rmw_publish.cpp

// Copyright 2016-2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#include "fastcdr/Cdr.h"
#include "fastcdr/FastBuffer.h"

#include "rmw/allocators.h"
#include "rmw/error_handling.h"
#include "rmw/rmw.h"

#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"

#include "rmw_fastrtps_cpp/identifier.hpp"

extern "C"
{
rmw_ret_t
rmw_publish(
  const rmw_publisher_t * publisher,
  const void * ros_message,
  rmw_publisher_allocation_t * allocation)
{
  return rmw_fastrtps_shared_cpp::__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,
  void * ros_message,
  rmw_publisher_allocation_t * allocation)
{
  return rmw_fastrtps_shared_cpp::__rmw_publish_loaned_message(
    eprosima_fastrtps_identifier, publisher, ros_message, allocation);
}
}  // extern "C"