From 1728ce8b5549cb4e6ef2dc0d9b8aec4b9803e7e6 Mon Sep 17 00:00:00 2001 From: Alejandro Hernandez Cordero Date: Wed, 5 Mar 2025 14:42:42 +0100 Subject: [PATCH 1/3] Added rmw_event_check_compatible Signed-off-by: Alejandro Hernandez Cordero --- rmw_connextdds_common/src/common/rmw_event.cpp | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/rmw_connextdds_common/src/common/rmw_event.cpp b/rmw_connextdds_common/src/common/rmw_event.cpp index 23acf6ee..6787ca4d 100644 --- a/rmw_connextdds_common/src/common/rmw_event.cpp +++ b/rmw_connextdds_common/src/common/rmw_event.cpp @@ -64,6 +64,13 @@ rmw_api_connextdds_publisher_event_init( } +bool +rmw_event_check_compatible(rmw_event_type_t rmw_event_type) +{ + return is_event_supported(rmw_event_type); +} + + rmw_ret_t rmw_api_connextdds_subscription_event_init( rmw_event_t * rmw_event, From c1a4b478f15e9208c09db8fd2bc395255ab5a5af Mon Sep 17 00:00:00 2001 From: Alejandro Hernandez Cordero Date: Thu, 6 Mar 2025 10:19:53 +0100 Subject: [PATCH 2/3] review feedback Signed-off-by: Alejandro Hernandez Cordero --- rmw_connextdds_common/src/common/rmw_event.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rmw_connextdds_common/src/common/rmw_event.cpp b/rmw_connextdds_common/src/common/rmw_event.cpp index 6787ca4d..c63860a7 100644 --- a/rmw_connextdds_common/src/common/rmw_event.cpp +++ b/rmw_connextdds_common/src/common/rmw_event.cpp @@ -65,7 +65,7 @@ rmw_api_connextdds_publisher_event_init( bool -rmw_event_check_compatible(rmw_event_type_t rmw_event_type) +rmw_event_type_is_supported(rmw_event_type_t rmw_event_type) { return is_event_supported(rmw_event_type); } From 1c1877b214c73cc19b42acbf9aaea02ba9c1a43d Mon Sep 17 00:00:00 2001 From: Alejandro Hernandez Cordero Date: Thu, 6 Mar 2025 22:38:27 +0100 Subject: [PATCH 3/3] Added review feedback Signed-off-by: Alejandro Hernandez Cordero --- rmw_connextdds/src/rmw_api_impl_ndds.cpp | 7 +++++++ .../include/rmw_connextdds/rmw_api_impl.hpp | 4 ++++ .../src/common/rmw_event.cpp | 19 ++++++------------- .../src/rmw_api_impl_rtime.cpp | 6 ++++++ 4 files changed, 23 insertions(+), 13 deletions(-) diff --git a/rmw_connextdds/src/rmw_api_impl_ndds.cpp b/rmw_connextdds/src/rmw_api_impl_ndds.cpp index e44df000..13ddce63 100644 --- a/rmw_connextdds/src/rmw_api_impl_ndds.cpp +++ b/rmw_connextdds/src/rmw_api_impl_ndds.cpp @@ -138,6 +138,13 @@ rmw_event_set_callback( { return rmw_api_connextdds_event_set_callback(event, callback, user_data); } + +bool +rmw_event_type_is_supported(rmw_event_type_t rmw_event_type) +{ + return rmw_api_connextdds_event_type_is_supported(rmw_event_type); +} + /***************************************************************************** * Info API *****************************************************************************/ diff --git a/rmw_connextdds_common/include/rmw_connextdds/rmw_api_impl.hpp b/rmw_connextdds_common/include/rmw_connextdds/rmw_api_impl.hpp index 804b5653..fce5981c 100644 --- a/rmw_connextdds_common/include/rmw_connextdds/rmw_api_impl.hpp +++ b/rmw_connextdds_common/include/rmw_connextdds/rmw_api_impl.hpp @@ -96,6 +96,10 @@ rmw_api_connextdds_event_set_callback( const rmw_event_callback_t callback, const void * const user_data); +RMW_CONNEXTDDS_PUBLIC +bool +rmw_api_connextdds_event_type_is_supported(rmw_event_type_t rmw_event_type); + /***************************************************************************** * Info API *****************************************************************************/ diff --git a/rmw_connextdds_common/src/common/rmw_event.cpp b/rmw_connextdds_common/src/common/rmw_event.cpp index c63860a7..7a0cc981 100644 --- a/rmw_connextdds_common/src/common/rmw_event.cpp +++ b/rmw_connextdds_common/src/common/rmw_event.cpp @@ -19,15 +19,6 @@ /****************************************************************************** * Event functions ******************************************************************************/ - -static bool is_event_supported(const rmw_event_type_t event_type) -{ - bool invalid = false; - ros_event_to_dds(event_type, &invalid); - return !invalid; -} - - rmw_ret_t rmw_api_connextdds_publisher_event_init( rmw_event_t * rmw_event, @@ -42,7 +33,7 @@ rmw_api_connextdds_publisher_event_init( return RMW_RET_INVALID_ARGUMENT); RMW_CHECK_ARGUMENT_FOR_NULL(rmw_event, RMW_RET_INVALID_ARGUMENT); - if (!is_event_supported(event_type)) { + if (!rmw_api_connextdds_event_type_is_supported(event_type)) { RMW_CONNEXT_LOG_ERROR_SET("unsupported publisher event") return RMW_RET_UNSUPPORTED; } @@ -65,9 +56,11 @@ rmw_api_connextdds_publisher_event_init( bool -rmw_event_type_is_supported(rmw_event_type_t rmw_event_type) +rmw_api_connextdds_event_type_is_supported(rmw_event_type_t rmw_event_type) { - return is_event_supported(rmw_event_type); + bool invalid = false; + ros_event_to_dds(rmw_event_type, &invalid); + return !invalid; } @@ -85,7 +78,7 @@ rmw_api_connextdds_subscription_event_init( return RMW_RET_INVALID_ARGUMENT); RMW_CHECK_ARGUMENT_FOR_NULL(rmw_event, RMW_RET_INVALID_ARGUMENT); - if (!is_event_supported(event_type)) { + if (!rmw_api_connextdds_event_type_is_supported(event_type)) { RMW_CONNEXT_LOG_ERROR_SET("unsupported subscription event") return RMW_RET_UNSUPPORTED; } diff --git a/rmw_connextddsmicro/src/rmw_api_impl_rtime.cpp b/rmw_connextddsmicro/src/rmw_api_impl_rtime.cpp index 3aaf5e95..5197ef76 100644 --- a/rmw_connextddsmicro/src/rmw_api_impl_rtime.cpp +++ b/rmw_connextddsmicro/src/rmw_api_impl_rtime.cpp @@ -139,6 +139,12 @@ rmw_event_set_callback( return rmw_api_connextdds_event_set_callback(event, callback, user_data); } +bool +rmw_event_type_is_supported(rmw_event_type_t rmw_event_type) +{ + return rmw_api_connextdds_event_type_is_supported(rmw_event_type); +} + /***************************************************************************** * Info API *****************************************************************************/