From df5f7bc8494f32725eeb314aede40be33bb4bc09 Mon Sep 17 00:00:00 2001 From: Karsten Knese Date: Tue, 13 Aug 2019 00:34:50 -0700 Subject: [PATCH 01/13] allocate loaned message Signed-off-by: Karsten Knese --- rmw_fastrtps_cpp/src/rmw_publish.cpp | 7 +++++- rmw_fastrtps_cpp/src/rmw_publisher.cpp | 25 +++++++++++++++++++ rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp | 7 +++++- .../src/rmw_publisher.cpp | 25 +++++++++++++++++++ 4 files changed, 62 insertions(+), 2 deletions(-) diff --git a/rmw_fastrtps_cpp/src/rmw_publish.cpp b/rmw_fastrtps_cpp/src/rmw_publish.cpp index 006197397..e02f812bd 100644 --- a/rmw_fastrtps_cpp/src/rmw_publish.cpp +++ b/rmw_fastrtps_cpp/src/rmw_publish.cpp @@ -29,8 +29,13 @@ rmw_ret_t rmw_publish( const rmw_publisher_t * publisher, const void * ros_message, - rmw_publisher_allocation_t * allocation) + rmw_publisher_allocation_t * allocation, + bool is_loaned) { + if (is_loaned) { + RMW_SET_ERROR_MSG("fastrtps does not support loaned messages"); + return RMW_RET_ERROR; + } return rmw_fastrtps_shared_cpp::__rmw_publish( eprosima_fastrtps_identifier, publisher, ros_message, allocation); } diff --git a/rmw_fastrtps_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_cpp/src/rmw_publisher.cpp index 0e3a296a6..5951b32eb 100644 --- a/rmw_fastrtps_cpp/src/rmw_publisher.cpp +++ b/rmw_fastrtps_cpp/src/rmw_publisher.cpp @@ -202,6 +202,7 @@ rmw_create_publisher( RMW_SET_ERROR_MSG("failed to allocate publisher"); goto fail; } + rmw_publisher->can_loan_messages = false; rmw_publisher->implementation_identifier = eprosima_fastrtps_identifier; rmw_publisher->data = info; rmw_publisher->topic_name = reinterpret_cast(rmw_allocate(strlen(topic_name) + 1)); @@ -260,6 +261,30 @@ rmw_publisher_get_actual_qos( publisher, qos); } +void * +rmw_allocate_loaned_message( + const rmw_publisher_t * publisher, + const rosidl_message_type_support_t * type_support, + size_t message_size) +{ + (void) publisher; + (void) type_support; + (void) message_size; + + return nullptr; +} + +rmw_ret_t +rmw_deallocate_loaned_message( + const rmw_publisher_t * publisher, + void * loaned_message) +{ + (void) publisher; + (void) loaned_message; + + return RMW_RET_OK; +} + rmw_ret_t rmw_destroy_publisher(rmw_node_t * node, rmw_publisher_t * publisher) { diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp index a6e9c038d..d4bace0d6 100644 --- a/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp +++ b/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp @@ -29,8 +29,13 @@ rmw_ret_t rmw_publish( const rmw_publisher_t * publisher, const void * ros_message, - rmw_publisher_allocation_t * allocation) + rmw_publisher_allocation_t * allocation, + bool is_loaned) { + if (is_loaned) { + RMW_SET_ERROR_MSG("fastrtps dynamic does not support loaned messages"); + return RMW_RET_ERROR; + } return rmw_fastrtps_shared_cpp::__rmw_publish( eprosima_fastrtps_identifier, publisher, ros_message, allocation); } diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp index 3a4d1a1d2..48b15e0f3 100644 --- a/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp +++ b/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp @@ -198,6 +198,7 @@ rmw_create_publisher( RMW_SET_ERROR_MSG("failed to allocate publisher"); goto fail; } + rmw_publisher->can_loan_messages = false; rmw_publisher->implementation_identifier = eprosima_fastrtps_identifier; rmw_publisher->data = info; rmw_publisher->topic_name = reinterpret_cast(rmw_allocate(strlen(topic_name) + 1)); @@ -256,6 +257,30 @@ rmw_publisher_get_actual_qos( publisher, qos); } +void * +rmw_allocate_loaned_message( + const rmw_publisher_t * publisher, + const rosidl_message_type_support_t * type_support, + size_t message_size) +{ + (void) publisher; + (void) type_support; + (void) message_size; + + return nullptr; +} + +rmw_ret_t +rmw_deallocate_loaned_message( + const rmw_publisher_t * publisher, + void * loaned_message) +{ + (void) publisher; + (void) loaned_message; + + return RMW_RET_OK; +} + rmw_ret_t rmw_destroy_publisher(rmw_node_t * node, rmw_publisher_t * publisher) { From 54143d85b564e889882ff284d991013f4ec38787 Mon Sep 17 00:00:00 2001 From: Karsten Knese Date: Sun, 15 Sep 2019 16:49:52 -0700 Subject: [PATCH 02/13] can_loan_messages for subscription Signed-off-by: Karsten Knese --- rmw_fastrtps_cpp/src/rmw_subscription.cpp | 2 +- rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/rmw_fastrtps_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_cpp/src/rmw_subscription.cpp index 5df544d32..fd0f0e1c6 100644 --- a/rmw_fastrtps_cpp/src/rmw_subscription.cpp +++ b/rmw_fastrtps_cpp/src/rmw_subscription.cpp @@ -189,7 +189,7 @@ rmw_create_subscription( memcpy(const_cast(rmw_subscription->topic_name), topic_name, strlen(topic_name) + 1); rmw_subscription->options = *subscription_options; - + rmw_subscription->can_loan_messages = false; return rmw_subscription; fail: diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp index f32138239..adbce65e0 100644 --- a/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp +++ b/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp @@ -190,7 +190,7 @@ rmw_create_subscription( memcpy(const_cast(rmw_subscription->topic_name), topic_name, strlen(topic_name) + 1); rmw_subscription->options = *subscription_options; - + rmw_subscription->can_loan_messages = false; return rmw_subscription; fail: From 91ef3e4fcca1c91dcbb70f4cd141265cd8244775 Mon Sep 17 00:00:00 2001 From: Karsten Knese Date: Sat, 28 Sep 2019 19:39:09 -0700 Subject: [PATCH 03/13] ignore whether message is loaned on publish Signed-off-by: Karsten Knese --- rmw_fastrtps_cpp/src/rmw_publish.cpp | 8 ++++---- rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp | 8 ++++---- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/rmw_fastrtps_cpp/src/rmw_publish.cpp b/rmw_fastrtps_cpp/src/rmw_publish.cpp index e02f812bd..6ce0030be 100644 --- a/rmw_fastrtps_cpp/src/rmw_publish.cpp +++ b/rmw_fastrtps_cpp/src/rmw_publish.cpp @@ -32,10 +32,10 @@ rmw_publish( rmw_publisher_allocation_t * allocation, bool is_loaned) { - if (is_loaned) { - RMW_SET_ERROR_MSG("fastrtps does not support loaned messages"); - return RMW_RET_ERROR; - } + // FastRTPS doesn't allow to loan messages. + // We therefore don't do anything special when messages are loaned + (void) is_loaned; + return rmw_fastrtps_shared_cpp::__rmw_publish( eprosima_fastrtps_identifier, publisher, ros_message, allocation); } diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp index d4bace0d6..3f9fe2fa0 100644 --- a/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp +++ b/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp @@ -32,10 +32,10 @@ rmw_publish( rmw_publisher_allocation_t * allocation, bool is_loaned) { - if (is_loaned) { - RMW_SET_ERROR_MSG("fastrtps dynamic does not support loaned messages"); - return RMW_RET_ERROR; - } + // FastRTPS doesn't allow to loan messages. + // We therefore don't do anything special when messages are loaned + (void) is_loaned; + return rmw_fastrtps_shared_cpp::__rmw_publish( eprosima_fastrtps_identifier, publisher, ros_message, allocation); } From c6753f0fec9a7d62db18120961a2adf490b13512 Mon Sep 17 00:00:00 2001 From: Karsten Knese Date: Sun, 29 Sep 2019 16:15:10 -0700 Subject: [PATCH 04/13] first draft loaned message sequence Signed-off-by: Karsten Knese --- rmw_fastrtps_cpp/src/rmw_take.cpp | 56 +++++++++++++++++++++++++++++++ 1 file changed, 56 insertions(+) diff --git a/rmw_fastrtps_cpp/src/rmw_take.cpp b/rmw_fastrtps_cpp/src/rmw_take.cpp index 3cf729047..776f0d09b 100644 --- a/rmw_fastrtps_cpp/src/rmw_take.cpp +++ b/rmw_fastrtps_cpp/src/rmw_take.cpp @@ -70,6 +70,62 @@ rmw_take_serialized_message_with_info( allocation); } +rmw_ret_t +rmw_take_loaned_message_sequence( + const rmw_subscriptions_t * subscription, + rmw_loaned_message_sequence_t * loaned_message_sequence, + size_t n, + bool * taken, + rmw_subscription_allocation_t * allocation) +{ + (void) subscription; + (void) loaned_message_sequence; + (void) n; + (void) taken; + (void) allocation; + return RMW_RET_ERROR; +} + +rmw_ret_t +rmw_take_loaned_message_sequence_with_info( + const rmw_subscriptions_t * subscription, + rmw_loaned_message_sequence_t * loaned_message_sequence, + rmw_message_info_sequence_t * message_info_sequence, + size_t n, + bool * taken, + rmw_subscription_allocation_t * allocation) +{ + (void) subscription; + (void) loaned_message_sequence; + (void) message_info_sequence; + (void) n; + (void) taken; + (void) allocation; + return RMW_RET_ERROR; +} + +void * +rmw_loaned_message_sequence_at( + const rmw_subscription_t * subscription, + const rmw_loaned_message_sequence_t * loaned_message_sequence, + size_t position) +{ + (void) subscription; + (void) loaned_message_sequence; + (void) position; + return nullptr; +} + +rmw_ret_t +rmw_return_loaned_message_sequence( + const rmw_subscription_t * subscription, + rmw_loaned_message_sequence_t * loaned_message_sequence) +{ + (void) subscription; + (void) loaned_message_sequence; + return RMW_RET_ERROR; +} + rmw_ret_t rmw_take_event( const rmw_event_t * event_handle, From 4cb46fdaf14e91cfe0889f1620b5125583531a7f Mon Sep 17 00:00:00 2001 From: Karsten Knese Date: Mon, 30 Sep 2019 00:04:23 -0700 Subject: [PATCH 05/13] message info sequence Signed-off-by: Karsten Knese --- rmw_fastrtps_cpp/src/rmw_take.cpp | 20 +++++-- rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp | 68 +++++++++++++++++++++++ 2 files changed, 84 insertions(+), 4 deletions(-) diff --git a/rmw_fastrtps_cpp/src/rmw_take.cpp b/rmw_fastrtps_cpp/src/rmw_take.cpp index 776f0d09b..0187335fb 100644 --- a/rmw_fastrtps_cpp/src/rmw_take.cpp +++ b/rmw_fastrtps_cpp/src/rmw_take.cpp @@ -72,7 +72,7 @@ rmw_take_serialized_message_with_info( rmw_ret_t rmw_take_loaned_message_sequence( - const rmw_subscriptions_t * subscription, + const rmw_subscription_t * subscription, rmw_loaned_message_sequence_t * loaned_message_sequence, size_t n, bool * taken, @@ -88,18 +88,18 @@ rmw_take_loaned_message_sequence( rmw_ret_t rmw_take_loaned_message_sequence_with_info( - const rmw_subscriptions_t * subscription, + const rmw_subscription_t * subscription, rmw_loaned_message_sequence_t * loaned_message_sequence, - rmw_message_info_sequence_t * message_info_sequence, size_t n, bool * taken, + rmw_message_info_sequence_t * message_info_sequence, rmw_subscription_allocation_t * allocation) { (void) subscription; (void) loaned_message_sequence; - (void) message_info_sequence; (void) n; (void) taken; + (void) message_info_sequence; (void) allocation; return RMW_RET_ERROR; } @@ -116,6 +116,18 @@ rmw_loaned_message_sequence_at( return nullptr; } +void * +rmw_message_info_sequence_at( + const rmw_subscription_t * subscription, + const rmw_message_info_sequence_t * message_info_sequence, + size_t position) +{ + (void) subscription; + (void) message_info_sequence; + (void) position; + return nullptr; +} + rmw_ret_t rmw_return_loaned_message_sequence( const rmw_subscription_t * subscription, diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp index e9c936169..e62cd4b5f 100644 --- a/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp +++ b/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp @@ -70,6 +70,74 @@ rmw_take_serialized_message_with_info( allocation); } +rmw_ret_t +rmw_take_loaned_message_sequence( + const rmw_subscription_t * subscription, + rmw_loaned_message_sequence_t * loaned_message_sequence, + size_t n, + bool * taken, + rmw_subscription_allocation_t * allocation) +{ + (void) subscription; + (void) loaned_message_sequence; + (void) n; + (void) taken; + (void) allocation; + return RMW_RET_ERROR; +} + +rmw_ret_t +rmw_take_loaned_message_sequence_with_info( + const rmw_subscription_t * subscription, + rmw_loaned_message_sequence_t * loaned_message_sequence, + size_t n, + bool * taken, + rmw_message_info_sequence_t * message_info_sequence, + rmw_subscription_allocation_t * allocation) +{ + (void) subscription; + (void) loaned_message_sequence; + (void) n; + (void) taken; + (void) message_info_sequence; + (void) allocation; + return RMW_RET_ERROR; +} + +void * +rmw_loaned_message_sequence_at( + const rmw_subscription_t * subscription, + const rmw_loaned_message_sequence_t * loaned_message_sequence, + size_t position) +{ + (void) subscription; + (void) loaned_message_sequence; + (void) position; + return nullptr; +} + +void * +rmw_message_info_sequence_at( + const rmw_subscription_t * subscription, + const rmw_message_info_sequence_t * message_info_sequence, + size_t position) +{ + (void) subscription; + (void) message_info_sequence; + (void) position; + return nullptr; +} + +rmw_ret_t +rmw_return_loaned_message_sequence( + const rmw_subscription_t * subscription, + rmw_loaned_message_sequence_t * loaned_message_sequence) +{ + (void) subscription; + (void) loaned_message_sequence; + return RMW_RET_ERROR; +} + rmw_ret_t rmw_take_event( const rmw_event_t * event_handle, From 7185847b624d39143f50055ad1437b10c17d7b70 Mon Sep 17 00:00:00 2001 From: Karsten Knese Date: Mon, 30 Sep 2019 17:19:08 -0700 Subject: [PATCH 06/13] rmw_take_loaned_message Signed-off-by: Karsten Knese --- rmw_fastrtps_cpp/src/rmw_take.cpp | 40 +++++++++++++++++++++++ rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp | 40 +++++++++++++++++++++++ 2 files changed, 80 insertions(+) diff --git a/rmw_fastrtps_cpp/src/rmw_take.cpp b/rmw_fastrtps_cpp/src/rmw_take.cpp index 0187335fb..f4a967fba 100644 --- a/rmw_fastrtps_cpp/src/rmw_take.cpp +++ b/rmw_fastrtps_cpp/src/rmw_take.cpp @@ -70,6 +70,46 @@ rmw_take_serialized_message_with_info( allocation); } +rmw_ret_t +rmw_take_loaned_message( + const rmw_subscription_t * subscription, + void ** loaned_message, + bool * taken, + rmw_subscription_allocation_t * allocation) +{ + (void) subscription; + (void) loaned_message; + (void) taken; + (void) allocation; + return RMW_RET_ERROR; +} + +rmw_ret_t +rmw_take_loaned_message_with_info( + const rmw_subscription_t * subscription, + void ** loaned_message, + bool * taken, + rmw_message_info_t * message_info, + rmw_subscription_allocation_t * allocation) +{ + (void) subscription; + (void) loaned_message; + (void) taken; + (void) message_info; + (void) allocation; + return RMW_RET_ERROR; +} + +rmw_ret_t +rmw_return_loaned_message( + const rmw_subscription_t * subscription, + void * loaned_message) +{ + (void) subscription; + (void) loaned_message; + return RMW_RET_ERROR; +} + rmw_ret_t rmw_take_loaned_message_sequence( const rmw_subscription_t * subscription, diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp