Add rmw_*_event_init() functions (#354)

Signed-off-by: Miaofei <[email protected]>

rmw_fastrtps_cpp/CMakeLists.txt

@@ -57,6 +57,7 @@ add_library(rmw_fastrtps_cpp
   src/rmw_client.cpp
   src/rmw_compare_gids_equal.cpp
   src/rmw_count.cpp
+  src/rmw_event.cpp
   src/rmw_get_gid_for_publisher.cpp
   src/rmw_get_implementation_identifier.cpp
   src/rmw_get_serialization_format.cpp

rmw_fastrtps_cpp/src/rmw_event.cpp

@@ -0,0 +1,50 @@
+// Copyright 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "rmw/rmw.h"
+
+#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
+
+#include "rmw_fastrtps_cpp/identifier.hpp"
+
+extern "C"
+{
+rmw_ret_t
+rmw_publisher_event_init(
+  rmw_event_t * rmw_event,
+  const rmw_publisher_t * publisher,
+  rmw_event_type_t event_type)
+{
+  return rmw_fastrtps_shared_cpp::__rmw_init_event(
+    eprosima_fastrtps_identifier,
+    rmw_event,
+    publisher->implementation_identifier,
+    publisher->data,
+    event_type);
+}
+
+rmw_ret_t
+rmw_subscription_event_init(
+  rmw_event_t * rmw_event,
+  const rmw_subscription_t * subscription,
+  rmw_event_type_t event_type)
+{
+  return rmw_fastrtps_shared_cpp::__rmw_init_event(
+    eprosima_fastrtps_identifier,
+    rmw_event,
+    subscription->implementation_identifier,
+    subscription->data,
+    event_type);
+}
+}  // extern "C"

rmw_fastrtps_dynamic_cpp/CMakeLists.txt

@@ -61,6 +61,7 @@ add_library(rmw_fastrtps_dynamic_cpp
   src/rmw_client.cpp
   src/rmw_compare_gids_equal.cpp
   src/rmw_count.cpp
+  src/rmw_event.cpp
   src/rmw_get_gid_for_publisher.cpp
   src/rmw_get_implementation_identifier.cpp
   src/rmw_get_serialization_format.cpp

rmw_fastrtps_dynamic_cpp/src/rmw_event.cpp

@@ -0,0 +1,50 @@
+// Copyright 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "rmw/rmw.h"
+
+#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
+
+#include "rmw_fastrtps_dynamic_cpp/identifier.hpp"
+
+extern "C"
+{
+rmw_ret_t
+rmw_publisher_event_init(
+  rmw_event_t * rmw_event,
+  const rmw_publisher_t * publisher,
+  rmw_event_type_t event_type)
+{
+  return rmw_fastrtps_shared_cpp::__rmw_init_event(
+    eprosima_fastrtps_identifier,
+    rmw_event,
+    publisher->implementation_identifier,
+    publisher->data,
+    event_type);
+}
+
+rmw_ret_t
+rmw_subscription_event_init(
+  rmw_event_t * rmw_event,
+  const rmw_subscription_t * subscription,
+  rmw_event_type_t event_type)
+{
+  return rmw_fastrtps_shared_cpp::__rmw_init_event(
+    eprosima_fastrtps_identifier,
+    rmw_event,
+    subscription->implementation_identifier,
+    subscription->data,
+    event_type);
+}
+}  // extern "C"

rmw_fastrtps_shared_cpp/CMakeLists.txt

@@ -55,6 +55,7 @@ add_library(rmw_fastrtps_shared_cpp
   src/rmw_client.cpp
   src/rmw_compare_gids_equal.cpp
   src/rmw_count.cpp
+  src/rmw_event.cpp
   src/rmw_get_gid_for_publisher.cpp
   src/rmw_get_topic_endpoint_info.cpp
   src/rmw_guard_condition.cpp

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp

@@ -117,6 +117,15 @@ __rmw_get_node_names(
   rcutils_string_array_t * node_names,
   rcutils_string_array_t * node_namespaces);
 
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_init_event(
+  const char * identifier,
+  rmw_event_t * rmw_event,
+  const char * topic_endpoint_impl_identifier,
+  void * data,
+  rmw_event_type_t event_type);
+
 RMW_FASTRTPS_SHARED_CPP_PUBLIC
 rmw_ret_t
 __rmw_publish(

rmw_fastrtps_shared_cpp/src/custom_publisher_info.cpp

@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include "rmw_fastrtps_shared_cpp/custom_publisher_info.hpp"
+#include "types/event_types.hpp"
 
