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Add in inconsistent_topic implementation. #1024

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merged 2 commits into from
Mar 13, 2023
Merged

Add in inconsistent_topic implementation. #1024

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fb62bcd
Add in inconsistent_topic implementation.
clalancette Nov 30, 2022
fda537c
Switch to using incompatible type define.
clalancette Jan 17, 2023
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2 changes: 2 additions & 0 deletions rcl/include/rcl/event.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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_INCOMPATIBLE_TYPE,
} rcl_publisher_event_type_t;

/// Enumeration of all of the subscription events that may fire.
Expand All @@ -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_INCOMPATIBLE_TYPE,
} rcl_subscription_event_type_t;

/// Internal rcl implementation struct.
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6 changes: 6 additions & 0 deletions rcl/src/rcl/event.c
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Original file line number Diff line number Diff line change
Expand Up @@ -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_INCOMPATIBLE_TYPE:
rmw_event_type = RMW_EVENT_PUBLISHER_INCOMPATIBLE_TYPE;
break;
default:
RCL_SET_ERROR_MSG("Event type for publisher not supported");
return RCL_RET_INVALID_ARGUMENT;
Expand Down Expand Up @@ -118,6 +121,9 @@ rcl_subscription_event_init(
case RCL_SUBSCRIPTION_MESSAGE_LOST:
rmw_event_type = RMW_EVENT_MESSAGE_LOST;
break;
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");
return RCL_RET_INVALID_ARGUMENT;
Expand Down