* Add a colcon.pkg file to override the CMake package name
Without this file, colcon will take the project name from the
CMakeLists.txt file, which is `CycloneDDS`. This name does not conform
to the standard practices for a ROS package name, and should be
lowercase (i.e. `cyclonedds`).
This `colcon.pkg` will make colcon detect the package dependencies using
this name.
Signed-off-by: Scott K Logan <logans@cottsay.net>
* Drop unneeded package type
This isn't needed as colcon can detect the package type as `cmake`
without it.
Signed-off-by: Scott K Logan <logans@cottsay.net>
Setting BUILD_IDLC=OFF makes it possible to build Cyclone without
its (Java-based) IDL preprocessor. In that case there is no
IdlcGenerate.cmake, and therefore the generated CycloneDDSConfig.cmake
must not try to include it either.
Signed-off-by: Erik Boasson <eb@ilities.com>
Submit to the tyranny of the majority:
The DCPS specification makes no distinction between topics with and
topics without key fields: in the latter case, there is simply a single
instance but that instance obeys all the normal rules. In particular,
this implies dispose/unregister work regardless of whether a topic has
key fields.
The DDSI specification makes a distinction between WITH_KEY endpoints
and NO_KEY endpoints and does not support dispose/unregister operations
on NO_KEY endpoints. This implies that a DCPS implementation must limit
itself to the use of WITH_KEY endpoints.
Most implementations nonetheless map topics without key fields to the
NO_KEY type, and as the DDSI specification also states that a WITH_KEY
reader/writer does not match a NO_KEY writer/reader, Cyclone's correctly
mapping everything to WITH_KEY means there are interoperability problems
for topics without key fields.
This commit changes Cyclone to use NO_KEY like the others, but without
changing any other part of its behaviour: it continues to support
dispose/unregister operations regardless of whether a topic has key
fields or not. That is the lesser of the two evils.
Signed-off-by: Erik Boasson <eb@ilities.com>
The pre-emptive ACKNACK messages from FastRTPS have a base sequence
number of 0, which is malformed and must be rejected according to DDSI
8.3.7.1 / 8.3.5.5.
Signed-off-by: Erik Boasson <eb@ilities.com>
Some tools (e.g. colcon) require the project name to be a string literal in
order to extract it. Fix proposed by Dirk Thomas.
Signed-off-by: Jeroen Koekkoek <jeroen@koekkoek.nl>
Change the structure of the configuration file (in a backwards
compatible manner) to allow specifying configurations for multiple
domains in a file. (Listing multiple files in CYCLONEDDS_URI was
already supported.) A configuration specifies an id, with a default of
any, configurations for an incompatible id are ignored.
If the application specifies an id other than DDS_DOMAIN_DEFAULT in the
call to create_participant, then only configuration specifications for
Domain elements with that id or with id "any" will be used. If the
application does specify DDS_DOMAIN_DEFAULT, then the id will be taken
from the first Domain element that specifies an id. If none do, the
domain id defaults to 0. Each applicable domain specification is taken
as a separate source and may override settings made previously.
All settings moved from the top-level CycloneDDS element to the
CycloneDDS/Domain element. The CycloneDDS/Domain/Id element moved to
become the "id" attribute of CycloneDDS/Domain. The old locations still
work, with appropriate deprecation warnings.
Signed-off-by: Erik Boasson <eb@ilities.com>
This is the same test for verifying set_qos on topic_data is reflected
in the DCPSPublication and DCPSSubscription topics as the one that
already exists, but it uses two threads in two domains. A barrier is
used to ensure the threads in the two processes indeed execute
concurrently, and different topic data sequences are used to increase
the likelihood of detecting leakage from one domain into the other.
Signed-off-by: Erik Boasson <eb@ilities.com>
The default participant QoS/plist that is used for defaulting received
QoS and for determining which QoS/plist entries to send in discovery
data was mixed up with the one that contains local process information
such as hostname and process id.
It moreover was modified after starting up the protocol stack, and hence
after discovery of remote participants. While unlikely, this could lead
to an assertion in plist_or_xqos_mergein_missing.
Signed-off-by: Erik Boasson <eb@ilities.com>
A QoS change can happen at the same time that a new reader for a
built-in topic is provisioned with historical data, and so cause reading
in inconsistent QoS, use-after-free or other fun things.
During QoS matching it is also necessary to guarantee the QoS doesn't
change (QoS changes affecting matching will be supported at some point,
and manipulating complex data structures where bitmasks determine which
parts are defined while reading the same data concurrently is a recipe
for disaster.
Signed-off-by: Erik Boasson <eb@ilities.com>
Historical data can processed after new data, effectively going backward
in time, so only process data that is newer than the current state.
