From 94f2b02478e96bf5cb4637964311d1cbd1622de3 Mon Sep 17 00:00:00 2001
From: William Woodall <william@osrfoundation.org>
Date: Wed, 21 Nov 2018 13:51:41 -0600
Subject: [PATCH] add missing rmw_shutdown

---
 rmw_fastrtps_cpp/src/rmw_init.cpp         | 14 ++++++++++++++
 rmw_fastrtps_dynamic_cpp/src/rmw_init.cpp | 14 ++++++++++++++
 2 files changed, 28 insertions(+)

diff --git a/rmw_fastrtps_cpp/src/rmw_init.cpp b/rmw_fastrtps_cpp/src/rmw_init.cpp
index 10c48a043..bb5b13e7c 100644
--- a/rmw_fastrtps_cpp/src/rmw_init.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_init.cpp
@@ -82,4 +82,18 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
   context->impl = nullptr;
   return RMW_RET_OK;
 }
+
+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);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(context->impl, RMW_RET_INVALID_ARGUMENT);
+  *context = rmw_get_zero_initialized_context();
+  return RMW_RET_OK;
+}
 }  // extern "C"
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_init.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_init.cpp
index 937493ac0..778991793 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_init.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_init.cpp
@@ -82,4 +82,18 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
   context->impl = nullptr;
   return RMW_RET_OK;
 }
+
+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);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(context->impl, RMW_RET_INVALID_ARGUMENT);
+  *context = rmw_get_zero_initialized_context();
+  return RMW_RET_OK;
+}
 }  // extern "C"