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Rmw preallocate #51

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merged 7 commits into from
May 2, 2019
Merged

Rmw preallocate #51

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b2d995e
Add methods related to middleware preallocation.
mjcarroll Nov 21, 2018
02cf2e2
Linting.
mjcarroll Nov 21, 2018
ee99d8f
Adjust to new API.
mjcarroll Apr 30, 2019
e1a1886
Fixup.
mjcarroll Apr 30, 2019
f1ae419
Add allocator to `serialized_*` variants.
mjcarroll May 1, 2019
9bdcd7c
Adjust ordering and lint.
mjcarroll May 1, 2019
e52a747
Add corresponding `fini` methods.
mjcarroll May 1, 2019
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55 changes: 48 additions & 7 deletions rmw_implementation/src/functions.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -257,6 +257,17 @@ RMW_INTERFACE_FN(rmw_node_get_graph_guard_condition,
const rmw_guard_condition_t *, nullptr,
1, ARG_TYPES(const rmw_node_t *))

RMW_INTERFACE_FN(rmw_init_publisher_allocation,
rmw_ret_t, RMW_RET_ERROR,
3, ARG_TYPES(
const rosidl_message_type_support_t *,
const rosidl_message_bounds_t *,
rmw_publisher_allocation_t *))

RMW_INTERFACE_FN(rmw_fini_publisher_allocation,
rmw_ret_t, RMW_RET_ERROR,
1, ARG_TYPES(rmw_publisher_allocation_t *))

RMW_INTERFACE_FN(rmw_create_publisher,
rmw_publisher_t *, nullptr,
4, ARG_TYPES(
Expand All @@ -269,7 +280,7 @@ RMW_INTERFACE_FN(rmw_destroy_publisher,

RMW_INTERFACE_FN(rmw_publish,
rmw_ret_t, RMW_RET_ERROR,
2, ARG_TYPES(const rmw_publisher_t *, const void *))
3, ARG_TYPES(const rmw_publisher_t *, const void *, rmw_publisher_allocation_t *))

RMW_INTERFACE_FN(rmw_publisher_count_matched_subscriptions,
rmw_ret_t, RMW_RET_ERROR,
Expand All @@ -281,7 +292,16 @@ RMW_INTERFACE_FN(rmw_publisher_get_actual_qos,

RMW_INTERFACE_FN(rmw_publish_serialized_message,
rmw_ret_t, RMW_RET_ERROR,
2, ARG_TYPES(const rmw_publisher_t *, const rmw_serialized_message_t *))
3,
ARG_TYPES(const rmw_publisher_t *, const rmw_serialized_message_t *,
rmw_publisher_allocation_t *))

RMW_INTERFACE_FN(rmw_get_serialized_message_size,
rmw_ret_t, RMW_RET_ERROR,
3, ARG_TYPES(
const rosidl_message_type_support_t *,
const rosidl_message_bounds_t *,
size_t *))

RMW_INTERFACE_FN(rmw_serialize,
rmw_ret_t, RMW_RET_ERROR,
Expand All @@ -291,6 +311,17 @@ RMW_INTERFACE_FN(rmw_deserialize,
rmw_ret_t, RMW_RET_ERROR,
3, ARG_TYPES(const rmw_serialized_message_t *, const rosidl_message_type_support_t *, void *))

RMW_INTERFACE_FN(rmw_init_subscription_allocation,
rmw_ret_t, RMW_RET_ERROR,
3, ARG_TYPES(
const rosidl_message_type_support_t *,
const rosidl_message_bounds_t *,
rmw_subscription_allocation_t *))

RMW_INTERFACE_FN(rmw_fini_subscription_allocation,
rmw_ret_t, RMW_RET_ERROR,
1, ARG_TYPES(rmw_subscription_allocation_t *))

RMW_INTERFACE_FN(rmw_create_subscription,
rmw_subscription_t *, nullptr,
5, ARG_TYPES(
Expand All @@ -307,20 +338,25 @@ RMW_INTERFACE_FN(rmw_subscription_count_matched_publishers,

RMW_INTERFACE_FN(rmw_take,
rmw_ret_t, RMW_RET_ERROR,
3, ARG_TYPES(const rmw_subscription_t *, void *, bool *))
4, ARG_TYPES(const rmw_subscription_t *, void *, bool *, rmw_subscription_allocation_t *))

RMW_INTERFACE_FN(rmw_take_with_info,
rmw_ret_t, RMW_RET_ERROR,
4, ARG_TYPES(const rmw_subscription_t *, void *, bool *, rmw_message_info_t *))
5,
ARG_TYPES(const rmw_subscription_t *, void *, bool *, rmw_message_info_t *,
rmw_subscription_allocation_t *))

RMW_INTERFACE_FN(rmw_take_serialized_message,
rmw_ret_t, RMW_RET_ERROR,
3, ARG_TYPES(const rmw_subscription_t *, rmw_serialized_message_t *, bool *))
4,
ARG_TYPES(const rmw_subscription_t *, rmw_serialized_message_t *, bool *,
rmw_subscription_allocation_t *))

RMW_INTERFACE_FN(rmw_take_serialized_message_with_info,
rmw_ret_t, RMW_RET_ERROR,
4, ARG_TYPES(
const rmw_subscription_t *, rmw_serialized_message_t *, bool *, rmw_message_info_t *))
5, ARG_TYPES(
const rmw_subscription_t *, rmw_serialized_message_t *, bool *, rmw_message_info_t *,
rmw_subscription_allocation_t *))

RMW_INTERFACE_FN(rmw_create_client,
rmw_client_t *, nullptr,
Expand Down Expand Up @@ -458,14 +494,19 @@ void prefetch_symbols(void)
GET_SYMBOL(rmw_create_node)
GET_SYMBOL(rmw_destroy_node)
GET_SYMBOL(rmw_node_get_graph_guard_condition)
GET_SYMBOL(rmw_init_publisher_allocation);
GET_SYMBOL(rmw_fini_publisher_allocation);
GET_SYMBOL(rmw_create_publisher)
GET_SYMBOL(rmw_destroy_publisher)
GET_SYMBOL(rmw_publish)
GET_SYMBOL(rmw_publisher_count_matched_subscriptions);
GET_SYMBOL(rmw_publisher_get_actual_qos);
GET_SYMBOL(rmw_publish_serialized_message)
GET_SYMBOL(rmw_get_serialized_message_size)
GET_SYMBOL(rmw_serialize)
GET_SYMBOL(rmw_deserialize)
GET_SYMBOL(rmw_init_subscription_allocation)
GET_SYMBOL(rmw_fini_subscription_allocation)
GET_SYMBOL(rmw_create_subscription)
GET_SYMBOL(rmw_destroy_subscription)
GET_SYMBOL(rmw_subscription_count_matched_publishers);
Expand Down