From f1d74a82941cf263bfed804f2f14b550c4fb9184 Mon Sep 17 00:00:00 2001
From: Miaofei Mei <miaofei@amazon.com>
Date: Thu, 19 Mar 2020 13:14:53 -0700
Subject: [PATCH] Add rmw_*_event_init() functions (#397)

Signed-off-by: Miaofei <miaofei@amazon.com>
---
 rmw_connext_cpp/src/rmw_event.cpp             | 37 ++++++++++++++-----
 .../include/rmw_connext_shared_cpp/event.hpp  | 20 ++++++++++
 rmw_connext_shared_cpp/src/event.cpp          | 29 +++++++++++++++
 3 files changed, 77 insertions(+), 9 deletions(-)

diff --git a/rmw_connext_cpp/src/rmw_event.cpp b/rmw_connext_cpp/src/rmw_event.cpp
index ced0da04..373ed44b 100644
--- a/rmw_connext_cpp/src/rmw_event.cpp
+++ b/rmw_connext_cpp/src/rmw_event.cpp
@@ -20,15 +20,34 @@
 
 extern "C"
 {
-/// Take an event from the event handle.
-/**
- * \param event_handle event object to take from
- * \param event_info event info object to write taken data into
- * \param taken boolean flag indicating if an event was taken or not
- * \return `RMW_RET_OK` if successful, or
- * \return `RMW_RET_BAD_ALLOC` if memory allocation failed, or
- * \return `RMW_RET_ERROR` if an unexpected error occurs.
- */
+rmw_ret_t
+rmw_publisher_event_init(
+  rmw_event_t * rmw_event,
+  const rmw_publisher_t * publisher,
+  rmw_event_type_t event_type)
+{
+  return __rmw_init_event(
+    rti_connext_identifier,
+    rmw_event,
+    publisher->implementation_identifier,
+    publisher->data,
+    event_type);
+}
+
+rmw_ret_t
+rmw_subscription_event_init(
+  rmw_event_t * rmw_event,
+  const rmw_subscription_t * subscription,
+  rmw_event_type_t event_type)
+{
+  return __rmw_init_event(
+    rti_connext_identifier,
+    rmw_event,
+    subscription->implementation_identifier,
+    subscription->data,
+    event_type);
+}
+
 rmw_ret_t
 rmw_take_event(
   const rmw_event_t * event_handle,
diff --git a/rmw_connext_shared_cpp/include/rmw_connext_shared_cpp/event.hpp b/rmw_connext_shared_cpp/include/rmw_connext_shared_cpp/event.hpp
index 5fc38170..20a2c07d 100644
--- a/rmw_connext_shared_cpp/include/rmw_connext_shared_cpp/event.hpp
+++ b/rmw_connext_shared_cpp/include/rmw_connext_shared_cpp/event.hpp
@@ -22,6 +22,26 @@
 
 #include "rmw_connext_shared_cpp/visibility_control.h"
 
+/// Initialize a rmw_event_t.
+/**
+ * \param[in|out] rmw_event to initialize
+ * \param topic_endpoint_impl_identifier implementation identifier of event's parent topic endpoint
+ * \param data to initialize with
+ * \param event_type for the event to handle
+ * \return `RMW_RET_OK` if successful, or
+ * \return `RMW_RET_INVALID_ARGUMENT` if invalid argument, or
+ * \return `RMW_RET_UNSUPPORTED` if event_type is not supported, or
+ * \return `RMW_RET_ERROR` if an unexpected error occurs.
+ */
+RMW_CONNEXT_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_init_event(
+  const char * identifier,
+  rmw_event_t * rmw_event,
+  const char * topic_endpoint_impl_identifier,
+  void * data,
+  rmw_event_type_t event_type);
+
 /// Take an event from the event handle.
 /**
  *
diff --git a/rmw_connext_shared_cpp/src/event.cpp b/rmw_connext_shared_cpp/src/event.cpp
index 0a168e2f..14daf181 100644
--- a/rmw_connext_shared_cpp/src/event.cpp
+++ b/rmw_connext_shared_cpp/src/event.cpp
@@ -20,6 +20,35 @@
 #include "rmw_connext_shared_cpp/event_converter.hpp"
 #include "rmw_connext_shared_cpp/types.hpp"
 
+rmw_ret_t
+__rmw_init_event(
+  const char * identifier,
+  rmw_event_t * rmw_event,
+  const char * topic_endpoint_impl_identifier,
+  void * data,
+  rmw_event_type_t event_type)
+{
+  RMW_CHECK_ARGUMENT_FOR_NULL(identifier, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_ARGUMENT_FOR_NULL(rmw_event, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_ARGUMENT_FOR_NULL(topic_endpoint_impl_identifier, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_ARGUMENT_FOR_NULL(data, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    topic endpoint,
+    topic_endpoint_impl_identifier,
+    identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  if (!is_event_supported(event_type)) {
+    RMW_SET_ERROR_MSG("provided event_type is not supported by rmw_fastrtps_cpp");
+    return RMW_RET_UNSUPPORTED;
+  }
+
+  rmw_event->implementation_identifier = topic_endpoint_impl_identifier;
+  rmw_event->data = data;
+  rmw_event->event_type = event_type;
+
+  return RMW_RET_OK;
+}
+
 rmw_ret_t
 __rmw_take_event(
   const char * implementation_identifier,