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Add rmw_get_gid_for_client impl #92

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merged 3 commits into from
Sep 23, 2022
Merged

Add rmw_get_gid_for_client impl #92

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79b0375
add rmw_get_gid_for_client method
ihasdapie Aug 15, 2022
f38a7bc
Fix compilation
jacobperron Sep 19, 2022
a7bf108
Lint + guard against null gid
jacobperron Sep 19, 2022
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7 changes: 7 additions & 0 deletions rmw_connextdds/src/rmw_api_impl_ndds.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -392,6 +392,13 @@ rmw_get_gid_for_publisher(
}


rmw_ret_t
rmw_get_gid_for_client(const rmw_client_t * client, rmw_gid_t * gid)
{
return rmw_api_connextdds_get_gid_for_client(client, gid);
}


rmw_ret_t
rmw_compare_gids_equal(
const rmw_gid_t * gid1,
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6 changes: 6 additions & 0 deletions rmw_connextdds_common/include/rmw_connextdds/rmw_api_impl.hpp
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Expand Up @@ -275,6 +275,12 @@ rmw_api_connextdds_get_gid_for_publisher(
const rmw_publisher_t * publisher,
rmw_gid_t * gid);

RMW_CONNEXTDDS_PUBLIC
rmw_ret_t
rmw_api_connextdds_get_gid_for_client(
const rmw_client_t * client,
rmw_gid_t * gid);

RMW_CONNEXTDDS_PUBLIC
rmw_ret_t
rmw_api_connextdds_compare_gids_equal(
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5 changes: 5 additions & 0 deletions rmw_connextdds_common/include/rmw_connextdds/rmw_impl.hpp
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Expand Up @@ -610,6 +610,11 @@ class RMW_Connext_Client

rmw_ret_t
response_subscription_qos(rmw_qos_profile_t * const qos);

const rmw_gid_t gid() const
{
return *this->request_pub->gid();
}
};

class RMW_Connext_Service
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18 changes: 18 additions & 0 deletions rmw_connextdds_common/src/common/rmw_service.cpp
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Expand Up @@ -312,6 +312,24 @@ rmw_api_connextdds_client_response_subscription_get_actual_qos(
}


rmw_ret_t
rmw_api_connextdds_get_gid_for_client(const rmw_client_t * client, rmw_gid_t * gid)
{
RMW_CHECK_ARGUMENT_FOR_NULL(client, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(gid, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
client,
client->implementation_identifier,
RMW_CONNEXTDDS_ID,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);

RMW_Connext_Client * const client_impl = reinterpret_cast<RMW_Connext_Client *>(client->data);
*gid = client_impl->gid();

return RMW_RET_OK;
}


rmw_service_t *
rmw_api_connextdds_create_service(
const rmw_node_t * node,
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7 changes: 7 additions & 0 deletions rmw_connextddsmicro/src/rmw_api_impl_rtime.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -393,6 +393,13 @@ rmw_get_gid_for_publisher(
}


rmw_ret_t
rmw_get_gid_for_client(const rmw_client_t * client, rmw_gid_t * gid)
{
return rmw_api_connextdds_get_gid_for_client(client, gid);
}


rmw_ret_t
rmw_compare_gids_equal(
const rmw_gid_t * gid1,
Expand Down