rmw_ret_t
rmw_take_with_info(
const rmw_subscription_t * subscription,
void * ros_message,
bool * taken,
rmw_message_info_t * message_info,
rmw_subscription_allocation_t * allocation)
{
if (!message_info) {
RMW_SET_ERROR_MSG("message info is null");
return RMW_RET_ERROR;
}
DDS::InstanceHandle_t sending_publication_handle;
auto ret = _take(subscription, ros_message, taken, &sending_publication_handle, allocation);
if (ret != RMW_RET_OK) {
// Error string is already set.
return RMW_RET_ERROR;
}
rmw_gid_t * sender_gid = &message_info->publisher_gid;
sender_gid->implementation_identifier = rti_connext_identifier;
memset(sender_gid->data, 0, RMW_GID_STORAGE_SIZE);
auto detail = reinterpret_cast<ConnextPublisherGID *>(sender_gid->data);
detail->publication_handle = sending_publication_handle;
return RMW_RET_OK;
}
rmw_ret_t
rmw_take(
const rmw_subscription_t * subscription,
void * ros_message,
bool * taken,
rmw_subscription_allocation_t * allocation)
{
return _take(subscription, ros_message, taken, nullptr, allocation);
}
/**
* TODO
*
* @param id
*/
void
scaling::threadpool::_exec_thread(uint8_t id) {
std::function<void(void)> curr;
while(_running) {
if((curr = _take()) != NULL) {
curr();
curr = NULL;
}
}
}