index e62cd4b5f..f69f9aaea 100644 --- a/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp +++ b/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp @@ -70,6 +70,46 @@ rmw_take_serialized_message_with_info( allocation); } +rmw_ret_t +rmw_take_loaned_message( + const rmw_subscription_t * subscription, + void ** loaned_message, + bool * taken, + rmw_subscription_allocation_t * allocation) +{ + (void) subscription; + (void) loaned_message; + (void) taken; + (void) allocation; + return RMW_RET_ERROR; +} + +rmw_ret_t +rmw_take_loaned_message_with_info( + const rmw_subscription_t * subscription, + void ** loaned_message, + bool * taken, + rmw_message_info_t * message_info, + rmw_subscription_allocation_t * allocation) +{ + (void) subscription; + (void) loaned_message; + (void) taken; + (void) message_info; + (void) allocation; + return RMW_RET_ERROR; +} + +rmw_ret_t +rmw_return_loaned_message( + const rmw_subscription_t * subscription, + void * loaned_message) +{ + (void) subscription; + (void) loaned_message; + return RMW_RET_ERROR; +} + rmw_ret_t rmw_take_loaned_message_sequence( const rmw_subscription_t * subscription, From 89c7f44d4273acca8eac6883b240ee6fe7531b59 Mon Sep 17 00:00:00 2001 From: Karsten Knese Date: Wed, 2 Oct 2019 23:18:43 -0700 Subject: [PATCH 07/13] borrow/return & take/release Signed-off-by: Karsten Knese --- rmw_fastrtps_cpp/src/rmw_publisher.cpp | 12 ++++++------ rmw_fastrtps_cpp/src/rmw_take.cpp | 4 ++-- rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp | 12 ++++++------ rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp | 4 ++-- 4 files changed, 16 insertions(+), 16 deletions(-) diff --git a/rmw_fastrtps_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_cpp/src/rmw_publisher.cpp index 5951b32eb..7485a18d9 100644 --- a/rmw_fastrtps_cpp/src/rmw_publisher.cpp +++ b/rmw_fastrtps_cpp/src/rmw_publisher.cpp @@ -261,21 +261,21 @@ rmw_publisher_get_actual_qos( publisher, qos); } -void * -rmw_allocate_loaned_message( +rmw_ret_t +rmw_borrow_loaned_message( const rmw_publisher_t * publisher, const rosidl_message_type_support_t * type_support, - size_t message_size) + void ** ros_message) { (void) publisher; (void) type_support; - (void) message_size; + (void) ros_message; - return nullptr; + return RMW_RET_ERROR; } rmw_ret_t -rmw_deallocate_loaned_message( +rmw_return_loaned_message( const rmw_publisher_t * publisher, void * loaned_message) { diff --git a/rmw_fastrtps_cpp/src/rmw_take.cpp b/rmw_fastrtps_cpp/src/rmw_take.cpp index f4a967fba..7261830d1 100644 --- a/rmw_fastrtps_cpp/src/rmw_take.cpp +++ b/rmw_fastrtps_cpp/src/rmw_take.cpp @@ -101,7 +101,7 @@ rmw_take_loaned_message_with_info( } rmw_ret_t -rmw_return_loaned_message( +rmw_release_loaned_message( const rmw_subscription_t * subscription, void * loaned_message) { @@ -169,7 +169,7 @@ rmw_message_info_sequence_at( } rmw_ret_t -rmw_return_loaned_message_sequence( +rmw_release_loaned_message_sequence( const rmw_subscription_t * subscription, rmw_loaned_message_sequence_t * loaned_message_sequence) { diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp index 48b15e0f3..829ac4a6e 100644 --- a/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp +++ b/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp @@ -257,21 +257,21 @@ rmw_publisher_get_actual_qos( publisher, qos); } -void * -rmw_allocate_loaned_message( +rmw_ret_t +rmw_borrow_loaned_message( const rmw_publisher_t * publisher, const rosidl_message_type_support_t * type_support, - size_t message_size) + void ** ros_message) { (void) publisher; (void) type_support; - (void) message_size; + (void) ros_message; - return nullptr; + return RMW_RET_ERROR; } rmw_ret_t -rmw_deallocate_loaned_message( +rmw_return_loaned_message( const rmw_publisher_t * publisher, void * loaned_message) { diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp index f69f9aaea..077ad7713 100644 --- a/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp +++ b/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp @@ -101,7 +101,7 @@ rmw_take_loaned_message_with_info( } rmw_ret_t -rmw_return_loaned_message( +rmw_release_loaned_message( const rmw_subscription_t * subscription, void * loaned_message) { @@ -169,7 +169,7 @@ rmw_message_info_sequence_at( } rmw_ret_t -rmw_return_loaned_message_sequence( +rmw_release_loaned_message_sequence( const rmw_subscription_t * subscription, rmw_loaned_message_sequence_t * loaned_message_sequence) { From 8f527e9b34487d2c39973581257ccd65c29cd298 Mon Sep 17 00:00:00 2001 From: Karsten Knese Date: Sat, 5 Oct 2019 11:25:05 -0700 Subject: [PATCH 08/13] introduce rmw_publish_loaned_message Signed-off-by: Karsten Knese --- rmw_fastrtps_cpp/src/rmw_publish.cpp | 21 +++++++++++++------ rmw_fastrtps_cpp/src/rmw_publisher.cpp | 5 +++-- rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp | 21 +++++++++++++------ .../src/rmw_publisher.cpp | 5 +++-- 4 files changed, 36 insertions(+), 16 deletions(-) diff --git a/rmw_fastrtps_cpp/src/rmw_publish.cpp b/rmw_fastrtps_cpp/src/rmw_publish.cpp index 6ce0030be..802129c5e 100644 --- a/rmw_fastrtps_cpp/src/rmw_publish.cpp +++ b/rmw_fastrtps_cpp/src/rmw_publish.cpp @@ -29,17 +29,26 @@ rmw_ret_t rmw_publish( const rmw_publisher_t * publisher, const void * ros_message, - rmw_publisher_allocation_t * allocation, - bool is_loaned) + rmw_publisher_allocation_t * allocation) { - // FastRTPS doesn't allow to loan messages. - // We therefore don't do anything special when messages are loaned - (void) is_loaned; - return rmw_fastrtps_shared_cpp::__rmw_publish( eprosima_fastrtps_identifier, publisher, ros_message, allocation); } +rmw_ret_t +rmw_publish_loaned_message( + const rmw_publisher_t * publisher, + const void * ros_message, + rmw_publisher_allocation_t * allocation) +{ + (void) publisher; + (void) ros_message; + (void) allocation; + + RMW_SET_ERROR_MSG("fastrtps currently doesn't support loaned messages"); + return RMW_RET_ERROR; +} + rmw_ret_t rmw_publish_serialized_message( const rmw_publisher_t * publisher, diff --git a/rmw_fastrtps_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_cpp/src/rmw_publisher.cpp index 7485a18d9..f659d8529 100644 --- a/rmw_fastrtps_cpp/src/rmw_publisher.cpp +++ b/rmw_fastrtps_cpp/src/rmw_publisher.cpp @@ -277,12 +277,13 @@ rmw_borrow_loaned_message( rmw_ret_t rmw_return_loaned_message( const rmw_publisher_t * publisher, - void * loaned_message) + const void * loaned_message) { (void) publisher; (void) loaned_message; - return RMW_RET_OK; + RMW_SET_ERROR_MSG("fastrtps currently doesn't support loaned messages"); + return RMW_RET_ERROR; } rmw_ret_t diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp index 3f9fe2fa0..ef65f83fc 100644 --- a/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp +++ b/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp @@ -29,17 +29,26 @@ rmw_ret_t rmw_publish( const rmw_publisher_t * publisher, const void * ros_message, - rmw_publisher_allocation_t * allocation, - bool is_loaned) + rmw_publisher_allocation_t * allocation) { - // FastRTPS doesn't allow to loan messages. - // We therefore don't do anything special when messages are loaned - (void) is_loaned; - return rmw_fastrtps_shared_cpp::__rmw_publish( eprosima_fastrtps_identifier, publisher, ros_message, allocation); } +rmw_ret_t +rmw_publish_loaned_message( + const rmw_publisher_t * publisher, + const void * ros_message, + rmw_publisher_allocation_t * allocation) +{ + (void) publisher; + (void) ros_message; + (void) allocation; + + RMW_SET_ERROR_MSG("fastrtps-dynamic currently doesn't support loaned messages"); + return RMW_RET_ERROR; +} + rmw_ret_t rmw_publish_serialized_message( const rmw_publisher_t * publisher, diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp index 829ac4a6e..d1db7afe8 100644 --- a/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp +++ b/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp @@ -273,12 +273,13 @@ rmw_borrow_loaned_message( rmw_ret_t rmw_return_loaned_message( const rmw_publisher_t * publisher, - void * loaned_message) + const void * loaned_message) { (void) publisher; (void) loaned_message; - return RMW_RET_OK; + RMW_SET_ERROR_MSG("fastrtps-dynamic currently doesn't support loaned messages"); + return RMW_RET_ERROR; } rmw_ret_t From 96a48d92a0e7ac2a0596fea4c9271f41e5972662 Mon Sep 17 00:00:00 2001 From: Karsten Knese Date: Sat, 5 Oct 2019 14:56:10 -0700 Subject: [PATCH 09/13] const correct publish Signed-off-by: Karsten Knese --- rmw_fastrtps_cpp/src/rmw_publish.cpp | 2 +- rmw_fastrtps_cpp/src/rmw_publisher.cpp | 2 +- rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp | 2 +- rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/rmw_fastrtps_cpp/src/rmw_publish.cpp b/rmw_fastrtps_cpp/src/rmw_publish.cpp index 802129c5e..dec3b8a42 100644 --- a/rmw_fastrtps_cpp/src/rmw_publish.cpp +++ b/rmw_fastrtps_cpp/src/rmw_publish.cpp @@ -38,7 +38,7 @@ rmw_publish( rmw_ret_t rmw_publish_loaned_message( const rmw_publisher_t * publisher, - const void * ros_message, + void * ros_message, rmw_publisher_allocation_t * allocation) { (void) publisher; diff --git a/rmw_fastrtps_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_cpp/src/rmw_publisher.cpp index f659d8529..c079015f2 100644 --- a/rmw_fastrtps_cpp/src/rmw_publisher.cpp +++ b/rmw_fastrtps_cpp/src/rmw_publisher.cpp @@ -277,7 +277,7 @@ rmw_borrow_loaned_message( rmw_ret_t rmw_return_loaned_message( const rmw_publisher_t * publisher, - const void * loaned_message) + void * loaned_message) { (void) publisher; (void) loaned_message; diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp index ef65f83fc..b8f9d5a8e 100644 --- a/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp +++ b/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp @@ -38,7 +38,7 @@ rmw_publish( rmw_ret_t rmw_publish_loaned_message( const rmw_publisher_t * publisher, - const void * ros_message, + void * ros_message, rmw_publisher_allocation_t * allocation) { (void) publisher; diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp index d1db7afe8..eeabdc394 100644 --- a/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp +++ b/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp @@ -273,7 +273,7 @@ rmw_borrow_loaned_message( rmw_ret_t rmw_return_loaned_message( const rmw_publisher_t * publisher, - const void * loaned_message) + void * loaned_message) { (void) publisher; (void) loaned_message; From dfcf132899cf556e9b8eefa4c25934f19e8c51d0 Mon Sep 17 00:00:00 2001 From: Knese Karsten Date: Sat, 5 Oct 2019 16:40:26 -0700 Subject: [PATCH 10/13] remove loaned message sequence Signed-off-by: Knese Karsten --- rmw_fastrtps_cpp/src/rmw_take.cpp | 68 ----------------------- rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp | 68 ----------------------- 2 files changed, 136 deletions(-) diff --git a/rmw_fastrtps_cpp/src/rmw_take.cpp b/rmw_fastrtps_cpp/src/rmw_take.cpp index 7261830d1..8ef651c5a 100644 --- a/rmw_fastrtps_cpp/src/rmw_take.cpp +++ b/rmw_fastrtps_cpp/src/rmw_take.cpp @@ -110,74 +110,6 @@ rmw_release_loaned_message( return RMW_RET_ERROR; } -rmw_ret_t -rmw_take_loaned_message_sequence( - const rmw_subscription_t * subscription, - rmw_loaned_message_sequence_t * loaned_message_sequence, - size_t n, - bool * taken, - rmw_subscription_allocation_t * allocation) -{ - (void) subscription; - (void) loaned_message_sequence; - (void) n; - (void) taken; - (void) allocation; - return RMW_RET_ERROR; -} - -rmw_ret_t -rmw_take_loaned_message_sequence_with_info( - const rmw_subscription_t * subscription, - rmw_loaned_message_sequence_t * loaned_message_sequence, - size_t n, - bool * taken, - rmw_message_info_sequence_t * message_info_sequence, - rmw_subscription_allocation_t * allocation) -{ - (void) subscription; - (void) loaned_message_sequence; - (void) n; - (void) taken; - (void) message_info_sequence; - (void) allocation; - return RMW_RET_ERROR; -} - -void * -rmw_loaned_message_sequence_at( - const rmw_subscription_t * subscription, - const rmw_loaned_message_sequence_t * loaned_message_sequence, - size_t position) -{ - (void) subscription; - (void) loaned_message_sequence; - (void) position; - return nullptr; -} - -void * -rmw_message_info_sequence_at( - const rmw_subscription_t * subscription, - const rmw_message_info_sequence_t * message_info_sequence, - size_t position) -{ - (void) subscription; - (void) message_info_sequence; - (void) position; - return nullptr; -} - -rmw_ret_t -rmw_release_loaned_message_sequence( - const rmw_subscription_t * subscription, - rmw_loaned_message_sequence_t * loaned_message_sequence) -{ - (void) subscription; - (void) loaned_message_sequence; - return RMW_RET_ERROR; -} - rmw_ret_t rmw_take_event( const rmw_event_t * event_handle, diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp index 077ad7713..856f9ddd3 100644 --- a/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp +++ b/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp @@ -110,74 +110,6 @@ rmw_release_loaned_message( return RMW_RET_ERROR; } -rmw_ret_t -rmw_take_loaned_message_sequence( - const rmw_subscription_t * subscription, - rmw_loaned_message_sequence_t * loaned_message_sequence, - size_t n, - bool * taken, - rmw_subscription_allocation_t * allocation) -{ - (void) subscription; - (void) loaned_message_sequence; - (void) n; - (void) taken; - (void) allocation; - return RMW_RET_ERROR; -} - -rmw_ret_t -rmw_take_loaned_message_sequence_with_info( - const rmw_subscription_t * subscription, - rmw_loaned_message_sequence_t * loaned_message_sequence, - size_t n, - bool * taken, - rmw_message_info_sequence_t * message_info_sequence, - rmw_subscription_allocation_t * allocation) -{ - (void) subscription; - (void) loaned_message_sequence; - (void) n; - (void) taken; - (void) message_info_sequence; - (void) allocation; - return RMW_RET_ERROR; -} - -void * -rmw_loaned_message_sequence_at( - const rmw_subscription_t * subscription, - const rmw_loaned_message_sequence_t * loaned_message_sequence, - size_t position) -{ - (void) subscription; - (void) loaned_message_sequence; - (void) position; - return nullptr; -} - -void * -rmw_message_info_sequence_at( - const rmw_subscription_t * subscription, - const rmw_message_info_sequence_t * message_info_sequence, - size_t position) -{ - (void) subscription; - (void) message_info_sequence; - (void) position; - return nullptr; -} - -rmw_ret_t -rmw_release_loaned_message_sequence( - const rmw_subscription_t * subscription, - rmw_loaned_message_sequence_t * loaned_message_sequence) -{ - (void) subscription; - (void) loaned_message_sequence; - return RMW_RET_ERROR; -} - rmw_ret_t rmw_take_event( const rmw_event_t * event_handle, From 734338a8e27e9814a0e842f3dcca951ebaaeff65 Mon Sep 17 00:00:00 2001 From: Karsten Knese Date: Tue, 8 Oct 2019 11:16:27 -0700 Subject: [PATCH 11/13] unify error messages Signed-off-by: Karsten Knese --- rmw_fastrtps_cpp/src/rmw_publish.cpp | 21 ++++++++++---------- rmw_fastrtps_cpp/src/rmw_take.cpp | 6 ++++++ rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp | 2 +- rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp | 7 +++++++ 4 files changed, 25 insertions(+), 11 deletions(-) diff --git a/rmw_fastrtps_cpp/src/rmw_publish.cpp b/rmw_fastrtps_cpp/src/rmw_publish.cpp index dec3b8a42..f7517a860 100644 --- a/rmw_fastrtps_cpp/src/rmw_publish.cpp +++ b/rmw_fastrtps_cpp/src/rmw_publish.cpp @@ -35,6 +35,16 @@ rmw_publish( eprosima_fastrtps_identifier, publisher, ros_message, allocation); } +rmw_ret_t +rmw_publish_serialized_message( + const rmw_publisher_t * publisher, + const rmw_serialized_message_t * serialized_message, + rmw_publisher_allocation_t * allocation) +{ + return rmw_fastrtps_shared_cpp::__rmw_publish_serialized_message( + eprosima_fastrtps_identifier, publisher, serialized_message, allocation); +} + rmw_ret_t rmw_publish_loaned_message( const rmw_publisher_t * publisher, @@ -45,17 +55,8 @@ rmw_publish_loaned_message( (void) ros_message; (void) allocation; - RMW_SET_ERROR_MSG("fastrtps currently doesn't support loaned messages"); + RMW_SET_ERROR_MSG("rmw_publish_loaned_message not implemented for rmw_fastrtps_cpp"); return RMW_RET_ERROR; } -rmw_ret_t -rmw_publish_serialized_message( - const rmw_publisher_t * publisher, - const rmw_serialized_message_t * serialized_message, - rmw_publisher_allocation_t * allocation) -{ - return rmw_fastrtps_shared_cpp::__rmw_publish_serialized_message( - eprosima_fastrtps_identifier, publisher, serialized_message, allocation); -} } // extern "C" diff --git a/rmw_fastrtps_cpp/src/rmw_take.cpp b/rmw_fastrtps_cpp/src/rmw_take.cpp index 8ef651c5a..87b1fb9ad 100644 --- a/rmw_fastrtps_cpp/src/rmw_take.cpp +++ b/rmw_fastrtps_cpp/src/rmw_take.cpp @@ -81,6 +81,8 @@ rmw_take_loaned_message( (void) loaned_message; (void) taken; (void) allocation; + + RMW_SET_ERROR_MSG("rmw_take_loaned_message not implemented for rmw_fastrtps_cpp"); return RMW_RET_ERROR; } @@ -97,6 +99,8 @@ rmw_take_loaned_message_with_info( (void) taken; (void) message_info; (void) allocation; + + RMW_SET_ERROR_MSG("rmw_take_loaned_message_with_info not implemented for rmw_fastrtps_cpp"); return RMW_RET_ERROR; } @@ -107,6 +111,8 @@ rmw_release_loaned_message( { (void) subscription; (void) loaned_message; + + RMW_SET_ERROR_MSG("rmw_release_loaned_message_with_info not implemented for rmw_fastrtps_cpp"); return RMW_RET_ERROR; } diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp index b8f9d5a8e..8a0e8db1a 100644 --- a/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp +++ b/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp @@ -45,7 +45,7 @@ rmw_publish_loaned_message( (void) ros_message; (void) allocation; - RMW_SET_ERROR_MSG("fastrtps-dynamic currently doesn't support loaned messages"); + RMW_SET_ERROR_MSG("rmw_publish_loaned_message is not implemented for rmw_fastrtps_dynamic_cpp"); return RMW_RET_ERROR; } diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp index 856f9ddd3..566f4450e 100644 --- a/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp +++ b/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp @@ -81,6 +81,8 @@ rmw_take_loaned_message( (void) loaned_message; (void) taken; (void) allocation; + + RMW_SET_ERROR_MSG("rmw_take_loaned_message is not implemented for rmw_fastrtps_dynamic_cpp"); return RMW_RET_ERROR; } @@ -97,6 +99,9 @@ rmw_take_loaned_message_with_info( (void) taken; (void) message_info; (void) allocation; + + RMW_SET_ERROR_MSG( + "rmw_take_loaned_message_with_info is not implemented for rmw_fastrtps_dynamic_cpp"); return RMW_RET_ERROR; } @@ -107,6 +112,8 @@ rmw_release_loaned_message( { (void) subscription; (void) loaned_message; + + RMW_SET_ERROR_MSG("rmw_release_loaned_message is not implemented for rmw_fastrtps_dynamic_cpp"); return RMW_RET_ERROR; } From 96978e7a81a2866736b8aac1238bac8f53cd84cf Mon Sep 17 00:00:00 2001 From: Karsten Knese Date: Fri, 11 Oct 2019 10:52:41 -0700 Subject: [PATCH 12/13] linters Signed-off-by: Karsten Knese --- rmw_fastrtps_cpp/src/rmw_publish.