This commit adds support for the liveliness QoS for the liveliness
kinds automatic and manual-by-participant. It also implements the
lease_duration from this QoS, which was ignored until now. In the
api the function dds_assert_liveliness is added to assert liveliness
on a participant, which can be used when using liveliness kind
manual-by-participant.
Liveliness kind manual-by-topic is not yet supported, this will be
added in a later commit.
* Proxy participants now have 2 fibheaps to keep leases: one for leases
of pwrs with automatic liveliness and one for leases of the pwrs with
manual-by-participant liveliness (both protected by the proxypp lock).
The minl_auto and minl_man members represent the shortest lease from
these fibheaps and these leases are renewed when receiving data.
Replacing the minl_ leases is now done by replacing the lease object
(atomic ptr) with delayed deletion of the old lease using the gc.
* Proxy writers are set not-alive when the lease expired, and reset to
alive then data is received. When data is received by a pwr, the other
pwrs in the proxypp might also be set alive. I think the specification
is not clear at this point, and for now I have not implemented this
* I refactored out the counter for man-by-pp proxy writers and improved
locking when updating the min-leases on the proxy participant, so I
think this fixes the race conditions.
Some additional tests are required, e.g. to test the not-alive->alive
transition for pwrs. I will add these in short term, as well as the
implementation of the manual-by-topic liveliness kind.
Signed-off-by: Dennis Potman <dennis.potman@adlinktech.com>
Signed-off-by: Erik Boasson <eb@ilities.com>
Use static assert instead of run-time assert
Signed-off-by: Erik Boasson <eb@ilities.com>
Use static assertion to verify nn_rmsg offset calc
Signed-off-by: Erik Boasson <eb@ilities.com>
This commits adds support for the DOMAIN_ID and DOMAIN_TAG parameters in
participant discovery, allowing multiple domains to share a port
number (a feature introduced in DDSI 2.3). The tag can be configured
via Discovery/Tag.
This commit also introduces a setting Discovery/ExternalDomainId that
makes it possible to override the domain id on the network, both in what
is advertised in the DOMAIN_ID discovery parameter and in the
calculation of port numbers. This way a single process can create two
independent domains that talk via the network, which is on occassion
useful in writing tests.
Signed-off-by: Erik Boasson <eb@ilities.com>
Connext (sometimes, for some versions?) sends a pre-emptive ACKNACK with
a base sequence number of 0, which were rejected following the DDSI
specification (8.3.4.1, 8.3.5.5 and 8.3.7.1.3). That doesn't really
help anyone. (https://github.com/ros2/ros2/issues/824)
Signed-off-by: Erik Boasson <eb@ilities.com>
Installing Cyclone DDS for multiple architectures with the same
installation prefix gave problems because the CMake configuration files
ended up overwriting each other. This brings it in line with the
recommended locations. Thanks to @hansfn.
Signed-off-by: Erik Boasson <eb@ilities.com>
PGUIDFMT creates invalid C++ code.
In file included from /opt/ros/master/src/ros2/rmw_cyclonedds/rmw_cyclonedds_cpp/src/serdata.cpp:23:
In file included from /opt/ros/master/install/include/dds/ddsi/q_radmin.h:17:
In file included from /opt/ros/master/install/include/dds/ddsi/ddsi_tran.h:19:
In file included from /opt/ros/master/install/include/dds/ddsi/q_protocol.h:19:
/opt/ros/master/install/include/dds/ddsi/q_rtps.h:30:21: error: invalid suffix on literal; C++11 requires a space between literal and identifier [-Wreserved-user-defined-literal]
^
/opt/ros/master/install/include/dds/ddsi/q_rtps.h:30:31: error: invalid suffix on literal; C++11 requires a space between literal and identifier [-Wreserved-user-defined-literal]
Signed-off-by: Dan Rose <dan@digilabs.io>
This allows you to express a dependency on it as `find_package(CycloneDDS REQUIRED COMPONENTS idlc)`
Also added a warning if CycloneDDS was built with IDLC but IDLC is not requested.
Signed-off-by: Dan Rose <dan@digilabs.io>
This adds two things to the XSD (and the RNC file and options.md):
* attributes previously missing because of a bug in the conversion
script
* a name space (https://cdds.io/config)
Adding the name spacing requires a different set of attributes at the
top of a configuration file, which in turn need to be ignored by the
configuration parser, and which should be reflected in the configuration
example in the README.
Signed-off-by: Erik Boasson <eb@ilities.com>
Sign extension causes some character values to be interpreted as special
tokens, potentially causing the parser to hang, pass a null pointer as
element name to the "elem_open" callback (which would crash the
configuration processing).
Signed-off-by: Erik Boasson <eb@ilities.com>
When scanning buckets while looking for a specific element, it is faster
to only inspect those buckets for which the corresponding bit in
"hopinfo" is set. Sadly, simple scanning is faster than the far more
elegant perfect hash based on a De Bruijn sequence.
Add a simple test/performance measurement.
Signed-off-by: Erik Boasson <eb@ilities.com>
* Moved bswap functions to ddsrt
Moved the byte swapping functions from ddsi to ddsrt so that
these can be re-used in e.g. the security plugins and tests.
Signed-off-by: Dennis Potman <dennis.potman@adlinktech.com>
* Moved decarations for bswap functions to ddsrt
Signed-off-by: Dennis Potman <dennis.potman@adlinktech.com>
CMAKE_PROJECT_NAME refers to the top-level project name, not the most recent project. So any CMake project that pulls this in as a dependency was in for a nasty surprise.
https://cmake.org/cmake/help/latest/variable/CMAKE_PROJECT_NAME.html
Signed-off-by: Dan Rose <dan@digilabs.io>
The test only works on Linux and macOS because of the system
dependencies in catching an abort. The logging code is platform
independent so testing only on these platforms still gives a good sanity
check.
Signed-off-by: Erik Boasson <eb@ilities.com>
Allow unique prefix matches for elements and attributes specified in
directly in CYCLONEDDS_URI. That mode already has a few niceties for
quickly specifying some configuration overrides, this is simply one
more.
Signed-off-by: Erik Boasson <eb@ilities.com>
The ``docs/makernc.pl`` perl script can extract the options from the
source code for the configuration processing and turn these into a
GitHub MarkDown document and a RELAX NG Compact form (RNC) description
of the options. Standard conversion tools can be used to turn the RNC
file into an XSD.
Although they are generated by a mechanical transformation, it is not
(yet) part of the build process, in no small part because there no
proper generation and publishing system has yet been set up for the
documentation.
Now that there is an XSD and a Markdown file for discovering the
options, there is no need to retain the configuration editing tool. Any
decent editor will do a better job.
Signed-off-by: Erik Boasson <eb@ilities.com>
From a distant past came code to encrypt data on the wire, but it hasn't
been functional in Cyclone for a long time and it only ever provided
protection against casual eavesdroppers. It is better to delete it.
Signed-off-by: Erik Boasson <eb@ilities.com>
