From 488c302175a9f0190e0736e8fb74d931b7d3c376 Mon Sep 17 00:00:00 2001
From: Sebastian Jakymiw <sjakymiw@irobot.com>
Date: Mon, 9 Jan 2023 11:18:06 -0500
Subject: [PATCH] add network notify function

---
 .../rmw_fastrtps_cpp/get_participant.hpp      |  8 ++++++
 rmw_fastrtps_cpp/src/rmw_node.cpp             | 28 +++++++++++++++++++
 2 files changed, 36 insertions(+)

diff --git a/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/get_participant.hpp b/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/get_participant.hpp
index cbd76bfbc..7f3643f37 100644
--- a/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/get_participant.hpp
+++ b/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/get_participant.hpp
@@ -34,6 +34,14 @@ RMW_FASTRTPS_CPP_PUBLIC
 eprosima::fastdds::dds::DomainParticipant *
 get_domain_participant(rmw_node_t * node);
 
+/**
+ * This function returns `NULL` when either the node handle is `NULL` or when the
+ * node handle is from a different rmw implementation.
+ *
+ * \return rmw_ret_t non `NULL` value if successful, otherwise `NULL`
+ */
+rmw_ret_t rmw_notify_participant_dynamic_network_interface(rmw_context_t * context);
+
 }  // namespace rmw_fastrtps_cpp
 
 #endif  // RMW_FASTRTPS_CPP__GET_PARTICIPANT_HPP_
diff --git a/rmw_fastrtps_cpp/src/rmw_node.cpp b/rmw_fastrtps_cpp/src/rmw_node.cpp
index 012145a03..4d8c997d9 100644
--- a/rmw_fastrtps_cpp/src/rmw_node.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_node.cpp
@@ -26,12 +26,14 @@
 #include "rmw/ret_types.h"
 #include "rmw/rmw.h"
 
+#include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 #include "rmw_fastrtps_shared_cpp/init_rmw_context_impl.hpp"
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 #include "rmw_fastrtps_shared_cpp/rmw_context_impl.hpp"
 
 #include "rmw_fastrtps_cpp/identifier.hpp"
 #include "rmw_fastrtps_cpp/init_rmw_context_impl.hpp"
+#include "rmw_fastrtps_cpp/get_participant.hpp"
 
 extern "C"
 {
@@ -121,4 +123,30 @@ rmw_node_get_graph_guard_condition(const rmw_node_t * node)
   return rmw_fastrtps_shared_cpp::__rmw_node_get_graph_guard_condition(
     node);
 }
+
+rmw_ret_t
+rmw_notify_participant_dynamic_network_interface(rmw_context_t * context)
+{
+  auto impl = static_cast<CustomParticipantInfo *>(context->impl->participant_info);
+  eprosima::fastdds::dds::DomainParticipant * participant = impl->participant_;
+
+  if (nullptr == participant)
+  {
+    return RMW_RET_ERROR;
+  }
+
+  eprosima::fastdds::dds::DomainParticipantQos participant_qos;
+  if (participant->get_qos(participant_qos) != ReturnCode_t::RETCODE_OK)
+  {
+    return RMW_RET_ERROR;
+  }
+
+  ReturnCode_t ret = participant->set_qos(participant_qos);
+
+  if (ret != ReturnCode_t::RETCODE_OK)
+  {
+    return RMW_RET_ERROR;
+  }
+  return RMW_RET_OK;
+}
 }  // extern "C"