Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

API updates for rmw preallocation work #711

Merged
merged 3 commits into from
May 2, 2019
Merged

API updates for rmw preallocation work #711

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
8ad9475
API updates for rmw preallocation work.
mjcarroll Apr 30, 2019
22e44cf
Adjust for allocation in serialized message method.
mjcarroll May 1, 2019
a79dd15
Fix extra take call.
mjcarroll May 1, 2019
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 3 additions & 3 deletions rclcpp/include/rclcpp/publisher.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -158,7 +158,7 @@ class Publisher : public PublisherBase
// TODO(Karsten1987): support serialized message passed by intraprocess
throw std::runtime_error("storing serialized messages in intra process is not supported yet");
}
auto status = rcl_publish_serialized_message(&publisher_handle_, serialized_msg);
auto status = rcl_publish_serialized_message(&publisher_handle_, serialized_msg, nullptr);
if (RCL_RET_OK != status) {
rclcpp::exceptions::throw_from_rcl_error(status, "failed to publish serialized message");
}
Expand All @@ -179,7 +179,7 @@ class Publisher : public PublisherBase
void
do_inter_process_publish(const MessageT * msg)
{
auto status = rcl_publish(&publisher_handle_, msg);
auto status = rcl_publish(&publisher_handle_, msg, nullptr);
if (RCL_RET_PUBLISHER_INVALID == status) {
rcl_reset_error(); // next call will reset error message if not context
if (rcl_publisher_is_valid_except_context(&publisher_handle_)) {
Expand All @@ -201,7 +201,7 @@ class Publisher : public PublisherBase
rcl_interfaces::msg::IntraProcessMessage ipm;
ipm.publisher_id = intra_process_publisher_id_;
ipm.message_sequence = message_seq;
auto status = rcl_publish(&intra_process_publisher_handle_, &ipm);
auto status = rcl_publish(&intra_process_publisher_handle_, &ipm, nullptr);
if (RCL_RET_PUBLISHER_INVALID == status) {
rcl_reset_error(); // next call will reset error message if not context
if (rcl_publisher_is_valid_except_context(&intra_process_publisher_handle_)) {
Expand Down
7 changes: 4 additions & 3 deletions rclcpp/src/rclcpp/executor.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -304,7 +304,7 @@ Executor::execute_subscription(
auto serialized_msg = subscription->create_serialized_message();
auto ret = rcl_take_serialized_message(
subscription->get_subscription_handle().get(),
serialized_msg.get(), &message_info);
serialized_msg.get(), &message_info, nullptr);
if (RCL_RET_OK == ret) {
auto void_serialized_msg = std::static_pointer_cast<void>(serialized_msg);
subscription->handle_message(void_serialized_msg, message_info);
Expand All @@ -320,7 +320,7 @@ Executor::execute_subscription(
std::shared_ptr<void> message = subscription->create_message();
auto ret = rcl_take(
subscription->get_subscription_handle().get(),
message.get(), &message_info);
message.get(), &message_info, nullptr);
if (RCL_RET_OK == ret) {
subscription->handle_message(message, message_info);
} else if (RCL_RET_SUBSCRIPTION_TAKE_FAILED != ret) {
Expand All @@ -343,7 +343,8 @@ Executor::execute_intra_process_subscription(
rcl_ret_t status = rcl_take(
subscription->get_intra_process_subscription_handle().get(),
&ipm,
&message_info);
&message_info,
nullptr);

if (status == RCL_RET_OK) {
message_info.from_intra_process = true;
Expand Down