pass context to wait set and fini context (#252)

* pass context to wait set and fini context Signed-off-by: William Woodall <[email protected]> * use nullptr in C++
ros2 · Jan 25, 2019 · 5259d90 · 5259d90
1 parent 88aa8f8
commit 5259d90
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Showing 6 changed files with 42 additions and 6 deletions.
diff --git a/rmw_fastrtps_cpp/src/rmw_init.cpp b/rmw_fastrtps_cpp/src/rmw_init.cpp
@@ -85,6 +85,20 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
 
 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);
+  // Nothing to do here for now.
+  // This is just the middleware's notification that shutdown was called.
+  return RMW_RET_OK;
+}
+
+rmw_ret_t
+rmw_context_fini(rmw_context_t * context)
 {
   RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_TYPE_IDENTIFIERS_MATCH(

diff --git a/rmw_fastrtps_cpp/src/rmw_wait_set.cpp b/rmw_fastrtps_cpp/src/rmw_wait_set.cpp
@@ -23,10 +23,10 @@
 extern "C"
 {
 rmw_wait_set_t *
-rmw_create_wait_set(size_t max_conditions)
+rmw_create_wait_set(rmw_context_t * context, size_t max_conditions)
 {
   return rmw_fastrtps_shared_cpp::__rmw_create_wait_set(
-    eprosima_fastrtps_identifier, max_conditions);
+    eprosima_fastrtps_identifier, context, max_conditions);
 }
 
 rmw_ret_t

diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_init.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_init.cpp
@@ -85,6 +85,20 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
 
 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);
+  // Nothing to do here for now.
+  // This is just the middleware's notification that shutdown was called.
+  return RMW_RET_OK;
+}
+
+rmw_ret_t
+rmw_context_fini(rmw_context_t * context)
 {
   RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_TYPE_IDENTIFIERS_MATCH(

diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_wait_set.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_wait_set.cpp
@@ -23,10 +23,10 @@
 extern "C"
 {
 rmw_wait_set_t *
-rmw_create_wait_set(size_t max_conditions)
+rmw_create_wait_set(rmw_context_t * context, size_t max_conditions)
 {
   return rmw_fastrtps_shared_cpp::__rmw_create_wait_set(
-    eprosima_fastrtps_identifier, max_conditions);
+    eprosima_fastrtps_identifier, context, max_conditions);
 }
 
 rmw_ret_t

diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp
@@ -292,7 +292,7 @@ __rmw_wait(
 
 RMW_FASTRTPS_SHARED_CPP_PUBLIC
 rmw_wait_set_t *
-__rmw_create_wait_set(const char * identifier, size_t max_conditions);
+__rmw_create_wait_set(const char * identifier, rmw_context_t * context, size_t max_conditions);
 
 RMW_FASTRTPS_SHARED_CPP_PUBLIC
 rmw_ret_t

diff --git a/rmw_fastrtps_shared_cpp/src/rmw_wait_set.cpp b/rmw_fastrtps_shared_cpp/src/rmw_wait_set.cpp
@@ -24,8 +24,16 @@
 namespace rmw_fastrtps_shared_cpp
 {
 rmw_wait_set_t *
-__rmw_create_wait_set(const char * identifier, size_t max_conditions)
+__rmw_create_wait_set(const char * identifier, rmw_context_t * context, size_t max_conditions)
 {
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, NULL);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    init context,
+    context->implementation_identifier,
+    identifier,
+    // TODO(wjwwood): replace this with RMW_RET_INCORRECT_RMW_IMPLEMENTATION when refactored
+    return nullptr);
+
   (void)max_conditions;
   rmw_wait_set_t * wait_set = rmw_wait_set_allocate();
   CustomWaitsetInfo * wait_set_info = nullptr;