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Fill message info sequence numbers as unsupported, add rmw_feature_supported() implementation #381

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merged 3 commits into from
Mar 21, 2022
Merged

Fill message info sequence numbers as unsupported, add rmw_feature_supported() implementation #381

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11ac0fa
Fill message info sequence numbers as unsupported, add rmw_feature_su…
ivanpauno Mar 11, 2022
4f5100d
Add new line before EOF
ivanpauno Mar 11, 2022
92de778
please linters
ivanpauno Mar 17, 2022
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54 changes: 27 additions & 27 deletions rmw_cyclonedds_cpp/src/rmw_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,7 @@
#include "rmw/convert_rcutils_ret_to_rmw_ret.h"
#include "rmw/error_handling.h"
#include "rmw/event.h"
#include "rmw/features.h"
#include "rmw/get_node_info_and_types.h"
#include "rmw/get_service_names_and_types.h"
#include "rmw/get_topic_names_and_types.h"
Expand Down Expand Up @@ -3083,6 +3084,22 @@ extern "C" rmw_ret_t rmw_destroy_subscription(rmw_node_t * node, rmw_subscriptio
return ret;
}

static void message_info_from_sample_info(
const dds_sample_info_t & info, rmw_message_info_t * message_info)
{
message_info->publisher_gid.implementation_identifier = eclipse_cyclonedds_identifier;
memset(message_info->publisher_gid.data, 0, sizeof(message_info->publisher_gid.data));
assert(sizeof(info.publication_handle) <= sizeof(message_info->publisher_gid.data));
memcpy(
message_info->publisher_gid.data, &info.publication_handle,
sizeof(info.publication_handle));
message_info->source_timestamp = info.source_timestamp;
// TODO(iluetkeb) add received timestamp, when implemented by Cyclone
message_info->received_timestamp = 0;
message_info->publication_sequence_number = RMW_MESSAGE_INFO_SEQUENCE_NUMBER_UNSUPPORTED;
message_info->reception_sequence_number = RMW_MESSAGE_INFO_SEQUENCE_NUMBER_UNSUPPORTED;
}

static rmw_ret_t rmw_take_int(
const rmw_subscription_t * subscription, void * ros_message,
bool * taken, rmw_message_info_t * message_info)
Expand All @@ -3107,15 +3124,7 @@ static rmw_ret_t rmw_take_int(
if (info.valid_data) {
*taken = true;
if (message_info) {
message_info->publisher_gid.implementation_identifier = eclipse_cyclonedds_identifier;
memset(message_info->publisher_gid.data, 0, sizeof(message_info->publisher_gid.data));
assert(sizeof(info.publication_handle) <= sizeof(message_info->publisher_gid.data));
memcpy(
message_info->publisher_gid.data, &info.publication_handle,
sizeof(info.publication_handle));
message_info->source_timestamp = info.source_timestamp;
// TODO(iluetkeb) add received timestamp, when implemented by Cyclone
message_info->received_timestamp = 0;
message_info_from_sample_info(info, message_info);
}
#if REPORT_LATE_MESSAGES > 0
dds_time_t tnow = dds_time();
Expand Down Expand Up @@ -3212,12 +3221,7 @@ static rmw_ret_t rmw_take_seq(
taken_msg.push_back(message);
(*taken)++;
if (message_info) {
message_info->publisher_gid.implementation_identifier = eclipse_cyclonedds_identifier;
memset(message_info->publisher_gid.data, 0, sizeof(message_info->publisher_gid.data));
assert(sizeof(info.publication_handle) <= sizeof(message_info->publisher_gid.data));
memcpy(
message_info->publisher_gid.data, &info.publication_handle,
sizeof(info.publication_handle));
message_info_from_sample_info(info, message_info);
}
} else {
not_taken_msg.push_back(message);
Expand Down Expand Up @@ -3260,12 +3264,7 @@ static rmw_ret_t rmw_take_ser_int(
while (dds_takecdr(sub->enth, &d, 1, &info, DDS_ANY_STATE) == 1) {
if (info.valid_data) {
if (message_info) {
message_info->publisher_gid.implementation_identifier = eclipse_cyclonedds_identifier;
memset(message_info->publisher_gid.data, 0, sizeof(message_info->publisher_gid.data));
assert(sizeof(info.publication_handle) <= sizeof(message_info->publisher_gid.data));
memcpy(
message_info->publisher_gid.data, &info.publication_handle,
sizeof(info.publication_handle));
message_info_from_sample_info(info, message_info);
}

// taking a serialized msg from shared memory
Expand Down Expand Up @@ -3336,12 +3335,7 @@ static rmw_ret_t rmw_take_loan_int(
while (dds_takecdr(cdds_subscription->enth, &d, 1, &info, DDS_ANY_STATE) == 1) {
if (info.valid_data) {
if (message_info) {
message_info->publisher_gid.implementation_identifier = eclipse_cyclonedds_identifier;
memset(message_info->publisher_gid.data, 0, sizeof(message_info->publisher_gid.data));
assert(sizeof(info.publication_handle) <= sizeof(message_info->publisher_gid.data));
memcpy(
message_info->publisher_gid.data, &info.publication_handle,
sizeof(info.publication_handle));
message_info_from_sample_info(info, message_info);
}
if (d->iox_chunk != nullptr) {
*loaned_message = SHIFT_PAST_ICEORYX_HEADER(d->iox_chunk);
Expand Down Expand Up @@ -5444,3 +5438,9 @@ extern "C" rmw_ret_t rmw_service_request_subscription_get_actual_qos(
RMW_SET_ERROR_MSG("failed to get service's request subscription QoS");
return RMW_RET_ERROR;
}

extern "C" bool rmw_feature_supported(rmw_feature_t feature)
{
(void)feature;
return false;
}