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Support for humble #71

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Support for humble #71

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36bfaa4
Started support for humble
tmayoff Dec 15, 2023
bb5681a
implementation of required API
tmayoff Mar 29, 2024
fcf891d
uncomplicated some small funcs
tmayoff Apr 6, 2024
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2 changes: 2 additions & 0 deletions rmw_opendds_cpp/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -96,7 +96,9 @@ add_library(
src/rmw_client.cpp
src/rmw_compare_gid_equals.cpp
src/rmw_event.cpp
src/rmw_features.cpp
src/rmw_get_implementation_identifier.cpp
src/rmw_get_network_flow_endpoints.cpp
src/rmw_get_serialization_format.cpp
src/rmw_get_topic_endpoint_info.cpp
src/rmw_guard_condition.cpp
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4 changes: 4 additions & 0 deletions rmw_opendds_cpp/include/rmw_opendds_cpp/DDSServer.hpp
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Expand Up @@ -15,6 +15,7 @@
#ifndef RMW_OPENDDS_CPP__DDSSERVER_HPP_
#define RMW_OPENDDS_CPP__DDSSERVER_HPP_

#include <rmw/types.h>
#include <rmw_opendds_cpp/Service.hpp>
#include <rmw_opendds_cpp/OpenDDSNode.hpp>
#include <rmw_opendds_cpp/RmwAllocateFree.hpp>
Expand All @@ -34,6 +35,9 @@ class DDSServer
void * replier() const { return replier_; }
DDS::ReadCondition_var read_condition() const { return read_condition_; }

void subscription_get_actual_qos(rmw_qos_profile_t* qos);
void publisher_get_actual_qos(rmw_qos_profile_t* qos);

private:
friend Raf;
DDSServer(const rosidl_service_type_support_t * ts, const char * service_name,
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17 changes: 8 additions & 9 deletions rmw_opendds_cpp/include/rmw_opendds_cpp/init.hpp
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Expand Up @@ -21,21 +21,20 @@

#include <dds/DdsDcpsDomainC.h>

struct rmw_context_impl_t
{
rmw_context_impl_t();
~rmw_context_impl_t();
struct rmw_context_impl_s {
rmw_context_impl_s();
~rmw_context_impl_s();
DDS::DomainParticipantFactory_var dpf_;
};

RMW_OPENDDS_CPP_PUBLIC
rmw_ret_t init(rmw_context_t& context);
rmw_ret_t init(rmw_context_t &context);

RMW_OPENDDS_CPP_PUBLIC
rmw_ret_t shutdown(rmw_context_t& context);
rmw_ret_t shutdown(rmw_context_t &context);

bool is_zero_initialized(const rmw_init_options_t * o);
bool is_zero_initialized(const rmw_init_options_t *o);

bool is_zero_initialized(const rmw_context_t * c);
bool is_zero_initialized(const rmw_context_t *c);

#endif // RMW_OPENDDS_CPP__INIT_HPP_
#endif // RMW_OPENDDS_CPP__INIT_HPP_
2 changes: 1 addition & 1 deletion rmw_opendds_cpp/package.xml
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Expand Up @@ -16,7 +16,7 @@
<build_depend>opendds_cmake_module</build_depend>
<build_depend>rcutils</build_depend>
<build_depend>rmw</build_depend>
<build_depend>opendds</build_depend>
<!-- <build_depend>opendds</build_depend> -->
<build_depend>rosidl_generator_c</build_depend>
<build_depend>rosidl_generator_cpp</build_depend>
<build_depend>rosidl_generator_dds_idl</build_depend>
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18 changes: 18 additions & 0 deletions rmw_opendds_cpp/src/DDSServer.cpp
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Expand Up @@ -12,6 +12,9 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include "rmw_opendds_cpp/qos.hpp"
#include <dds/DdsDcpsCoreC.h>
#include <dds/DdsDcpsSubscriptionC.h>
#include <rmw_opendds_cpp/DDSServer.hpp>
#include <rmw_opendds_cpp/identifier.hpp>

Expand Down Expand Up @@ -75,6 +78,21 @@ bool DDSServer::remove_from(OpenDDSNode * dds_node)
return false;
}

void DDSServer::subscription_get_actual_qos(rmw_qos_profile_t* qos) {
DDS::DataReaderQos dds_qos;
reader_->get_qos(dds_qos);

dds_qos_to_rmw_qos(dds_qos, *qos);
}

void DDSServer::publisher_get_actual_qos(rmw_qos_profile_t* qos) {
DDS::DataWriterQos dds_qos;
writer_->get_qos(dds_qos);

dds_qos_to_rmw_qos(dds_qos, *qos);
}


DDSServer::DDSServer(const rosidl_service_type_support_t * ts
, const char * service_name
, const rmw_qos_profile_t * rmw_qos
Expand Down
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