Zero copy api (#322)

* allocate loaned message Signed-off-by: Karsten Knese <[email protected]> * can_loan_messages for subscription Signed-off-by: Karsten Knese <[email protected]> * ignore whether message is loaned on publish Signed-off-by: Karsten Knese <[email protected]> * first draft loaned message sequence Signed-off-by: Karsten Knese <[email protected]> * message info sequence Signed-off-by: Karsten Knese <[email protected]> * rmw_take_loaned_message Signed-off-by: Karsten Knese <[email protected]> * borrow/return & take/release Signed-off-by: Karsten Knese <[email protected]> * introduce rmw_publish_loaned_message Signed-off-by: Karsten Knese <[email protected]> * const correct publish Signed-off-by: Karsten Knese <[email protected]> * remove loaned message sequence Signed-off-by: Knese Karsten <[email protected]> * unify error messages Signed-off-by: Karsten Knese <[email protected]> * linters Signed-off-by: Karsten Knese <[email protected]> * use RMW_RET_UNSUPPORTED Signed-off-by: Karsten Knese <[email protected]>
ros2 · Oct 18, 2019 · 09826ff · 09826ff
1 parent 455d214
commit 09826ff
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Showing 8 changed files with 177 additions and 2 deletions.
diff --git a/rmw_fastrtps_cpp/src/rmw_publish.cpp b/rmw_fastrtps_cpp/src/rmw_publish.cpp
@@ -44,4 +44,18 @@ rmw_publish_serialized_message(
   return rmw_fastrtps_shared_cpp::__rmw_publish_serialized_message(
     eprosima_fastrtps_identifier, publisher, serialized_message, allocation);
 }
+
+rmw_ret_t
+rmw_publish_loaned_message(
+  const rmw_publisher_t * publisher,
+  void * ros_message,
+  rmw_publisher_allocation_t * allocation)
+{
+  (void) publisher;
+  (void) ros_message;
+  (void) allocation;
+
+  RMW_SET_ERROR_MSG("rmw_publish_loaned_message not implemented for rmw_fastrtps_cpp");
+  return RMW_RET_UNSUPPORTED;
+}
 }  // extern "C"
diff --git a/rmw_fastrtps_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_cpp/src/rmw_publisher.cpp
@@ -202,6 +202,7 @@ rmw_create_publisher(
     RMW_SET_ERROR_MSG("failed to allocate publisher");
     goto fail;
   }
+  rmw_publisher->can_loan_messages = false;
   rmw_publisher->implementation_identifier = eprosima_fastrtps_identifier;
   rmw_publisher->data = info;
   rmw_publisher->topic_name = reinterpret_cast<char *>(rmw_allocate(strlen(topic_name) + 1));
@@ -260,6 +261,32 @@ rmw_publisher_get_actual_qos(
     publisher, qos);
 }
 
+rmw_ret_t
+rmw_borrow_loaned_message(
+  const rmw_publisher_t * publisher,
+  const rosidl_message_type_support_t * type_support,
+  void ** ros_message)
+{
+  (void) publisher;
+  (void) type_support;
+  (void) ros_message;
+
+  RMW_SET_ERROR_MSG("rmw_borrow_loaned_message not implemented for rmw_fastrtps_cpp");
+  return RMW_RET_UNSUPPORTED;
+}
+
+rmw_ret_t
+rmw_return_loaned_message(
+  const rmw_publisher_t * publisher,
+  void * loaned_message)
+{
+  (void) publisher;
+  (void) loaned_message;
+
+  RMW_SET_ERROR_MSG("rmw_return_loaned_message not implemented for rmw_fastrtps_cpp");
+  return RMW_RET_UNSUPPORTED;
+}
+
 rmw_ret_t
 rmw_destroy_publisher(rmw_node_t * node, rmw_publisher_t * publisher)
 {

diff --git a/rmw_fastrtps_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_cpp/src/rmw_subscription.cpp
@@ -189,7 +189,7 @@ rmw_create_subscription(
   memcpy(const_cast<char *>(rmw_subscription->topic_name), topic_name, strlen(topic_name) + 1);
 
   rmw_subscription->options = *subscription_options;
-
+  rmw_subscription->can_loan_messages = false;
   return rmw_subscription;
 
 fail:

diff --git a/rmw_fastrtps_cpp/src/rmw_take.cpp b/rmw_fastrtps_cpp/src/rmw_take.cpp
@@ -70,6 +70,52 @@ rmw_take_serialized_message_with_info(
     allocation);
 }
 
