Further changes after rebasing with master

Signed-off-by: Ivan Santiago Paunovic <[email protected]>
ros2 · Nov 20, 2019 · 59b1bcb · 59b1bcb
1 parent c9cb7f0
commit 59b1bcb
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Showing 4 changed files with 14 additions and 2 deletions.
diff --git a/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/publisher.hpp b/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/publisher.hpp
@@ -27,6 +27,7 @@ create_publisher(
   const rosidl_message_type_support_t * type_supports,
   const char * topic_name,
   const rmw_qos_profile_t * qos_policies,
+  const rmw_publisher_options_t * publisher_options,
   bool keyed,
   bool create_publisher_listener);
 

diff --git a/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/subscription.hpp b/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/subscription.hpp
@@ -16,6 +16,8 @@
 #define RMW_FASTRTPS_CPP__SUBSCRIPTION_HPP_
 
 #include "rmw/rmw.h"
+#include "rmw/subscription_options.h"
+
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 
 namespace rmw_fastrtps_cpp
@@ -27,7 +29,7 @@ create_subscription(
   const rosidl_message_type_support_t * type_supports,
   const char * topic_name,
   const rmw_qos_profile_t * qos_policies,
-  bool ignore_local_publications,
+  const rmw_subscription_options_t * subscription_options,
   bool keyed,
   bool create_subscription_listener);
 

diff --git a/rmw_fastrtps_cpp/src/rmw_init.cpp b/rmw_fastrtps_cpp/src/rmw_init.cpp
@@ -18,6 +18,7 @@
 #include "rmw/impl/cpp/macros.hpp"
 #include "rmw/init.h"
 #include "rmw/init_options.h"
+#include "rmw/publisher_options.h"
 #include "rmw/rmw.h"
 
 #include "rmw_dds_common/context.hpp"
@@ -95,10 +96,14 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
   rmw_dds_common::Context * common_context = nullptr;
   CustomParticipantInfo * participant_info = nullptr;
   rmw_publisher_t * publisher = nullptr;
+  rmw_publisher_options_t publisher_options = rmw_get_default_publisher_options();
   rmw_ret_t ret = RMW_RET_OK;
   rmw_subscription_t * subscription = nullptr;
+  rmw_subscription_options_t subscription_options = rmw_get_default_subscription_options();
   rmw_qos_profile_t qos = rmw_qos_profile_default;
 
+  subscription_options.ignore_local_publications = true; // This is currently not implemented in fastrtps
+
   RCUTILS_CHECK_ARGUMENT_FOR_NULL(options, RMW_RET_INVALID_ARGUMENT);
   RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
@@ -149,6 +154,7 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
     rosidl_typesupport_cpp::get_message_type_support_handle<ParticipantEntitiesInfo>(),
     "_participant_info",
     &qos,
+    &publisher_options,
     false,  // our fastrtps typesupport doesn't support keyed topics
     true);  // don't create a publisher listener
   if (nullptr == publisher) {
@@ -161,7 +167,7 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
     rosidl_typesupport_cpp::get_message_type_support_handle<ParticipantEntitiesInfo>(),
     "_participant_info",
     &qos,
-    true,  // ignore_local_publications, currently not implemented
+    &subscription_options,
     false,  // our fastrtps typesupport doesn't support keyed topics
     true);  // don't create a subscriber listener
   if (nullptr == subscription) {

diff --git a/rmw_fastrtps_cpp/src/rmw_node.cpp b/rmw_fastrtps_cpp/src/rmw_node.cpp
@@ -41,6 +41,9 @@ rmw_create_node(
   const rmw_security_options_t * security_options,
   bool localhost_only)
 {
+  (void)domain_id;
+  (void)security_options;
+  (void)localhost_only;
   RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, NULL);
   RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
     init context,