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Merged
j-rivero merged 2 commits into from
May 4, 2022
Merged

Add EventsExecutor API for dynamic_fastrtps #600

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3214dcc
Add EventExecutor to rmw_fastrtps_dynamic_cpp
May 3, 2022
ef9f429
Add RMW_CHECKS to rmw_fastrtps_cpp EventsExecutor implementation
May 3, 2022
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3 changes: 3 additions & 0 deletions rmw_fastrtps_cpp/src/rmw_client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -537,6 +537,9 @@ rmw_client_set_on_new_response_callback(
rmw_event_callback_t callback,
const void * user_data)
{
RMW_CHECK_ARGUMENT_FOR_NULL(rmw_client, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(callback, RMW_RET_INVALID_ARGUMENT);

return rmw_fastrtps_shared_cpp::__rmw_client_set_on_new_response_callback(
rmw_client,
callback,
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3 changes: 3 additions & 0 deletions rmw_fastrtps_cpp/src/rmw_event.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -54,6 +54,9 @@ rmw_event_set_callback(
rmw_event_callback_t callback,
const void * user_data)
{
RMW_CHECK_ARGUMENT_FOR_NULL(rmw_event, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(callback, RMW_RET_INVALID_ARGUMENT);

return rmw_fastrtps_shared_cpp::__rmw_event_set_callback(
rmw_event,
callback,
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3 changes: 3 additions & 0 deletions rmw_fastrtps_cpp/src/rmw_service.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -536,6 +536,9 @@ rmw_service_set_on_new_request_callback(
rmw_event_callback_t callback,
const void * user_data)
{
RMW_CHECK_ARGUMENT_FOR_NULL(rmw_service, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(callback, RMW_RET_INVALID_ARGUMENT);

return rmw_fastrtps_shared_cpp::__rmw_service_set_on_new_request_callback(
rmw_service,
callback,
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3 changes: 3 additions & 0 deletions rmw_fastrtps_cpp/src/rmw_subscription.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -227,6 +227,9 @@ rmw_subscription_set_on_new_message_callback(
rmw_event_callback_t callback,
const void * user_data)
{
RMW_CHECK_ARGUMENT_FOR_NULL(rmw_subscription, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(callback, RMW_RET_INVALID_ARGUMENT);

return rmw_fastrtps_shared_cpp::__rmw_subscription_set_on_new_message_callback(
rmw_subscription,
callback,
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15 changes: 15 additions & 0 deletions rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -577,4 +577,19 @@ rmw_client_response_subscription_get_actual_qos(

return rmw_fastrtps_shared_cpp::__rmw_client_response_subscription_get_actual_qos(client, qos);
}

rmw_ret_t
rmw_client_set_on_new_response_callback(
rmw_client_t * rmw_client,
rmw_event_callback_t callback,
const void * user_data)
{
RMW_CHECK_ARGUMENT_FOR_NULL(rmw_client, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(callback, RMW_RET_INVALID_ARGUMENT);

return rmw_fastrtps_shared_cpp::__rmw_client_set_on_new_response_callback(
rmw_client,
callback,
user_data);
}
} // extern "C"
15 changes: 15 additions & 0 deletions rmw_fastrtps_dynamic_cpp/src/rmw_event.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -47,4 +47,19 @@ rmw_subscription_event_init(
subscription->data,
event_type);
}

rmw_ret_t
rmw_event_set_callback(
rmw_event_t * rmw_event,
rmw_event_callback_t callback,
const void * user_data)
{
RMW_CHECK_ARGUMENT_FOR_NULL(rmw_event, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(callback, RMW_RET_INVALID_ARGUMENT);

return rmw_fastrtps_shared_cpp::__rmw_event_set_callback(
rmw_event,
callback,
user_data);
}
} // extern "C"
15 changes: 15 additions & 0 deletions rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -576,4 +576,19 @@ rmw_service_request_subscription_get_actual_qos(

return rmw_fastrtps_shared_cpp::__rmw_service_request_subscription_get_actual_qos(service, qos);
}

rmw_ret_t
rmw_service_set_on_new_request_callback(
rmw_service_t * rmw_service,
rmw_event_callback_t callback,
const void * user_data)
{
RMW_CHECK_ARGUMENT_FOR_NULL(rmw_service, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(callback, RMW_RET_INVALID_ARGUMENT);

return rmw_fastrtps_shared_cpp::__rmw_service_set_on_new_request_callback(
rmw_service,
callback,
user_data);
}
} // extern "C"
15 changes: 15 additions & 0 deletions rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -221,4 +221,19 @@ rmw_destroy_subscription(rmw_node_t * node, rmw_subscription_t * subscription)
return rmw_fastrtps_shared_cpp::__rmw_destroy_subscription(
eprosima_fastrtps_identifier, node, subscription);
}

rmw_ret_t
rmw_subscription_set_on_new_message_callback(
rmw_subscription_t * rmw_subscription,
rmw_event_callback_t callback,
const void * user_data)
{
RMW_CHECK_ARGUMENT_FOR_NULL(rmw_subscription, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(callback, RMW_RET_INVALID_ARGUMENT);

return rmw_fastrtps_shared_cpp::__rmw_subscription_set_on_new_message_callback(
rmw_subscription,
callback,
user_data);
}
} // extern "C"