Zero copy api (#367)

* 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]> * borrow/return & take/release Signed-off-by: Karsten Knese <[email protected]> * 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]> * remove extra line Signed-off-by: Karsten Knese <[email protected]> * connext dynamic - rmw_publish_loaned_message Signed-off-by: Karsten Knese <[email protected]> * unify error messages Signed-off-by: Karsten Knese <[email protected]> * use RMW_RET_UNSUPPORTED Signed-off-by: Karsten Knese <[email protected]>
ros2 · Oct 18, 2019 · 394d9cf · 394d9cf
1 parent 9d8477f
commit 394d9cf
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diff --git a/rmw_connext_cpp/src/rmw_publish.cpp b/rmw_connext_cpp/src/rmw_publish.cpp
@@ -183,4 +183,18 @@ rmw_publish_serialized_message(
   }
   return RMW_RET_OK;
 }
+
+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_connext_cpp");
+  return RMW_RET_UNSUPPORTED;
+}
 }  // extern "C"
diff --git a/rmw_connext_cpp/src/rmw_publisher.cpp b/rmw_connext_cpp/src/rmw_publisher.cpp
@@ -138,6 +138,7 @@ rmw_create_publisher(
     RMW_SET_ERROR_MSG("failed to allocate publisher");
     goto fail;
   }
+  publisher->can_loan_messages = false;
 
   type_code = callbacks->get_type_code();
   if (!type_code) {
@@ -422,6 +423,32 @@ rmw_publisher_assert_liveliness(const rmw_publisher_t * publisher)
   return RMW_RET_OK;
 }
 
+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_connext_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_connext_cpp");
+  return RMW_RET_UNSUPPORTED;
+}
+
 rmw_ret_t
 rmw_destroy_publisher(rmw_node_t * node, rmw_publisher_t * publisher)
 {

diff --git a/rmw_connext_cpp/src/rmw_subscription.cpp b/rmw_connext_cpp/src/rmw_subscription.cpp
@@ -283,6 +283,7 @@ rmw_create_subscription(
   fprintf(stderr, "******\n");
 #endif
 
+  subscription->can_loan_messages = false;
   return subscription;
 fail:
   if (topic_str) {

diff --git a/rmw_connext_cpp/src/rmw_take.cpp b/rmw_connext_cpp/src/rmw_take.cpp
@@ -327,4 +327,50 @@ rmw_take_serialized_message_with_info(
 
   return RMW_RET_OK;
 }
+
+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_connext_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_connext_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 not implemented for rmw_connext_cpp");
+  return RMW_RET_UNSUPPORTED;
+}
 }  // extern "C"
diff --git a/rmw_connext_dynamic_cpp/src/functions.cpp b/rmw_connext_dynamic_cpp/src/functions.cpp
@@ -417,6 +417,7 @@ rmw_create_publisher(
     RMW_SET_ERROR_MSG("failed to allocate memory for publisher");
     goto fail;
   }
+  publisher->can_loan_messages = false;
 
   type_code = _create_type_code(
     type_name, type_support->data, type_support->typesupport_identifier);
@@ -680,6 +681,46 @@ rmw_create_publisher(
   return NULL;
 }
 
+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_connext_dynamic_cpp");
+  return RMW_RET_ERROR;
+}
+
+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_connext_dynamic_cpp");
+  return RMW_RET_ERROR;
+}
+
+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_connext_dynamic_cpp");
+  return RMW_RET_OK;
+}
+
 rmw_ret_t
 rmw_publisher_get_actual_qos(
   const rmw_publisher_t * publisher,
@@ -747,6 +788,30 @@ rmw_publisher_get_actual_qos(
   return RMW_RET_OK;
 }
 
+void *
+rmw_allocate_loaned_message(
+  const rmw_publisher_t * publisher,
+  const rosidl_message_type_support_t * type_support,
+  size_t message_size)
+{
+  (void) publisher;
+  (void) type_support;
+  (void) message_size;
+
+  return nullptr;
+}
+
+rmw_ret_t
+rmw_deallocate_loaned_message(
+  const rmw_publisher_t * publisher,
+  void * loaned_message)
+{
+  (void) publisher;
+  (void) loaned_message;
+
+  return RMW_RET_OK;
+}
+
 rmw_ret_t
 rmw_destroy_publisher(rmw_node_t * node, rmw_publisher_t * publisher)
 {
@@ -926,6 +991,20 @@ rmw_publish_serialized_message(
   return RMW_RET_ERROR;
 }
 
+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_connext_dynamic_cpp");
+  return RMW_RET_ERROR;
+}
+
 rmw_subscription_t *
 rmw_create_subscription(
   const rmw_node_t * node,
@@ -1133,6 +1212,7 @@ rmw_create_subscription(
     EntityType::Subscriber);
   node_info->subscriber_listener->trigger_graph_guard_condition();
 
+  subscription->can_loan_messages = false;
   return subscription;
 fail:
   // Something has gone wrong, unroll what has been done.
@@ -1507,6 +1587,53 @@ rmw_take_serialized_message_with_info(
   return RMW_RET_ERROR;
 }
 
+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_connext_dynamic_cpp");
+  return RMW_RET_ERROR;
+}
+
+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_connext_dynamic_cpp");
+  return RMW_RET_ERROR;
+}
+
+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 not implemented for rmw_connext_dynamic_cpp");
+  return RMW_RET_ERROR;
+}
+
 rmw_ret_t
 rmw_serialize(
   const void * ros_message,