From 9207ad0cf351d5a428bd469acb073cb42a0d4aa0 Mon Sep 17 00:00:00 2001 From: Dan Rose Date: Mon, 30 Mar 2020 11:39:39 -0500 Subject: [PATCH 01/15] Remove directories from IDLC install list Signed-off-by: Dan Rose --- src/idlc/CMakeLists.txt | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/idlc/CMakeLists.txt b/src/idlc/CMakeLists.txt index a6b2ea2..1d50a05 100644 --- a/src/idlc/CMakeLists.txt +++ b/src/idlc/CMakeLists.txt @@ -12,10 +12,10 @@ # Verify Maven is available find_package(Maven 3.0 REQUIRED) -file(GLOB_RECURSE IDLC_G_SOURCES LIST_DIRECTORIES true *.g) -file(GLOB_RECURSE IDLC_G4_SOURCES LIST_DIRECTORIES true *.g4) -file(GLOB_RECURSE IDLC_JAVA_SOURCES LIST_DIRECTORIES true *.java) -file(GLOB_RECURSE IDLC_ST_SOURCES LIST_DIRECTORIES true *.st?) +file(GLOB_RECURSE IDLC_G_SOURCES LIST_DIRECTORIES false *.g) +file(GLOB_RECURSE IDLC_G4_SOURCES LIST_DIRECTORIES false *.g4) +file(GLOB_RECURSE IDLC_JAVA_SOURCES LIST_DIRECTORIES false *.java) +file(GLOB_RECURSE IDLC_ST_SOURCES LIST_DIRECTORIES false *.st?) set(IDLC_JAR "${CMAKE_CURRENT_BINARY_DIR}/target/idlc-jar-with-dependencies.jar") mark_as_advanced(IDLC_JAR) From 17da91409a47d294949325fcb227daf2ac6535b6 Mon Sep 17 00:00:00 2001 From: Dan Rose Date: Thu, 2 Apr 2020 10:25:16 -0500 Subject: [PATCH 02/15] Fix and simplify building docs and schemas (#441) Fix and simplify building docs and schemas 1. Do an in-source build of derived schemas instead of building into build and checking that the files match. 2. Fix paths of installed docs, which were failing on me 3. Consolidate docs into same cmakelists that generates schema files 4. Trang is usually available as an executable, so find it with find_program. 5. Add doc dependencies to package.xml Signed-off-by: Dan Rose --- .travis.yml | 22 ++++++++--- CMakeLists.txt | 5 ++- cmake/Modules/FindTrang.cmake | 53 ++++++++++++++++++++++++++ docs/CMakeLists.txt | 72 +++++++++++++++++++---------------- docs/compare.pl | 8 ---- docs/manual/CMakeLists.txt | 23 ----------- package.xml | 6 +++ 7 files changed, 118 insertions(+), 71 deletions(-) create mode 100644 cmake/Modules/FindTrang.cmake delete mode 100644 docs/compare.pl delete mode 100644 docs/manual/CMakeLists.txt diff --git a/.travis.yml b/.travis.yml index 3d2f4cd..4a1ed53 100644 --- a/.travis.yml +++ b/.travis.yml @@ -45,7 +45,7 @@ linux_gcc8: &linux_gcc8 apt: update: true sources: [ ubuntu-toolchain-r-test ] - packages: [ gcc-8 g++-8 ] + packages: [ gcc-8, g++-8, trang ] before_install: - eval "export CC=gcc-8" - eval "export CXX=g++-8" @@ -61,6 +61,7 @@ linux_clang: &linux_clang addons: apt: update: true + packages: [ trang ] before_install: - eval "export CC=clang" - eval "export CXX=clang++" @@ -74,7 +75,7 @@ osx_xcode: &osx_xcode compiler: clang addons: homebrew: - packages: [ python3 ] + packages: [ python3, trang ] before_install: - eval "export CC=clang" - eval "export CXX=clang++" @@ -88,7 +89,7 @@ osx_xcode9: &osx_xcode9 osx_image: xcode9 addons: homebrew: - packages: [ python3 ] + packages: [ python3, trang ] # Homebrew must be updated before packages can be installed on outdated # macOS images. The update process unfortunately takes a VERY long time # and can even cause Travis to terminate the build. Travis caching is @@ -195,6 +196,7 @@ script: - mkdir build - cd build - conan install -b missing -s arch=${ARCH} -s build_type=${BUILD_TYPE} .. + - which trang && BUILD_SCHEMA=1 || BUILD_SCHEMA=0 - cmake -DCMAKE_BUILD_TYPE=${BUILD_TYPE} -DCMAKE_INSTALL_PREFIX=${INSTALLPREFIX} -DUSE_SANITIZER=${ASAN} @@ -202,9 +204,11 @@ script: -DENABLE_LIFESPAN=${LIFESPAN} -DENABLE_DEADLINE_MISSED=${DEADLINE} -DBUILD_TESTING=on + -DBUILD_SCHEMA=${BUILD_SCHEMA} -DWERROR=on -G "${GENERATOR}" .. - - case "${GENERATOR}" in + - | + case "${GENERATOR}" in "Unix Makefiles") ${SCAN_BUILD} cmake --build . --config ${BUILD_TYPE} --target install -- -j 4 ;; @@ -216,14 +220,20 @@ script: ;; esac - CYCLONEDDS_URI='alltrueconfigstderr' ctest -j 4 --output-on-failure -T test -E '^CUnit_ddsrt_random_default_random$' -C ${BUILD_TYPE} - - if [ "${ASAN}" = "none" ]; then + - | + if [ "${ASAN}" = "none" ]; then ${SHELL} ../src/tools/ddsperf/sanity.bash; fi - - if [ "${ASAN}" != "none" ]; then + - | + if [ "${ASAN}" != "none" ]; then CMAKE_LINKER_FLAGS="-DCMAKE_LINKER_FLAGS=-fsanitize=${USE_SANITIZER}"; CMAKE_C_FLAGS="-DCMAKE_C_FLAGS=-fsanitize=${USE_SANITIZER}"; fi - cd .. + - | + if [ ${BUILD_SCHEMA} ]; then + git diff --exit-code; # check that no files (e.g. generated schemas) are changed + fi - mkdir helloworld_build - cd helloworld_build - cmake -DCMAKE_PREFIX_PATH=${INSTALLPREFIX} diff --git a/CMakeLists.txt b/CMakeLists.txt index fd7878f..1ef9330 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -205,6 +205,9 @@ set(MEMORYCHECK_COMMAND_OPTIONS "--track-origins=yes --leak-check=full --trace-c option(BUILD_TESTING "Build the testing tree." OFF) include(CTest) +option(BUILD_DOCS "Build documentation." OFF) +option(BUILD_SCHEMA "Build generated schema for configuration options." OFF) + # Build all executables and libraries into the top-level /bin and /lib folders. set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin") set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib") @@ -215,7 +218,7 @@ if(BUILD_IDLC) add_subdirectory(examples) endif() -option(BUILD_DOCS "Build documentation." OFF) + add_subdirectory(docs) # Pull-in CPack and support for generating Config.cmake and packages. diff --git a/cmake/Modules/FindTrang.cmake b/cmake/Modules/FindTrang.cmake new file mode 100644 index 0000000..c0096c8 --- /dev/null +++ b/cmake/Modules/FindTrang.cmake @@ -0,0 +1,53 @@ +# Copyright(c) 2020 ADLINK Technology Limited and others +# +# This program and the accompanying materials are made available under the +# terms of the Eclipse Public License v. 2.0 which is available at +# http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License +# v. 1.0 which is available at +# http://www.eclipse.org/org/documents/edl-v10.php. +# +# SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause +# + +#[=======================================================================[.rst: +FindTrang +--------- +Finds Trang, an xml schema transpiler + +Result Variables +^^^^^^^^^^^^^^^^ + +This will define the following variables: + +``Trang_FOUND`` + True if the system has the Foo library. +``Trang_VERSION`` + The version of the Foo library which was found. +``Trang_TRANG_CMD`` + List of command line args to run Trang. +``Trang_TRANG_EXECUTABLE`` + Path to the Trang executable file + +#]=======================================================================] + +find_program(Trang_TRANG_EXECUTABLE trang) + +execute_process( + COMMAND "${Trang_TRANG_EXECUTABLE}" + ERROR_VARIABLE trang_output +) +if(trang_output MATCHES "Trang version ([0-9]+)") + set(TRANG_VERSION "${CMAKE_MATCH_1}") +else() + message(ERROR "Could not parse version from Trang output: '${trang_output}'") + set(TRANG_VERSION "0") +endif() + +set(Trang_TRANG_CMD "${Trang_TRANG_EXECUTABLE}") + +include(FindPackageHandleStandardArgs) +FIND_PACKAGE_HANDLE_STANDARD_ARGS( + Trang + REQUIRED_VARS Trang_TRANG_CMD + VERSION_VAR TRANG_VERSION +) diff --git a/docs/CMakeLists.txt b/docs/CMakeLists.txt index 0cf8b26..82fe266 100644 --- a/docs/CMakeLists.txt +++ b/docs/CMakeLists.txt @@ -8,43 +8,49 @@ # http://www.eclipse.org/org/documents/edl-v10.php. # # SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause -include(FindPerl) -if(PERL_FOUND) + +# These are all various expressions of the configuration schema +get_filename_component(config_c_PATH "../src/core/ddsi/src/q_config.c" REALPATH BASE_DIR "${CMAKE_CURRENT_SOURCE_DIR}") + +# although the following files are generated, we check them into source control for convenience +get_filename_component(config_rnc_PATH "../etc/cyclonedds.rnc" REALPATH BASE_DIR "${CMAKE_CURRENT_SOURCE_DIR}") +get_filename_component(config_xsd_PATH "../etc/cyclonedds.xsd" REALPATH BASE_DIR "${CMAKE_CURRENT_SOURCE_DIR}") +get_filename_component(config_md_PATH "./manual/options.md" REALPATH BASE_DIR "${CMAKE_CURRENT_SOURCE_DIR}") + +if(BUILD_SCHEMA OR BUILD_DOCS) + find_package(Perl REQUIRED) add_custom_command( OUTPUT - options.md cyclonedds.rnc + "${config_md_PATH}" "${config_rnc_PATH}" COMMAND - ${PERL_EXECUTABLE} -w "${CMAKE_CURRENT_SOURCE_DIR}/makernc.pl" "${CMAKE_CURRENT_SOURCE_DIR}/../src/core/ddsi/src/q_config.c" options.md cyclonedds.rnc - COMMAND - ${PERL_EXECUTABLE} -w "${CMAKE_CURRENT_SOURCE_DIR}/compare.pl" options.md "${CMAKE_CURRENT_SOURCE_DIR}/manual/options.md" - COMMAND - ${PERL_EXECUTABLE} -w "${CMAKE_CURRENT_SOURCE_DIR}/compare.pl" cyclonedds.rnc "${CMAKE_CURRENT_SOURCE_DIR}/../etc/cyclonedds.rnc" + ${PERL_EXECUTABLE} -w "${CMAKE_CURRENT_SOURCE_DIR}/makernc.pl" "${config_c_PATH}" "${config_md_PATH}" "${config_rnc_PATH}" + COMMENT "Generating Relax NG schema and Markdown documentation for config options" DEPENDS - "${CMAKE_CURRENT_SOURCE_DIR}/makernc.pl" - "${CMAKE_CURRENT_SOURCE_DIR}/../src/core/ddsi/src/q_config.c") - add_custom_target(options_doc ALL DEPENDS "options.md" "cyclonedds.rnc") + "${CMAKE_CURRENT_SOURCE_DIR}/makernc.pl" + "${config_c_PATH}") + add_custom_target(options_doc ALL DEPENDS "${config_md_PATH}" "${config_rnc_PATH}") - find_package(Java COMPONENTS Runtime) - if(JAVA_FOUND AND EXISTS "${TRANG_PATH}" OR EXISTS "$ENV{TRANG}") - if(NOT EXISTS "${TRANG_PATH}" AND EXISTS "$ENV{TRANG}") - message(STATUS "Setting TRANG_PATH to $ENV{TRANG}") - set(TRANG_PATH "$ENV{TRANG}" CACHE FILEPATH "Location of 'trang' for converting XML schemas" FORCE) - endif() - add_custom_command( - OUTPUT - cyclonedds.xsd - COMMAND - ${Java_JAVA_EXECUTABLE} -jar "${TRANG_PATH}" -I rnc -O xsd cyclonedds.rnc cyclonedds.xsd - COMMAND - ${PERL_EXECUTABLE} -w "${CMAKE_CURRENT_SOURCE_DIR}/compare.pl" cyclonedds.xsd "${CMAKE_CURRENT_SOURCE_DIR}/../etc/cyclonedds.xsd" - DEPENDS - "cyclonedds.rnc") - add_custom_target(options_xsd ALL DEPENDS "cyclonedds.xsd") - else() - message(STATUS "Java or not trang not found: not converting/checking RNC to XSD") - endif() -else() - message(STATUS "perl not found: not generating/checking options documentation and RNC") + find_package(Trang REQUIRED) + + add_custom_command( + OUTPUT "${config_xsd_PATH}" + COMMAND ${Trang_TRANG_CMD} -I rnc -O xsd "${config_rnc_PATH}" "${config_xsd_PATH}" + COMMENT "Translating schema into XSD" + DEPENDS "${config_rnc_PATH}") + add_custom_target(options_xsd ALL DEPENDS "${config_xsd_PATH}") endif() -add_subdirectory(manual) +if(BUILD_DOCS) + find_package(Sphinx REQUIRED breathe) + sphinx_add_docs( + docs + BREATHE_PROJECTS ddsc_api_docs + BUILDER html + SOURCE_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}") + add_dependencies(docs