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pass context to wait set and fini context #252

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merged 2 commits into from
Jan 25, 2019
Merged

pass context to wait set and fini context #252

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04cd5b9
pass context to wait set and fini context
wjwwood Jan 10, 2019
5362a39
use nullptr in C++
wjwwood Jan 24, 2019
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14 changes: 14 additions & 0 deletions rmw_fastrtps_cpp/src/rmw_init.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -85,6 +85,20 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)

rmw_ret_t
rmw_shutdown(rmw_context_t * context)
{
RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
context,
context->implementation_identifier,
eprosima_fastrtps_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
// Nothing to do here for now.
// This is just the middleware's notification that shutdown was called.
return RMW_RET_OK;
}

rmw_ret_t
rmw_context_fini(rmw_context_t * context)
{
RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
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4 changes: 2 additions & 2 deletions rmw_fastrtps_cpp/src/rmw_wait_set.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -23,10 +23,10 @@
extern "C"
{
rmw_wait_set_t *
rmw_create_wait_set(size_t max_conditions)
rmw_create_wait_set(rmw_context_t * context, size_t max_conditions)
{
return rmw_fastrtps_shared_cpp::__rmw_create_wait_set(
eprosima_fastrtps_identifier, max_conditions);
eprosima_fastrtps_identifier, context, max_conditions);
}

rmw_ret_t
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14 changes: 14 additions & 0 deletions rmw_fastrtps_dynamic_cpp/src/rmw_init.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -85,6 +85,20 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)

rmw_ret_t
rmw_shutdown(rmw_context_t * context)
{
RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
context,
context->implementation_identifier,
eprosima_fastrtps_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
// Nothing to do here for now.
// This is just the middleware's notification that shutdown was called.
return RMW_RET_OK;
}

rmw_ret_t
rmw_context_fini(rmw_context_t * context)
{
RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
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4 changes: 2 additions & 2 deletions rmw_fastrtps_dynamic_cpp/src/rmw_wait_set.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -23,10 +23,10 @@
extern "C"
{
rmw_wait_set_t *
rmw_create_wait_set(size_t max_conditions)
rmw_create_wait_set(rmw_context_t * context, size_t max_conditions)
{
return rmw_fastrtps_shared_cpp::__rmw_create_wait_set(
eprosima_fastrtps_identifier, max_conditions);
eprosima_fastrtps_identifier, context, max_conditions);
}

rmw_ret_t
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2 changes: 1 addition & 1 deletion rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -292,7 +292,7 @@ __rmw_wait(

RMW_FASTRTPS_SHARED_CPP_PUBLIC
rmw_wait_set_t *
__rmw_create_wait_set(const char * identifier, size_t max_conditions);
__rmw_create_wait_set(const char * identifier, rmw_context_t * context, size_t max_conditions);

RMW_FASTRTPS_SHARED_CPP_PUBLIC
rmw_ret_t
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10 changes: 9 additions & 1 deletion rmw_fastrtps_shared_cpp/src/rmw_wait_set.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -24,8 +24,16 @@
namespace rmw_fastrtps_shared_cpp
{
rmw_wait_set_t *
__rmw_create_wait_set(const char * identifier, size_t max_conditions)
__rmw_create_wait_set(const char * identifier, rmw_context_t * context, size_t max_conditions)
{
RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, NULL);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
init context,
context->implementation_identifier,
identifier,
// TODO(wjwwood): replace this with RMW_RET_INCORRECT_RMW_IMPLEMENTATION when refactored
return nullptr);

(void)max_conditions;
rmw_wait_set_t * wait_set = rmw_wait_set_allocate();
CustomWaitsetInfo * wait_set_info = nullptr;
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