From 3d033ed1ca92cee53e5bcc6b0d89e5fbe36fd40b Mon Sep 17 00:00:00 2001
From: Karsten Knese <Karsten1987@users.noreply.github.com>
Date: Fri, 18 Oct 2019 14:50:08 -0700
Subject: [PATCH] zero copy api for opensplice (#285)

* zero copy api for opensplice

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

* use RMW_RET_UNSUPPORTED

Signed-off-by: Karsten Knese <karsten@openrobotics.org>
---
 rmw_opensplice_cpp/src/rmw_publish.cpp      | 14 +++++++
 rmw_opensplice_cpp/src/rmw_publisher.cpp    | 27 ++++++++++++
 rmw_opensplice_cpp/src/rmw_subscription.cpp |  1 +
 rmw_opensplice_cpp/src/rmw_take.cpp         | 46 +++++++++++++++++++++
 4 files changed, 88 insertions(+)

diff --git a/rmw_opensplice_cpp/src/rmw_publish.cpp b/rmw_opensplice_cpp/src/rmw_publish.cpp
index aa7085a6..b03c3225 100644
--- a/rmw_opensplice_cpp/src/rmw_publish.cpp
+++ b/rmw_opensplice_cpp/src/rmw_publish.cpp
@@ -166,4 +166,18 @@ 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_opensplice_cpp");
+  return RMW_RET_UNSUPPORTED;
+}
 }  // extern "C"
diff --git a/rmw_opensplice_cpp/src/rmw_publisher.cpp b/rmw_opensplice_cpp/src/rmw_publisher.cpp
index d298aeaf..4d6a95d9 100644
--- a/rmw_opensplice_cpp/src/rmw_publisher.cpp
+++ b/rmw_opensplice_cpp/src/rmw_publisher.cpp
@@ -252,6 +252,7 @@ rmw_create_publisher(
   memcpy(const_cast<char *>(publisher->topic_name), topic_name, strlen(topic_name) + 1);
   publisher->options = *publisher_options;
 
+  publisher->can_loan_messages = false;
   return publisher;
 fail:
   if (publisher) {
@@ -378,6 +379,32 @@ rmw_publisher_assert_liveliness(const rmw_publisher_t * publisher)
   return result;
 }
 
+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_opensplice_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_opensplice_cpp");
+  return RMW_RET_UNSUPPORTED;
+}
+
 rmw_ret_t
 rmw_destroy_publisher(rmw_node_t * node, rmw_publisher_t * publisher)
 {
diff --git a/rmw_opensplice_cpp/src/rmw_subscription.cpp b/rmw_opensplice_cpp/src/rmw_subscription.cpp
index c3dd37b5..61702cca 100644
--- a/rmw_opensplice_cpp/src/rmw_subscription.cpp
+++ b/rmw_opensplice_cpp/src/rmw_subscription.cpp
@@ -249,6 +249,7 @@ rmw_create_subscription(
   memcpy(const_cast<char *>(subscription->topic_name), topic_name, strlen(topic_name) + 1);
   subscription->options = *subscription_options;
 
+  subscription->can_loan_messages = false;
   return subscription;
 fail:
   if (dds_subscriber) {
diff --git a/rmw_opensplice_cpp/src/rmw_take.cpp b/rmw_opensplice_cpp/src/rmw_take.cpp
index 4143eb4f..8c49be29 100644
--- a/rmw_opensplice_cpp/src/rmw_take.cpp
+++ b/rmw_opensplice_cpp/src/rmw_take.cpp
@@ -321,4 +321,50 @@ 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_opensplice_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_opensplice_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_opensplice_cpp");
+  return RMW_RET_UNSUPPORTED;
+}
 }  // extern "C"