options_doc) + + install( + DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}" + DESTINATION "${CMAKE_INSTALL_DOCDIR}/manual" + COMPONENT dev) +endif() diff --git a/docs/compare.pl b/docs/compare.pl deleted file mode 100644 index a8451a1..0000000 --- a/docs/compare.pl +++ /dev/null @@ -1,8 +0,0 @@ -open A, "< $ARGV[0]" or die "can't open $ARGV[0]"; -open B, "< $ARGV[1]" or die "can't open $ARGV[1]"; -while (defined ($a = ) && defined ($b = )) { - $a =~ s/[\r\n]+$//s; - $b =~ s/[\r\n]+$//s; - exit 1 unless $a eq $b; -} -exit 0; diff --git a/docs/manual/CMakeLists.txt b/docs/manual/CMakeLists.txt deleted file mode 100644 index de5d686..0000000 --- a/docs/manual/CMakeLists.txt +++ /dev/null @@ -1,23 +0,0 @@ -# -# Copyright(c) 2006 to 2019 ADLINK Technology Limited and others -# -# This program and the accompanying materials are made available under the -# terms of the Eclipse Public License v. 2.0 which is available at -# http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License -# v. 1.0 which is available at -# http://www.eclipse.org/org/documents/edl-v10.php. -# -# SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause -if(BUILD_DOCS) - find_package(Sphinx REQUIRED breathe) - sphinx_add_docs( - docs - BREATHE_PROJECTS ddsc_api_docs - BUILDER html - SOURCE_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}") - install( - DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/docs/" - DESTINATION "${CMAKE_INSTALL_DOCDIR}/manual" - COMPONENT dev) -endif() - diff --git a/package.xml b/package.xml index efb8e8a..9f058fe 100644 --- a/package.xml +++ b/package.xml @@ -12,9 +12,15 @@ https://github.com/eclipse-cyclonedds/cyclonedds cmake + openssl libcunit-dev + + doxygen + perl + python3-breathe python3-sphinx + trang cmake From 9239547d34a634657b9fdb2a3fe124f1b2b2bc74 Mon Sep 17 00:00:00 2001 From: Erik Boasson Date: Wed, 1 Apr 2020 10:50:55 +0200 Subject: [PATCH 03/15] Add a test for cross-topic use of instance handles Signed-off-by: Erik Boasson --- src/core/ddsc/tests/CMakeLists.txt | 4 +- src/core/ddsc/tests/InstanceHandleTypes.idl | 23 ++++ src/core/ddsc/tests/instance_handle.c | 134 ++++++++++++++++++++ 3 files changed, 160 insertions(+), 1 deletion(-) create mode 100644 src/core/ddsc/tests/InstanceHandleTypes.idl create mode 100644 src/core/ddsc/tests/instance_handle.c diff --git a/src/core/ddsc/tests/CMakeLists.txt b/src/core/ddsc/tests/CMakeLists.txt index b2728b9..8615835 100644 --- a/src/core/ddsc/tests/CMakeLists.txt +++ b/src/core/ddsc/tests/CMakeLists.txt @@ -15,6 +15,7 @@ idlc_generate(RoundTrip RoundTrip.idl) idlc_generate(Space Space.idl) idlc_generate(TypesArrayKey TypesArrayKey.idl) idlc_generate(WriteTypes WriteTypes.idl) +idlc_generate(InstanceHandleTypes InstanceHandleTypes.idl) set(ddsc_test_sources "basic.c" @@ -28,6 +29,7 @@ set(ddsc_test_sources "entity_status.c" "err.c" "instance_get_key.c" + "instance_handle.c" "listener.c" "liveliness.c" "loan.c" @@ -73,7 +75,7 @@ target_include_directories( "$" "$" "$") -target_link_libraries(cunit_ddsc PRIVATE RoundTrip Space TypesArrayKey WriteTypes ddsc) +target_link_libraries(cunit_ddsc PRIVATE RoundTrip Space TypesArrayKey WriteTypes InstanceHandleTypes ddsc) # Setup environment for config-tests get_test_property(CUnit_ddsc_config_simple_udp ENVIRONMENT CUnit_ddsc_config_simple_udp_env) diff --git a/src/core/ddsc/tests/InstanceHandleTypes.idl b/src/core/ddsc/tests/InstanceHandleTypes.idl new file mode 100644 index 0000000..1532a07 --- /dev/null +++ b/src/core/ddsc/tests/InstanceHandleTypes.idl @@ -0,0 +1,23 @@ +/* + * Copyright(c) 2020 ADLINK Technology Limited and others + * + * This program and the accompanying materials are made available under the + * terms of the Eclipse Public License v. 2.0 which is available at + * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License + * v. 1.0 which is available at + * http://www.eclipse.org/org/documents/edl-v10.php. + * + * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause + */ +module InstanceHandleTypes { + struct A { + unsigned long k; //@Key + unsigned long v; + }; +#pragma keylist A k + struct C { + octet k[4]; //@Key + unsigned long v; + }; +#pragma keylist C k +}; diff --git a/src/core/ddsc/tests/instance_handle.c b/src/core/ddsc/tests/instance_handle.c new file mode 100644 index 0000000..796ab62 --- /dev/null +++ b/src/core/ddsc/tests/instance_handle.c @@ -0,0 +1,134 @@ +/* + * Copyright(c) 2020 ADLINK Technology Limited and others + * + * This program and the accompanying materials are made available under the + * terms of the Eclipse Public License v. 2.0 which is available at + * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License + * v. 1.0 which is available at + * http://www.eclipse.org/org/documents/edl-v10.php. + * + * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause + */ +#include +#include + +#include "dds/dds.h" +#include "dds/ddsrt/bswap.h" + +#include "test_common.h" +#include "InstanceHandleTypes.h" + +static dds_entity_t dp, tp[3], rd[3], wr[3]; + +static void instance_handle_init (void) +{ + char topicname[100]; + dds_qos_t *qos; + dp = dds_create_participant (DDS_DOMAIN_DEFAULT, NULL, NULL); + CU_ASSERT_FATAL (dp > 0); + + /* not strictly necessary to explicitly set KEEP_LAST (it is the default), nor to make + it reliable (it is only used inside a process without any limits that might cause it + to drop samples) */ + qos = dds_create_qos (); + CU_ASSERT_FATAL (qos != NULL); + dds_qset_history (qos, DDS_HISTORY_KEEP_LAST, 1); + dds_qset_reliability (qos, DDS_RELIABILITY_RELIABLE, DDS_INFINITY); + create_unique_topic_name ("instance_handle", topicname, sizeof (topicname)); + tp[0] = dds_create_topic (dp, &InstanceHandleTypes_A_desc, topicname, NULL, NULL); + CU_ASSERT_FATAL (tp[0] > 0); + create_unique_topic_name ("instance_handle", topicname, sizeof (topicname)); + tp[1] = dds_create_topic (dp, &InstanceHandleTypes_A_desc, topicname, NULL, NULL); + CU_ASSERT_FATAL (tp[1] > 0); + create_unique_topic_name ("instance_handle", topicname, sizeof (topicname)); + tp[2] = dds_create_topic (dp, &InstanceHandleTypes_C_desc, topicname, NULL, NULL); + CU_ASSERT_FATAL (tp[2] > 0); + dds_delete_qos (qos); + for (size_t i = 0; i < 3; i++) + { + rd[i] = dds_create_reader (dp, tp[i], NULL, NULL); + CU_ASSERT_FATAL (rd[i] > 0); + wr[i] = dds_create_writer (dp, tp[i], NULL, NULL); + CU_ASSERT_FATAL (wr[i] > 0); + } +} + +static void instance_handle_fini (void) +{ + dds_return_t rc; + rc = dds_delete (dp); + CU_ASSERT_FATAL (rc == 0); +} + +CU_Test (ddsc_instance_handle, a, .init = instance_handle_init, .fini = instance_handle_fini) +{ + /* By design, Cyclone maintains a global map of (topic class, X, key value) to instance handle, + where the "topic class" is the implementation of the topic (e.g., "default" or "builtin"), + "X" is dependent on the topic class but by design is a fixed constant for the default one, + and key value, again by design, is taken as the serialised representation of the key value. + + The point behind this model is that it allows one to use an instance handle obtained on + one reader and use it to read the matching instance in another reader. So that bit of + behaviour needs to be checked. + + I'm not sure whether the "serialised" part should be included in the test, I don't think + that's something that should be guaranteed in the API. However, it is worth verifying that + it doesn't go off and do something weird. */ + InstanceHandleTypes_A a, b; + InstanceHandleTypes_C c; + dds_return_t rc; + + for (uint32_t i = 1; i <= 5; i++) + { + a.k = i; + a.v = i; + b.k = i; + b.v = 2 * a.k; + const uint32_t a_k_be = ddsrt_toBE4u (a.k); + memcpy (c.k, &a_k_be, sizeof (c.k)); + c.v = 3 * a.k; + rc = dds_write (wr[0], &a); + CU_ASSERT_FATAL (rc == 0); + rc = dds_write (wr[1], &b); + CU_ASSERT_FATAL (rc == 0); + rc = dds_write (wr[2], &c); + CU_ASSERT_FATAL (rc == 0); + } + + for (uint32_t i = 1; i <= 5; i++) + { + dds_sample_info_t siA, siB, siC; + void *rawA = &a, *rawB = &b, *rawC = &c; + + /* take one sample from A; no guarantee about the order in which the data is returned */ + rc = dds_take (rd[0], &rawA, &siA, 1, 1); + CU_ASSERT_FATAL (rc == 1); + CU_ASSERT_FATAL (siA.valid_data); + CU_ASSERT_FATAL (1 <= a.k && a.k <= 5 && a.v == a.k); + + /* take one sample from B using the instance handle just returned */ + rc = dds_take_instance (rd[1], &rawB, &siB, 1, 1, siA.instance_handle); + CU_ASSERT_FATAL (rc == 1); + CU_ASSERT_FATAL (siB.valid_data); + CU_ASSERT_FATAL (siB.instance_handle == siA.instance_handle); + CU_ASSERT_FATAL (b.k == a.k && b.v == 2 * a.k); + + /* take one sample from C using the instance handle just returned, this should work + even though C uses an array of octets as key */ + rc = dds_take_instance (rd[2], &rawC, &siC, 1, 1, siA.instance_handle); + CU_ASSERT_FATAL (rc == 1); + CU_ASSERT_FATAL (siC.valid_data); + CU_ASSERT_FATAL (siC.instance_handle == siA.instance_handle); + const uint32_t a_k_be = ddsrt_toBE4u (a.k); + CU_ASSERT_FATAL (memcmp (c.k, &a_k_be, sizeof (c.k)) == 0 && c.v == 3 * a.k); + } + + /* there should be no data left */ + for (size_t i = 0; i < 3; i++) + { + dds_sample_info_t si; + void *raw = NULL; + rc = dds_take (rd[0], &raw, &si, 1, 1); + CU_ASSERT_FATAL (rc == 0); + } +} From b2cf6921dafaf32481b17efd588cf21178bb0dd4 Mon Sep 17 00:00:00 2001 From: Erik Boasson Date: Thu, 9 Apr 2020 13:48:01 +0200 Subject: [PATCH 04/15] Define dds_guid_t as dds_builtintopic_guid_t The former name should be less confusing. Backwards compatibility is preserved by only adding the sensible name as a typedef. Signed-off-by: Erik Boasson --- src/core/ddsc/include/dds/dds.h | 10 +++++++--- src/core/ddsc/src/dds_serdata_builtintopic.c | 2 +- src/tools/ddsls/ddsls.c | 2 +- src/tools/ddsperf/ddsperf.c | 4 ++-- 4 files changed, 11 insertions(+), 7 deletions(-) diff --git a/src/core/ddsc/include/dds/dds.h b/src/core/ddsc/include/dds/dds.h index b50f1d0..206b263 100644 --- a/src/core/ddsc/include/dds/dds.h +++ b/src/core/ddsc/include/dds/dds.h @@ -186,17 +186,21 @@ typedef struct dds_builtintopic_guid } dds_builtintopic_guid_t; +/* "dds_builtintopic_guid_t" is a bit of a weird name for what everyone just calls a GUID, + so let us try and switch to using the more logical one */ +typedef struct dds_builtintopic_guid dds_guid_t; + typedef struct dds_builtintopic_participant { - dds_builtintopic_guid_t key; + dds_guid_t key; dds_qos_t *qos; } dds_builtintopic_participant_t; typedef struct dds_builtintopic_endpoint { - dds_builtintopic_guid_t key; - dds_builtintopic_guid_t participant_key; + dds_guid_t key; + dds_guid_t participant_key; dds_instance_handle_t participant_instance_handle; char *topic_name; char *type_name; diff --git a/src/core/ddsc/src/dds_serdata_builtintopic.c b/src/core/ddsc/src/dds_serdata_builtintopic.c index 042d542..8712d40 100644 --- a/src/core/ddsc/src/dds_serdata_builtintopic.c +++ b/src/core/ddsc/src/dds_serdata_builtintopic.c @@ -175,7 +175,7 @@ static struct ddsi_serdata *serdata_builtin_to_topicless (const struct ddsi_serd return ddsi_serdata_ref (serdata_common); } -static void convkey (dds_builtintopic_guid_t *key, const ddsi_guid_t *guid) +static void convkey (dds_guid_t *key, const ddsi_guid_t *guid) { ddsi_guid_t tmp; tmp = nn_hton_guid (*guid); diff --git a/src/tools/ddsls/ddsls.c b/src/tools/ddsls/ddsls.c index 46f77cf..05a1787 100644 --- a/src/tools/ddsls/ddsls.c +++ b/src/tools/ddsls/ddsls.c @@ -385,7 +385,7 @@ static void qp_qos (const dds_qos_t *q, FILE *fp) qp_group_data (q, fp); } -static void print_key(FILE *fp, const char *label, const dds_builtintopic_guid_t *key) +static void print_key(FILE *fp, const char *label, const dds_guid_t *key) { fprintf(fp, "%s", label); for(size_t j = 0; j < sizeof (key->v); j++) { diff --git a/src/tools/ddsperf/ddsperf.c b/src/tools/ddsperf/ddsperf.c index b6f248e..04ee308 100644 --- a/src/tools/ddsperf/ddsperf.c +++ b/src/tools/ddsperf/ddsperf.c @@ -283,7 +283,7 @@ struct ppant { ddsrt_avl_node_t avlnode; /* embedded AVL node for handle index */ ddsrt_fibheap_node_t fhnode; /* prio queue for timeout handling */ dds_instance_handle_t handle; /* participant instance handle */ - dds_builtintopic_guid_t guid; /* participant GUID */ + dds_guid_t guid; /* participant GUID */ char *hostname; /* hostname is taken from user_data QoS */ uint32_t pid; /* pid is also taken from user_data QoS */ dds_time_t tdisc; /* time at which it was discovered */ @@ -357,7 +357,7 @@ static void error3 (const char *fmt, ...) verrorx (3, fmt, ap); } -static char *make_guidstr (struct guidstr *buf, const dds_builtintopic_guid_t *guid) +static char *make_guidstr (struct guidstr *buf, const dds_guid_t *guid) { snprintf (buf->str, sizeof (buf->str), "%02x%02x%02x%02x_%02x%02x%02x%02x_%02x%02x%02x%02x_%02x%02x%02x%02x", guid->v[0], guid->v[1], guid->v[2], guid->v[3], From 45c0f432a9c72fddf1ae0cce4761e8a92cb567e4 Mon Sep 17 00:00:00 2001 From: Erik Boasson Date: Thu, 9 Apr 2020 13:49:10 +0200 Subject: [PATCH 05/15] Add dds_get_guid to get the GUID of a local entity This is merely a more convenient way of obtaining it: otherwise one has subscribe to the correct built-in topic, read the sample corresponding to the entity's instance handle and get the "key" field. That's a bit of a detour to get the network-wide unique identifier. Signed-off-by: Erik Boasson --- src/core/ddsc/include/dds/dds.h | 20 ++++++++++++++++++++ src/core/ddsc/src/dds_entity.c | 31 +++++++++++++++++++++++++++++++ src/core/ddsc/tests/entity_api.c | 22 ++++++++++++++++++++++ 3 files changed, 73 insertions(+) diff --git a/src/core/ddsc/include/dds/dds.h b/src/core/ddsc/include/dds/dds.h index 206b263..ce803d1 100644 --- a/src/core/ddsc/include/dds/dds.h +++ b/src/core/ddsc/include/dds/dds.h @@ -418,6 +418,26 @@ dds_get_mask(dds_entity_t condition, uint32_t *mask); DDS_EXPORT dds_return_t dds_get_instance_handle(dds_entity_t entity, dds_instance_handle_t *ihdl); +/** + * @brief Returns the GUID that represents the entity in the network, + * and therefore only supports participants, readers and writers. + * + * @param[in] entity Entity of which to get the instance handle. + * @param[out] guid Where to store the GUID. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * Success. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + */ +/* TODO: Check list of return codes is complete. */ +DDS_EXPORT dds_return_t +dds_get_guid (dds_entity_t entity, dds_guid_t *guid); + /* All entities have a set of "status conditions" (following the DCPS spec), read peeks, take reads & resets (analogously to read & take diff --git a/src/core/ddsc/src/dds_entity.c b/src/core/ddsc/src/dds_entity.c index e6620db..0e48251 100644 --- a/src/core/ddsc/src/dds_entity.c +++ b/src/core/ddsc/src/dds_entity.c @@ -25,6 +25,7 @@ #include "dds/ddsi/ddsi_pmd.h" #include "dds/ddsi/ddsi_xqos.h" #include "dds/ddsi/q_transmit.h" +#include "dds/ddsi/q_bswap.h" extern inline dds_entity *dds_entity_from_handle_link (struct dds_handle_link *hdllink); extern inline bool dds_entity_is_enabled (const dds_entity *e); @@ -1285,6 +1286,36 @@ dds_return_t dds_get_instance_handle (dds_entity_t entity, dds_instance_handle_t return ret; } +dds_return_t dds_get_guid (dds_entity_t entity, dds_guid_t *guid) +{ + dds_entity *e; + dds_return_t ret; + + if (guid == NULL) + return DDS_RETCODE_BAD_PARAMETER; + + if ((ret = dds_entity_pin (entity, &e)) != DDS_RETCODE_OK) + return ret; + switch (dds_entity_kind (e)) + { + case DDS_KIND_PARTICIPANT: + case DDS_KIND_READER: + case DDS_KIND_WRITER: { + DDSRT_STATIC_ASSERT (sizeof (dds_guid_t) == sizeof (ddsi_guid_t)); + ddsi_guid_t tmp = nn_ntoh_guid (e->m_guid); + memcpy (guid, &tmp, sizeof (*guid)); + ret = DDS_RETCODE_OK; + break; + } + default: { + ret = DDS_RETCODE_ILLEGAL_OPERATION; + break; + } + } + dds_entity_unpin(e); + return ret; +} + dds_return_t dds_entity_pin (dds_entity_t hdl, dds_entity **eptr) { dds_return_t hres; diff --git a/src/core/ddsc/tests/entity_api.c b/src/core/ddsc/tests/entity_api.c index f00edab..876fc59 100644 --- a/src/core/ddsc/tests/entity_api.c +++ b/src/core/ddsc/tests/entity_api.c @@ -255,6 +255,28 @@ CU_Test(ddsc_entity, status, .init = create_entity, .fini = delete_entity) CU_ASSERT_EQUAL_FATAL(status1, DDS_RETCODE_OK); } +CU_Test(ddsc_entity, guid, .init = create_entity, .fini = delete_entity) +{ + dds_return_t status; + dds_guid_t guid, zero; + memset(&zero, 0, sizeof(zero)); + + /* Don't check actual handle contents. That's a job + * for the specific entity children, not for the generic part. */ + + /* Check getting Handle with bad parameters. */ + status = dds_get_guid (0, NULL); + CU_ASSERT_EQUAL_FATAL(status, DDS_RETCODE_BAD_PARAMETER); + status = dds_get_guid (entity, NULL); + CU_ASSERT_EQUAL_FATAL(status, DDS_RETCODE_BAD_PARAMETER); + status = dds_get_guid (0, &guid); + CU_ASSERT_EQUAL_FATAL(status, DDS_RETCODE_BAD_PARAMETER); + + /* Get Instance Handle, which should not be 0 for a participant. */ + status = dds_get_guid (entity, &guid); + CU_ASSERT_EQUAL_FATAL(status, DDS_RETCODE_OK); + CU_ASSERT_FATAL(memcmp(&guid, &zero, sizeof(guid)) != 0); +} CU_Test(ddsc_entity, instance_handle, .init = create_entity, .fini = delete_entity) { From 40549783d9beac395a44f9c92defdb6423678924 Mon Sep 17 00:00:00 2001 From: Dan Rose Date: Tue, 7 Apr 2020 18:01:59 -0500 Subject: [PATCH 06/15] Add changelog file from content in github releases Signed-off-by: Dan Rose --- CHANGELOG.rst | 40 ++++++++++++++++++++++++++++++++++++++++ 1 file changed, 40 insertions(+) create mode 100644 CHANGELOG.rst diff --git a/CHANGELOG.rst b/CHANGELOG.rst new file mode 100644 index 0000000..52aa1e7 --- /dev/null +++ b/CHANGELOG.rst @@ -0,0 +1,40 @@ + +Changelog for Eclipse Cyclone DDS +================================= + +`Unreleased `_ +--------------------------------------------------------------------------------------- + +`0.5.1 (2020-03-11) `_ +----------------------------------------------------------------------------------------------- + +`V0.5.0 (2019-11-21) `_ +------------------------------------------------------------------------------------------------- + +This is the fist release candidate for the long overdue second release of Eclipse Cyclone DDS. +We are updating the version number from 0.1 to 0.5 to make up for the lack of more timely releases and to reflect that progress towards a 1.0 release (a minimum profile DDS implementation + DDS security) has been more significant than a version of "0.2" would suggest. + +Updates since the first release have been legion, pretty much without impact on application code or interoperatbility on the network. +Some of the highlights: + +* Support for ROS2 Dashing and Eloquent (via an adaption layer). +* Support for an arbitrary number of concurrent DDS domains (fully independent instantiations of DDS) in a single process. +* Abstracting the notion of samples, types and reader history caches, allowing overriding the default implementations of these to get behaviours more suited to the applications. + This is particularly relevant to language bindings and embedding Cyclone DDS in other frameworks, such as ROS2. +* Platform support is extended beyond the usual Linux/Windows/macOS: FreeRTOS is now known to work, as is Solaris 2.6 on sun4m machines. +* Acceptance of some malformed messages from certain implementations improved interoperability on the wire. + +....................................... +Limitations on backwards compatibility: +....................................... + +* A change in how implicitly created "publisher" and "subscriber" entities are handled: they now never lose their "implicitness", and in consequence, are now deleted when their last child disappears rather than deleted when their one child disappears. +* The set of entities that can be attached to a waitset is now restricted to those owned by the parent of the waitset, before one was allowed to attach entities from different participants to the same waitset, which is tantamount to a bug. +* A participant entity now has a parent. The "get_parent" operation no longer returns 0 for a participant because of the addition of two additional levels to the entity hierarchy: a domain, possibly containing multiple participants; and one that represents the entire library. +* The data from a reader for a built-in topic has been extended, breaking binary compatibility. + + +`V0.1.0 (2019-03-06) `_ +------------------------------------------------------------------------------------------------------------------------------------- + +Eclipse Cyclone DDS’ first release! From b46bd7ffff53a86375f36010049bbc19294e7d0d Mon Sep 17 00:00:00 2001 From: Dan Rose Date: Tue, 7 Apr 2020 18:08:05 -0500 Subject: [PATCH 07/15] Document previously undocumented changes from 0.5.1 Signed-off-by: Dan Rose --- CHANGELOG.rst | 3 +++ 1 file changed, 3 insertions(+) diff --git a/CHANGELOG.rst b/CHANGELOG.rst index 52aa1e7..7caea51 100644 --- a/CHANGELOG.rst +++ b/CHANGELOG.rst @@ -8,6 +8,9 @@ Changelog for Eclipse Cyclone DDS `0.5.1 (2020-03-11) `_ ----------------------------------------------------------------------------------------------- +* Enable QOS features: liveliness, lifespan, deadline +* Fix issues on Windows where multicast data was not received + `V0.5.0 (2019-11-21) `_ ------------------------------------------------------------------------------------------------- From b513eaac00eb4a9a100506a59f85cdcff1e7d96d Mon Sep 17 00:00:00 2001 From: Michael Dodson Date: Wed, 15 Apr 2020 14:40:57 +0100 Subject: [PATCH 08/15] add freebsd support Including FreeBSD in preprocessor conditionals for APPLE fixes issues with UDP make_socket, as described in issue #488. Signed-off-by: Michael Gary Dodson --- src/ddsrt/src/sockets/posix/socket.