Add support for loan message API
asorbini opened this issue · comments
Feature Description
Extend rmw_connextdds
to support both publication and subscription of "loaned messages".
This feature requires the implementation of the following functions from the RMW API:
rmw_publish_loaned_message
rmw_borrow_loaned_message
rmw_return_loaned_message_from_publisher
rmw_take_loaned_message
rmw_take_loaned_message_with_info
rmw_return_loaned_message_from_subscription
Implementation Considerations
The feature will require modifications to the "type plugin" used by the middleware to handle message serialization.
In order to support the loan API, the RMW implementation must be able to allocate and initialize messages, instead of solely relying on messages allocated by the application layer.