Some of the former are required to implement alternative serialisation
methods; the latter is just generally useful. For the time being these
are not part of the formal API and not subject to backwards
compatibility. Still, they have value for quickly building tools on that
use Cyclone and happen to need any of these functions.
Signed-off-by: Erik Boasson <eb@ilities.com>
- Replace os_result by dds_retcode_t and move DDS return code defines down.
Eliminates the need to convert between different return code types.
- Move dds_time_t down and remove os_time.
Eliminates the need to convert between different time representations and
reduces code duplication.
- Remove use of Microsoft source-code annotation language (SAL).
SAL annotations are Microsoft specific and not very well documented. This
makes it very difficult for contributers to write.
- Rearrange the abstraction layer to be feature-based. The previous layout
falsely assumed that the operating system dictates which implementation is
best suited. For general purpose operating systems this is mostly true, but
embedded targets require a slightly different approach and may not even offer
all features. The new layout makes it possible to mix-and-match feature
implementations and allows for features to not be implemented at all.
- Replace the os prefix by ddsrt to avoid name collisions.
- Remove various portions of unused and unwanted code.
- Export thread names on all supported platforms.
- Return native thread identifier on POSIX compatible platforms.
- Add timed wait for condition variables that takes an absolute time.
- Remove system abstraction for errno. The os_getErrno and os_setErrno were
incorrect. Functions that might fail now simply return a DDS return code
instead.
- Remove thread-specific memory abstraction. os_threadMemGet and accompanying
functions were a mess and their use has been eliminated by other changes in
this commit.
- Replace attribute (re)defines by ddsrt_ prefixed equivalents to avoid name
collisions and problems with faulty __nonnull__ attributes.
Signed-off-by: Jeroen Koekkoek <jeroen@koekkoek.nl>
Move details of built-in topics out of the DDSI core (so the only hooks
remain). For this, rtps_term had to be split, so now it is "stop"
followed by "fini".
Add a notion of local writers that are not bound to a participant ("local
orphans"), so that the local built-in topic writers can be created during
initialization. This eliminates the "builtin" participant. This
uncovered in inconsistency in the unit tests: on the one hand, a newly
created participant is expected to have no child entities; on the other
hand, the built-in topics were expected to be returned by find_topic ...
This inconsistency has been resolved by creating them lazily and
accepting that find_topic can't return them until they have been
created. Special code was in place in dds_create_reader anyway, so it
is not expected to have any real consequence for applications.
Use a special WHC implementation that regenerates the data on the fly
using the internal discovery tables of DDSI, so that the samples are only
stored by readers. This eliminates the memory overhead of that existed
previously when the WHC of the writers stored the data.
No longer return topic name and type name in the built-in topics, they
have been extracted already and are not accessible through the normal
interface but do cause problems when comparing QoS.
Signed-off-by: Erik Boasson <eb@ilities.com>
They were made available from the DCPS layer to DDSI using some function pointers, but it makes more sense to have them as part of the DDSI core.
Signed-off-by: Erik Boasson <eb@ilities.com>
besides the old state being in dire need of cleaning up, this also paves the way for having any number of different sample representations in the system
Signed-off-by: Erik Boasson <eb@ilities.com>
* Consolidated and cleaned up some (duplicate) functions.
* Removed some unused functions that did not make sense to keep around.
Signed-off-by: Jeroen Koekkoek <jeroen@koekkoek.nl>