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/ddsrt/src/sockets/posix/socket.c b/src/ddsrt/src/sockets/posix/socket.c index e64b0c4..952f8e1 100644 --- a/src/ddsrt/src/sockets/posix/socket.c +++ b/src/ddsrt/src/sockets/posix/socket.c @@ -32,9 +32,9 @@ #include #endif -#ifdef __APPLE__ +#if defined(__APPLE__) || defined(__FreeBSD__) #include -#endif /* __APPLE__ */ +#endif /* __APPLE__ || __FreeBSD__ */ #endif /* LWIP_SOCKET */ dds_return_t @@ -316,13 +316,13 @@ ddsrt_setsockopt( goto err_setsockopt; } -#if defined(__APPLE__) +#if defined(__APPLE__) || defined(__FreeBSD__) if (level == SOL_SOCKET && optname == SO_REUSEADDR && setsockopt(sock, level, SO_REUSEPORT, optval, optlen) == -1) { goto err_setsockopt; } -#endif /* __APPLE__ */ +#endif /* __APPLE__ || __FreeBSD__ */ return DDS_RETCODE_OK; err_setsockopt: From 004932817e111597db65e6b332f92ae9bbe9fe30 Mon Sep 17 00:00:00 2001 From: Michael Dodson Date: Sat, 18 Apr 2020 14:15:12 +0100 Subject: [PATCH 09/15] align buffer chunks to sizeof(void*) instead of hard coding 8 bytes Signed-off-by: Michael Gary Dodson --- src/core/ddsi/include/dds/ddsi/q_radmin.h | 7 ++++++ src/core/ddsi/src/q_radmin.c | 28 ++++++++++++----------- 2 files changed, 22 insertions(+), 13 deletions(-) diff --git a/src/core/ddsi/include/dds/ddsi/q_radmin.h b/src/core/ddsi/include/dds/ddsi/q_radmin.h index 5d2d713..1cdeace 100644 --- a/src/core/ddsi/include/dds/ddsi/q_radmin.h +++ b/src/core/ddsi/include/dds/ddsi/q_radmin.h @@ -102,6 +102,13 @@ DDSRT_STATIC_ASSERT (sizeof (struct nn_rmsg) == offsetof (struct nn_rmsg, chunk) #define NN_RMSG_PAYLOAD(m) ((unsigned char *) (m + 1)) #define NN_RMSG_PAYLOADOFF(m, o) (NN_RMSG_PAYLOAD (m) + (o)) +/* Align rmsg chunks to the larger of sizeof(void*) or 8. + +Ideally, we would use C11's alignof(struct nn_rmsg); however, to avoid dependency on C11, +we ensure rmsg chunks are at least aligned to sizeof(void *) or 8, +whichever is larger. */ +#define ALIGNOF_RMSG (sizeof(void *) > 8 ? sizeof(void *) : 8) + struct receiver_state { ddsi_guid_prefix_t src_guid_prefix; /* 12 */ ddsi_guid_prefix_t dst_guid_prefix; /* 12 */ diff --git a/src/core/ddsi/src/q_radmin.c b/src/core/ddsi/src/q_radmin.c index c224919..5aaa6c7 100644 --- a/src/core/ddsi/src/q_radmin.c +++ b/src/core/ddsi/src/q_radmin.c @@ -303,9 +303,11 @@ static void nn_rbuf_release (struct nn_rbuf *rbuf); #define RMSGTRACE(...) TRACE_CFG (rmsg, rmsg->chunk.rbuf->rbufpool->logcfg, __VA_ARGS__) #define RDATATRACE(rdata, ...) TRACE_CFG ((rdata)->rmsg, (rdata)->rmsg->chunk.rbuf->rbufpool->logcfg, __VA_ARGS__) -static uint32_t align8uint32 (uint32_t x) +static uint32_t align_rmsg (uint32_t x) { - return (x + 7u) & (uint32_t)-8; + x += (uint32_t) ALIGNOF_RMSG - 1; + x -= x % (uint32_t) ALIGNOF_RMSG; + return x; } #ifndef NDEBUG @@ -553,15 +555,15 @@ struct nn_rmsg *nn_rmsg_new (struct nn_rbufpool *rbp) void nn_rmsg_setsize (struct nn_rmsg *rmsg, uint32_t size) { - uint32_t size8 = align8uint32 (size); - RMSGTRACE ("rmsg_setsize(%p, %"PRIu32" => %"PRIu32")\n", (void *) rmsg, size, size8); + uint32_t size8P = align_rmsg (size); + RMSGTRACE ("rmsg_setsize(%p, %"PRIu32" => %"PRIu32")\n", (void *) rmsg, size, size8P); ASSERT_RBUFPOOL_OWNER (rmsg->chunk.rbuf->rbufpool); ASSERT_RMSG_UNCOMMITTED (rmsg); assert (ddsrt_atomic_ld32 (&rmsg->refcount) == RMSG_REFCOUNT_UNCOMMITTED_BIAS); assert (rmsg->chunk.u.size == 0); - assert (size8 <= rmsg->chunk.rbuf->max_rmsg_size); + assert (size8P <= rmsg->chunk.rbuf->max_rmsg_size); assert (rmsg->lastchunk == &rmsg->chunk); - rmsg->chunk.u.size = size8; + rmsg->chunk.u.size = size8P; #if USE_VALGRIND VALGRIND_MEMPOOL_CHANGE (rmsg->chunk.rbuf->rbufpool, rmsg, rmsg, offsetof (struct nn_rmsg, chunk.u.payload) + rmsg->chunk.size); #endif @@ -620,7 +622,7 @@ void nn_rmsg_commit (struct nn_rmsg *rmsg) ASSERT_RBUFPOOL_OWNER (chunk->rbuf->rbufpool); ASSERT_RMSG_UNCOMMITTED (rmsg); assert (chunk->u.size <= chunk->rbuf->max_rmsg_size); - assert ((chunk->u.size % 8) == 0); + assert ((chunk->u.size % ALIGNOF_RMSG) == 0); assert (ddsrt_atomic_ld32 (&rmsg->refcount) >= RMSG_REFCOUNT_UNCOMMITTED_BIAS); assert (ddsrt_atomic_ld32 (&rmsg->chunk.rbuf->n_live_rmsg_chunks) > 0); assert (ddsrt_atomic_ld32 (&chunk->rbuf->n_live_rmsg_chunks) > 0); @@ -677,15 +679,15 @@ void *nn_rmsg_alloc (struct nn_rmsg *rmsg, uint32_t size) { struct nn_rmsg_chunk *chunk = rmsg->lastchunk; struct nn_rbuf *rbuf = chunk->rbuf; - uint32_t size8 = align8uint32 (size); + uint32_t size8P = align_rmsg (size); void *ptr; - RMSGTRACE ("rmsg_alloc(%p, %"PRIu32" => %"PRIu32")\n", (void *) rmsg, size, size8); + RMSGTRACE ("rmsg_alloc(%p, %"PRIu32" => %"PRIu32")\n", (void *) rmsg, size, size8P); ASSERT_RBUFPOOL_OWNER (rbuf->rbufpool); ASSERT_RMSG_UNCOMMITTED (rmsg); - assert ((chunk->u.size % 8) == 0); - assert (size8 <= rbuf->max_rmsg_size); + assert ((chunk->u.size % ALIGNOF_RMSG) == 0); + assert (size8P <= rbuf->max_rmsg_size); - if (chunk->u.size + size8 > rbuf->max_rmsg_size) + if (chunk->u.size + size8P > rbuf->max_rmsg_size) { struct nn_rbufpool *rbp = rbuf->rbufpool; struct nn_rmsg_chunk *newchunk; @@ -703,7 +705,7 @@ void *nn_rmsg_alloc (struct nn_rmsg *rmsg, uint32_t size) } ptr = (unsigned char *) (chunk + 1) + chunk->u.size; - chunk->u.size += size8; + chunk->u.size += size8P; RMSGTRACE ("rmsg_alloc(%p, %"PRIu32") = %p\n", (void *) rmsg, size, ptr); #if USE_VALGRIND if (chunk == &rmsg->chunk) { From 1890322d4eb372982459ed2ff9f27c9e90e51886 Mon Sep 17 00:00:00 2001 From: Oliver Kellogg Date: Mon, 27 Apr 2020 19:05:42 +0200 Subject: [PATCH 10/15] Fix some typos in files: README.md docs/dev/{modules,logging,debugging}.md docs/manual/{config,options,GettingStartedGuide/helloworld_indepth}.rst src/idlc/src/org/eclipse/cyclonedds/compilers/IdlcCmdOptions.java Signed-off-by: Oliver Kellogg --- README.md | 2 +- docs/dev/debugging.md | 2 +- docs/dev/logging.md | 8 ++++---- docs/dev/modules.md | 14 +++++++------- .../GettingStartedGuide/helloworld_indepth.rst | 2 +- docs/manual/config.rst | 6 +++--- docs/manual/options.md | 14 +++++++------- .../cyclonedds/compilers/IdlcCmdOptions.java | 2 +- 8 files changed, 25 insertions(+), 25 deletions(-) diff --git a/README.md b/README.md index 6a85ddb..ec6f6e5 100644 --- a/README.md +++ b/README.md @@ -185,7 +185,7 @@ the the [throughput](https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/assets/performance/20190730/sub.log) and [latency](https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/assets/performance/20190730/ping.log) data -underlying the graphs. These also include CPU usage ([thoughput](https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/assets/performance/20190730/throughput-async-listener-cpu.png) and [latency](https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/assets/performance/20190730/latency-sync-listener-bwcpu.png)) and [memory usage](https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/assets/performance/20190730/throughput-async-listener-memory.png). +underlying the graphs. These also include CPU usage ([throughput](https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/assets/performance/20190730/throughput-async-listener-cpu.png) and [latency](https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/assets/performance/20190730/latency-sync-listener-bwcpu.png)) and [memory usage](https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/assets/performance/20190730/throughput-async-listener-memory.png). # Configuration diff --git a/docs/dev/debugging.md b/docs/dev/debugging.md index ca648c5..a4ef6a5 100644 --- a/docs/dev/debugging.md +++ b/docs/dev/debugging.md @@ -56,7 +56,7 @@ su - travis 5. Install The [Conan C/C++ Package Manager](https://conan.io). ``` -$ pip intall conan --upgrade --user +$ pip install conan --upgrade --user $ conan user ``` diff --git a/docs/dev/logging.md b/docs/dev/logging.md index c8c1b2d..fbea8c1 100644 --- a/docs/dev/logging.md +++ b/docs/dev/logging.md @@ -66,7 +66,7 @@ priority member that is passed to the handler consists of the priority, e.g. error, info, etc and (if it's a trace message) the category. To be specific. The last four bits of the 32-bit integer contain the priority. -The other bits implicity indicate it's a trace message and are reserved to +The other bits implicitly indicate it's a trace message and are reserved to specify the category to which a message belongs. ```C @@ -89,7 +89,7 @@ the internal log and trace functions depends on it. The user is strongly discouraged to enable all categories and filter messages in the registered handler, because of the performance impact! -> Tests have shown performance to decrease by roughly 5% if the descision on +> Tests have shown performance to decrease by roughly 5% if the decision on > whether or not to write the message is done outside the function. The reason > obviously not being the *if*-statement, but the creation of the stack frame. @@ -143,7 +143,7 @@ that can print to the native log api offered by a target. e.g. * Use the name of the parameter as it appears in the documentation for that language binding to reference a parameter where applicable. * Use the same formatting style as other messages in the same module. - * e.g. use "could not ..." or "failed to ..." consitently. + * e.g. use "could not ..." or "failed to ..." consistently. * Avoid duplicate reports as much as possible. e.g. if a problem is reported in a lower layer, do not report it again when the error is propagated. @@ -173,7 +173,7 @@ that can print to the native log api offered by a target. e.g. * Cyclone assumes files can always be written. For a number of supported targets, e.g. FreeRTOS and VxWorks, this is often not the case. Also, - filling the memory with log files is proably undesirable. + filling the memory with log files is probably undesirable. * Cyclone (except for DDSI) does not support log categories to selectively enable/disable messages that the user is interested in. Causing trace logs diff --git a/docs/dev/modules.md b/docs/dev/modules.md index 435516c..0ab8029 100644 --- a/docs/dev/modules.md +++ b/docs/dev/modules.md @@ -1,7 +1,7 @@ # Eclipse Cyclone DDS Module Layout Cyclone DDS is made up of multiple modules, each of which provides a certain -set of functionality, either private, public or a combination therof. Since +set of functionality, either private, public or a combination thereof. Since Cyclone DDS is a middleware product, the