Wait set two words

rmw_fastrtps_cpp/CMakeLists.txt

@@ -79,7 +79,7 @@ add_library(rmw_fastrtps_cpp
   src/rmw_topic_names_and_types.cpp
   src/rmw_trigger_guard_condition.cpp
   src/rmw_wait.cpp
-  src/rmw_waitset.cpp
+  src/rmw_wait_set.cpp
   src/ros_message_serialization.cpp
   src/type_support_common.cpp
 )

rmw_fastrtps_cpp/src/rmw_wait.cpp

@@ -20,12 +20,12 @@
 #include "rmw_fastrtps_cpp/custom_client_info.hpp"
 #include "rmw_fastrtps_cpp/custom_service_info.hpp"
 #include "rmw_fastrtps_cpp/custom_subscriber_info.hpp"
-#include "types/custom_waitset_info.hpp"
+#include "types/custom_wait_set_info.hpp"
 #include "types/guard_condition.hpp"
 
 // helper function for wait
 bool
-check_waitset_for_data(
+check_wait_set_for_data(
   const rmw_subscriptions_t * subscriptions,
   const rmw_guard_conditions_t * guard_conditions,
   const rmw_services_t * services,
@@ -82,26 +82,26 @@ rmw_wait(
   rmw_guard_conditions_t * guard_conditions,
   rmw_services_t * services,
   rmw_clients_t * clients,
-  rmw_waitset_t * waitset,
+  rmw_wait_set_t * wait_set,
   const rmw_time_t * wait_timeout)
 {
-  if (!waitset) {
-    RMW_SET_ERROR_MSG("Waitset handle is null");
+  if (!wait_set) {
+    RMW_SET_ERROR_MSG("wait set handle is null");
     return RMW_RET_ERROR;
   }
-  CustomWaitsetInfo * waitset_info = static_cast<CustomWaitsetInfo *>(waitset->data);
-  if (!waitset_info) {
+  CustomWaitsetInfo * wait_set_info = static_cast<CustomWaitsetInfo *>(wait_set->data);
+  if (!wait_set_info) {
     RMW_SET_ERROR_MSG("Waitset info struct is null");
     return RMW_RET_ERROR;
   }
-  std::mutex * conditionMutex = &waitset_info->condition_mutex;
-  std::condition_variable * conditionVariable = &waitset_info->condition;
+  std::mutex * conditionMutex = &wait_set_info->condition_mutex;
+  std::condition_variable * conditionVariable = &wait_set_info->condition;
   if (!conditionMutex) {
-    RMW_SET_ERROR_MSG("Mutex for waitset was null");
+    RMW_SET_ERROR_MSG("Mutex for wait set was null");
     return RMW_RET_ERROR;
   }
   if (!conditionVariable) {
-    RMW_SET_ERROR_MSG("Condition variable for waitset was null");
+    RMW_SET_ERROR_MSG("Condition variable for wait set was null");
     return RMW_RET_ERROR;
   }
 
@@ -196,7 +196,7 @@ rmw_wait(
       conditionVariable->wait(lock);
     } else {
       auto predicate = [subscriptions, guard_conditions, services, clients]() {
-          return check_waitset_for_data(subscriptions, guard_conditions, services, clients);
+          return check_wait_set_for_data(subscriptions, guard_conditions, services, clients);
         };
       auto n = std::chrono::duration_cast<std::chrono::nanoseconds>(
         std::chrono::seconds(wait_timeout->sec));
@@ -215,7 +215,7 @@ rmw_wait(
   // Even if this was a non-blocking wait, signal a timeout if there's no data.
   // This makes the return behavior consistent with rcl expectations for zero timeout value.
   // Do this before detaching the listeners because the data gets cleared for guard conditions.
-  bool hasData = check_waitset_for_data(subscriptions, guard_conditions, services, clients);
+  bool hasData = check_wait_set_for_data(subscriptions, guard_conditions, services, clients);
   if (!hasData && wait_timeout && wait_timeout->sec == 0 && wait_timeout->nsec == 0) {
     timeout = true;
   }

