Groundwork for one participant per context refactor

rmw_connext_cpp/CMakeLists.txt

@@ -153,6 +153,7 @@ add_library(
   src/get_subscriber.cpp
   src/identifier.cpp
   src/process_topic_and_service_names.cpp
+  src/publisher.cpp
   src/rmw_client.cpp
   src/rmw_compare_gid_equals.cpp
   src/rmw_count.cpp
@@ -180,7 +181,9 @@ add_library(
   src/rmw_trigger_guard_condition.cpp
   src/rmw_wait.cpp
   src/rmw_wait_set.cpp
-  src/serialization_format.cpp)
+  src/serialization_format.cpp
+  src/subscription.cpp
+)
 ament_target_dependencies(rmw_connext_cpp
   "rcutils"
   "rmw"

rmw_connext_cpp/include/rmw_connext_cpp/publisher.hpp

@@ -0,0 +1,42 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RMW_CONNEXT_CPP__PUBLISHER_HPP_
+#define RMW_CONNEXT_CPP__PUBLISHER_HPP_
+
+#include "rmw/types.h"
+
+#include "rmw_connext_shared_cpp/types.hpp"
+
+#include "rmw_connext_cpp/visibility_control.h"
+
+namespace rmw_connext_cpp
+{
+
+rmw_publisher_t *
+create_publisher(
+  const ConnextParticipantInfo * participant_info,
+  const rosidl_message_type_support_t * type_supports,
+  const char * topic_name,
+  const rmw_qos_profile_t * qos_profile,
+  const rmw_publisher_options_t * publisher_options);
+
+rmw_ret_t
+destroy_publisher(
+  const ConnextParticipantInfo * participant_info,
+  rmw_publisher_t * publisher);
+
+}  // namespace rmw_connext_cpp
+
+#endif  // RMW_CONNEXT_CPP__PUBLISHER_HPP_

rmw_connext_cpp/include/rmw_connext_cpp/subscription.hpp

@@ -0,0 +1,40 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RMW_CONNEXT_CPP__SUBSCRIPTION_HPP_
+#define RMW_CONNEXT_CPP__SUBSCRIPTION_HPP_
+
+#include "rmw/types.h"
+
+#include "rmw_connext_shared_cpp/types.hpp"
+
+namespace rmw_connext_cpp
+{
+
+rmw_subscription_t *
+create_subscription(
+  const ConnextParticipantInfo * participant_info,
+  const rosidl_message_type_support_t * type_supports,
+  const char * topic_name,
+  const rmw_qos_profile_t * qos_profile,
+  const rmw_subscription_options_t * subscription_options);
+
+rmw_ret_t
+destroy_subscription(
+  const ConnextParticipantInfo * participant_info,
+  rmw_subscription_t * subscription);
+
+}  // namespace rmw_connext_cpp
+
+#endif  // RMW_CONNEXT_CPP__SUBSCRIPTION_HPP_