api is of course the most visible interface. Cyclone DDS uses the *dds* (not followed by an underscore) prefix to avoid name collisions with other code. @@ -32,7 +32,7 @@ but does offer a neat way to separate features logically. > restructuring of the runtime module. The two will be merged in the not too > distant future. -All modules are exported seperately, for convenience. e.g. the *ddsrt* module +All modules are exported separately, for convenience. e.g. the *ddsrt* module offers target agnostic interfaces to create and manage threads and synchronization primitives, retrieve resource usage, system time, etc. However, all symbols not referenced by including *dds.h* or prefixed with @@ -54,12 +54,12 @@ the target supports IPv6 addresses. ### Feature discovery -Discovery of target features at compile time is lagely dynamic. Various target +Discovery of target features at compile time is largely dynamic. Various target specific predefined macros determine if a feature is supported and which implementation is built. This is on purpose, to avoid a target specific include directory and an abundance of configuration header files and works well for most use cases. Of course, there are exceptions where the preprocessor -requires some hints to make the right the descision. e.g. when the lwIP TCP/IP +requires some hints to make the right decision. e.g. when the lwIP TCP/IP stack should be used as opposed to the native stack. The build system is responsible for the availability of the proper macros at compile time. @@ -82,10 +82,10 @@ target architecture specific implementation. #### Network stack General purpose operating systems like Microsoft Windows and Linux come with a network stack, as does VxWorks. FreeRTOS, however, does not and requires a -seperate TCP/IP stack, which is often part of the Board Support Package (BSP). +separate TCP/IP stack, which is often part of the Board Support Package (BSP). But separate stacks can be used on Microsoft Windows and Linux too. e.g. the network stack in Tizen RT is based on lwIP, but the platform uses the Linux -kernel. Wheter or not lwIP must be used cannot be determined automatically and +kernel. Whether or not lwIP must be used cannot be determined automatically and the build system must hint which implementation is to be used. @@ -158,7 +158,7 @@ directory. ### Development guidelines * Be pragmatic. Use ifdefs (only) where it makes sense. Do not ifdef if target - implementations are completely different. Add a seperate implementation. If + implementations are completely different. Add a separate implementation. If there are only minor differences, as is typically the case between unices, use an ifdef. * Header and source files are not prefixed. Instead they reside in a directory diff --git a/docs/manual/GettingStartedGuide/helloworld_indepth.rst b/docs/manual/GettingStartedGuide/helloworld_indepth.rst index 8313290..9564f04 100644 --- a/docs/manual/GettingStartedGuide/helloworld_indepth.rst +++ b/docs/manual/GettingStartedGuide/helloworld_indepth.rst @@ -377,7 +377,7 @@ can be done to properly connect readers and writers: The use of these events will be outside the scope of this example -* Poll for the publication/subscription matches statusses +* Poll for the publication/subscription matches statuses * The Subscriber should poll for a subscription matched status to be set * The Publisher should poll for a publication matched status to be set diff --git a/docs/manual/config.rst b/docs/manual/config.rst index 50a3244..e66e505 100644 --- a/docs/manual/config.rst +++ b/docs/manual/config.rst @@ -106,7 +106,7 @@ from its WHC when it fills up too far, and allows readers to always receive all complication exists in the case of unresponsive readers, readers that do not respond to a Heartbeat at all, or that for some reason fail to receive some samples despite resending it. The specification leaves the way these get treated unspecified. The -default beahviour of Eclipse Cyclone DDS is to never consider readers unresponsive, but it can +default behaviour of Eclipse Cyclone DDS is to never consider readers unresponsive, but it can be configured to consider them so after a certain length of time has passed at which point the participant containing the reader is undiscovered. @@ -214,7 +214,7 @@ settings. Proxies have the same natural hierarchy that ‘normal’ DDSI entities have: each proxy endpoint is owned by some proxy participant, and once the proxy participant is deleted, all of its proxy endpoints are deleted as well. Participants assert their liveliness -periodically (called *automic* liveliness in the DCPS specification and the only mode +periodically (called *automatic* liveliness in the DCPS specification and the only mode currently supported by Eclipse Cyclone DDS), and when nothing has been heard from a participant for the lease duration published by that participant in its SPDP message, the lease becomes expired triggering a clean-up. @@ -807,7 +807,7 @@ size of the second to ``Internal/SecondaryReorderMaxSamples``. In between the receive thread and the delivery threads sit queues, of which the maximum size is controlled by the ``Internal/DeliveryQueueMaxSamples`` setting. Generally there is no need for these queues to be very large (unless one has very small samples in very -large messaegs), their primary function is to smooth out the processing when batches of +large messages), their primary function is to smooth out the processing when batches of samples become available at once, for example following a retransmission. When any of these receive buffers hit their size limit and it concerns application data, diff --git a/docs/manual/options.md b/docs/manual/options.md index a5534b2..f20c05c 100644 --- a/docs/manual/options.md +++ b/docs/manual/options.md @@ -64,7 +64,7 @@ One of: false, true, single, none, many This option specifies whether a network socket will be created for each domain participant on a host. The specification seems to assume that each participant has a unique address, and setting this option will ensure -this to be the case. This is not the defeault. +this to be the case. This is not the default. Disabling it slightly improves performance and reduces network traffic somewhat. It also causes the set of port numbers needed by Cyclone DDS to @@ -290,7 +290,7 @@ The default value is: "0". ##### //CycloneDDS/Domain/Discovery/Ports/ParticipantGain Integer -This element specifies the participant gain, relating p0, articipant +This element specifies the participant gain, relating p0, participant index to sets of port numbers (refer to the DDSI 2.1 specification, section 9.6.1, constant PG). @@ -696,8 +696,8 @@ Attributes: [max](#cycloneddsdomaininternalheartbeatintervalmax), [min](#cyclone Number-with-unit -This elemnents allows configuring the base interval for sending writer -heartbeats and the bounds within it can vary. +This element allows configuring the base interval for sending writer +heartbeats and the bounds within which it can vary. Valid values are finite durations with an explicit unit or the keyword 'inf' for infinity. Recognised units: ns, us, ms, s, min, hr, day. @@ -1246,8 +1246,8 @@ transport. Enabling write batching causes multiple small write operations to be aggregated within the write cache into a single larger write. This gives greater throughput at the expense of latency. Currently there is no mechanism for the write cache to automatically flush itself, so that if -write batching is enabled, the application may havee to use the -dds_write_flush function to ensure thta all samples are written. +write batching is enabled, the application may have to use the +dds_write_flush function to ensure that all samples are written. The default value is: "false". @@ -1784,7 +1784,7 @@ Text This option specifies the file to which received and sent packets will be logged in the "pcap" format suitable for analysis using common networking -tools, such as WireShark. IP and UDP headers are ficitious, in particular +tools, such as WireShark. IP and UDP headers are fictitious, in particular the destination address of received packets. The TTL may be used to distinguish between sent and received packets: it is 255 for sent packets and 128 for received ones. Currently IPv4 only. diff --git a/src/idlc/src/org/eclipse/cyclonedds/compilers/IdlcCmdOptions.java b/src/idlc/src/org/eclipse/cyclonedds/compilers/IdlcCmdOptions.java index 2788bab..75898b3 100644 --- a/src/idlc/src/org/eclipse/cyclonedds/compilers/IdlcCmdOptions.java +++ b/src/idlc/src/org/eclipse/cyclonedds/compilers/IdlcCmdOptions.java @@ -36,7 +36,7 @@ public class IdlcCmdOptions extends CmdOptions io.println (" -nostamp Do not timestamp generated code"); io.println (" -lax Skip over structs containing unsupported datatypes"); io.println (" -quiet Suppress console output other than error messages (default)"); - io.println (" -verbose Enable console ouptut other than error messages"); + io.println (" -verbose Enable console output other than error messages"); io.println (" -map_wide Map the unsupported wchar and wstring types to char and string"); io.println (" -map_longdouble Map the unsupported long double type to double"); } From 209edf0efba01f9fce24e6b46cd3e970f40e0a1a Mon Sep 17 00:00:00 2001 From: Erik Boasson Date: Tue, 28 Apr 2020 18:18:50 +0200 Subject: [PATCH 11/15] Fix config typos in source and regenerate Signed-off-by: Erik Boasson --- docs/manual/options.md | 8 ++++---- etc/cyclonedds.rnc | 16 ++++++++-------- etc/cyclonedds.xsd | 16 ++++++++-------- src/core/ddsi/src/q_config.c | 10 +++++----- 4 files changed, 25 insertions(+), 25 deletions(-) diff --git a/docs/manual/options.md b/docs/manual/options.md index f20c05c..e17d2d5 100644 --- a/docs/manual/options.md +++ b/docs/manual/options.md @@ -1784,10 +1784,10 @@ Text This option specifies the file to which received and sent packets will be logged in the "pcap" format suitable for analysis using common networking -tools, such as WireShark. IP and UDP headers are fictitious, in particular -the destination address of received packets. The TTL may be used to -distinguish between sent and received packets: it is 255 for sent packets -and 128 for received ones. Currently IPv4 only. +tools, such as WireShark. IP and UDP headers are fictitious, in +particular the destination address of received packets. The TTL may be +used to distinguish between sent and received packets: it is 255 for sent +packets and 128 for received ones. Currently IPv4 only. The default value is: "". diff --git a/etc/cyclonedds.rnc b/etc/cyclonedds.rnc index 0edc899..3992df2 100644 --- a/etc/cyclonedds.rnc +++ b/etc/cyclonedds.rnc @@ -44,7 +44,7 @@ will help.

