Add EventExecutor to rmw_fastrtps_dynamic_cpp

Mostly a copy of the implementation done for rmw_fastrtps_cpp. Fixes #599. Signed-off-by: Jose Luis Rivero <jrivero@osrfoundation.org>
ros2 · May 4, 2022 · 78c204d · 78c204d
1 parent 87ac047
commit 78c204d
Show file tree

Hide file tree

Showing 4 changed files with 60 additions and 0 deletions.
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp
@@ -577,4 +577,19 @@ rmw_client_response_subscription_get_actual_qos(
 
   return rmw_fastrtps_shared_cpp::__rmw_client_response_subscription_get_actual_qos(client, qos);
 }
+
+rmw_ret_t
+rmw_client_set_on_new_response_callback(
+  rmw_client_t * rmw_client,
+  rmw_event_callback_t callback,
+  const void * user_data)
+{
+  RMW_CHECK_ARGUMENT_FOR_NULL(rmw_client, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_ARGUMENT_FOR_NULL(callback, RMW_RET_INVALID_ARGUMENT);
+
+  return rmw_fastrtps_shared_cpp::__rmw_client_set_on_new_response_callback(
+    rmw_client,
+    callback,
+    user_data);
+}
 }  // extern "C"
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_event.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_event.cpp
@@ -47,4 +47,19 @@ rmw_subscription_event_init(
     subscription->data,
     event_type);
 }
+
+rmw_ret_t
+rmw_event_set_callback(
+  rmw_event_t * rmw_event,
+  rmw_event_callback_t callback,
+  const void * user_data)
+{
+  RMW_CHECK_ARGUMENT_FOR_NULL(rmw_event, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_ARGUMENT_FOR_NULL(callback, RMW_RET_INVALID_ARGUMENT);
+
+  return rmw_fastrtps_shared_cpp::__rmw_event_set_callback(
+    rmw_event,
+    callback,
+    user_data);
+}
 }  // extern "C"
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp
@@ -576,4 +576,19 @@ rmw_service_request_subscription_get_actual_qos(
 
   return rmw_fastrtps_shared_cpp::__rmw_service_request_subscription_get_actual_qos(service, qos);
 }
+
+rmw_ret_t
+rmw_service_set_on_new_request_callback(
+  rmw_service_t * rmw_service,
+  rmw_event_callback_t callback,
+  const void * user_data)
+{
+  RMW_CHECK_ARGUMENT_FOR_NULL(rmw_service, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_ARGUMENT_FOR_NULL(callback, RMW_RET_INVALID_ARGUMENT);
+
+  return rmw_fastrtps_shared_cpp::__rmw_service_set_on_new_request_callback(
+    rmw_service,
+    callback,
+    user_data);
+}
 }  // extern "C"
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
@@ -221,4 +221,19 @@ rmw_destroy_subscription(rmw_node_t * node, rmw_subscription_t * subscription)
   return rmw_fastrtps_shared_cpp::__rmw_destroy_subscription(
     eprosima_fastrtps_identifier, node, subscription);
 }
+
+rmw_ret_t
+rmw_subscription_set_on_new_message_callback(
+  rmw_subscription_t * rmw_subscription,
+  rmw_event_callback_t callback,
+  const void * user_data)
+{
+  RMW_CHECK_ARGUMENT_FOR_NULL(rmw_subscription, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_ARGUMENT_FOR_NULL(callback, RMW_RET_INVALID_ARGUMENT);
+
+  return rmw_fastrtps_shared_cpp::__rmw_subscription_set_on_new_message_callback(
+    rmw_subscription,
+    callback,
+    user_data);
+}
 }  // extern "C"