From fb62bcd820f5e895d2097224a751319b2a4eb0e5 Mon Sep 17 00:00:00 2001 From: Chris Lalancette Date: Wed, 30 Nov 2022 17:33:45 +0000 Subject: [PATCH 1/2] Add in inconsistent_topic implementation. Signed-off-by: Chris Lalancette --- rcl/include/rcl/event.h | 2 ++ rcl/src/rcl/event.c | 6 ++++++ 2 files changed, 8 insertions(+) diff --git a/rcl/include/rcl/event.h b/rcl/include/rcl/event.h index fea87d782..47defe275 100644 --- a/rcl/include/rcl/event.h +++ b/rcl/include/rcl/event.h @@ -38,6 +38,7 @@ typedef enum rcl_publisher_event_type_e RCL_PUBLISHER_OFFERED_DEADLINE_MISSED, RCL_PUBLISHER_LIVELINESS_LOST, RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS, + RCL_PUBLISHER_INCONSISTENT_TOPIC, } rcl_publisher_event_type_t; /// Enumeration of all of the subscription events that may fire. @@ -47,6 +48,7 @@ typedef enum rcl_subscription_event_type_e RCL_SUBSCRIPTION_LIVELINESS_CHANGED, RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS, RCL_SUBSCRIPTION_MESSAGE_LOST, + RCL_SUBSCRIPTION_INCONSISTENT_TOPIC, } rcl_subscription_event_type_t; /// Internal rcl implementation struct. diff --git a/rcl/src/rcl/event.c b/rcl/src/rcl/event.c index 6196442d1..18244286f 100644 --- a/rcl/src/rcl/event.c +++ b/rcl/src/rcl/event.c @@ -64,6 +64,9 @@ rcl_publisher_event_init( case RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS: rmw_event_type = RMW_EVENT_OFFERED_QOS_INCOMPATIBLE; break; + case RCL_PUBLISHER_INCONSISTENT_TOPIC: + rmw_event_type = RMW_EVENT_PUBLISHER_INCONSISTENT_TOPIC; + break; default: RCL_SET_ERROR_MSG("Event type for publisher not supported"); return RCL_RET_INVALID_ARGUMENT; @@ -118,6 +121,9 @@ rcl_subscription_event_init( case RCL_SUBSCRIPTION_MESSAGE_LOST: rmw_event_type = RMW_EVENT_MESSAGE_LOST; break; + case RCL_SUBSCRIPTION_INCONSISTENT_TOPIC: + rmw_event_type = RMW_EVENT_SUBSCRIPTION_INCONSISTENT_TOPIC; + break; default: RCL_SET_ERROR_MSG("Event type for subscription not supported"); return RCL_RET_INVALID_ARGUMENT; From fda537c644d3dc17bcf5c8ec1786227f98a6f9be Mon Sep 17 00:00:00 2001 From: Chris Lalancette Date: Tue, 17 Jan 2023 15:23:53 +0000 Subject: [PATCH 2/2] Switch to using incompatible type define. Signed-off-by: Chris Lalancette --- rcl/include/rcl/event.h | 4 ++-- rcl/src/rcl/event.c | 8 ++++---- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/rcl/include/rcl/event.h b/rcl/include/rcl/event.h index 47defe275..30858b68d 100644 --- a/rcl/include/rcl/event.h +++ b/rcl/include/rcl/event.h @@ -38,7 +38,7 @@ typedef enum rcl_publisher_event_type_e RCL_PUBLISHER_OFFERED_DEADLINE_MISSED, RCL_PUBLISHER_LIVELINESS_LOST, RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS, - RCL_PUBLISHER_INCONSISTENT_TOPIC, + RCL_PUBLISHER_INCOMPATIBLE_TYPE, } rcl_publisher_event_type_t; /// Enumeration of all of the subscription events that may fire. @@ -48,7 +48,7 @@ typedef enum rcl_subscription_event_type_e RCL_SUBSCRIPTION_LIVELINESS_CHANGED, RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS, RCL_SUBSCRIPTION_MESSAGE_LOST, - RCL_SUBSCRIPTION_INCONSISTENT_TOPIC, + RCL_SUBSCRIPTION_INCOMPATIBLE_TYPE, } rcl_subscription_event_type_t; /// Internal rcl implementation struct. diff --git a/rcl/src/rcl/event.c b/rcl/src/rcl/event.c index 18244286f..d71fafc62 100644 --- a/rcl/src/rcl/event.c +++ b/rcl/src/rcl/event.c @@ -64,8 +64,8 @@ rcl_publisher_event_init( case RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS: rmw_event_type = RMW_EVENT_OFFERED_QOS_INCOMPATIBLE; break; - case RCL_PUBLISHER_INCONSISTENT_TOPIC: - rmw_event_type = RMW_EVENT_PUBLISHER_INCONSISTENT_TOPIC; + case RCL_PUBLISHER_INCOMPATIBLE_TYPE: + rmw_event_type = RMW_EVENT_PUBLISHER_INCOMPATIBLE_TYPE; break; default: RCL_SET_ERROR_MSG("Event type for publisher not supported"); @@ -121,8 +121,8 @@ rcl_subscription_event_init( case RCL_SUBSCRIPTION_MESSAGE_LOST: rmw_event_type = RMW_EVENT_MESSAGE_LOST; break; - case RCL_SUBSCRIPTION_INCONSISTENT_TOPIC: - rmw_event_type = RMW_EVENT_SUBSCRIPTION_INCONSISTENT_TOPIC; + case RCL_SUBSCRIPTION_INCOMPATIBLE_TYPE: + rmw_event_type = RMW_EVENT_SUBSCRIPTION_INCOMPATIBLE_TYPE; break; default: RCL_SET_ERROR_MSG("Event type for subscription not supported");