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Implement rmw_publisher_assert_liveliness #235

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merged 1 commit into from
Jul 2, 2024
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Implement rmw_publisher_assert_liveliness #235

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18 changes: 16 additions & 2 deletions rmw_zenoh_cpp/src/rmw_zenoh.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1166,8 +1166,21 @@ rmw_get_serialized_message_size(
rmw_ret_t
rmw_publisher_assert_liveliness(const rmw_publisher_t * publisher)
{
static_cast<void>(publisher);
return RMW_RET_UNSUPPORTED;
RMW_CHECK_FOR_NULL_WITH_MSG(
publisher, "publisher handle is null",
return RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_FOR_NULL_WITH_MSG(
publisher->data, "publisher data is null",
return RMW_RET_INVALID_ARGUMENT);
rmw_zenoh_cpp::rmw_publisher_data_t * pub_data =
static_cast<rmw_zenoh_cpp::rmw_publisher_data_t *>(publisher->data);
RMW_CHECK_ARGUMENT_FOR_NULL(pub_data, RMW_RET_INVALID_ARGUMENT);

if (!zc_liveliness_token_check(&pub_data->token)) {
return RMW_RET_ERROR;
}

return RMW_RET_OK;
}

//==============================================================================
Expand Down Expand Up @@ -3798,6 +3811,7 @@ rmw_get_gid_for_publisher(const rmw_publisher_t * publisher, rmw_gid_t * gid)

rmw_zenoh_cpp::rmw_publisher_data_t * pub_data =
static_cast<rmw_zenoh_cpp::rmw_publisher_data_t *>(publisher->data);
RMW_CHECK_ARGUMENT_FOR_NULL(pub_data, RMW_RET_INVALID_ARGUMENT);

gid->implementation_identifier = rmw_zenoh_cpp::rmw_zenoh_identifier;
memcpy(gid->data, pub_data->pub_gid, RMW_GID_STORAGE_SIZE);
Expand Down