The default value is: "false".

""" ] ]

This option specifies whether a network socket will be created for each domain participant on a host. The specification seems to assume that each participant has a unique address, and setting this option will -ensure this to be the case. This is not the defeault.

+ensure this to be the case. This is not the default.

Disabling it slightly improves performance and reduces network traffic somewhat. It also causes the set of port numbers needed by Cyclone DDS to @@ -226,7 +226,7 @@ d0).

The default value is: "0".

""" ] ] xsd:integer }? & [ a:documentation [ xml:lang="en" """ -

This element specifies the participant gain, relating p0, articipant +

This element specifies the participant gain, relating p0, participant index to sets of port numbers (refer to the DDSI 2.1 specification, section 9.6.1, constant PG).

The default value is: "2".

""" ] ] @@ -567,8 +567,8 @@ keys.

The default value is: "false".

""" ] ] xsd:boolean }? & [ a:documentation [ xml:lang="en" """ -

This elemnents allows configuring the base interval for sending writer -heartbeats and the bounds within it can vary.

+

This element allows configuring the base interval for sending writer +heartbeats and the bounds within which it can vary.

Valid values are finite durations with an explicit unit or the keyword 'inf' for infinity. Recognised units: ns, us, ms, s, min, hr, @@ -1008,8 +1008,8 @@ transport. Enabling write batching causes multiple small write operations to be aggregated within the write cache into a single larger write. This gives greater throughput at the expense of latency. Currently there is no mechanism for the write cache to automatically flush itself, so that if -write batching is enabled, the application may havee to use the -dds_write_flush function to ensure thta all samples are +write batching is enabled, the application may have to use the +dds_write_flush function to ensure that all samples are written.

The default value is: "false".

""" ] ] element WriteBatch { xsd:boolean @@ -1430,8 +1430,8 @@ or Tracing/EnabledCategory settings.

The default value is: & [ a:documentation [ xml:lang="en" """

This option specifies the file to which received and sent packets will be logged in the "pcap" format suitable for analysis using common -networking tools, such as WireShark. IP and UDP headers are ficitious, in -particular the destination address of received packets. The TTL may be +networking tools, such as WireShark. IP and UDP headers are fictitious, +in particular the destination address of received packets. The TTL may be used to distinguish between sent and received packets: it is 255 for sent packets and 128 for received ones. Currently IPv4 only.

The default value is: "".

""" ] ] diff --git a/etc/cyclonedds.xsd b/etc/cyclonedds.xsd index 49d4378..f2962fe 100644 --- a/etc/cyclonedds.xsd +++ b/etc/cyclonedds.xsd @@ -94,7 +94,7 @@ will help.</p><p>The default value is: &quot;false&quot;.< <p>This option specifies whether a network socket will be created for each domain participant on a host. The specification seems to assume that each participant has a unique address, and setting this option will -ensure this to be the case. This is not the defeault.</p> +ensure this to be the case. This is not the default.</p> <p>Disabling it slightly improves performance and reduces network traffic somewhat. It also causes the set of port numbers needed by Cyclone DDS to @@ -341,7 +341,7 @@ d0).</p><p>The default value is: &quot;0&quot;.</p> -<p>This element specifies the participant gain, relating p0, articipant +<p>This element specifies the participant gain, relating p0, participant index to sets of port numbers (refer to the DDSI 2.1 specification, section 9.6.1, constant PG).</p><p>The default value is: &quot;2&quot;.</p> @@ -816,8 +816,8 @@ keys.</p><p>The default value is: &quot;false&quot;.</p&g -<p>This elemnents allows configuring the base interval for sending writer -heartbeats and the bounds within it can vary.</p> +<p>This element allows configuring the base interval for sending writer +heartbeats and the bounds within which it can vary.</p> <p>Valid values are finite durations with an explicit unit or the keyword 'inf' for infinity. Recognised units: ns, us, ms, s, min, hr, @@ -1354,8 +1354,8 @@ transport. Enabling write batching causes multiple small write operations to be aggregated within the write cache into a single larger write. This gives greater throughput at the expense of latency. Currently there is no mechanism for the write cache to automatically flush itself, so that if -write batching is enabled, the application may havee to use the -dds_write_flush function to ensure thta all samples are +write batching is enabled, the application may have to use the +dds_write_flush function to ensure that all samples are written.</p><p>The default value is: &quot;false&quot;.</p> @@ -1935,8 +1935,8 @@ or Tracing/EnabledCategory settings.</p><p>The default value is: <p>This option specifies the file to which received and sent packets will be logged in the "pcap" format suitable for analysis using common -networking tools, such as WireShark. IP and UDP headers are ficitious, in -particular the destination address of received packets. The TTL may be +networking tools, such as WireShark. IP and UDP headers are fictitious, +in particular the destination address of received packets. The TTL may be used to distinguish between sent and received packets: it is 255 for sent packets and 128 for received ones. Currently IPv4 only.</p><p>The default value is: &quot;&quot;.</p> diff --git a/src/core/ddsi/src/q_config.c b/src/core/ddsi/src/q_config.c index 7165bbe..2193d1e 100644 --- a/src/core/ddsi/src/q_config.c +++ b/src/core/ddsi/src/q_config.c @@ -413,7 +413,7 @@ static const struct cfgelem compatibility_cfgelems[] = { BLURB("

This element specifies whether QoS settings set to default values are explicitly published in the discovery protocol. Implementations are to use the default value for QoS settings not published, which allows a significant reduction of the amount of data that needs to be exchanged for the discovery protocol, but this requires all implementations to adhere to the default values specified by the specifications.

