add missing rmw_shutdown

ros2 · Nov 26, 2018 · 4c28767 · 4c28767
1 parent 6e80eb7
commit 4c28767
Show file tree

Hide file tree

Showing 2 changed files with 28 additions and 0 deletions.
diff --git a/rmw_fastrtps_cpp/src/rmw_init.cpp b/rmw_fastrtps_cpp/src/rmw_init.cpp
@@ -82,4 +82,18 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
   context->impl = nullptr;
   return RMW_RET_OK;
 }
+
+rmw_ret_t
+rmw_shutdown(rmw_context_t * context)
+{
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    context,
+    context->implementation_identifier,
+    eprosima_fastrtps_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(context->impl, RMW_RET_INVALID_ARGUMENT);
+  *context = rmw_get_zero_initialized_context();
+  return RMW_RET_OK;
+}
 }  // extern "C"
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_init.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_init.cpp
@@ -82,4 +82,18 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
   context->impl = nullptr;
   return RMW_RET_OK;
 }
+
+rmw_ret_t
+rmw_shutdown(rmw_context_t * context)
+{
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    context,
+    context->implementation_identifier,
+    eprosima_fastrtps_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(context->impl, RMW_RET_INVALID_ARGUMENT);
+  *context = rmw_get_zero_initialized_context();
+  return RMW_RET_OK;
+}
 }  // extern "C"