From 56a41a60ea0565d162058f1b6ce5b20fa720be3f Mon Sep 17 00:00:00 2001 From: Mauro Date: Fri, 2 Oct 2020 16:34:32 +0100 Subject: [PATCH 1/4] Add RMW listener APIs add constness Use or discard previous events: Guard conditions Rename to set_events_executor_callback Add events support void return on set_events_executor_callback Revert "void return on set_events_executor_callback" Signed-off-by: Alberto Soragna --- rmw_implementation/src/functions.cpp | 35 ++++++++++++++++++++++++++++ 1 file changed, 35 insertions(+) diff --git a/rmw_implementation/src/functions.cpp b/rmw_implementation/src/functions.cpp index 6f2ddeefa..b62b52155 100644 --- a/rmw_implementation/src/functions.cpp +++ b/rmw_implementation/src/functions.cpp @@ -698,6 +698,36 @@ RMW_INTERFACE_FN( rcutils_allocator_t *, rmw_network_flow_endpoint_array_t *)) +RMW_INTERFACE_FN( + rmw_subscription_set_listener_callback, + rmw_ret_t, RMW_RET_ERROR, + 3, ARG_TYPES( + rmw_subscription_t *, rmw_listener_callback_t, const void *)) + +RMW_INTERFACE_FN( + rmw_service_set_listener_callback, + rmw_ret_t, RMW_RET_ERROR, + 3, ARG_TYPES( + rmw_service_t *, rmw_listener_callback_t, const void *)) + +RMW_INTERFACE_FN( + rmw_client_set_listener_callback, + rmw_ret_t, RMW_RET_ERROR, + 3, ARG_TYPES( + rmw_client_t *, rmw_listener_callback_t, const void *)) + +RMW_INTERFACE_FN( + rmw_guard_condition_set_listener_callback, + rmw_ret_t, RMW_RET_ERROR, + 4, ARG_TYPES( + rmw_guard_condition_t *, rmw_listener_callback_t, const void *, bool)) + +RMW_INTERFACE_FN( + rmw_event_set_listener_callback, + rmw_ret_t, RMW_RET_ERROR, + 4, ARG_TYPES( + rmw_event_t *, rmw_listener_callback_t, const void *, bool)) + #define GET_SYMBOL(x) symbol_ ## x = get_symbol(#x); void prefetch_symbols(void) @@ -783,6 +813,11 @@ void prefetch_symbols(void) GET_SYMBOL(rmw_subscription_get_network_flow_endpoints) GET_SYMBOL(rmw_client_request_publisher_get_actual_qos); GET_SYMBOL(rmw_client_response_subscription_get_actual_qos); + GET_SYMBOL(rmw_subscription_set_listener_callback) + GET_SYMBOL(rmw_service_set_listener_callback) + GET_SYMBOL(rmw_client_set_listener_callback) + GET_SYMBOL(rmw_guard_condition_set_listener_callback) + GET_SYMBOL(rmw_event_set_listener_callback) } void * symbol_rmw_init = nullptr; From 8562555c6ae431cbf1787bfeaa8a4ffb032148ad Mon Sep 17 00:00:00 2001 From: Mauro Passerino Date: Wed, 24 Mar 2021 16:54:07 -0300 Subject: [PATCH 2/4] Remove use_previous_event Signed-off-by: Mauro Passerino --- rmw_implementation/src/functions.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/rmw_implementation/src/functions.cpp b/rmw_implementation/src/functions.cpp index b62b52155..a5a14ece7 100644 --- a/rmw_implementation/src/functions.cpp +++ b/rmw_implementation/src/functions.cpp @@ -719,14 +719,14 @@ RMW_INTERFACE_FN( RMW_INTERFACE_FN( rmw_guard_condition_set_listener_callback, rmw_ret_t, RMW_RET_ERROR, - 4, ARG_TYPES( - rmw_guard_condition_t *, rmw_listener_callback_t, const void *, bool)) + 3, ARG_TYPES( + rmw_guard_condition_t *, rmw_listener_callback_t, const void *)) RMW_INTERFACE_FN( rmw_event_set_listener_callback, rmw_ret_t, RMW_RET_ERROR, - 4, ARG_TYPES( - rmw_event_t *, rmw_listener_callback_t, const void *, bool)) + 3, ARG_TYPES( + rmw_event_t *, rmw_listener_callback_t, const void *)) #define GET_SYMBOL(x) symbol_ ## x = get_symbol(#x); From 14685ec9cec2364c12d1e6e30ff3cb7c4d395f50 Mon Sep 17 00:00:00 2001 From: Mauro Passerino Date: Wed, 31 Mar 2021 17:54:39 -0300 Subject: [PATCH 3/4] Remove guard condition listener Signed-off-by: Mauro Passerino --- rmw_implementation/src/functions.cpp | 7 ------- 1 file changed, 7 deletions(-) diff --git a/rmw_implementation/src/functions.cpp b/rmw_implementation/src/functions.cpp index a5a14ece7..983b9211c 100644 --- a/rmw_implementation/src/functions.cpp +++ b/rmw_implementation/src/functions.cpp @@ -716,12 +716,6 @@ RMW_INTERFACE_FN( 3, ARG_TYPES( rmw_client_t *, rmw_listener_callback_t, const void *)) -RMW_INTERFACE_FN( - rmw_guard_condition_set_listener_callback, - rmw_ret_t, RMW_RET_ERROR, - 3, ARG_TYPES( - rmw_guard_condition_t *, rmw_listener_callback_t, const void *)) - RMW_INTERFACE_FN( rmw_event_set_listener_callback, rmw_ret_t, RMW_RET_ERROR, @@ -816,7 +810,6 @@ void prefetch_symbols(void) GET_SYMBOL(rmw_subscription_set_listener_callback) GET_SYMBOL(rmw_service_set_listener_callback) GET_SYMBOL(rmw_client_set_listener_callback) - GET_SYMBOL(rmw_guard_condition_set_listener_callback) GET_SYMBOL(rmw_event_set_listener_callback) } From 70583c42c6ff000938b21111fddc1a504834fdf3 Mon Sep 17 00:00:00 2001 From: William Woodall Date: Thu, 1 Apr 2021 21:00:20 -0700 Subject: [PATCH 4/4] refactor to remove listener term Signed-off-by: William Woodall --- rmw_implementation/src/functions.cpp | 28 ++++++++++++++++------------ 1 file changed, 16 insertions(+), 12 deletions(-) diff --git a/rmw_implementation/src/functions.cpp b/rmw_implementation/src/functions.cpp index 983b9211c..ae0bd2909 100644 --- a/rmw_implementation/src/functions.cpp +++ b/rmw_implementation/src/functions.cpp @@ -699,28 +699,28 @@ RMW_INTERFACE_FN( rmw_network_flow_endpoint_array_t *)) RMW_INTERFACE_FN( - rmw_subscription_set_listener_callback, + rmw_subscription_set_on_new_message_callback, rmw_ret_t, RMW_RET_ERROR, 3, ARG_TYPES( - rmw_subscription_t *, rmw_listener_callback_t, const void *)) + rmw_subscription_t *, rmw_event_callback_t, const void *)) RMW_INTERFACE_FN( - rmw_service_set_listener_callback, + rmw_service_set_on_new_request_callback, rmw_ret_t, RMW_RET_ERROR, 3, ARG_TYPES( - rmw_service_t *, rmw_listener_callback_t, const void *)) + rmw_service_t *, rmw_event_callback_t, const void *)) RMW_INTERFACE_FN( - rmw_client_set_listener_callback, + rmw_client_set_on_new_response_callback, rmw_ret_t, RMW_RET_ERROR, 3, ARG_TYPES( - rmw_client_t *, rmw_listener_callback_t, const void *)) + rmw_client_t *, rmw_event_callback_t, const void *)) RMW_INTERFACE_FN( - rmw_event_set_listener_callback, + rmw_event_set_callback, rmw_ret_t, RMW_RET_ERROR, 3, ARG_TYPES( - rmw_event_t *, rmw_listener_callback_t, const void *)) + rmw_event_t *, rmw_event_callback_t, const void *)) #define GET_SYMBOL(x) symbol_ ## x = get_symbol(#x); @@ -807,10 +807,10 @@ void prefetch_symbols(void) GET_SYMBOL(rmw_subscription_get_network_flow_endpoints) GET_SYMBOL(rmw_client_request_publisher_get_actual_qos); GET_SYMBOL(rmw_client_response_subscription_get_actual_qos); - GET_SYMBOL(rmw_subscription_set_listener_callback) - GET_SYMBOL(rmw_service_set_listener_callback) - GET_SYMBOL(rmw_client_set_listener_callback) - GET_SYMBOL(rmw_event_set_listener_callback) + GET_SYMBOL(rmw_subscription_set_on_new_message_callback) + GET_SYMBOL(rmw_service_set_on_new_request_callback) + GET_SYMBOL(rmw_client_set_on_new_response_callback) + GET_SYMBOL(rmw_event_set_callback) } void * symbol_rmw_init = nullptr; @@ -919,5 +919,9 @@ unload_library() symbol_rmw_publisher_get_network_flow_endpoints = nullptr; symbol_rmw_subscription_get_network_flow_endpoints = nullptr; symbol_rmw_init = nullptr; + symbol_rmw_subscription_set_on_new_message_callback = nullptr; + symbol_rmw_service_set_on_new_request_callback = nullptr; + symbol_rmw_client_set_on_new_response_callback = nullptr; + symbol_rmw_event_set_callback = nullptr; g_rmw_lib.reset(); }