Add support for loaned messages #212
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jhdcs
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Jul 21, 2022
| if !self.msg_ptr.is_null() { | ||
| unsafe { | ||
| // SAFETY: These two pointers are valid, and the msg_ptr is not used afterwards. | ||
| rcl_return_loaned_message_from_publisher( |
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What happens if a user does something like .clone() a loaned message? Would that affect this?
| { | ||
| fn drop(&mut self) { | ||
| unsafe { | ||
| rcl_return_loaned_message_from_subscription( |
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What happens if a user .clone()s a loaned message? Will that affect this function?
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Yep, that would be bad, that's why loaned messages don't implement Clone.
jhdcs
previously approved these changes
Jul 21, 2022
jhdcs
previously approved these changes
Jul 22, 2022
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@esteve Do you also want to have a look at this? |
Co-authored-by: jhdcs <48914066+jhdcs@users.noreply.github.com>
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@esteve Please review (or let me know if Jacob's review is sufficient for you). |
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Thanks! Don't be surprised if this fails on master; see #239 (comment) |
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I tested it with CycloneDDS and it worked.
The only interesting things are
publish()a method on theLoanedMessagethat takes no argument, since it can only be used with the publisher that was used to create it, and that publisher is stored inside the message. So this design statically guarantees that a loaned message cannot be published to the wrong publisher.Closes #136