Merge pull request #5 from ros2/master

Updates for preallocation API. (#274)
ros2 · May 2, 2019 · 6410261 · 6410261
2 parents 3ad33d6 + b27c4a5
commit 6410261
Show file tree

Hide file tree

Showing 13 changed files with 199 additions and 42 deletions.
diff --git a/rmw_fastrtps_cpp/src/rmw_publish.cpp b/rmw_fastrtps_cpp/src/rmw_publish.cpp
@@ -26,17 +26,22 @@
 extern "C"
 {
 rmw_ret_t
-rmw_publish(const rmw_publisher_t * publisher, const void * ros_message)
+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);
+    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)
+  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);
+    eprosima_fastrtps_identifier, publisher, serialized_message, allocation);
 }
 }  // extern "C"
diff --git a/rmw_fastrtps_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_cpp/src/rmw_publisher.cpp
@@ -34,6 +34,29 @@ using TopicDataType = eprosima::fastrtps::TopicDataType;
 
 extern "C"
 {
+rmw_ret_t
+rmw_init_publisher_allocation(
+  const rosidl_message_type_support_t * type_support,
+  const rosidl_message_bounds_t * message_bounds,
+  rmw_publisher_allocation_t * allocation)
+{
+  // Unused in current implementation.
+  (void) type_support;
+  (void) message_bounds;
+  (void) allocation;
+  RMW_SET_ERROR_MSG("unimplemented");
+  return RMW_RET_ERROR;
+}
+
+rmw_ret_t
+rmw_fini_publisher_allocation(rmw_publisher_allocation_t * allocation)
+{
+  // Unused in current implementation.
+  (void) allocation;
+  RMW_SET_ERROR_MSG("unimplemented");
+  return RMW_RET_ERROR;
+}
+
 rmw_publisher_t *
 rmw_create_publisher(
   const rmw_node_t * node,

diff --git a/rmw_fastrtps_cpp/src/rmw_serialize.cpp b/rmw_fastrtps_cpp/src/rmw_serialize.cpp
@@ -89,4 +89,14 @@ rmw_deserialize(
   delete tss;
   return ret == true ? RMW_RET_OK : RMW_RET_ERROR;
 }
+
+rmw_ret_t
+rmw_get_serialized_message_size(
+  const rosidl_message_type_support_t * /*type_support*/,
+  const rosidl_message_bounds_t * /*message_bounds*/,
+  size_t * /*size*/)
+{
+  RMW_SET_ERROR_MSG("unimplemented");
+  return RMW_RET_ERROR;
+}
 }  // extern "C"
diff --git a/rmw_fastrtps_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_cpp/src/rmw_subscription.cpp
@@ -38,6 +38,29 @@ using TopicDataType = eprosima::fastrtps::TopicDataType;
 
 extern "C"
 {
+rmw_ret_t
+rmw_init_subscription_allocation(
+  const rosidl_message_type_support_t * type_support,
+  const rosidl_message_bounds_t * message_bounds,
+  rmw_subscription_allocation_t * allocation)
+{
+  // Unused in current implementation.
+  (void) type_support;
+  (void) message_bounds;
+  (void) allocation;
+  RMW_SET_ERROR_MSG("unimplemented");
+  return RMW_RET_ERROR;
+}
+
+rmw_ret_t
+rmw_fini_subscription_allocation(rmw_subscription_allocation_t * allocation)
+{
+  // Unused in current implementation.
+  (void) allocation;
+  RMW_SET_ERROR_MSG("unimplemented");
+  return RMW_RET_ERROR;
+}
+
 rmw_subscription_t *
 rmw_create_subscription(
   const rmw_node_t * node,

diff --git a/rmw_fastrtps_cpp/src/rmw_take.cpp b/rmw_fastrtps_cpp/src/rmw_take.cpp
@@ -24,41 +24,49 @@
 extern "C"
 {
 rmw_ret_t
-rmw_take(const rmw_subscription_t * subscription, void * ros_message, bool * taken)
+rmw_take(
+  const rmw_subscription_t * subscription,
+  void * ros_message,
+  bool * taken,
+  rmw_subscription_allocation_t * allocation)
 {
   return rmw_fastrtps_shared_cpp::__rmw_take(
-    eprosima_fastrtps_identifier, subscription, ros_message, taken);
+    eprosima_fastrtps_identifier, subscription, ros_message, taken, allocation);
 }
 
