fastrtps dynamic

rmw_fastrtps_dynamic_cpp/CMakeLists.txt

@@ -58,6 +58,7 @@ add_library(rmw_fastrtps_dynamic_cpp
   src/rmw_count.cpp
   src/rmw_get_gid_for_publisher.cpp
   src/rmw_get_implementation_identifier.cpp
+  src/rmw_get_serialization_format.cpp
   src/rmw_guard_condition.cpp
   src/rmw_init.cpp
   src/rmw_node.cpp
@@ -77,6 +78,7 @@ add_library(rmw_fastrtps_dynamic_cpp
   src/rmw_wait.cpp
   src/rmw_wait_set.cpp
   src/type_support_common.cpp
+  src/serialization_format.cpp
 )
 target_link_libraries(rmw_fastrtps_dynamic_cpp
   fastcdr fastrtps)

rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/serialization_format.hpp

@@ -0,0 +1,20 @@
+// Copyright 2018 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RMW_FASTRTPS_DYNAMIC_CPP__SERIALIZATION_FORMAT_HPP_
+#define RMW_FASTRTPS_DYNAMIC_CPP__SERIALIZATION_FORMAT_HPP_
+
+extern const char * const eprosima_fastrtps_dynamic_serialization_format;
+
+#endif  // RMW_FASTRTPS_DYNAMIC_CPP__SERIALIZATION_FORMAT_HPP_

rmw_fastrtps_dynamic_cpp/src/rmw_get_serialization_format.cpp

@@ -0,0 +1,26 @@
+// Copyright 2018 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "rmw/rmw.h"
+
+#include "rmw_fastrtps_dynamic_cpp/serialization_format.hpp"
+
+extern "C"
+{
+const char *
+rmw_get_serialization_format()
+{
+  return eprosima_fastrtps_dynamic_serialization_format;
+}
+}  // extern "C"

rmw_fastrtps_dynamic_cpp/src/serialization_format.cpp

@@ -0,0 +1,17 @@
+// Copyright 2018 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "rmw_fastrtps_dynamic_cpp/serialization_format.hpp"
+
+const char * const eprosima_fastrtps_dynamic_serialization_format = "cdr";