pass context to wait set and fini context (#343)

* pass context to wait set and fini context Signed-off-by: William Woodall <[email protected]> * use nullptr in C++
ros2 · Jan 25, 2019 · 937432d · 937432d
1 parent f08e97c
commit 937432d
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Showing 5 changed files with 48 additions and 6 deletions.
diff --git a/rmw_connext_cpp/src/rmw_init.cpp b/rmw_connext_cpp/src/rmw_init.cpp
@@ -87,6 +87,20 @@ 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,
+    rti_connext_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_connext_cpp/src/rmw_wait_set.cpp b/rmw_connext_cpp/src/rmw_wait_set.cpp
@@ -21,9 +21,9 @@
 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 create_wait_set(rti_connext_identifier, max_conditions);
+  return create_wait_set(rti_connext_identifier, context, max_conditions);
 }
 
 rmw_ret_t

diff --git a/rmw_connext_dynamic_cpp/src/functions.cpp b/rmw_connext_dynamic_cpp/src/functions.cpp
@@ -268,6 +268,20 @@ 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,
+    rti_connext_dynamic_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(
@@ -1480,9 +1494,9 @@ rmw_trigger_guard_condition(const rmw_guard_condition_t * guard_condition_handle
 }
 
 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 create_wait_set(rti_connext_dynamic_identifier, max_conditions);
+  return create_wait_set(rti_connext_dynamic_identifier, context, max_conditions);
 }
 
 rmw_ret_t

diff --git a/rmw_connext_shared_cpp/include/rmw_connext_shared_cpp/wait_set.hpp b/rmw_connext_shared_cpp/include/rmw_connext_shared_cpp/wait_set.hpp
@@ -21,7 +21,10 @@
 
 RMW_CONNEXT_SHARED_CPP_PUBLIC
 rmw_wait_set_t *
-create_wait_set(const char * implementation_identifier, size_t max_conditions);
+create_wait_set(
+  const char * implementation_identifier,
+  rmw_context_t * context,
+  size_t max_conditions);
 
 RMW_CONNEXT_SHARED_CPP_PUBLIC
 rmw_ret_t

diff --git a/rmw_connext_shared_cpp/src/wait_set.cpp b/rmw_connext_shared_cpp/src/wait_set.cpp
@@ -15,8 +15,19 @@
 #include "rmw_connext_shared_cpp/shared_functions.hpp"
 
 rmw_wait_set_t *
-create_wait_set(const char * implementation_identifier, size_t max_conditions)
+create_wait_set(
+  const char * implementation_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,
+    implementation_identifier,
+    // TODO(wjwwood): replace this with RMW_RET_INCORRECT_RMW_IMPLEMENTATION when refactored
+    return nullptr);
+
   rmw_wait_set_t * wait_set = rmw_wait_set_allocate();
 
   ConnextWaitSetInfo * wait_set_info = nullptr;