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Zero copy api #322

Merged
merged 13 commits into from
Oct 18, 2019
+177 −2
Merged

Zero copy api #322

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df5f7bc
allocate loaned message
Karsten1987 Aug 13, 2019
54143d8
can_loan_messages for subscription
Karsten1987 Sep 15, 2019
91ef3e4
ignore whether message is loaned on publish
Karsten1987 Sep 29, 2019
c6753f0
first draft loaned message sequence
Karsten1987 Sep 29, 2019
4cb46fd
message info sequence
Karsten1987 Sep 30, 2019
7185847
rmw_take_loaned_message
Karsten1987 Oct 1, 2019
89c7f44
borrow/return & take/release
Karsten1987 Oct 3, 2019
8f527e9
introduce rmw_publish_loaned_message
Karsten1987 Oct 5, 2019
96a48d9
const correct publish
Karsten1987 Oct 5, 2019
dfcf132
remove loaned message sequence
Karsten1987 Oct 5, 2019
734338a
unify error messages
Karsten1987 Oct 8, 2019
96978e7
linters
Karsten1987 Oct 11, 2019
a7e928c
use RMW_RET_UNSUPPORTED
Karsten1987 Oct 14, 2019
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14 changes: 14 additions & 0 deletions rmw_fastrtps_cpp/src/rmw_publish.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -44,4 +44,18 @@ rmw_publish_serialized_message(
return rmw_fastrtps_shared_cpp::__rmw_publish_serialized_message(
eprosima_fastrtps_identifier, publisher, serialized_message, allocation);
}

rmw_ret_t
rmw_publish_loaned_message(
const rmw_publisher_t * publisher,
void * ros_message,
rmw_publisher_allocation_t * allocation)
{
(void) publisher;
(void) ros_message;
(void) allocation;

RMW_SET_ERROR_MSG("rmw_publish_loaned_message not implemented for rmw_fastrtps_cpp");
return RMW_RET_UNSUPPORTED;
}
} // extern "C"
27 changes: 27 additions & 0 deletions rmw_fastrtps_cpp/src/rmw_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -202,6 +202,7 @@ rmw_create_publisher(
RMW_SET_ERROR_MSG("failed to allocate publisher");
goto fail;
}
rmw_publisher->can_loan_messages = false;
rmw_publisher->implementation_identifier = eprosima_fastrtps_identifier;
rmw_publisher->data = info;
rmw_publisher->topic_name = reinterpret_cast<char *>(rmw_allocate(strlen(topic_name) + 1));
Expand Down Expand Up @@ -260,6 +261,32 @@ rmw_publisher_get_actual_qos(
publisher, qos);
}

rmw_ret_t
rmw_borrow_loaned_message(
const rmw_publisher_t * publisher,
const rosidl_message_type_support_t * type_support,
void ** ros_message)
{
(void) publisher;
(void) type_support;
(void) ros_message;

RMW_SET_ERROR_MSG("rmw_borrow_loaned_message not implemented for rmw_fastrtps_cpp");
return RMW_RET_UNSUPPORTED;
}

rmw_ret_t
rmw_return_loaned_message(
const rmw_publisher_t * publisher,
void * loaned_message)
{
(void) publisher;
(void) loaned_message;

RMW_SET_ERROR_MSG("rmw_return_loaned_message not implemented for rmw_fastrtps_cpp");
return RMW_RET_UNSUPPORTED;
}

rmw_ret_t
rmw_destroy_publisher(rmw_node_t * node, rmw_publisher_t * publisher)
{
Expand Down
2 changes: 1 addition & 1 deletion rmw_fastrtps_cpp/src/rmw_subscription.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -189,7 +189,7 @@ rmw_create_subscription(
memcpy(const_cast<char *>(rmw_subscription->topic_name), topic_name, strlen(topic_name) + 1);

rmw_subscription->options = *subscription_options;

rmw_subscription->can_loan_messages = false;
return rmw_subscription;

fail:
Expand Down
46 changes: 46 additions & 0 deletions rmw_fastrtps_cpp/src/rmw_take.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -70,6 +70,52 @@ rmw_take_serialized_message_with_info(
allocation);
}

rmw_ret_t
rmw_take_loaned_message(
const rmw_subscription_t * subscription,
void ** loaned_message,
bool * taken,
rmw_subscription_allocation_t * allocation)
{
(void) subscription;
(void) loaned_message;
(void) taken;
(void) allocation;

RMW_SET_ERROR_MSG("rmw_take_loaned_message not implemented for rmw_fastrtps_cpp");
return RMW_RET_UNSUPPORTED;
}

rmw_ret_t
rmw_take_loaned_message_with_info(
const rmw_subscription_t * subscription,
void ** loaned_message,
bool * taken,
rmw_message_info_t * message_info,
rmw_subscription_allocation_t * allocation)
{
(void) subscription;
(void) loaned_message;
(void) taken;
(void) message_info;
(void) allocation;

