Initial

Signed-off-by: Pablo Garrido <pablogs9@gmail.com>

Author: pablogs9

rmw_microxrcedds_c/CMakeLists.txt

@@ -190,6 +190,7 @@ set(SRCS
   src/rmw_microros/time_sync.c
   src/rmw_microros/ping.c
   src/rmw_microros/timing.c
+  src/rmw_microros/memory_error_handling.c
   $<$<OR:$<BOOL:${RMW_UXRCE_TRANSPORT_UDP}>,$<BOOL:${RMW_UXRCE_TRANSPORT_TCP}>>:src/rmw_microros/discovery.c>
   $<$<BOOL:${RMW_UXRCE_TRANSPORT_CUSTOM}>:src/rmw_microros/custom_transport.c>
   $<$<BOOL:${RMW_UXRCE_GRAPH}>:src/rmw_graph.c>

rmw_microxrcedds_c/include/rmw_microros/memory_error_handling.h

@@ -0,0 +1,56 @@
+// Copyright 2021 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/**
+ * @file
+ */
+
+#ifndef RMW_MICROROS__MEMORY_ERROR_HANDLING_H_
+#define RMW_MICROROS__MEMORY_ERROR_HANDLING_H_
+
+// #include <rmw/rmw.h>
+// #include <rmw/ret_types.h>
+// #include <rmw/init_options.h>
+// #include <rmw_microxrcedds_c/config.h>
+// #include <ucdr/microcdr.h>
+
+#if defined(__cplusplus)
+extern "C"
+{
+#endif  // if defined(__cplusplus)
+
+typedef void (* rmw_uros_memory_error_handling)(
+  char * identifier,
+  uint8_t * buffer,
+  size_t size);
+
+/** \addtogroup rmw micro-ROS RMW API
+ *  @{
+ */
+
+/**
+ * \brief Sets the callback functions for handling error in static memory handling
+ *
+ * \param[in] memory_error_cb publisher where continous serialization is being configured
+ */
+void rmw_uros_set_memory_error_handling_callback(
+  rmw_uros_memory_error_handling memory_error_cb);
+
+/** @}*/
+
+#if defined(__cplusplus)
+}
+#endif  // if defined(__cplusplus)
+
+#endif  // RMW_MICROROS__MEMORY_ERROR_HANDLING_H_

rmw_microxrcedds_c/src/callbacks.c

@@ -13,8 +13,10 @@
 // limitations under the License.
 
 #include <rmw_microros_internal/callbacks.h>
-
 #include <rmw/error_handling.h>
+#include <rmw_microros/memory_error_handling.h>
+
+extern rmw_uros_memory_error_handling memory_error_callback;
 
 void on_status(
   struct uxrSession * session,
@@ -77,6 +79,9 @@ void on_topic(
       if (!memory_node) {
         RMW_SET_ERROR_MSG("Not available static buffer memory node");
         UXR_UNLOCK(&static_buffer_memory.mutex);
+        if(NULL != memory_error_callback) {
+          memory_error_callback("Not available static_buffer_memory for subscription", ub->iterator, length);
+        }
         return;
       }
 
@@ -129,6 +134,9 @@ void on_request(
       if (!memory_node) {
         RMW_SET_ERROR_MSG("Not available static buffer memory node");
         UXR_UNLOCK(&static_buffer_memory.mutex);
+        if(NULL != memory_error_callback) {
+          memory_error_callback("Not available static_buffer_memory for request", ub->iterator, length);
+        }
         return;
       }
 
@@ -183,6 +191,9 @@ void on_reply(
       if (!memory_node) {
         RMW_SET_ERROR_MSG("Not available static buffer memory node");
         UXR_UNLOCK(&static_buffer_memory.mutex);
+        if(NULL != memory_error_callback) {
+          memory_error_callback("Not available static_buffer_memory for reply", ub->iterator, length);
+        }
         return;
       }
 

rmw_microxrcedds_c/src/rmw_microros/memory_error_handling.c

@@ -0,0 +1,24 @@
+// Copyright 2021 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <rmw/rmw.h>
+#include <rmw_microros/memory_error_handling.h>
+
+rmw_uros_memory_error_handling memory_error_callback = NULL;
+
+void rmw_uros_set_memory_error_handling_callback(
+  rmw_uros_memory_error_handling memory_error_cb)
+{
+  memory_error_callback = memory_error_cb;
+}