Merge in 'ros2/master'

Signed-off-by: Miaofei <miaofei@amazon.com>

rmw_connext_cpp/src/rmw_publish.cpp

@@ -73,8 +73,12 @@ publish(DDS::DataWriter * dds_data_writer, const rcutils_uint8_array_t * cdr_str
 extern "C"
 {
 rmw_ret_t
-rmw_publish(const rmw_publisher_t * publisher, const void * ros_message)
+rmw_publish(
+  const rmw_publisher_t * publisher,
+  const void * ros_message,
+  rmw_publisher_allocation_t * allocation)
 {
+  (void) allocation;
   if (!publisher) {
     RMW_SET_ERROR_MSG("publisher handle is null");
     return RMW_RET_ERROR;
@@ -137,8 +141,11 @@ rmw_publish(const rmw_publisher_t * publisher, const void * ros_message)
 
 rmw_ret_t
 rmw_publish_serialized_message(
-  const rmw_publisher_t * publisher, const rmw_serialized_message_t * serialized_message)
+  const rmw_publisher_t * publisher,
+  const rmw_serialized_message_t * serialized_message,
+  rmw_publisher_allocation_t * allocation)
 {
+  (void) allocation;
   if (!publisher) {
     RMW_SET_ERROR_MSG("publisher handle is null");
     return RMW_RET_ERROR;

rmw_connext_cpp/src/rmw_publisher.cpp

@@ -39,6 +39,29 @@
 
 extern "C"
 {
+rmw_ret_t
+rmw_init_publisher_allocation(
+  const rosidl_message_type_support_t * type_support,
+  const rosidl_message_bounds_t * message_bounds,
+  rmw_publisher_allocation_t * allocation)
+{
+  // Unused in current implementation.
+  (void) type_support;
+  (void) message_bounds;
+  (void) allocation;
+  RMW_SET_ERROR_MSG("unimplemented");
+  return RMW_RET_ERROR;
+}
+
+rmw_ret_t
+rmw_fini_publisher_allocation(rmw_publisher_allocation_t * allocation)
+{
+  // Unused in current implementation.
+  (void) allocation;
+  RMW_SET_ERROR_MSG("unimplemented");
+  return RMW_RET_ERROR;
+}
+
 rmw_publisher_t *
 rmw_create_publisher(
   const rmw_node_t * node,

rmw_connext_cpp/src/rmw_subscription.cpp

@@ -38,6 +38,29 @@
 
 extern "C"
 {
+rmw_ret_t
+rmw_init_subscription_allocation(
+  const rosidl_message_type_support_t * type_support,
+  const rosidl_message_bounds_t * message_bounds,
+  rmw_subscription_allocation_t * allocation)
+{
+  // Unused in current implementation.
+  (void) type_support;
+  (void) message_bounds;
+  (void) allocation;
+  RMW_SET_ERROR_MSG("unimplemented");
+  return RMW_RET_ERROR;
+}
+
+rmw_ret_t
+rmw_fini_subscription_allocation(rmw_subscription_allocation_t * allocation)
+{
+  // Unused in current implementation.
+  (void) allocation;
+  RMW_SET_ERROR_MSG("unimplemented");
+  return RMW_RET_ERROR;
+}
+
 rmw_subscription_t *
 rmw_create_subscription(
   const rmw_node_t * node,