\n\

When interoperability is required with an implementation that does not follow the specifications in this regard, setting this option to true will help.

") }, { LEAF ("ManySocketsMode"), 1, "single", ABSOFF (many_sockets_mode), 0, uf_many_sockets_mode, 0, pf_many_sockets_mode, - BLURB("

This option specifies whether a network socket will be created for each domain participant on a host. The specification seems to assume that each participant has a unique address, and setting this option will ensure this to be the case. This is not the defeault.

\n\ + BLURB("

This option specifies whether a network socket will be created for each domain participant on a host. The specification seems to assume that each participant has a unique address, and setting this option will ensure this to be the case. This is not the default.

\n\

Disabling it slightly improves performance and reduces network traffic somewhat. It also causes the set of port numbers needed by DDSI2E to become predictable, which may be useful for firewall and NAT configuration.

") }, { LEAF("AssumeRtiHasPmdEndpoints"), 1, "false", ABSOFF(assume_rti_has_pmd_endpoints), 0, uf_boolean, 0, pf_boolean, BLURB("

This option assumes ParticipantMessageData endpoints required by the liveliness protocol are present in RTI participants even when not properly advertised by the participant discovery protocol.

") }, @@ -525,7 +525,7 @@ static const struct cfgelem internal_cfgelems[] = { BLURB("

This setting determines the size of the time window in which a NACK of some sample is ignored because a retransmit of that sample has been multicasted too recently. This setting has no effect on unicasted retransmits.

\n\

See also Internal/RetransmitMerging.

") }, { LEAF_W_ATTRS("HeartbeatInterval", heartbeat_interval_attrs), 1, "100 ms", ABSOFF(const_hb_intv_sched), 0, uf_duration_inf, 0, pf_duration, - BLURB("

This elemnents allows configuring the base interval for sending writer heartbeats and the bounds within it can vary.

") }, + BLURB("

This element allows configuring the base interval for sending writer heartbeats and the bounds within which it can vary.

") }, { LEAF("MaxQueuedRexmitBytes"), 1, "50 kB", ABSOFF(max_queued_rexmit_bytes), 0, uf_memsize, 0, pf_memsize, BLURB("

This setting limits the maximum number of bytes queued for retransmission. The default value of 0 is unlimited unless an AuxiliaryBandwidthLimit has been set, in which case it becomes NackDelay * AuxiliaryBandwidthLimit. It must be large enough to contain the largest sample that may need to be retransmitted.

") }, { LEAF("MaxQueuedRexmitMessages"), 1, "200", ABSOFF(max_queued_rexmit_msgs), 0, uf_uint, 0, pf_uint, @@ -566,7 +566,7 @@ static const struct cfgelem internal_cfgelems[] = { { LEAF("MaxSampleSize"), 1, "2147483647 B", ABSOFF(max_sample_size), 0, uf_memsize, 0, pf_memsize, BLURB("

This setting controls the maximum (CDR) serialised size of samples that DDSI2E will forward in either direction. Samples larger than this are discarded with a warning.

") }, { LEAF("WriteBatch"), 1, "false", ABSOFF(whc_batch), 0, uf_boolean, 0, pf_boolean, - BLURB("

This element enables the batching of write operations. By default each write operation writes through the write cache and out onto the transport. Enabling write batching causes multiple small write operations to be aggregated within the write cache into a single larger write. This gives greater throughput at the expense of latency. Currently there is no mechanism for the write cache to automatically flush itself, so that if write batching is enabled, the application may havee to use the dds_write_flush function to ensure thta all samples are written.

") }, + BLURB("

This element enables the batching of write operations. By default each write operation writes through the write cache and out onto the transport. Enabling write batching causes multiple small write operations to be aggregated within the write cache into a single larger write. This gives greater throughput at the expense of latency. Currently there is no mechanism for the write cache to automatically flush itself, so that if write batching is enabled, the application may have to use the dds_write_flush function to ensure that all samples are written.

") }, { LEAF_W_ATTRS("LivelinessMonitoring", liveliness_monitoring_attrs), 1, "false", ABSOFF(liveliness_monitoring), 0, uf_boolean, 0, pf_boolean, BLURB("

This element controls whether or not implementation should internally monitor its own liveliness. If liveliness monitoring is enabled, stack traces can be dumped automatically when some thread appears to have stopped making progress.

") }, { LEAF("MonitorPort"), 1, "-1", ABSOFF(monitor_port), 0, uf_int, 0, pf_int, @@ -611,7 +611,7 @@ static const struct cfgelem discovery_ports_cfgelems[] = { { LEAF("DomainGain"), 1, "250", ABSOFF(ports.dg), 0, uf_uint, 0, pf_uint, BLURB("

This element specifies the domain gain, relating domain ids to sets of port numbers (refer to the DDSI 2.1 specification, section 9.6.1, constant DG).

") }, { LEAF("ParticipantGain"), 1, "2", ABSOFF(ports.pg), 0, uf_uint, 0, pf_uint, - BLURB("

This element specifies the participant gain, relating p0, articipant index to sets of port numbers (refer to the DDSI 2.1 specification, section 9.6.1, constant PG).

") }, + BLURB("

This element specifies the participant gain, relating p0, participant index to sets of port numbers (refer to the DDSI 2.1 specification, section 9.6.1, constant PG).

") }, { LEAF("MulticastMetaOffset"), 1, "0", ABSOFF(ports.d0), 0, uf_uint, 0, pf_uint, BLURB("

This element specifies the port number for multicast meta traffic (refer to the DDSI 2.1 specification, section 9.6.1, constant d0).

") }, { LEAF("UnicastMetaOffset"), 1, "10", ABSOFF(ports.d1), 0, uf_uint, 0, pf_uint, @@ -759,7 +759,7 @@ static const struct cfgelem tracing_cfgelems[] = { { LEAF("AppendToFile"), 1, "false", ABSOFF(tracingAppendToFile), 0, uf_boolean, 0, pf_boolean, BLURB("

This option specifies whether the output is to be appended to an existing log file. The default is to create a new log file each time, which is generally the best option if a detailed log is generated.

") }, { LEAF("PacketCaptureFile"), 1, "", ABSOFF(pcap_file), 0, uf_string, ff_free, pf_string, - BLURB("

This option specifies the file to which received and sent packets will be logged in the \"pcap\" format suitable for analysis using common networking tools, such as WireShark. IP and UDP headers are ficitious, in particular the destination address of received packets. The TTL may be used to distinguish between sent and received packets: it is 255 for sent packets and 128 for received ones. Currently IPv4 only.

") }, + BLURB("

This option specifies the file to which received and sent packets will be logged in the \"pcap\" format suitable for analysis using common networking tools, such as WireShark. IP and UDP headers are fictitious, in particular the destination address of received packets. The TTL may be used to distinguish between sent and received packets: it is 255 for sent packets and 128 for received ones. Currently IPv4 only.

