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implement with_info version of take #161

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merged 3 commits into from
Apr 24, 2020
Merged

implement with_info version of take #161

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efec578
implement with_info version of take
iluetkeb Apr 22, 2020
4a36918
Fix function names and signatures.
iluetkeb Apr 22, 2020
96123c3
Return 0 on received for responses as well
iluetkeb Apr 23, 2020
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15 changes: 9 additions & 6 deletions rmw_cyclonedds_cpp/src/rmw_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2856,7 +2856,7 @@ extern "C" rmw_ret_t rmw_wait(
/////////////////////////////////////////////////////////////////////////////////////////

static rmw_ret_t rmw_take_response_request(
CddsCS * cs, rmw_request_id_t * request_header,
CddsCS * cs, rmw_service_info_t * request_header,
void * ros_data, bool * taken, dds_time_t * source_timestamp,
dds_instance_handle_t srcfilter)
{
Expand All @@ -2870,9 +2870,12 @@ static rmw_ret_t rmw_take_response_request(
while (dds_take(cs->sub->enth, &wrap_ptr, &info, 1, 1) == 1) {
if (info.valid_data) {
memset(request_header, 0, sizeof(wrap.header));
assert(sizeof(wrap.header.guid) <= sizeof(request_header->writer_guid));
memcpy(request_header->writer_guid, &wrap.header.guid, sizeof(wrap.header.guid));
request_header->sequence_number = wrap.header.seq;
assert(sizeof(wrap.header.guid) <= sizeof(request_header->request_id.writer_guid));
memcpy(request_header->request_id.writer_guid, &wrap.header.guid, sizeof(wrap.header.guid));
request_header->request_id.sequence_number = wrap.header.seq;
request_header->source_timestamp = info.source_timestamp;
// TODO(iluetkeb) replace with real received timestamp when available in cyclone
request_header->received_timestamp = 0;
if (source_timestamp) {
*source_timestamp = info.source_timestamp;
}
Expand All @@ -2888,7 +2891,7 @@ static rmw_ret_t rmw_take_response_request(

extern "C" rmw_ret_t rmw_take_response(
const rmw_client_t * client,
rmw_request_id_t * request_header, void * ros_response,
rmw_service_info_t * request_header, void * ros_response,
bool * taken)
{
RET_WRONG_IMPLID(client);
Expand Down Expand Up @@ -2935,7 +2938,7 @@ static void check_for_blocked_requests(CddsClient & client)

extern "C" rmw_ret_t rmw_take_request(
const rmw_service_t * service,
rmw_request_id_t * request_header, void * ros_request,
rmw_service_info_t * request_header, void * ros_request,
bool * taken)
{
RET_WRONG_IMPLID(service);
Expand Down