add mechanism to pass rmw impl specific payloads during pub/sub creation (#882)

* add mechanism to pass rmw impl specific payloads during pub/sub creation

Signed-off-by: William Woodall <william@osrfoundation.org>

* use class instead of struct

Signed-off-by: William Woodall <william@osrfoundation.org>

* narrow API of rmw payload to just use rmw_*_options_t's

Signed-off-by: William Woodall <william@osrfoundation.org>

* fixup after recent change

Signed-off-by: William Woodall <william@osrfoundation.org>

rclcpp/CMakeLists.txt

@@ -32,6 +32,9 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/clock.cpp
   src/rclcpp/context.cpp
   src/rclcpp/contexts/default_context.cpp
+  src/rclcpp/detail/rmw_implementation_specific_payload.cpp
+  src/rclcpp/detail/rmw_implementation_specific_publisher_payload.cpp
+  src/rclcpp/detail/rmw_implementation_specific_subscription_payload.cpp
   src/rclcpp/duration.cpp
   src/rclcpp/event.cpp
   src/rclcpp/exceptions.cpp

rclcpp/include/rclcpp/detail/rmw_implementation_specific_payload.hpp

@@ -0,0 +1,51 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__DETAIL__RMW_IMPLEMENTATION_SPECIFIC_PAYLOAD_HPP_
+#define RCLCPP__DETAIL__RMW_IMPLEMENTATION_SPECIFIC_PAYLOAD_HPP_
+
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+namespace detail
+{
+
+/// Mechanism for passing rmw implementation specific settings through the ROS interfaces.
+class RCLCPP_PUBLIC RMWImplementationSpecificPayload
+{
+public:
+  virtual
+  ~RMWImplementationSpecificPayload() = default;
+
+  /// Return false if this class has not been customized, otherwise true.
+  /**
+   * It does this based on the value of the rmw implementation identifier that
+   * this class reports, and so it is important for a specialization of this
+   * class to override the get_rmw_implementation_identifier() method to return
+   * something other than nullptr.
+   */
+  bool
+  has_been_customized() const;
+
+  /// Derrived classes should override this and return the identifier of its rmw implementation.
+  virtual
+  const char *
+  get_implementation_identifier() const;
+};
+
+}  // namespace detail
+}  // namespace rclcpp
+
+#endif  // RCLCPP__DETAIL__RMW_IMPLEMENTATION_SPECIFIC_PAYLOAD_HPP_

rclcpp/include/rclcpp/detail/rmw_implementation_specific_publisher_payload.hpp

@@ -0,0 +1,52 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__DETAIL__RMW_IMPLEMENTATION_SPECIFIC_PUBLISHER_PAYLOAD_HPP_
+#define RCLCPP__DETAIL__RMW_IMPLEMENTATION_SPECIFIC_PUBLISHER_PAYLOAD_HPP_
+
+#include "rcl/publisher.h"
+
+#include "rclcpp/detail/rmw_implementation_specific_payload.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+namespace detail
+{
+
+class RCLCPP_PUBLIC RMWImplementationSpecificPublisherPayload
+  : public RMWImplementationSpecificPayload
+{
+public:
+  ~RMWImplementationSpecificPublisherPayload() override = default;
+
+  /// Opportunity for a derived class to inject information into the rcl options.
+  /**
+   * This is called after the rcl_publisher_options_t has been prepared by
+   * rclcpp, but before rcl_publisher_init() is called.
+   *
+   * The passed option is the rmw_publisher_options field of the
+   * rcl_publisher_options_t that will be passed to rcl_publisher_init().
+   *
+   * By default the options are unmodified.
+   */
+  virtual
+  void
+  modify_rmw_publisher_options(rmw_publisher_options_t & rmw_publisher_options) const;
+};
+
+}  // namespace detail
+}  // namespace rclcpp
+
+#endif  // RCLCPP__DETAIL__RMW_IMPLEMENTATION_SPECIFIC_PUBLISHER_PAYLOAD_HPP_

rclcpp/include/rclcpp/detail/rmw_implementation_specific_subscription_payload.hpp

@@ -0,0 +1,53 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__DETAIL__RMW_IMPLEMENTATION_SPECIFIC_SUBSCRIPTION_PAYLOAD_HPP_
+#define RCLCPP__DETAIL__RMW_IMPLEMENTATION_SPECIFIC_SUBSCRIPTION_PAYLOAD_HPP_
+
+#include "rcl/subscription.h"
+
+#include "rclcpp/detail/rmw_implementation_specific_payload.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+namespace detail
+{
+
+/// Subscription payload that may be rmw implementation specific.
+class RCLCPP_PUBLIC RMWImplementationSpecificSubscriptionPayload
+  : public RMWImplementationSpecificPayload
+{
+public:
+  ~RMWImplementationSpecificSubscriptionPayload() override = default;
+
+  /// Opportunity for a derived class to inject information into the rcl options.
+  /**
+   * This is called after the rcl_subscription_options_t has been prepared by
+   * rclcpp, but before rcl_subscription_init() is called.
+   *
+   * The passed option is the rmw_subscription_options field of the
+   * rcl_subscription_options_t that will be passed to rcl_subscription_init().
+   *
+   * By default the options are unmodified.
+   */
+  virtual
+  void
+  modify_rmw_subscription_options(rmw_subscription_options_t & rmw_subscription_options) const;
+};
+
+}  // namespace detail
+}  // namespace rclcpp
+
+#endif  // RCLCPP__DETAIL__RMW_IMPLEMENTATION_SPECIFIC_SUBSCRIPTION_PAYLOAD_HPP_