 EventListenerInterface *
 CustomPublisherInfo::getListener() const
@@ -59,6 +60,7 @@ void PubListener::on_liveliness_lost(
 
 bool PubListener::hasEvent(rmw_event_type_t event_type) const
 {
+  assert(rmw_fastrtps_shared_cpp::internal::is_event_supported(event_type));
   switch (event_type) {
     case RMW_EVENT_LIVELINESS_LOST:
       return liveliness_changes_.load(std::memory_order_relaxed);
@@ -72,6 +74,7 @@ bool PubListener::hasEvent(rmw_event_type_t event_type) const
 
 bool PubListener::takeNextEvent(rmw_event_type_t event_type, void * event_info)
 {
+  assert(rmw_fastrtps_shared_cpp::internal::is_event_supported(event_type));
   std::lock_guard<std::mutex> lock(internalMutex_);
   switch (event_type) {
     case RMW_EVENT_LIVELINESS_LOST:

rmw_fastrtps_shared_cpp/src/custom_subscriber_info.cpp

@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include "rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp"
+#include "types/event_types.hpp"
 
 EventListenerInterface *
 CustomSubscriberInfo::getListener() const
@@ -61,6 +62,7 @@ void SubListener::on_liveliness_changed(
 
 bool SubListener::hasEvent(rmw_event_type_t event_type) const
 {
+  assert(rmw_fastrtps_shared_cpp::internal::is_event_supported(event_type));
   switch (event_type) {
     case RMW_EVENT_LIVELINESS_CHANGED:
       return liveliness_changes_.load(std::memory_order_relaxed);
@@ -74,6 +76,7 @@ bool SubListener::hasEvent(rmw_event_type_t event_type) const
 
 bool SubListener::takeNextEvent(rmw_event_type_t event_type, void * event_info)
 {
+  assert(rmw_fastrtps_shared_cpp::internal::is_event_supported(event_type));
   std::lock_guard<std::mutex> lock(internalMutex_);
   switch (event_type) {
     case RMW_EVENT_LIVELINESS_CHANGED:

rmw_fastrtps_shared_cpp/src/rmw_event.cpp

@@ -0,0 +1,70 @@
+// Copyright 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <unordered_set>
+
+#include "rmw/impl/cpp/macros.hpp"
+
+#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
+#include "types/event_types.hpp"
+
+static const std::unordered_set<rmw_event_type_t> g_rmw_event_type_set{
+  RMW_EVENT_LIVELINESS_CHANGED,
+  RMW_EVENT_REQUESTED_DEADLINE_MISSED,
+  RMW_EVENT_LIVELINESS_LOST,
+  RMW_EVENT_OFFERED_DEADLINE_MISSED
+};
+
+namespace rmw_fastrtps_shared_cpp
+{
+namespace internal
+{
+
+bool is_event_supported(rmw_event_type_t event_type)
+{
+  return g_rmw_event_type_set.count(event_type) == 1;
+}
+
+}  // namespace internal
+
+rmw_ret_t
+__rmw_init_event(
+  const char * identifier,
+  rmw_event_t * rmw_event,
+  const char * topic_endpoint_impl_identifier,
+  void * data,
+  rmw_event_type_t event_type)
+{
+  RMW_CHECK_ARGUMENT_FOR_NULL(identifier, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_ARGUMENT_FOR_NULL(rmw_event, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_ARGUMENT_FOR_NULL(topic_endpoint_impl_identifier, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_ARGUMENT_FOR_NULL(data, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    topic endpoint,
+    topic_endpoint_impl_identifier,
+    identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  if (!internal::is_event_supported(event_type)) {
+    RMW_SET_ERROR_MSG("provided event_type is not supported by rmw_fastrtps_cpp");
+    return RMW_RET_UNSUPPORTED;
+  }
+
+  rmw_event->implementation_identifier = topic_endpoint_impl_identifier;
+  rmw_event->data = data;
+  rmw_event->event_type = event_type;
+
+  return RMW_RET_OK;
+}
+
+}  // namespace rmw_fastrtps_shared_cpp

rmw_fastrtps_shared_cpp/src/types/event_types.hpp

@@ -0,0 +1,30 @@
+// Copyright 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef TYPES__EVENT_TYPES_HPP_
+#define TYPES__EVENT_TYPES_HPP_
+
+#include "rmw/event.h"
+
+namespace rmw_fastrtps_shared_cpp
+{
+namespace internal
+{
+
+bool is_event_supported(rmw_event_type_t event_type);
+
+}  // namespace internal
+}  // namespace rmw_fastrtps_shared_cpp
+
+#endif  // TYPES__EVENT_TYPES_HPP_