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Service timestamps #217

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merged 3 commits into from
Apr 24, 2020
+12 −4
Merged

Service timestamps #217

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84bf763
replace rmw_request_id_t with rmw_service_info_t on select functions …
iluetkeb Apr 21, 2020
c697a40
use rmw_time_point_value_t instead of rmw_time_t
iluetkeb Apr 22, 2020
610b79c
Remove duplicate typedef
iluetkeb Apr 23, 2020
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4 changes: 2 additions & 2 deletions rmw/include/rmw/rmw.h
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Original file line number Diff line number Diff line change
Expand Up @@ -861,7 +861,7 @@ RMW_WARN_UNUSED
rmw_ret_t
rmw_take_response(
const rmw_client_t * client,
rmw_request_id_t * request_header,
rmw_service_info_t * request_header,
void * ros_response,
bool * taken);

Expand All @@ -884,7 +884,7 @@ RMW_WARN_UNUSED
rmw_ret_t
rmw_take_request(
const rmw_service_t * service,
rmw_request_id_t * request_header,
rmw_service_info_t * request_header,
void * ros_request,
bool * taken);

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12 changes: 10 additions & 2 deletions rmw/include/rmw/types.h
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Original file line number Diff line number Diff line change
Expand Up @@ -255,6 +255,16 @@ typedef struct RMW_PUBLIC_TYPE rmw_time_t
uint64_t nsec;
} rmw_time_t;

typedef rcutils_time_point_value_t rmw_time_point_value_t;

/// Meta-data for a service-related take.
typedef struct RMW_PUBLIC_TYPE rmw_service_info_t
{
rmw_time_point_value_t source_timestamp;
rmw_time_point_value_t received_timestamp;
rmw_request_id_t request_id;
} rmw_service_info_t;

enum RMW_PUBLIC_TYPE rmw_qos_reliability_policy_t
{
RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT,
Expand Down Expand Up @@ -330,8 +340,6 @@ typedef struct RMW_PUBLIC_TYPE rmw_gid_t
uint8_t data[RMW_GID_STORAGE_SIZE];
} rmw_gid_t;

typedef rcutils_time_point_value_t rmw_time_point_value_t;

typedef struct RMW_PUBLIC_TYPE rmw_message_info_t
{
rmw_time_point_value_t source_timestamp;
Expand Down