RMW_SET_ERROR_MSG("rmw_take_loaned_message_with_info not implemented for rmw_fastrtps_cpp");
return RMW_RET_UNSUPPORTED;
}

rmw_ret_t
rmw_release_loaned_message(
const rmw_subscription_t * subscription,
void * loaned_message)
{
(void) subscription;
(void) loaned_message;

RMW_SET_ERROR_MSG("rmw_release_loaned_message_with_info not implemented for rmw_fastrtps_cpp");
return RMW_RET_UNSUPPORTED;
}

rmw_ret_t
rmw_take_event(
const rmw_event_t * event_handle,
Expand Down
14 changes: 14 additions & 0 deletions rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,20 @@ rmw_publish(
eprosima_fastrtps_identifier, publisher, ros_message, allocation);
}

rmw_ret_t
rmw_publish_loaned_message(
const rmw_publisher_t * publisher,
void * ros_message,
rmw_publisher_allocation_t * allocation)
{
(void) publisher;
(void) ros_message;
(void) allocation;

RMW_SET_ERROR_MSG("rmw_publish_loaned_message is not implemented for rmw_fastrtps_dynamic_cpp");
return RMW_RET_UNSUPPORTED;
}

rmw_ret_t
rmw_publish_serialized_message(
const rmw_publisher_t * publisher,
Expand Down
27 changes: 27 additions & 0 deletions rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -198,6 +198,7 @@ rmw_create_publisher(
RMW_SET_ERROR_MSG("failed to allocate publisher");
goto fail;
}
rmw_publisher->can_loan_messages = false;
rmw_publisher->implementation_identifier = eprosima_fastrtps_identifier;
rmw_publisher->data = info;
rmw_publisher->topic_name = reinterpret_cast<char *>(rmw_allocate(strlen(topic_name) + 1));
Expand Down Expand Up @@ -256,6 +257,32 @@ rmw_publisher_get_actual_qos(
publisher, qos);
}

rmw_ret_t
rmw_borrow_loaned_message(
const rmw_publisher_t * publisher,
const rosidl_message_type_support_t * type_support,
void ** ros_message)
{
(void) publisher;
(void) type_support;
(void) ros_message;

RMW_SET_ERROR_MSG("rmw_borrow_loaned_message is not implemented for rmw_fastrtps_dynamic_cpp");
return RMW_RET_UNSUPPORTED;
}

rmw_ret_t
rmw_return_loaned_message(
const rmw_publisher_t * publisher,
void * loaned_message)
{
(void) publisher;
(void) loaned_message;

RMW_SET_ERROR_MSG("rmw_return_loaned_message is not implemented for rmw_fastrtps_dynamic_cpp");
return RMW_RET_UNSUPPORTED;
}

rmw_ret_t
rmw_destroy_publisher(rmw_node_t * node, rmw_publisher_t * publisher)
{
Expand Down
2 changes: 1 addition & 1 deletion rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -190,7 +190,7 @@ rmw_create_subscription(
memcpy(const_cast<char *>(rmw_subscription->topic_name), topic_name, strlen(topic_name) + 1);

rmw_subscription->options = *subscription_options;

rmw_subscription->can_loan_messages = false;
return rmw_subscription;

fail:
Expand Down
47 changes: 47 additions & 0 deletions rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -70,6 +70,53 @@ rmw_take_serialized_message_with_info(
allocation);
}

rmw_ret_t
rmw_take_loaned_message(
const rmw_subscription_t * subscription,
void ** loaned_message,
bool * taken,
rmw_subscription_allocation_t * allocation)
{
(void) subscription;
(void) loaned_message;
(void) taken;
(void) allocation;

RMW_SET_ERROR_MSG("rmw_take_loaned_message is not implemented for rmw_fastrtps_dynamic_cpp");
return RMW_RET_UNSUPPORTED;
}

rmw_ret_t
rmw_take_loaned_message_with_info(
const rmw_subscription_t * subscription,
void ** loaned_message,
bool * taken,
rmw_message_info_t * message_info,
rmw_subscription_allocation_t * allocation)
{
(void) subscription;
(void) loaned_message;
(void) taken;
(void) message_info;
(void) allocation;

RMW_SET_ERROR_MSG(
"rmw_take_loaned_message_with_info is not implemented for rmw_fastrtps_dynamic_cpp");
return RMW_RET_UNSUPPORTED;
}

rmw_ret_t
rmw_release_loaned_message(
const rmw_subscription_t * subscription,
void * loaned_message)
{
(void) subscription;
(void) loaned_message;

RMW_SET_ERROR_MSG("rmw_release_loaned_message is not implemented for rmw_fastrtps_dynamic_cpp");
return RMW_RET_UNSUPPORTED;
}

rmw_ret_t
rmw_take_event(
const rmw_event_t * event_handle,
Expand Down