+rmw_ret_t
+rmw_take_loaned_message(
+  const rmw_subscription_t * subscription,
+  void ** loaned_message,
+  bool * taken,
+  rmw_subscription_allocation_t * allocation)
+{
+  (void) subscription;
+  (void) loaned_message;
+  (void) taken;
+  (void) allocation;
+
+  RMW_SET_ERROR_MSG("rmw_take_loaned_message not implemented for rmw_fastrtps_cpp");
+  return RMW_RET_UNSUPPORTED;
+}
+
+rmw_ret_t
+rmw_take_loaned_message_with_info(
+  const rmw_subscription_t * subscription,
+  void ** loaned_message,
+  bool * taken,
+  rmw_message_info_t * message_info,
+  rmw_subscription_allocation_t * allocation)
+{
+  (void) subscription;
+  (void) loaned_message;
+  (void) taken;
+  (void) message_info;
+  (void) allocation;
+
+  RMW_SET_ERROR_MSG("rmw_take_loaned_message_with_info not implemented for rmw_fastrtps_cpp");
+  return RMW_RET_UNSUPPORTED;
+}
+
+rmw_ret_t
+rmw_release_loaned_message(
+  const rmw_subscription_t * subscription,
+  void * loaned_message)
+{
+  (void) subscription;
+  (void) loaned_message;
+
+  RMW_SET_ERROR_MSG("rmw_release_loaned_message_with_info not implemented for rmw_fastrtps_cpp");
+  return RMW_RET_UNSUPPORTED;
+}
+
 rmw_ret_t
 rmw_take_event(
   const rmw_event_t * event_handle,

diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp
@@ -35,6 +35,20 @@ rmw_publish(
     eprosima_fastrtps_identifier, publisher, ros_message, allocation);
 }
 
+rmw_ret_t
+rmw_publish_loaned_message(
+  const rmw_publisher_t * publisher,
+  void * ros_message,
+  rmw_publisher_allocation_t * allocation)
+{
+  (void) publisher;
+  (void) ros_message;
+  (void) allocation;
+
+  RMW_SET_ERROR_MSG("rmw_publish_loaned_message is not implemented for rmw_fastrtps_dynamic_cpp");
+  return RMW_RET_UNSUPPORTED;
+}
+
 rmw_ret_t
 rmw_publish_serialized_message(
   const rmw_publisher_t * publisher,

diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
@@ -198,6 +198,7 @@ rmw_create_publisher(
     RMW_SET_ERROR_MSG("failed to allocate publisher");
     goto fail;
   }
+  rmw_publisher->can_loan_messages = false;
   rmw_publisher->implementation_identifier = eprosima_fastrtps_identifier;
   rmw_publisher->data = info;
   rmw_publisher->topic_name = reinterpret_cast<char *>(rmw_allocate(strlen(topic_name) + 1));
@@ -256,6 +257,32 @@ rmw_publisher_get_actual_qos(
     publisher, qos);
 }
 
+rmw_ret_t
+rmw_borrow_loaned_message(
+  const rmw_publisher_t * publisher,
+  const rosidl_message_type_support_t * type_support,
+  void ** ros_message)
+{
+  (void) publisher;
+  (void) type_support;
+  (void) ros_message;
+
+  RMW_SET_ERROR_MSG("rmw_borrow_loaned_message is not implemented for rmw_fastrtps_dynamic_cpp");
+  return RMW_RET_UNSUPPORTED;
+}
+
+rmw_ret_t
+rmw_return_loaned_message(
+  const rmw_publisher_t * publisher,
+  void * loaned_message)
+{
+  (void) publisher;
+  (void) loaned_message;
+
+  RMW_SET_ERROR_MSG("rmw_return_loaned_message is not implemented for rmw_fastrtps_dynamic_cpp");
+  return RMW_RET_UNSUPPORTED;
+}
+
 rmw_ret_t
 rmw_destroy_publisher(rmw_node_t * node, rmw_publisher_t * publisher)
 {

diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
@@ -190,7 +190,7 @@ rmw_create_subscription(
   memcpy(const_cast<char *>(rmw_subscription->topic_name), topic_name, strlen(topic_name) + 1);
 
   rmw_subscription->options = *subscription_options;
-
+  rmw_subscription->can_loan_messages = false;
   return rmw_subscription;
 
 fail:

diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp
@@ -70,6 +70,53 @@ rmw_take_serialized_message_with_info(
     allocation);
 }
 
+rmw_ret_t
+rmw_take_loaned_message(
+  const rmw_subscription_t * subscription,
+  void ** loaned_message,
+  bool * taken,
+  rmw_subscription_allocation_t * allocation)
+{
+  (void) subscription;
+  (void) loaned_message;
+  (void) taken;
+  (void) allocation;
+
+  RMW_SET_ERROR_MSG("rmw_take_loaned_message is not implemented for rmw_fastrtps_dynamic_cpp");
+  return RMW_RET_UNSUPPORTED;
+}
+
+rmw_ret_t
+rmw_take_loaned_message_with_info(
+  const rmw_subscription_t * subscription,
+  void ** loaned_message,
+  bool * taken,
+  rmw_message_info_t * message_info,
+  rmw_subscription_allocation_t * allocation)
+{
+  (void) subscription;
+  (void) loaned_message;
+  (void) taken;
+  (void) message_info;
+  (void) allocation;
+
+  RMW_SET_ERROR_MSG(
+    "rmw_take_loaned_message_with_info is not implemented for rmw_fastrtps_dynamic_cpp");
+  return RMW_RET_UNSUPPORTED;
+}
+
+rmw_ret_t
+rmw_release_loaned_message(
+  const rmw_subscription_t * subscription,
+  void * loaned_message)
+{
+  (void) subscription;
+  (void) loaned_message;
+
+  RMW_SET_ERROR_MSG("rmw_release_loaned_message is not implemented for rmw_fastrtps_dynamic_cpp");
+  return RMW_RET_UNSUPPORTED;
+}
+
 rmw_ret_t
 rmw_take_event(
   const rmw_event_t * event_handle,