rmw_fastrtps_cpp/src/rmw_wait_set.cpp

@@ -0,0 +1,95 @@
+// Copyright 2016 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 "rmw/allocators.h"
+#include "rmw/error_handling.h"
+#include "rmw/rmw.h"
+#include "rmw/impl/cpp/macros.hpp"
+
+#include "rmw_fastrtps_cpp/identifier.hpp"
+#include "types/custom_wait_set_info.hpp"
+
+extern "C"
+{
+rmw_wait_set_t *
+rmw_create_wait_set(size_t max_conditions)
+{
+  (void)max_conditions;
+  rmw_wait_set_t * wait_set = rmw_wait_set_allocate();
+  CustomWaitsetInfo * wait_set_info = nullptr;
+
+  // From here onward, error results in unrolling in the goto fail block.
+  if (!wait_set) {
+    RMW_SET_ERROR_MSG("failed to allocate wait set");
+    goto fail;
+  }
+  wait_set->implementation_identifier = eprosima_fastrtps_identifier;
+  wait_set->data = rmw_allocate(sizeof(CustomWaitsetInfo));
+  // This should default-construct the fields of CustomWaitsetInfo
+  wait_set_info = static_cast<CustomWaitsetInfo *>(wait_set->data);
+  RMW_TRY_PLACEMENT_NEW(wait_set_info, wait_set_info, goto fail, CustomWaitsetInfo, )
+  if (!wait_set_info) {
+    RMW_SET_ERROR_MSG("failed to construct wait set info struct");
+    goto fail;
+  }
+
+  return wait_set;
+
+fail:
+  if (wait_set) {
+    if (wait_set->data) {
+      RMW_TRY_DESTRUCTOR_FROM_WITHIN_FAILURE(
+        wait_set_info->~CustomWaitsetInfo(), wait_set_info)
+      rmw_free(wait_set->data);
+    }
+    rmw_wait_set_free(wait_set);
+  }
+  return nullptr;
+}
+
+rmw_ret_t
+rmw_destroy_wait_set(rmw_wait_set_t * wait_set)
+{
+  if (!wait_set) {
+    RMW_SET_ERROR_MSG("wait set handle is null");
+    return RMW_RET_ERROR;
+  }
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    wait set handle,
+    wait_set->implementation_identifier, eprosima_fastrtps_identifier,
+    return RMW_RET_ERROR)
+
+  auto result = RMW_RET_OK;
+  auto wait_set_info = static_cast<CustomWaitsetInfo *>(wait_set->data);
+  if (!wait_set_info) {
+    RMW_SET_ERROR_MSG("wait set info is null");
+    return RMW_RET_ERROR;
+  }
+  std::mutex * conditionMutex = &wait_set_info->condition_mutex;
+  if (!conditionMutex) {
+    RMW_SET_ERROR_MSG("wait set mutex is null");
+    return RMW_RET_ERROR;
+  }
+
+  if (wait_set->data) {
+    if (wait_set_info) {
+      RMW_TRY_DESTRUCTOR(
+        wait_set_info->~CustomWaitsetInfo(), wait_set_info, result = RMW_RET_ERROR)
+    }
+    rmw_free(wait_set->data);
+  }
+  rmw_wait_set_free(wait_set);
+  return result;
+}
+}  // extern "C"

rmw_fastrtps_cpp/src/types/custom_waitset_info.hpp → rmw_fastrtps_cpp/src/types/custom_wait_set_info.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TYPES__CUSTOM_WAITSET_INFO_HPP_
-#define TYPES__CUSTOM_WAITSET_INFO_HPP_
+#ifndef TYPES__CUSTOM_WAIT_SET_INFO_HPP_
+#define TYPES__CUSTOM_WAIT_SET_INFO_HPP_
 
 #include <condition_variable>
 #include <mutex>
@@ -24,4 +24,4 @@ typedef struct CustomWaitsetInfo
   std::mutex condition_mutex;
 } CustomWaitsetInfo;
 
-#endif  // TYPES__CUSTOM_WAITSET_INFO_HPP_
+#endif  // TYPES__CUSTOM_WAIT_SET_INFO_HPP_