Add RMW listener APIs

Add set_guard_condition_callback api

Move apis - Add constness

Use or discard previous events: Guard conditions

Rename to set_events_executor_callback

Rename Event_callback -> ExecutorEventCallback

update name

Add events support

void return on set_events_executor_callback

Revert "void return on set_events_executor_callback"

Rename ExecutorEventCallback -> EventsExecutorCallback

Rename set_events_executor_callback->set_listener_callback

Use data types when setting callbacks

Move rcutils/executor_event_types.h to rmw/

rename event types

Rename executor_context->callback_context

Rename callback_context->user_data

Reorder APIs arguments

rename rmw_listener_cb_t->rmw_listener_callback_t

use void * to pass executor ptr

Rework executor callback data

Use RMW renamed file

Signed-off-by: Alberto Soragna <asoragna@irobot.com>

rcl/include/rcl/client.h

@@ -28,6 +28,8 @@ extern "C"
 #include "rcl/node.h"
 #include "rcl/visibility_control.h"
 
+#include "rmw/listener_callback_type.h"
+
 /// Internal rcl client implementation struct.
 struct rcl_client_impl_t;
 
@@ -409,6 +411,14 @@ RCL_PUBLIC
 bool
 rcl_client_is_valid(const rcl_client_t * client);
 
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_client_set_listener_callback(
+  const rcl_client_t * client,
+  rmw_listener_callback_t listener_callback,
+  const void * user_data);
+
 #ifdef __cplusplus
 }
 #endif

rcl/include/rcl/event.h

@@ -199,6 +199,15 @@ RCL_PUBLIC
 bool
 rcl_event_is_valid(const rcl_event_t * event);
 
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_event_set_listener_callback(
+  const rcl_event_t * event,
+  rmw_listener_callback_t listener_callback,
+  const void * user_data,
+  bool use_previous_events);
+
 #ifdef __cplusplus
 }
 #endif

rcl/include/rcl/guard_condition.h

@@ -28,6 +28,8 @@ extern "C"
 #include "rcl/types.h"
 #include "rcl/visibility_control.h"
 
+#include "rmw/listener_callback_type.h"
+
 /// Internal rcl guard condition implementation struct.
 struct rcl_guard_condition_impl_t;
 
@@ -262,6 +264,15 @@ RCL_WARN_UNUSED
 rmw_guard_condition_t *
 rcl_guard_condition_get_rmw_handle(const rcl_guard_condition_t * guard_condition);
 
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_guard_condition_set_listener_callback(
+  const rcl_guard_condition_t * guard_condition,
+  rmw_listener_callback_t listener_callback,
+  const void * user_data,
+  bool use_previous_events);
+
 #ifdef __cplusplus
 }
 #endif

rcl/include/rcl/service.h

@@ -28,6 +28,8 @@ extern "C"
 #include "rcl/node.h"
 #include "rcl/visibility_control.h"
 
+#include "rmw/listener_callback_type.h"
+
 /// Internal rcl implementation struct.
 struct rcl_service_impl_t;
 
@@ -440,6 +442,14 @@ RCL_PUBLIC
 bool
 rcl_service_is_valid(const rcl_service_t * service);
 
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_service_set_listener_callback(
+  const rcl_service_t * service,
+  rmw_listener_callback_t listener_callback,
+  const void * user_data);
+
 #ifdef __cplusplus
 }
 #endif

rcl/include/rcl/subscription.h

@@ -28,6 +28,7 @@ extern "C"
 #include "rcl/node.h"
 #include "rcl/visibility_control.h"
 
+#include "rmw/listener_callback_type.h"
 #include "rmw/message_sequence.h"
 
 /// Internal rcl implementation struct.
@@ -611,6 +612,14 @@ RCL_PUBLIC
 bool
 rcl_subscription_can_loan_messages(const rcl_subscription_t * subscription);
 
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_subscription_set_listener_callback(
+  const rcl_subscription_t * subscription,
+  rmw_listener_callback_t listener_callback,
+  const void * user_data);
+
 #ifdef __cplusplus
 }
 #endif

rcl/src/rcl/client.c

@@ -280,6 +280,19 @@ rcl_client_is_valid(const rcl_client_t * client)
     client->impl->rmw_handle, "client's rmw handle is invalid", return false);
   return true;
 }
+
+rcl_ret_t
+rcl_client_set_listener_callback(
+  const rcl_client_t * client,
+  rmw_listener_callback_t listener_callback,
+  const void * user_data)
+{
+  return rmw_client_set_listener_callback(
+    client->impl->rmw_handle,
+    listener_callback,
+    user_data);
+}
+
 #ifdef __cplusplus
 }
 #endif

rcl/src/rcl/event.c

@@ -218,6 +218,20 @@ rcl_event_is_valid(const rcl_event_t * event)
   return true;
 }
 
+rcl_ret_t
+rcl_event_set_listener_callback(
+  const rcl_event_t * event,
+  rmw_listener_callback_t listener_callback,
+  const void * user_data,
+  bool use_previous_events)
+{
+  return rmw_event_set_listener_callback(
+    &event->impl->rmw_handle,
+    listener_callback,
+    user_data,
+    use_previous_events);
+}
+
 #ifdef __cplusplus
 }
 #endif

rcl/src/rcl/guard_condition.c

@@ -186,6 +186,20 @@ rcl_guard_condition_get_rmw_handle(const rcl_guard_condition_t * guard_condition
   return guard_condition->impl->rmw_handle;
 }
 
+rcl_ret_t
+rcl_guard_condition_set_listener_callback(
+  const rcl_guard_condition_t * guard_condition,
+  rmw_listener_callback_t listener_callback,
+  const void * user_data,
+  bool use_previous_events)
+{
+  return rmw_guard_condition_set_listener_callback(
+    guard_condition->impl->rmw_handle,
+    listener_callback,
+    user_data,
+    use_previous_events);
+}
+
 #ifdef __cplusplus
 }
 #endif

rcl/src/rcl/service.c

@@ -301,6 +301,19 @@ rcl_service_is_valid(const rcl_service_t * service)
   return true;
 }
 
+rcl_ret_t
+rcl_service_set_listener_callback(
+  const rcl_service_t * service,
+  rmw_listener_callback_t listener_callback,
+  const void * user_data)
+{
+  return rmw_service_set_listener_callback(
+    service->impl->rmw_handle,
+    listener_callback,
+    user_data);
+}
+
+
 #ifdef __cplusplus
 }
 #endif

rcl/src/rcl/subscription.c

@@ -437,6 +437,18 @@ rcl_subscription_can_loan_messages(const rcl_subscription_t * subscription)
   return subscription->impl->rmw_handle->can_loan_messages;
 }
 
+rcl_ret_t
+rcl_subscription_set_listener_callback(
+  const rcl_subscription_t * subscription,
+  rmw_listener_callback_t listener_callback,
+  const void * user_data)
+{
+  return rmw_subscription_set_listener_callback(
+    subscription->impl->rmw_handle,
+    listener_callback,
+    user_data);
+}
+
 #ifdef __cplusplus
 }
 #endif