") }, END_MARKER }; From 45a50306839a55a1e14cb16124f64adcc3575973 Mon Sep 17 00:00:00 2001 From: Jeroen Koekkoek Date: Wed, 6 May 2020 12:53:56 +0200 Subject: [PATCH 12/15] Add instructions for Android (#506) * Add instructions for Android Co-authored-by: eboasson Signed-off-by: Jeroen Koekkoek --- ports/android/README.md | 158 +++++++++++++++++++++++++++++++++++++++ src/ddsrt/CMakeLists.txt | 4 + 2 files changed, 162 insertions(+) create mode 100644 ports/android/README.md diff --git a/ports/android/README.md b/ports/android/README.md new file mode 100644 index 0000000..d6ff60a --- /dev/null +++ b/ports/android/README.md @@ -0,0 +1,158 @@ +# Android port + +Building for Android 9 (codename Pie), or API level 28. Earlier versions of +Android may be supported at some point, but that would require implementing +replacements for `pthread_attr_setinheritsched` (introduced in level 28) and +`getifaddrs` (introduced in level 24), which is outside the scope of this +document. + +> Linux, specifically Fedora 31, was used to create this guide. The steps to +> build Eclipse Cyclone DDS should be more-or-less the same on other +> platforms, the steps to setup the emulator are probably not. + + +## Installing the Android SDK + +[1]: https://developer.android.com/studio +[2]: https://stackoverflow.com/questions/43923996/adb-root-is-not-working-on-emulator-cannot-run-as-root-in-production-builds + + * Download [Android Studio](1) and extract the archive. + + * Run `android-studio/bin/studio.sh` to launch the *Android Studio Setup + Wizard* and install the *Android SDK*. Select the *Android Virtual Device* + option to install the emulator. + + * Click *Configure* from the *Android Studio* welcome screen and select + *SDK Manager*. Switch to the *SDK Tools* tab, select *NDK (Side by side)*, + click *Ok* and wait for the **Android Native Development Kit (NDK)** to + finish downloading. + +> *Configure* is available from the *Welcome to Android Studio* window, but +> maybe hidden because it is not appropriatly sized. Resize the window so +> *Configure* and *Get Help* are shown. + + * Click *Configure* from the *Android Studio* welcome screen and select + *AVD Manager*. Click *Create Virtual Device*, select the *Phone* category + and choose the *Pixel XL* device definition. Click *Next* and hit + *Download* next to *Q*. *Accept* the *License Agreement* and click *Next* + to download the emulator image. When the download is finished, select *Q*, + click *Next*, then *Finish* to create the *Android Virtual Device (AVD)*. + +> As can be read from [this StackOverflow post](2), it is important to NOT +> select a *Google Play* image, as these images do not allow you to gain +> root privileges. + + +## Building Eclipse Cyclone DDS + +[3]: https://developer.android.com/ndk/guides/cmake +[4]: https://developer.android.com/ndk/guides/cmake#variables + +The [Android NDK supports CMake](3) via a toolchain file. Build parameters +such as ABI can specified on the command line. For the complete list of +supported variables, consult the [Toolchain Arguments](4) section. + +``` +$ cd cyclonedds +$ mkdir build.android +$ cd build.android +$ cmake -DCMAKE_TOOLCHAIN_FILE=/ndk//build/cmake/android.toolchain.cmake \ + -DANDROID_ABI=x86 -DANDROID_NATIVE_API_LEVEL=28 -DBUILD_SHARED_LIBS=Off .. +$ cmake --build . +``` + +> Android supports shared libraries. `BUILD_SHARED_LIBS` is disabled solely +> for demonstration purposes. + + +## Deploying ddsperf + * Launch the emulator. +``` +$ /emulator/emulator -avd Pixel_XL_API_29 -netdelay none -netspeed full +``` + + * Push the `ddsperf` binary to the emulator. +``` +$ /platform-tools/adb push /build.android/bin/ddsperf /data/local/tmp +``` + +> The binary must be copied to the local filesystem, not the sd-card, as that +> is mounted with the `noexec` flag and will not allow you to execute +> binaries. + + * Open a shell on the emulator. +``` +$ /platform-tools/adb shell +``` + + * Change to `/data/local/tmp` and make the binary executable. +``` +$ cd /data/local/tmp +$ chmod 755 ddsperf +``` + + +## Running ddsperf over the loopback interface + * Ensure the emulator is running. + * Open a shell on the emulator. + * Change to `/data/local/tmp`. + * Execute `./ddsperf -D10 pub & ./ddsperf -D10 sub`. + + +## Running ddsperf over a network interface +Each emulator instance runs behind a virtual router/firewall service that +isolates it from the host. The Android version running in the emulator can +communicate with the host over the loopback interface using the specialized +alias network address *10.0.2.2*, but IGMP and multicast are not supported. +To communicate with binaries not running in the QEMU guest an additional +network interface is required. + + * Create a network bridge and a *tap* device for the emulator to use. +``` +$ ip link add name br0 type bridge +$ ip link set br0 up +$ ip addr add 192.168.178.1/24 dev br0 +$ ip tuntap add dev tap0 mode tap user $USER +$ ip link set tap0 master br0 +$ ip link set dev tap0 up promisc on +``` + + * Launch the emulator with the *tap* device attached. +``` +$ /emulator/emulator -avd Pixel_XL_API_29 -netdelay none -netspeed full -qemu -device virtio-net-pci,netdev=eth1 -netdev tap,id=eth1,ifname=tap0,script=no +``` + + * Open a shell on the emulator. + * Execute `su` from the shell to become *root*. + * Bring up the interface and assign an IP address. +``` +# ip link set dev eth1 up +# ip addr add 192.168.178.2/24 dev eth1 +``` + + * Make normal routing take precedence over anything that google/qemu configured. +``` +$ ip rule add from all lookup main pref 99 +``` + + * You should now be able to ping the host from the emulator and vice versa. + +> The [KDE Community Wiki](5) is an excellent source of information on the +> Android emulator. The second-to-last instruction stems from there and was +> vital to establish communication between the emulator and the host. + +[5]: https://community.kde.org/KDEConnect/Android_Emulator + + * Force the guest to use the `eth1` interface. +``` +$ export CYCLONEDDS_URI='eth1' +``` + + * Change to `/data/local/tmp`. + * Execute `./ddsperf -D10 pub`. + * Switch to the host. + * Force the host to use the `br0` interface. +``` +$ export CYCLONEDDS_URI='br0' +``` + * Execute `./ddsperf -D10 sub` (native build). diff --git a/src/ddsrt/CMakeLists.txt b/src/ddsrt/CMakeLists.txt index 72de16d..658e1ee 100644 --- a/src/ddsrt/CMakeLists.txt +++ b/src/ddsrt/CMakeLists.txt @@ -62,6 +62,10 @@ if(WITH_FREERTOS) set(system_name freertos) elseif(APPLE) set(system_name darwin) +elseif(ANDROID) + # FIXME: Not correct, but will do for the short-term. A better way would be + # fallback to linux, and then posix. + set(system_name linux) else() string(TOLOWER ${CMAKE_SYSTEM_NAME} system_name) endif() From f8ed1f4adf9a2f27f0d0a22b198750204f552f5f Mon Sep 17 00:00:00 2001 From: Erik Boasson Date: Wed, 6 May 2020 09:55:09 +0200 Subject: [PATCH 13/15] Minor README updates Signed-off-by: Erik Boasson --- README.md | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/README.md b/README.md index ec6f6e5..aaf118c 100644 --- a/README.md +++ b/README.md @@ -1,7 +1,7 @@ # Eclipse Cyclone DDS Eclipse Cyclone DDS is a very performant and robust open-source DDS implementation. Cyclone DDS is developed completely in the open as an Eclipse IoT project -(see [eclipse-cyclone-dds](https://projects.eclipse.org/projects/iot.cyclonedds)). +(see [eclipse-cyclone-dds](https://projects.eclipse.org/projects/iot.cyclonedds)) with a growing list of [adopters](https://iot.eclipse.org/adopters/?#iot.cyclonedds) (if you're one of them, please add your [logo](https://github.com/EclipseFdn/iot.eclipse.org/issues/new?template=adopter_request.md)). It is a tier-1 middleware for the Robot Operating System [ROS 2](https://index.ros.org/doc/ros2/). * [Getting Started](#getting-started) * [Performance](#performance) @@ -11,8 +11,7 @@ Eclipse Cyclone DDS is a very performant and robust open-source DDS implementati ## Building Eclipse Cyclone DDS -In order to build Cyclone DDS you need a Linux, Mac or Windows 10 machine (or, with some caveats, an -OpenIndiana one or a Solaris 2.6 one) with the following installed on your host: +In order to build Cyclone DDS you need a Linux, Mac or Windows 10 machine (or, with some caveats, a *BSD, OpenIndiana or a Solaris 2.6 one) with the following installed on your host: * C compiler (most commonly GCC on Linux, Visual Studio on Windows, Xcode on macOS); * GIT version control system; @@ -28,11 +27,11 @@ installed, and the rest should already be there. On Windows, installing chocola install git cmake openjdk maven`` should get you a long way. On macOS, ``brew install maven cmake`` and downloading and installing the JDK is easiest. -The Java-based components are the preprocessor and a configurator tool. The run-time +The only Java-based component is the IDL preprocessor. The run-time libraries are pure C code, so there is no need to have Java available on "target" machines. If desired, it is possible to do a build without Java or Maven installed by defining ``BUILD_IDLC=NO``, but that effectively only gets you the core library. For the -current [ROS2 RMW layer](https://github.com/ros2/rmw_cyclonedds), that is sufficient. +current [ROS 2 RMW layer](https://github.com/ros2/rmw_cyclonedds), that is sufficient. To obtain Eclipse Cyclone DDS, do @@ -250,3 +249,5 @@ Background information on configuring Cyclone DDS can be found * "Eclipse Cyclone DDS" and "Cyclone DDS" are trademarks of the Eclipse Foundation. * "DDS" is a trademark of the Object Management Group, Inc. + +* "ROS" is a trademark of Open Source Robotics Foundation, Inc. From 3c1b14e6cb49e8a8129ada92e87d40a83b5f4ebe Mon Sep 17 00:00:00 2001 From: Erik Boasson Date: Wed, 6 May 2020 09:57:56 +0200 Subject: [PATCH 14/15] Fix paths in documentation generation Signed-off-by: Erik Boasson --- cmake/Modules/FindSphinx.cmake | 2 +- docs/CMakeLists.txt | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/cmake/Modules/FindSphinx.cmake b/cmake/Modules/FindSphinx.cmake index 70ddc89..1c01586 100644 --- a/cmake/Modules/FindSphinx.cmake +++ b/cmake/Modules/FindSphinx.cmake @@ -319,7 +319,7 @@ function(sphinx_add_docs _target) endif() add_custom_target( - ${_target} + ${_target} ALL COMMAND ${SPHINX_BUILD_EXECUTABLE} -b ${_builder} -d "${CMAKE_CURRENT_BINARY_DIR}/${_target}.cache/_doctrees" diff --git a/docs/CMakeLists.txt b/docs/CMakeLists.txt index 82fe266..07cc5bf 100644 --- a/docs/CMakeLists.txt +++ b/docs/CMakeLists.txt @@ -46,11 +46,11 @@ if(BUILD_DOCS) docs BREATHE_PROJECTS ddsc_api_docs BUILDER html - SOURCE_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}") + SOURCE_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/manual") add_dependencies(docs options_doc) install( - DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}" + DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/docs" DESTINATION "${CMAKE_INSTALL_DOCDIR}/manual" COMPONENT dev) endif() From 96248d1e6d03d06705f72808126dae6bc2b4d3fd Mon Sep 17 00:00:00 2001 From: Erik Boasson Date: Wed, 6 May 2020 09:56:58 +0200 Subject: [PATCH 15/15] Bump version number in preparation for 0.6.0 Signed-off-by: Erik Boasson --- CHANGELOG.rst | 18 +++++++++++++++++- CMakeLists.txt | 2 +- package.xml | 2 +- 3 files changed, 19 insertions(+), 3 deletions(-) diff --git a/CHANGELOG.rst b/CHANGELOG.rst index 7caea51..ca9d252 100644 --- a/CHANGELOG.rst +++ b/CHANGELOG.rst @@ -2,12 +2,28 @@ Changelog for Eclipse Cyclone DDS ================================= -`Unreleased `_ +`Unreleased `_ --------------------------------------------------------------------------------------- +`V0.6.0 (2020-05-21) `_ +----------------------------------------------------------------------------------------------- + +* Support for mixed-language programming by supporting multiple (de)serializers for a single topic in a single process. This way, a program that consists of, say, C and C++ can use a different representation of the data in C than in C++. Before, all readers/writers in the process would be forced to use the same representation (or perform an additional copy). Currently C is still the only natively supported language, but one can use an evolving-but-reasonable-stable interface to implement different mappings. +* Improved QoS support: full support for deadline, lifespan and liveliness. The first is for generating notifications when a configured instance update rate is not achieved, the second for automatically removing stale samples, the third for different modes of monitoring the liveliness of peers. +* Improved scalability in matching readers and writers. Before it used to try matching a new local or remote reader or writer with all known local & remote entities, now only with the right group with the correct topic name. +* Improved tracing: discovery data is now printed properly and user samples have more type information allowing floating-point and signed numbers to be traced in a more readable form. +* Extension of platform support + * Known to work on FreeBSD, CheriBSD + * Known to work with the musl C library +* Windows-specific changes + * Fixes multicasts to addresses also used by non-Cyclone processes (caused by accidentally linking with an old sockets library) + * Correct handling of non-English network interface names + `0.5.1 (2020-03-11) `_ ----------------------------------------------------------------------------------------------- +An interim tag for the benefit of ROS2 + * Enable QOS features: liveliness, lifespan, deadline * Fix issues on Windows where multicast data was not received diff --git a/CMakeLists.txt b/CMakeLists.txt index 1ef9330..ca28ca1 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -10,7 +10,7 @@ # SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause # cmake_minimum_required(VERSION 3.7) -project(CycloneDDS VERSION 0.5.0) +project(CycloneDDS VERSION 0.6.0) # Set a default build type if none was specified set(default_build_type "RelWithDebInfo") diff --git a/package.xml b/package.xml index 9f058fe..913f141 100644 --- a/package.xml +++ b/package.xml @@ -2,7 +2,7 @@ cyclonedds - 0.5.1 + 0.6.0 Eclipse Cyclone DDS is a very performant and robust open-source DDS implementation. Cyclone DDS is developed completely in the open as an Eclipse IoT project. Eclipse Foundation, Inc. Eclipse Public License 2.0