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/rmw_fastrtps_cpp/src/rmw_publish.cpp b/rmw_fastrtps_cpp/src/rmw_publish.cpp index f7517a860..3715e925a 100644 --- a/rmw_fastrtps_cpp/src/rmw_publish.cpp +++ b/rmw_fastrtps_cpp/src/rmw_publish.cpp @@ -58,5 +58,4 @@ rmw_publish_loaned_message( RMW_SET_ERROR_MSG("rmw_publish_loaned_message not implemented for rmw_fastrtps_cpp"); return RMW_RET_ERROR; } - } // extern "C" From a7e928c457b3914df67f388364187e583a4e4e8a Mon Sep 17 00:00:00 2001 From: Karsten Knese Date: Mon, 14 Oct 2019 09:12:16 -0700 Subject: [PATCH 13/13] use RMW_RET_UNSUPPORTED Signed-off-by: Karsten Knese --- rmw_fastrtps_cpp/src/rmw_publish.cpp | 2 +- rmw_fastrtps_cpp/src/rmw_publisher.cpp | 7 ++++--- rmw_fastrtps_cpp/src/rmw_take.cpp | 6 +++--- rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp | 2 +- rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp | 7 ++++--- rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp | 6 +++--- 6 files changed, 16 insertions(+), 14 deletions(-) diff --git a/rmw_fastrtps_cpp/src/rmw_publish.cpp b/rmw_fastrtps_cpp/src/rmw_publish.cpp index 3715e925a..f51354ced 100644 --- a/rmw_fastrtps_cpp/src/rmw_publish.cpp +++ b/rmw_fastrtps_cpp/src/rmw_publish.cpp @@ -56,6 +56,6 @@ rmw_publish_loaned_message( (void) allocation; RMW_SET_ERROR_MSG("rmw_publish_loaned_message not implemented for rmw_fastrtps_cpp"); - return RMW_RET_ERROR; + return RMW_RET_UNSUPPORTED; } } // extern "C" diff --git a/rmw_fastrtps_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_cpp/src/rmw_publisher.cpp index c079015f2..65481e8bb 100644 --- a/rmw_fastrtps_cpp/src/rmw_publisher.cpp +++ b/rmw_fastrtps_cpp/src/rmw_publisher.cpp @@ -271,7 +271,8 @@ rmw_borrow_loaned_message( (void) type_support; (void) ros_message; - return RMW_RET_ERROR; + RMW_SET_ERROR_MSG("rmw_borrow_loaned_message not implemented for rmw_fastrtps_cpp"); + return RMW_RET_UNSUPPORTED; } rmw_ret_t @@ -282,8 +283,8 @@ rmw_return_loaned_message( (void) publisher; (void) loaned_message; - RMW_SET_ERROR_MSG("fastrtps currently doesn't support loaned messages"); - return RMW_RET_ERROR; + RMW_SET_ERROR_MSG("rmw_return_loaned_message not implemented for rmw_fastrtps_cpp"); + return RMW_RET_UNSUPPORTED; } rmw_ret_t diff --git a/rmw_fastrtps_cpp/src/rmw_take.cpp b/rmw_fastrtps_cpp/src/rmw_take.cpp index 87b1fb9ad..5e49fd846 100644 --- a/rmw_fastrtps_cpp/src/rmw_take.cpp +++ b/rmw_fastrtps_cpp/src/rmw_take.cpp @@ -83,7 +83,7 @@ rmw_take_loaned_message( (void) allocation; RMW_SET_ERROR_MSG("rmw_take_loaned_message not implemented for rmw_fastrtps_cpp"); - return RMW_RET_ERROR; + return RMW_RET_UNSUPPORTED; } rmw_ret_t @@ -101,7 +101,7 @@ rmw_take_loaned_message_with_info( (void) allocation; RMW_SET_ERROR_MSG("rmw_take_loaned_message_with_info not implemented for rmw_fastrtps_cpp"); - return RMW_RET_ERROR; + return RMW_RET_UNSUPPORTED; } rmw_ret_t @@ -113,7 +113,7 @@ rmw_release_loaned_message( (void) loaned_message; RMW_SET_ERROR_MSG("rmw_release_loaned_message_with_info not implemented for rmw_fastrtps_cpp"); - return RMW_RET_ERROR; + return RMW_RET_UNSUPPORTED; } rmw_ret_t diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp index 8a0e8db1a..a9d09e3b2 100644 --- a/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp +++ b/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp @@ -46,7 +46,7 @@ rmw_publish_loaned_message( (void) allocation; RMW_SET_ERROR_MSG("rmw_publish_loaned_message is not implemented for rmw_fastrtps_dynamic_cpp"); - return RMW_RET_ERROR; + return RMW_RET_UNSUPPORTED; } rmw_ret_t diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp index eeabdc394..b0ddb6e47 100644 --- a/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp +++ b/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp @@ -267,7 +267,8 @@ rmw_borrow_loaned_message( (void) type_support; (void) ros_message; - return RMW_RET_ERROR; + RMW_SET_ERROR_MSG("rmw_borrow_loaned_message is not implemented for rmw_fastrtps_dynamic_cpp"); + return RMW_RET_UNSUPPORTED; } rmw_ret_t @@ -278,8 +279,8 @@ rmw_return_loaned_message( (void) publisher; (void) loaned_message; - RMW_SET_ERROR_MSG("fastrtps-dynamic currently doesn't support loaned messages"); - return RMW_RET_ERROR; + RMW_SET_ERROR_MSG("rmw_return_loaned_message is not implemented for rmw_fastrtps_dynamic_cpp"); + return RMW_RET_UNSUPPORTED; } rmw_ret_t diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp index 566f4450e..8c305527c 100644 --- a/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp +++ b/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp @@ -83,7 +83,7 @@ rmw_take_loaned_message( (void) allocation; RMW_SET_ERROR_MSG("rmw_take_loaned_message is not implemented for rmw_fastrtps_dynamic_cpp"); - return RMW_RET_ERROR; + return RMW_RET_UNSUPPORTED; } rmw_ret_t @@ -102,7 +102,7 @@ rmw_take_loaned_message_with_info( RMW_SET_ERROR_MSG( "rmw_take_loaned_message_with_info is not implemented for rmw_fastrtps_dynamic_cpp"); - return RMW_RET_ERROR; + return RMW_RET_UNSUPPORTED; } rmw_ret_t @@ -114,7 +114,7 @@ rmw_release_loaned_message( (void) loaned_message; RMW_SET_ERROR_MSG("rmw_release_loaned_message is not implemented for rmw_fastrtps_dynamic_cpp"); - return RMW_RET_ERROR; + return RMW_RET_UNSUPPORTED; } rmw_ret_t