Updates for allocation in serialize methods.

Signed-off-by: Michael Carroll <michael@openrobotics.org>
ros2 · May 1, 2019 · 92f9e43 · 92f9e43
1 parent 08e4389
commit 92f9e43
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Showing 7 changed files with 26 additions and 15 deletions.
diff --git a/rcl/include/rcl/publisher.h b/rcl/include/rcl/publisher.h
@@ -245,7 +245,7 @@ rcl_publisher_get_default_options(void);
  *
  * \param[in] publisher handle to the publisher which will do the publishing
  * \param[in] ros_message type-erased pointer to the ROS message
- * \param[in] publihser allocation structure pointer, used for memory preallocation
+ * \param[in] allocation structure pointer, used for memory preallocation (may be NULL)
  * \return `RCL_RET_OK` if the message was published successfully, or
  * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
  * \return `RCL_RET_PUBLISHER_INVALID` if the publisher is invalid, or
@@ -285,6 +285,7 @@ rcl_publish(
  *
  * \param[in] publisher handle to the publisher which will do the publishing
  * \param[in] serialized_message pointer to the already serialized message in raw form
+ * \param[in] allocation structure pointer, used for memory preallocation (may be NULL)
  * \return `RCL_RET_OK` if the message was published successfully, or
  * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
  * \return `RCL_RET_PUBLISHER_INVALID` if the publisher is invalid, or
@@ -294,7 +295,10 @@ RCL_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_publish_serialized_message(
- const rcl_publisher_t * publisher, const rcl_serialized_message_t * serialized_message);
+ const rcl_publisher_t * publisher,
+ const rcl_serialized_message_t * serialized_message,
+ rmw_publisher_allocation_t * allocation
+);
 
 /// Get the topic name for the publisher.
 /**

diff --git a/rcl/include/rcl/subscription.h b/rcl/include/rcl/subscription.h
@@ -247,7 +247,7 @@ rcl_subscription_get_default_options(void);
  * \param[in] subscription the handle to the subscription from which to take
  * \param[inout] ros_message type-erased ptr to a allocated ROS message
  * \param[out] message_info rmw struct which contains meta-data for the message
- * \param[in] subscription allocation structure pointer used for memory preallocation
+ * \param[in] allocation structure pointer used for memory preallocation (may be NULL)
  * \return `RCL_RET_OK` if the message was published, or
  * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
  * \return `RCL_RET_SUBSCRIPTION_INVALID` if the subscription is invalid, or
@@ -293,6 +293,7 @@ rcl_take(
  * \param[in] subscription the handle to the subscription from which to take
  * \param[inout] serialized_message pointer to a (pre-allocated) serialized message.
  * \param[out] message_info rmw struct which contains meta-data for the message
+ * \param[in] allocation structure pointer used for memory preallocation (may be NULL)
  * \return `RCL_RET_OK` if the message was published, or
  * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
  * \return `RCL_RET_SUBSCRIPTION_INVALID` if the subscription is invalid, or
@@ -307,7 +308,8 @@ rcl_ret_t
 rcl_take_serialized_message(
  const rcl_subscription_t * subscription,
  rcl_serialized_message_t * serialized_message,
- rmw_message_info_t * message_info);
+ rmw_message_info_t * message_info,
+ rmw_subscription_allocation_t * allocation);
 
 /// Get the topic name for the subscription.
 /**

diff --git a/rcl/src/rcl/publisher.c b/rcl/src/rcl/publisher.c
@@ -173,8 +173,7 @@ rcl_publisher_init(
  rcl_node_get_rmw_handle(node),
  type_support,
  remapped_topic_name,
- &(options->qos)
- );
+ &(options->qos));
  RCL_CHECK_FOR_NULL_WITH_MSG(publisher->impl->rmw_handle,
  rmw_get_error_string().str, goto fail);
  // get actual qos, and store it
@@ -253,7 +252,8 @@ rcl_publisher_get_default_options()
 
 rcl_ret_t
 rcl_publish(
- const rcl_publisher_t * publisher, const void * ros_message,
+ const rcl_publisher_t * publisher,
+ const void * ros_message,
  rmw_publisher_allocation_t * allocation)
 {
  if (!rcl_publisher_is_valid(publisher)) {
@@ -269,13 +269,16 @@ rcl_publish(
 
