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Added rmw_event_type_is_supported #173

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Added rmw_event_type_is_supported #173

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1728ce8
Added rmw_event_check_compatible
ahcorde Mar 5, 2025
c1a4b47
review feedback
ahcorde Mar 6, 2025
1c1877b
Added review feedback
ahcorde Mar 6, 2025
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7 changes: 7 additions & 0 deletions rmw_connextdds/src/rmw_api_impl_ndds.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -138,6 +138,13 @@ rmw_event_set_callback(
{
return rmw_api_connextdds_event_set_callback(event, callback, user_data);
}

bool
rmw_event_type_is_supported(rmw_event_type_t rmw_event_type)
{
return rmw_api_connextdds_event_type_is_supported(rmw_event_type);
}

/*****************************************************************************
* Info API
*****************************************************************************/
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4 changes: 4 additions & 0 deletions rmw_connextdds_common/include/rmw_connextdds/rmw_api_impl.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -96,6 +96,10 @@ rmw_api_connextdds_event_set_callback(
const rmw_event_callback_t callback,
const void * const user_data);

RMW_CONNEXTDDS_PUBLIC
bool
rmw_api_connextdds_event_type_is_supported(rmw_event_type_t rmw_event_type);

/*****************************************************************************
* Info API
*****************************************************************************/
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22 changes: 11 additions & 11 deletions rmw_connextdds_common/src/common/rmw_event.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,15 +19,6 @@
/******************************************************************************
* Event functions
******************************************************************************/

static bool is_event_supported(const rmw_event_type_t event_type)
{
bool invalid = false;
ros_event_to_dds(event_type, &invalid);
return !invalid;
}


rmw_ret_t
rmw_api_connextdds_publisher_event_init(
rmw_event_t * rmw_event,
Expand All @@ -42,7 +33,7 @@ rmw_api_connextdds_publisher_event_init(
return RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(rmw_event, RMW_RET_INVALID_ARGUMENT);

if (!is_event_supported(event_type)) {
if (!rmw_api_connextdds_event_type_is_supported(event_type)) {
RMW_CONNEXT_LOG_ERROR_SET("unsupported publisher event")
return RMW_RET_UNSUPPORTED;
}
Expand All @@ -64,6 +55,15 @@ rmw_api_connextdds_publisher_event_init(
}


bool
rmw_api_connextdds_event_type_is_supported(rmw_event_type_t rmw_event_type)
{
bool invalid = false;
ros_event_to_dds(rmw_event_type, &invalid);
return !invalid;
}


rmw_ret_t
rmw_api_connextdds_subscription_event_init(
rmw_event_t * rmw_event,
Expand All @@ -78,7 +78,7 @@ rmw_api_connextdds_subscription_event_init(
return RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(rmw_event, RMW_RET_INVALID_ARGUMENT);

if (!is_event_supported(event_type)) {
if (!rmw_api_connextdds_event_type_is_supported(event_type)) {
RMW_CONNEXT_LOG_ERROR_SET("unsupported subscription event")
return RMW_RET_UNSUPPORTED;
}
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6 changes: 6 additions & 0 deletions rmw_connextddsmicro/src/rmw_api_impl_rtime.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -139,6 +139,12 @@ rmw_event_set_callback(
return rmw_api_connextdds_event_set_callback(event, callback, user_data);
}

bool
rmw_event_type_is_supported(rmw_event_type_t rmw_event_type)
{
return rmw_api_connextdds_event_type_is_supported(rmw_event_type);
}

/*****************************************************************************
* Info API
*****************************************************************************/
Expand Down