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Zero copy api #69

Merged
merged 10 commits into from
Oct 18, 2019
Merged

Zero copy api #69

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7b02354
publish function takes boolean flag
Karsten1987 Jul 30, 2019
8787cd2
allocate loaned message
Karsten1987 Aug 13, 2019
6920fe9
loaned message sequences
Karsten1987 Sep 29, 2019
91a571d
message info sequence
Karsten1987 Sep 30, 2019
4a86168
rmw_take_loan_message
Karsten1987 Oct 1, 2019
4c0884d
borrow/return & take/release
Karsten1987 Oct 3, 2019
fe1768c
introduce rmw_publish_loaned_message
Karsten1987 Oct 5, 2019
de92bd1
const correct publish
Karsten1987 Oct 5, 2019
c13fadd
remove loaned message sequence
Karsten1987 Oct 5, 2019
66d5dc0
changes after rebase
Karsten1987 Oct 11, 2019
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36 changes: 36 additions & 0 deletions rmw_implementation/src/functions.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -285,10 +285,25 @@ RMW_INTERFACE_FN(rmw_destroy_publisher,
rmw_ret_t, RMW_RET_ERROR,
2, ARG_TYPES(rmw_node_t *, rmw_publisher_t *))

RMW_INTERFACE_FN(rmw_borrow_loaned_message,
rmw_ret_t, RMW_RET_ERROR,
3, ARG_TYPES(
const rmw_publisher_t *,
const rosidl_message_type_support_t *,
void **))

RMW_INTERFACE_FN(rmw_return_loaned_message,
rmw_ret_t, RMW_RET_ERROR,
2, ARG_TYPES(const rmw_publisher_t *, void *))

RMW_INTERFACE_FN(rmw_publish,
rmw_ret_t, RMW_RET_ERROR,
3, ARG_TYPES(const rmw_publisher_t *, const void *, rmw_publisher_allocation_t *))

RMW_INTERFACE_FN(rmw_publish_loaned_message,
rmw_ret_t, RMW_RET_ERROR,
3, ARG_TYPES(const rmw_publisher_t *, void *, rmw_publisher_allocation_t *))

RMW_INTERFACE_FN(rmw_publisher_count_matched_subscriptions,
rmw_ret_t, RMW_RET_ERROR,
2, ARG_TYPES(const rmw_publisher_t *, size_t *))
Expand Down Expand Up @@ -373,6 +388,21 @@ RMW_INTERFACE_FN(rmw_take_serialized_message_with_info,
const rmw_subscription_t *, rmw_serialized_message_t *, bool *, rmw_message_info_t *,
rmw_subscription_allocation_t *))

RMW_INTERFACE_FN(rmw_take_loaned_message,
rmw_ret_t, RMW_RET_ERROR,
4, ARG_TYPES(
const rmw_subscription_t *, void **, bool *, rmw_subscription_allocation_t *))

RMW_INTERFACE_FN(rmw_take_loaned_message_with_info,
rmw_ret_t, RMW_RET_ERROR,
5, ARG_TYPES(
const rmw_subscription_t *, void **, bool *, rmw_message_info_t *,
rmw_subscription_allocation_t *))

RMW_INTERFACE_FN(rmw_release_loaned_message,
rmw_ret_t, RMW_RET_ERROR,
2, ARG_TYPES(const rmw_subscription_t *, void *))

RMW_INTERFACE_FN(rmw_create_client,
rmw_client_t *, nullptr,
4, ARG_TYPES(
Expand Down Expand Up @@ -524,7 +554,10 @@ void prefetch_symbols(void)
GET_SYMBOL(rmw_fini_publisher_allocation);
GET_SYMBOL(rmw_create_publisher)
GET_SYMBOL(rmw_destroy_publisher)
GET_SYMBOL(rmw_borrow_loaned_message);
GET_SYMBOL(rmw_return_loaned_message);
GET_SYMBOL(rmw_publish)
GET_SYMBOL(rmw_publish_loaned_message)
GET_SYMBOL(rmw_publisher_count_matched_subscriptions)
GET_SYMBOL(rmw_publisher_get_actual_qos);
GET_SYMBOL(rmw_publish_serialized_message)
Expand All @@ -542,6 +575,9 @@ void prefetch_symbols(void)
GET_SYMBOL(rmw_take_with_info)
GET_SYMBOL(rmw_take_serialized_message)
GET_SYMBOL(rmw_take_serialized_message_with_info)
GET_SYMBOL(rmw_take_loaned_message)
GET_SYMBOL(rmw_take_loaned_message_with_info)
GET_SYMBOL(rmw_release_loaned_message)
GET_SYMBOL(rmw_create_client)
GET_SYMBOL(rmw_destroy_client)
GET_SYMBOL(rmw_send_request)
Expand Down