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Add stub dynamic network interface implementation. #99

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Add stub dynamic network interface implementation. #99

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bd7534f
Add stub dynamic network interface implementation.
Jan 23, 2023
59a41e4
Fix comment and return type.
Jan 23, 2023
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8 changes: 8 additions & 0 deletions rmw_connextdds_common/include/rmw_connextdds/rmw_impl.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -67,6 +67,14 @@ bool rmw_connextdds_find_string_in_list(
DDS_Duration_t rmw_connextdds_duration_from_ros_time(
const rmw_time_t * const ros_time);

/**
* This function returns `NULL` when either the node handle is `NULL` or when the
* node handle is from a different rmw implementation.
*
* \return rmw_ret_t non `NULL` value if successful, otherwise `NULL`
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this comment seems wrong (the function does not return NULL and it does not take a node handle as argument)

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Ah whoops. That is left over from the actual implementation. I will fix.

*/
rmw_ret_t rmw_notify_participant_dynamic_network_interface(rmw_context_t * context);

/******************************************************************************
* WaitSet wrapper
******************************************************************************/
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6 changes: 6 additions & 0 deletions rmw_connextdds_common/src/common/rmw_node.cpp
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Expand Up @@ -229,3 +229,9 @@ rmw_api_connextdds_node_get_graph_guard_condition(const rmw_node_t * rmw_node)

return node_impl->graph_guard_condition();
}

rmw_ret_t
rmw_notify_participant_dynamic_network_interface(rmw_context_t * context)
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Minor comment, which applies more to the rmw interface that this specific change, but I always prefer to pass const pointers, e.g.:

Suggested change
rmw_notify_participant_dynamic_network_interface(rmw_context_t * context)
rmw_notify_participant_dynamic_network_interface(rmw_context_t * const context)

{
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION;
}