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Add rmw_*_event_init() functions #115

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merged 3 commits into from
Mar 19, 2020
Merged

Add rmw_*_event_init() functions #115

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1281a83
add check for whether or not event type is supported
mm318 Mar 16, 2020
8f7ee2d
add rmw_publisher/subscription_event_init functions
mm318 Mar 17, 2020
752064c
address PR comment
mm318 Mar 17, 2020
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83 changes: 65 additions & 18 deletions rmw_cyclonedds_cpp/src/rmw_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1856,6 +1856,71 @@ extern "C" rmw_ret_t rmw_return_loaned_message_from_subscription(
return RMW_RET_UNSUPPORTED;
}

/////////////////////////////////////////////////////////////////////////////////////////
/////////// ///////////
/////////// EVENTS ///////////
/////////// ///////////
/////////////////////////////////////////////////////////////////////////////////////////

/// mapping of RMW_EVENT to the corresponding DDS status
static const std::unordered_map<rmw_event_type_t, uint32_t> mask_map{
{RMW_EVENT_LIVELINESS_CHANGED, DDS_LIVELINESS_CHANGED_STATUS},
{RMW_EVENT_REQUESTED_DEADLINE_MISSED, DDS_REQUESTED_DEADLINE_MISSED_STATUS},
{RMW_EVENT_LIVELINESS_LOST, DDS_LIVELINESS_LOST_STATUS},
{RMW_EVENT_OFFERED_DEADLINE_MISSED, DDS_OFFERED_DEADLINE_MISSED_STATUS},
};

static bool is_event_supported(const rmw_event_type_t event_t)
{
return mask_map.count(event_t) == 1;
}

static uint32_t get_status_kind_from_rmw(const rmw_event_type_t event_t)
{
return mask_map.at(event_t);
}

static rmw_ret_t init_rmw_event(
rmw_event_t * rmw_event, const char * topic_endpoint_impl_identifier, void * data,
rmw_event_type_t event_type)
{
RMW_CHECK_ARGUMENT_FOR_NULL(rmw_event, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(topic_endpoint_impl_identifier, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(data, RMW_RET_INVALID_ARGUMENT);
if (!is_event_supported(event_type)) {
RMW_SET_ERROR_MSG("provided event_type is not supported by rmw_cyclonedds_cpp");
return RMW_RET_UNSUPPORTED;
}

rmw_event->implementation_identifier = topic_endpoint_impl_identifier;
rmw_event->data = data;
rmw_event->event_type = event_type;

return RMW_RET_OK;
}

extern "C" rmw_ret_t rmw_publisher_event_init(
rmw_event_t * rmw_event, const rmw_publisher_t * publisher, rmw_event_type_t event_type)
{
RET_WRONG_IMPLID_X(publisher, return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
return init_rmw_event(
rmw_event,
publisher->implementation_identifier,
publisher->data,
event_type);
}

extern "C" rmw_ret_t rmw_subscription_event_init(
rmw_event_t * rmw_event, const rmw_subscription_t * subscription, rmw_event_type_t event_type)
{
RET_WRONG_IMPLID_X(subscription, return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
return init_rmw_event(
rmw_event,
subscription->implementation_identifier,
subscription->data,
event_type);
}

extern "C" rmw_ret_t rmw_take_event(
const rmw_event_t * event_handle, void * event_info,
bool * taken)
Expand Down Expand Up @@ -2165,24 +2230,6 @@ static void clean_waitset_caches()
}
}

/// mapping of RMW_EVENT to the corresponding DDS status
static const std::unordered_map<rmw_event_type_t, uint32_t> mask_map{
{RMW_EVENT_LIVELINESS_CHANGED, DDS_LIVELINESS_CHANGED_STATUS},
{RMW_EVENT_REQUESTED_DEADLINE_MISSED, DDS_REQUESTED_DEADLINE_MISSED_STATUS},
{RMW_EVENT_LIVELINESS_LOST, DDS_LIVELINESS_LOST_STATUS},
{RMW_EVENT_OFFERED_DEADLINE_MISSED, DDS_OFFERED_DEADLINE_MISSED_STATUS},
};

static uint32_t get_status_kind_from_rmw(const rmw_event_type_t event_t)
{
return mask_map.at(event_t);
}

static bool is_event_supported(const rmw_event_type_t event_t)
{
return mask_map.count(event_t) > 0;
}

static rmw_ret_t gather_event_entities(
const rmw_events_t * events,
std::unordered_set<dds_entity_t> & entities)
Expand Down