rmw_connext_cpp/src/rmw_take.cpp

@@ -33,8 +33,10 @@ take(
   bool ignore_local_publications,
   rcutils_uint8_array_t * cdr_stream,
   bool * taken,
-  void * sending_publication_handle)
+  void * sending_publication_handle,
+  rmw_subscription_allocation_t * allocation)
 {
+  (void) allocation;
   if (!dds_data_reader) {
     RMW_SET_ERROR_MSG("dds_data_reader is null");
     return false;
@@ -134,7 +136,8 @@ _take(
   const rmw_subscription_t * subscription,
   void * ros_message,
   bool * taken,
-  DDS::InstanceHandle_t * sending_publication_handle)
+  DDS::InstanceHandle_t * sending_publication_handle,
+  rmw_subscription_allocation_t * allocation)
 {
   if (!subscription) {
     RMW_SET_ERROR_MSG("subscription handle is null");
@@ -175,7 +178,7 @@ _take(
   rcutils_uint8_array_t cdr_stream = rcutils_get_zero_initialized_uint8_array();
   if (!take(
       topic_reader, subscriber_info->ignore_local_publications, &cdr_stream, taken,
-      sending_publication_handle))
+      sending_publication_handle, allocation))
   {
     RMW_SET_ERROR_MSG("error occured while taking message");
     return RMW_RET_ERROR;
@@ -194,24 +197,29 @@ _take(
 }
 
 rmw_ret_t
-rmw_take(const rmw_subscription_t * subscription, void * ros_message, bool * taken)
+rmw_take(
+  const rmw_subscription_t * subscription,
+  void * ros_message,
+  bool * taken,
+  rmw_subscription_allocation_t * allocation)
 {
-  return _take(subscription, ros_message, taken, nullptr);
+  return _take(subscription, ros_message, taken, nullptr, allocation);
 }
 
 rmw_ret_t
 rmw_take_with_info(
   const rmw_subscription_t * subscription,
   void * ros_message,
   bool * taken,
-  rmw_message_info_t * message_info)
+  rmw_message_info_t * message_info,
+  rmw_subscription_allocation_t * allocation)
 {
   if (!message_info) {
     RMW_SET_ERROR_MSG("message info is null");
     return RMW_RET_ERROR;
   }
   DDS::InstanceHandle_t sending_publication_handle;
-  auto ret = _take(subscription, ros_message, taken, &sending_publication_handle);
+  auto ret = _take(subscription, ros_message, taken, &sending_publication_handle, allocation);
   if (ret != RMW_RET_OK) {
     // Error string is already set.
     return RMW_RET_ERROR;
@@ -231,7 +239,8 @@ _take_serialized_message(
   const rmw_subscription_t * subscription,
   rmw_serialized_message_t * serialized_message,
   bool * taken,
-  DDS::InstanceHandle_t * sending_publication_handle)
+  DDS::InstanceHandle_t * sending_publication_handle,
+  rmw_subscription_allocation_t * allocation)
 {
   if (!subscription) {
     RMW_SET_ERROR_MSG("subscription handle is null");
@@ -271,7 +280,7 @@ _take_serialized_message(
   // fetch the incoming message as cdr stream
   if (!take(
       topic_reader, subscriber_info->ignore_local_publications, serialized_message, taken,
-      sending_publication_handle))
+      sending_publication_handle, allocation))
   {
     RMW_SET_ERROR_MSG("error occured while taking message");
     return RMW_RET_ERROR;
@@ -284,25 +293,28 @@ rmw_ret_t
 rmw_take_serialized_message(
   const rmw_subscription_t * subscription,
   rmw_serialized_message_t * serialized_message,
-  bool * taken)
+  bool * taken,
+  rmw_subscription_allocation_t * allocation)
 {
-  return _take_serialized_message(subscription, serialized_message, taken, nullptr);
+  return _take_serialized_message(subscription, serialized_message, taken, nullptr, allocation);
 }
 
 rmw_ret_t
 rmw_take_serialized_message_with_info(
   const rmw_subscription_t * subscription,
   rmw_serialized_message_t * serialized_message,
   bool * taken,
-  rmw_message_info_t * message_info)
+  rmw_message_info_t * message_info,
+  rmw_subscription_allocation_t * allocation)
 {
   if (!message_info) {
     RMW_SET_ERROR_MSG("message info is null");
     return RMW_RET_ERROR;
   }
   DDS::InstanceHandle_t sending_publication_handle;
   auto ret =
-    _take_serialized_message(subscription, serialized_message, taken, &sending_publication_handle);
+    _take_serialized_message(subscription, serialized_message, taken,
+      &sending_publication_handle, allocation);
   if (ret != RMW_RET_OK) {
     // Error string is already set.
     return RMW_RET_ERROR;