address feedback in pull request

Signed-off-by: Miaofei <miaofei@amazon.com>
ros2 · May 1, 2019 · a035d29 · a035d29
1 parent 5a641ea
commit a035d29
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Showing 3 changed files with 23 additions and 6 deletions.
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_node.cpp b/rmw_fastrtps_shared_cpp/src/rmw_node.cpp
@@ -387,6 +387,7 @@ __rmw_node_assert_liveliness(
   }
 
   // node_info->participant->assert_liveliness();
+  RMW_SET_ERROR_MSG("assert_liveliness() of node is currently not supported");
 
   return RMW_RET_UNSUPPORTED;
 }

diff --git a/rmw_fastrtps_shared_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_shared_cpp/src/rmw_publisher.cpp
@@ -122,6 +122,7 @@ __rmw_publisher_assert_liveliness(
   }
 
   // info->publisher_->assert_liveliness();
+  RMW_SET_ERROR_MSG("assert_liveliness() of publisher is currently not supported");
 
   return RMW_RET_UNSUPPORTED;
 }

diff --git a/rmw_fastrtps_shared_cpp/src/rmw_wait.cpp b/rmw_fastrtps_shared_cpp/src/rmw_wait.cpp
@@ -83,7 +83,7 @@ __rmw_wait(
   rmw_guard_conditions_t * guard_conditions,
   rmw_services_t * services,
   rmw_clients_t * clients,
-  rmw_events_t * events,
+  rmw_events_t * /*events*/,
   rmw_wait_set_t * wait_set,
   const rmw_time_t * wait_timeout)
 {
@@ -131,6 +131,15 @@ __rmw_wait(
     }
   }
 
+  // TODO(mm318): implement attachCondition for events when feature becomes available in fastrtps
+  // if (events) {
+  //   for (size_t i = 0; i < events->event_count; ++i) {
+  //     void * data = events->events[i];
+  //     auto custom_event_info = static_cast<CustomEventInfo *>(data);
+  //     custom_event_info->getListener()->attachCondition(conditionMutex, conditionVariable);
+  //   }
+  // }
+
   if (guard_conditions) {
     for (size_t i = 0; i < guard_conditions->guard_condition_count; ++i) {
       void * data = guard_conditions->guard_conditions[i];
@@ -204,11 +213,17 @@ __rmw_wait(
     }
   }
 
-  if (events) {
-    for (size_t i = 0; i < events->event_count; ++i) {
-      // no-op
-    }
-  }
+  // TODO(mm318): implement detachCondition for events when feature becomes available in fastrtps
+  // if (events) {
+  //   for (size_t i = 0; i < events->event_count; ++i) {
+  //     void * data = events->events[i];
+  //     auto custom_event_info = static_cast<CustomEventInfo *>(data);
+  //     custom_event_info->getListener()->detachCondition();
+  //     if (!custom_event_info->getListener()->hasEvent()) {
+  //       services->services[i] = 0;
+  //     }
+  //   }
+  // }
 
   if (guard_conditions) {
     for (size_t i = 0; i < guard_conditions->guard_condition_count; ++i) {
-Original file line number
+Diff line change
@@ Expand Up / @@ -387,6 +387,7 @@ __rmw_node_assert_liveliness( @@
       }
       // node_info->participant->assert_liveliness();
+      RMW_SET_ERROR_MSG("assert_liveliness() of node is currently not supported");
       return RMW_RET_UNSUPPORTED;
     }
@@ Expand Down @@