Signed-off-by: Erik Boasson <eb@ilities.com>
* constness in ternary expressions
* removal of OS_MAX_INTEGER
* inclusion of dds/ddsrt/attributes.h everywhere DDS_EXPORT inline
occurs
* _POSIX_PTHREAD_SEMANTICS in ddsperf
Signed-off-by: Erik Boasson <eb@ilities.com>
The big issue is the there is still only a single log output that gets
opened on creating a domain and closed on deleting one, but otherwise at
least this minimal test works.
The other issue is that the GC waits until threads in all domains have
made sufficient progress, rather than just the threads in its own
domain.
Signed-off-by: Erik Boasson <eb@ilities.com>
This commit moves all but a handful of the global variables into the
domain object, in particular including the DDSI configuration, globals
and all transport internal state.
The goal of this commit is not to produce the nicest code possible, but
to get a working version that can support multiple simultaneous domains.
Various choices are driven by this desire and it is expected that some
of the changes will have to be undone. (E.g., passing the DDSI globals
into address set operations and locator printing because there is no
other way to figure out what transport to use for a given locator;
storing the transport pointer inside the locator would solve that.)
Signed-off-by: Erik Boasson <eb@ilities.com>
Thread liveliness monitoring moves to dds_global and there is one
monitor running if there is at least one domain that requests it. The
synchronization over freeing the thread name when reaping the thread
state is gone by no longer dynamically allocating the thread name.
Signed-off-by: Erik Boasson <eb@ilities.com>
This moves DDSI stack initialisation and finalisation to the creating
and deleting of a domain, and modifies the related code to trigger all
that from creating/deleting participants.
Built-in topic generation is partially domain-dependent, so that moves
as well. The underlying ddsi_sertopics can be created are domain
independent and created without initialising DDSI, which necessitates
moving the IID generation (and thus init/fini) out of the DDSI stack and
to what will remain global data.
Signed-off-by: Erik Boasson <eb@ilities.com>
This makes it possible to use a different RHC implementations for
different readers and removes the need for the RHC interface to be part
of the global state.
Signed-off-by: Erik Boasson <eb@ilities.com>
Commit 3afce30c37 introduced an error in
the calculation of the size of these submessages, making them (and
requiring them to be) larger than correct and putting the "count" field
at the wrong offset, breaking interoperability.
Signed-off-by: Erik Boasson <eb@ilities.com>
* Change default behaviour with no arguments to print help text;
"ddsperf sanity" now gives the behaviour that it used to give when run
with no arguments;
* Include context switch rate in output;
* Allow suffixing frequencies and sizes with standard units (so "size
1kB" is now allowed);
* Add missing option to help text, extend help text with some additional
informationr.
Signed-off-by: Erik Boasson <eb@ilities.com>
The main change is a longer sleep in the main thread while waiting for
the select call to timeout. Still not perfect, but more practical than
checking the stacktrace of the thread calling ddsrt_select() to see
whether it has spent too much time in the call.
Signed-off-by: Erik Boasson <eb@ilities.com>
Caused by the changes in a652ecb78e; the
sample that matters is the first in what may now be a chain of samples,
which requires some overlooked adjustments.
Signed-off-by: Erik Boasson <eb@ilities.com>
Some Linux versions sometimes return this (undocumented) error,
presumably because of firewalling. Better to ignore it.
Signed-off-by: Erik Boasson <eb@ilities.com>
* the scripted throughput test originally used for the throughput graph
in the README now uses ddsperf;
* a scripted latency test has been added;
* updated the README with the results of these tests (and so now gives
easy access not only to throughput, but also to latency and memory
usage, as well as to latency over GbE.
Signed-off-by: Erik Boasson <eb@ilities.com>
* per-thread CPU usage (only those threads where the load is over 0.5%,
if the sum of threads below that threshold exceeds 0.5%, it prints an
aggregate for those threads);
* also report RSS;
* network load (only on request, as percentage of specified network
bandwidth and actual bytes in/out, with the output suppressed if it is
0%);
* publish CPU usage so a ddsperf instance can display CPU loads for
its peers;
* handle SIGXFSZ (file size exceeded) by displaying one last line of
statistics before killing itself; this simply a debugging tool to make
it easier to get a trace covering a high sample-rate start-up issue;
* default topic changed to "KS" because that allows all the options to
be used, this has a negative impact on performance (both latency and
small-sample throughput) but it should be less surprising to users;
* specifying a size is now done by appending "size N" (where N is the
size in bytes) after a "ping" or "pub" command, rather than it having
to set it via a command-line option;
Note that some of this is platform-dependent -- SIGXFSZ is currently
only on Linux and macOS, and CPU and network load reporting is currently
only on Linux, macOS and Windows.
Signed-off-by: Erik Boasson <eb@ilities.com>