 rcl_ret_t
 rcl_publish_serialized_message(
- const rcl_publisher_t * publisher, const rcl_serialized_message_t * serialized_message)
+ const rcl_publisher_t * publisher,
+ const rcl_serialized_message_t * serialized_message,
+ rmw_publisher_allocation_t * allocation)
 {
  if (!rcl_publisher_is_valid(publisher)) {
  return RCL_RET_PUBLISHER_INVALID; // error already set
  }
  RCL_CHECK_ARGUMENT_FOR_NULL(serialized_message, RCL_RET_INVALID_ARGUMENT);
- rmw_ret_t ret = rmw_publish_serialized_message(publisher->impl->rmw_handle, serialized_message);
+ rmw_ret_t ret = rmw_publish_serialized_message(publisher->impl->rmw_handle, serialized_message,
+ allocation);
  if (ret != RMW_RET_OK) {
  RCL_SET_ERROR_MSG(rmw_get_error_string().str);
  if (ret == RMW_RET_BAD_ALLOC) {

diff --git a/rcl/src/rcl/subscription.c b/rcl/src/rcl/subscription.c
@@ -273,7 +273,9 @@ rcl_ret_t
 rcl_take_serialized_message(
  const rcl_subscription_t * subscription,
  rcl_serialized_message_t * serialized_message,
- rmw_message_info_t * message_info)
+ rmw_message_info_t * message_info,
+ rmw_subscription_allocation_t * allocation
+)
 {
  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Subscription taking serialized message");
  if (!rcl_subscription_is_valid(subscription)) {
@@ -286,7 +288,7 @@ rcl_take_serialized_message(
  // Call rmw_take_with_info.
  bool taken = false;
  rmw_ret_t ret = rmw_take_serialized_message_with_info(
- subscription->impl->rmw_handle, serialized_message, &taken, message_info_local);
+ subscription->impl->rmw_handle, serialized_message, &taken, message_info_local, allocation);
  if (ret != RMW_RET_OK) {
  RCL_SET_ERROR_MSG(rmw_get_error_string().str);
  if (RMW_RET_BAD_ALLOC == ret) {

diff --git a/rcl_action/src/rcl_action/action_client.c b/rcl_action/src/rcl_action/action_client.c
@@ -390,7 +390,7 @@ rcl_action_take_cancel_response(
  RCL_CHECK_ARGUMENT_FOR_NULL(ros_ ## Type, RCL_RET_INVALID_ARGUMENT); \
  rmw_message_info_t message_info; /* ignored */ \
  rcl_ret_t ret = rcl_take( \
- &action_client->impl->Type ## _subscription, ros_ ## Type, &message_info); \
+ &action_client->impl->Type ## _subscription, ros_ ## Type, &message_info, NULL); \
  if (RCL_RET_OK != ret) { \
  if (RCL_RET_SUBSCRIPTION_TAKE_FAILED == ret) { \
  return RCL_RET_ACTION_CLIENT_TAKE_FAILED; \

diff --git a/rcl_action/src/rcl_action/action_server.c b/rcl_action/src/rcl_action/action_server.c
@@ -491,7 +491,7 @@ rcl_action_publish_feedback(
  }
  RCL_CHECK_ARGUMENT_FOR_NULL(ros_feedback, RCL_RET_INVALID_ARGUMENT);
 
- rcl_ret_t ret = rcl_publish(&action_server->impl->feedback_publisher, ros_feedback);
+ rcl_ret_t ret = rcl_publish(&action_server->impl->feedback_publisher, ros_feedback, NULL);
  if (RCL_RET_OK != ret) {
  return RCL_RET_ERROR; // error already set
  }
@@ -559,7 +559,7 @@ rcl_action_publish_status(
  }
  RCL_CHECK_ARGUMENT_FOR_NULL(status_message, RCL_RET_INVALID_ARGUMENT);
 
- rcl_ret_t ret = rcl_publish(&action_server->impl->status_publisher, status_message);
+ rcl_ret_t ret = rcl_publish(&action_server->impl->status_publisher, status_message, NULL);
  if (RCL_RET_OK != ret) {
  return RCL_RET_ERROR; // error already set
  }

diff --git a/rcl_lifecycle/src/com_interface.c b/rcl_lifecycle/src/com_interface.c
@@ -255,7 +255,7 @@ rcl_lifecycle_com_interface_publish_notification(
  msg.goal_state.id = goal->id;
  rosidl_generator_c__String__assign(&msg.goal_state.label, goal->label);
 
- return rcl_publish(&com_interface->pub_transition_event, &msg);
+ return rcl_publish(&com_interface->pub_transition_event, &msg, NULL);
 }
 
 #ifdef __cplusplus