant = eprosima::fastrtps::Participant;

diff --git a/rmw_fastrtps_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_cpp/src/rmw_subscription.cpp
@@ -19,17 +19,17 @@
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
 
-#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp"
 #include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
+#include "rmw_fastrtps_shared_cpp/qos.hpp"
+#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 
 #include "fastrtps/participant/Participant.h"
 #include "fastrtps/subscriber/Subscriber.h"
 
 #include "rmw_fastrtps_cpp/identifier.hpp"
 
-#include "./qos.hpp"
 #include "./type_support_common.hpp"
 
 using Domain = eprosima::fastrtps::Domain;
@@ -110,6 +110,10 @@ rmw_create_subscription(
     }
   }
 
+  if (!is_valid_qos(*qos_policies)) {
+    return nullptr;
+  }
+
   (void)ignore_local_publications;
   CustomSubscriberInfo * info = nullptr;
   rmw_subscription_t * rmw_subscription = nullptr;

diff --git a/rmw_fastrtps_cpp/src/rmw_take.cpp b/rmw_fastrtps_cpp/src/rmw_take.cpp
@@ -69,4 +69,14 @@ rmw_take_serialized_message_with_info(
     eprosima_fastrtps_identifier, subscription, serialized_message, taken, message_info,
     allocation);
 }
+
+rmw_ret_t
+rmw_take_event(
+  const rmw_event_t * event_handle,
+  void * event_info,
+  bool * taken)
+{
+  return rmw_fastrtps_shared_cpp::__rmw_take_event(
+    eprosima_fastrtps_identifier, event_handle, event_info, taken);
+}
 }  // extern "C"
diff --git a/rmw_fastrtps_cpp/src/rmw_wait.cpp b/rmw_fastrtps_cpp/src/rmw_wait.cpp
@@ -25,10 +25,11 @@ rmw_wait(
   rmw_guard_conditions_t * guard_conditions,
   rmw_services_t * services,
   rmw_clients_t * clients,
+  rmw_events_t * events,
   rmw_wait_set_t * wait_set,
   const rmw_time_t * wait_timeout)
 {
   return rmw_fastrtps_shared_cpp::__rmw_wait(
-    subscriptions, guard_conditions, services, clients, wait_set, wait_timeout);
+    subscriptions, guard_conditions, services, clients, events, wait_set, wait_timeout);
 }
 }  // extern "C"
diff --git a/rmw_fastrtps_dynamic_cpp/CMakeLists.txt b/rmw_fastrtps_dynamic_cpp/CMakeLists.txt
@@ -54,7 +54,6 @@ add_library(rmw_fastrtps_dynamic_cpp
   src/get_service.cpp
   src/get_subscriber.cpp
   src/identifier.cpp
-  src/qos.cpp
   src/rmw_logging.cpp
   src/rmw_client.cpp
   src/rmw_compare_gids_equal.cpp