 rmw_ret_t
 rmw_take_with_info(
   const rmw_subscription_t * subscription,
   void * ros_message,
   bool * taken,
-  rmw_message_info_t * message_info)
+  rmw_message_info_t * message_info,
+  rmw_subscription_allocation_t * allocation)
 {
   return rmw_fastrtps_shared_cpp::__rmw_take_with_info(
-    eprosima_fastrtps_identifier, subscription, ros_message, taken, message_info);
+    eprosima_fastrtps_identifier, subscription, ros_message, taken, message_info, allocation);
 }
 
 rmw_ret_t
 rmw_take_serialized_message(
   const rmw_subscription_t * subscription,
   rmw_serialized_message_t * serialized_message,
-  bool * taken)
+  bool * taken,
+  rmw_subscription_allocation_t * allocation)
 {
   return rmw_fastrtps_shared_cpp::__rmw_take_serialized_message(
-    eprosima_fastrtps_identifier, subscription, serialized_message, taken);
+    eprosima_fastrtps_identifier, subscription, serialized_message, taken, allocation);
 }
 
 rmw_ret_t
 rmw_take_serialized_message_with_info(
   const rmw_subscription_t * subscription,
   rmw_serialized_message_t * serialized_message,
   bool * taken,
-  rmw_message_info_t * message_info)
+  rmw_message_info_t * message_info,
+  rmw_subscription_allocation_t * allocation)
 {
   return rmw_fastrtps_shared_cpp::__rmw_take_serialized_message_with_info(
-    eprosima_fastrtps_identifier, subscription, serialized_message, taken, message_info);
+    eprosima_fastrtps_identifier, subscription, serialized_message, taken, message_info,
+    allocation);
 }
 }  // extern "C"
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp
@@ -26,17 +26,22 @@
 extern "C"
 {
 rmw_ret_t
-rmw_publish(const rmw_publisher_t * publisher, const void * ros_message)
+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);
+    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)
+  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);
+    eprosima_fastrtps_identifier, publisher, serialized_message, allocation);
 }
 }  // extern "C"
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
@@ -33,6 +33,29 @@ using TopicDataType = eprosima::fastrtps::TopicDataType;
 
 extern "C"
 {
+rmw_ret_t
+rmw_init_publisher_allocation(
+  const rosidl_message_type_support_t * type_support,
+  const rosidl_message_bounds_t * message_bounds,
+  rmw_publisher_allocation_t * allocation)
+{
+  // Unused in current implementation.
+  (void) type_support;
+  (void) message_bounds;
+  (void) allocation;
+  RMW_SET_ERROR_MSG("unimplemented");
+  return RMW_RET_ERROR;
+}
+
+rmw_ret_t
+rmw_fini_publisher_allocation(rmw_publisher_allocation_t * allocation)
+{
+  // Unused in current implementation.
+  (void) allocation;
+  RMW_SET_ERROR_MSG("unimplemented");
+  return RMW_RET_ERROR;
+}
+
 rmw_publisher_t *
 rmw_create_publisher(
   const rmw_node_t * node,

diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_serialize.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_serialize.cpp
@@ -88,4 +88,14 @@ rmw_deserialize(
   delete tss;
   return ret == true ? RMW_RET_OK : RMW_RET_ERROR;
 }
+
+rmw_ret_t
+rmw_get_serialized_message_size(
+  const rosidl_message_type_support_t * /*type_support*/,
+  const rosidl_message_bounds_t * /*message_bounds*/,
+  size_t * /*size*/)
+{
+  RMW_SET_ERROR_MSG("unimplemented");
+  return RMW_RET_ERROR;
+}
 }  // extern "C"
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
@@ -38,6 +38,29 @@ using TopicDataType = eprosima::fastrtps::TopicDataType;
 
 extern "C"
 {
+rmw_ret_t
+rmw_init_subscription_allocation(
+  const rosidl_message_type_support_t * type_support,
+  const rosidl_message_bounds_t * message_bounds,
+  rmw_subscription_allocation_t * allocation)
+{
+  // Unused in current implementation.
+  (void) type_support;
+  (void) message_bounds;
+  (void) allocation;
+  RMW_SET_ERROR_MSG("unimplemented");
+  return RMW_RET_ERROR;
+}
+
+rmw_ret_t
+rmw_fini_subscription_allocation(rmw_subscription_allocation_t * allocation)
+{
+  // Unused in current implementation.
+  (void) allocation;
+  RMW_SET_ERROR_MSG("unimplemented");
+  return RMW_RET_ERROR;
+}
+
 rmw_subscription_t *
 rmw_create_subscription(
   const rmw_node_t * node,

diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp
@@ -24,41 +24,49 @@
 extern "C"
 {
 rmw_ret_t
-rmw_take(const rmw_subscription_t * subscription, void * ros_message, bool * taken)
+rmw_take(
+  const rmw_subscription_t * subscription,
+  void * ros_message,
+  bool * taken,
+  rmw_subscription_allocation_t * allocation)
 {
   return rmw_fastrtps_shared_cpp::__rmw_take(
-    eprosima_fastrtps_identifier, subscription, ros_message, taken);
+    eprosima_fastrtps_identifier, subscription, ros_message, taken, allocation);
 }
 
 rmw_ret_t
 rmw_take_with_info(
   const rmw_subscription_t * subscription,
   void * ros_message,
   bool * taken,
-  rmw_message_info_t * message_info)
+  rmw_message_info_t * message_info,
+  rmw_subscription_allocation_t * allocation)
 {
   return rmw_fastrtps_shared_cpp::__rmw_take_with_info(
-    eprosima_fastrtps_identifier, subscription, ros_message, taken, message_info);
+    eprosima_fastrtps_identifier, subscription, ros_message, taken, message_info, allocation);
 }
 
 rmw_ret_t
 rmw_take_serialized_message(
   const rmw_subscription_t * subscription,
   rmw_serialized_message_t * serialized_message,
-  bool * taken)
+  bool * taken,
+  rmw_subscription_allocation_t * allocation)
 {
   return rmw_fastrtps_shared_cpp::__rmw_take_serialized_message(
-    eprosima_fastrtps_identifier, subscription, serialized_message, taken);
+    eprosima_fastrtps_identifier, subscription, serialized_message, taken, allocation);
 }
 
 rmw_ret_t
 rmw_take_serialized_message_with_info(
   const rmw_subscription_t * subscription,
   rmw_serialized_message_t * serialized_message,
   bool * taken,
-  rmw_message_info_t * message_info)
+  rmw_message_info_t * message_info,
+  rmw_subscription_allocation_t * allocation)
 {
   return rmw_fastrtps_shared_cpp::__rmw_take_serialized_message_with_info(
-    eprosima_fastrtps_identifier, subscription, serialized_message, taken, message_info);
+    eprosima_fastrtps_identifier, subscription, serialized_message, taken, message_info,
+    allocation);
 }
 }  // extern "C"
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp
@@ -113,14 +113,16 @@ rmw_ret_t
 __rmw_publish(
   const char * identifier,
   const rmw_publisher_t * publisher,
-  const void * ros_message);
+  const void * ros_message,
+  rmw_publisher_allocation_t * allocation);
 
 RMW_FASTRTPS_SHARED_CPP_PUBLIC
 rmw_ret_t
 __rmw_publish_serialized_message(
   const char * identifier,
   const rmw_publisher_t * publisher,
-  const rmw_serialized_message_t * serialized_message);
+  const rmw_serialized_message_t * serialized_message,
+  rmw_publisher_allocation_t * allocation);
 
 RMW_FASTRTPS_SHARED_CPP_PUBLIC
 rmw_ret_t
@@ -249,7 +251,8 @@ __rmw_take(
   const char * identifier,
   const rmw_subscription_t * subscription,
   void * ros_message,
-  bool * taken);
+  bool * taken,
+  rmw_subscription_allocation_t * allocation);
 
 RMW_FASTRTPS_SHARED_CPP_PUBLIC
 rmw_ret_t
@@ -258,15 +261,17 @@ __rmw_take_with_info(
   const rmw_subscription_t * subscription,
   void * ros_message,
   bool * taken,
-  rmw_message_info_t * message_info);
+  rmw_message_info_t * message_info,
+  rmw_subscription_allocation_t * allocation);
 
 RMW_FASTRTPS_SHARED_CPP_PUBLIC
 rmw_ret_t
 __rmw_take_serialized_message(
   const char * identifier,
   const rmw_subscription_t * subscription,
   rmw_serialized_message_t * serialized_message,
-  bool * taken);
+  bool * taken,
+  rmw_subscription_allocation_t * allocation);
 
 RMW_FASTRTPS_SHARED_CPP_PUBLIC
 rmw_ret_t
@@ -275,7 +280,8 @@ __rmw_take_serialized_message_with_info(
   const rmw_subscription_t * subscription,
   rmw_serialized_message_t * serialized_message,
   bool * taken,
-  rmw_message_info_t * message_info);
+  rmw_message_info_t * message_info,
+  rmw_subscription_allocation_t * allocation);
 
 RMW_FASTRTPS_SHARED_CPP_PUBLIC
 rmw_ret_t