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Templatize so it works both before and after RMW changes #2

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Templatize so it works both before and after RMW changes #2

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62 changes: 45 additions & 17 deletions rmw_cyclonedds_cpp/src/rmw_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1085,14 +1085,13 @@ extern "C" rmw_ret_t rmw_fini_publisher_allocation(rmw_publisher_allocation_t *
return RMW_RET_ERROR;
}

extern "C" rmw_publisher_t * rmw_create_publisher(
const rmw_node_t * node,
const rosidl_message_type_support_t * type_supports, const char * topic_name,
const rmw_qos_profile_t * qos_policies, const rmw_publisher_options_t * publisher_options)
rmw_publisher_t * rmw_create_publisher(
const rmw_node_t * node, const rosidl_message_type_support_t * type_supports,
const char * topic_name, const rmw_qos_profile_t * qos_policies)
{
// until https://github.com/ros2/rmw/pull/187
CddsPublisher * pub;
rmw_publisher_t * rmw_publisher;
RET_NULL_X(publisher_options, return nullptr);
if ((pub = create_cdds_publisher(node, type_supports, topic_name, qos_policies)) == nullptr) {
goto fail_common_init;
}
Expand All @@ -1103,7 +1102,6 @@ extern "C" rmw_publisher_t * rmw_create_publisher(
rmw_publisher->topic_name = reinterpret_cast<char *>(rmw_allocate(strlen(topic_name) + 1));
RET_ALLOC_X(rmw_publisher->topic_name, goto fail_topic_name);
memcpy(const_cast<char *>(rmw_publisher->topic_name), topic_name, strlen(topic_name) + 1);
rmw_publisher->options = *publisher_options;
return rmw_publisher;
fail_topic_name:
rmw_publisher_free(rmw_publisher);
Expand All @@ -1116,6 +1114,22 @@ extern "C" rmw_publisher_t * rmw_create_publisher(
return nullptr;
}

template<typename T_rmw_publisher, typename T_rmw_publisher_options>
rmw_publisher_t * rmw_create_publisher(
const rmw_node_t * node, const rosidl_message_type_support_t * type_supports,
const char * topic_name, const rmw_qos_profile_t * qos_policies,
const T_rmw_publisher_options * publisher_options)
{
// since https://github.com/ros2/rmw/pull/187
RET_NULL_X(publisher_options, return nullptr);
T_rmw_publisher rmw_publisher =
rmw_create_publisher(node, type_supports, topic_name, qos_policies);
if (rmw_publisher != nullptr) {
rmw_publisher.options = publisher_options;
}
return rmw_publisher;
}

extern "C" rmw_ret_t rmw_get_gid_for_publisher(const rmw_publisher_t * publisher, rmw_gid_t * gid)
{
RET_WRONG_IMPLID(publisher);
Expand Down Expand Up @@ -1272,17 +1286,16 @@ extern "C" rmw_ret_t rmw_fini_subscription_allocation(rmw_subscription_allocatio
return RMW_RET_ERROR;
}

extern "C" rmw_subscription_t * rmw_create_subscription(
const rmw_node_t * node,
const rosidl_message_type_support_t * type_supports, const char * topic_name,
const rmw_qos_profile_t * qos_policies, const rmw_subscription_options_t * subscription_options)
rmw_subscription_t * rmw_create_subscription(
const rmw_node_t * node, const rosidl_message_type_support_t * type_supports,
const char * topic_name, const rmw_qos_profile_t * qos_policies, bool ignore_local_publications)
{
// until https://github.com/ros2/rmw/pull/187
CddsSubscription * sub;
rmw_subscription_t * rmw_subscription;
RET_NULL_X(subscription_options, return nullptr);
if ((sub =
create_cdds_subscription(node, type_supports, topic_name, qos_policies,
subscription_options->ignore_local_publications)) == nullptr)
if (
(sub = create_cdds_subscription(
node, type_supports, topic_name, qos_policies, ignore_local_publications)) == nullptr)
{
goto fail_common_init;
}
Expand All @@ -1294,14 +1307,13 @@ extern "C" rmw_subscription_t * rmw_create_subscription(
reinterpret_cast<const char *>(rmw_allocate(strlen(topic_name) + 1));
RET_ALLOC_X(rmw_subscription->topic_name, goto fail_topic_name);
memcpy(const_cast<char *>(rmw_subscription->topic_name), topic_name, strlen(topic_name) + 1);
rmw_subscription->options = *subscription_options;
return rmw_subscription;
fail_topic_name:
rmw_subscription_free(rmw_subscription);
fail_subscription:
if (dds_delete(sub->rdcondh) < 0) {
RCUTILS_LOG_ERROR_NAMED("rmw_cyclonedds_cpp",
"failed to delete readcondition during error handling");
RCUTILS_LOG_ERROR_NAMED(
"rmw_cyclonedds_cpp", "failed to delete readcondition during error handling");
}
if (dds_delete(sub->subh) < 0) {
RCUTILS_LOG_ERROR_NAMED("rmw_cyclonedds_cpp", "failed to delete reader during error handling");
Expand All @@ -1311,6 +1323,22 @@ extern "C" rmw_subscription_t * rmw_create_subscription(
return nullptr;
}

template<typename T_rmw_subscription, typename T_rmw_subscription_options>
rmw_subscription_t * rmw_create_subscription(
const rmw_node_t * node, const rosidl_message_type_support_t * type_supports,
const char * topic_name, const rmw_qos_profile_t * qos_policies,
const T_rmw_subscription_options * subscription_options)
{
// since https://github.com/ros2/rmw/pull/187
RET_NULL_X(subscription_options, return nullptr);
T_rmw_subscription * rmw_subscription = rmw_create_subscription(
node, type_supports, topic_name, qos_policies, subscription_options->ignore_local_publication);
if (rmw_subscription != nullptr) {
rmw_subscription->options = *subscription_options;
}
return rmw_subscription;
}

extern "C" rmw_ret_t rmw_subscription_count_matched_publishers(
const rmw_subscription_t * subscription, size_t * publisher_count)
{
Expand Down