rclcpp/include/rclcpp/publisher.hpp

@@ -288,6 +288,11 @@ protected:
     return message_seq;
   }
 
+  /// Copy of original options passed during construction.
+  /**
+   * It is important to save a copy of this so that the rmw payload which it
+   * may contain is kept alive for the duration of the publisher.
+   */
   const rclcpp::PublisherOptionsWithAllocator<AllocatorT> options_;
 
   std::shared_ptr<MessageAllocator> message_allocator_;

rclcpp/include/rclcpp/publisher_options.hpp

@@ -22,6 +22,7 @@
 #include "rcl/publisher.h"
 
 #include "rclcpp/allocator/allocator_common.hpp"
+#include "rclcpp/detail/rmw_implementation_specific_publisher_payload.hpp"
 #include "rclcpp/intra_process_setting.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/qos_event.hpp"
@@ -45,6 +46,10 @@ struct PublisherOptionsBase
 
   /// Callback group in which the waitable items from the publisher should be placed.
   std::shared_ptr<rclcpp::callback_group::CallbackGroup> callback_group;
+
+  /// Optional RMW implementation specific payload to be used during creation of the publisher.
+  std::shared_ptr<rclcpp::detail::RMWImplementationSpecificPublisherPayload>
+  rmw_implementation_payload = nullptr;
 };
 
 /// Structure containing optional configuration for Publishers.
@@ -72,9 +77,16 @@ struct PublisherOptionsWithAllocator : public PublisherOptionsBase
     auto message_alloc = std::make_shared<MessageAllocatorT>(*this->get_allocator().get());
     result.allocator = rclcpp::allocator::get_rcl_allocator<MessageT>(*message_alloc);
     result.qos = qos.get_rmw_qos_profile();
+
+    // Apply payload to rcl_publisher_options if necessary.
+    if (rmw_implementation_payload && rmw_implementation_payload->has_been_customized()) {
+      rmw_implementation_payload->modify_rmw_publisher_options(result.rmw_publisher_options);
+    }
+
     return result;
   }
 
+
   /// Get the allocator, creating one if needed.
   std::shared_ptr<Allocator>
   get_allocator() const

rclcpp/include/rclcpp/subscription.hpp

@@ -104,6 +104,7 @@ public:
       options.template to_rcl_subscription_options<CallbackMessageT>(qos),
       rclcpp::subscription_traits::is_serialized_subscription_argument<CallbackMessageT>::value),
     any_callback_(callback),
+    options_(options),
     message_memory_strategy_(message_memory_strategy)
   {
     if (options.event_callbacks.deadline_callback) {
@@ -302,6 +303,12 @@ private:
   RCLCPP_DISABLE_COPY(Subscription)
 
   AnySubscriptionCallback<CallbackMessageT, AllocatorT> any_callback_;
+  /// Copy of original options passed during construction.
+  /**
+   * It is important to save a copy of this so that the rmw payload which it
+   * may contain is kept alive for the duration of the subscription.
+   */
+  const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> options_;
   typename message_memory_strategy::MessageMemoryStrategy<CallbackMessageT, AllocatorT>::SharedPtr
     message_memory_strategy_;
 };

rclcpp/include/rclcpp/subscription_options.hpp

@@ -20,6 +20,7 @@
 #include <vector>
 
 #include "rclcpp/callback_group.hpp"
+#include "rclcpp/detail/rmw_implementation_specific_subscription_payload.hpp"
 #include "rclcpp/intra_process_setting.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/qos_event.hpp"
@@ -33,12 +34,19 @@ struct SubscriptionOptionsBase
 {
   /// Callbacks for events related to this subscription.
   SubscriptionEventCallbacks event_callbacks;
+
   /// True to ignore local publications.
   bool ignore_local_publications = false;
+
   /// The callback group for this subscription. NULL to use the default callback group.
   rclcpp::callback_group::CallbackGroup::SharedPtr callback_group = nullptr;
+
   /// Setting to explicitly set intraprocess communications.
   IntraProcessSetting use_intra_process_comm = IntraProcessSetting::NodeDefault;
+
+  /// Optional RMW implementation specific payload to be used during creation of the subscription.
+  std::shared_ptr<rclcpp::detail::RMWImplementationSpecificSubscriptionPayload>
+  rmw_implementation_payload = nullptr;
 };
 
 /// Structure containing optional configuration for Subscriptions.
@@ -61,13 +69,19 @@ struct SubscriptionOptionsWithAllocator : public SubscriptionOptionsBase
   rcl_subscription_options_t
   to_rcl_subscription_options(const rclcpp::QoS & qos) const
   {
-    rcl_subscription_options_t result;
+    rcl_subscription_options_t result = rcl_subscription_get_default_options();
     using AllocatorTraits = std::allocator_traits<Allocator>;
     using MessageAllocatorT = typename AllocatorTraits::template rebind_alloc<MessageT>;
     auto message_alloc = std::make_shared<MessageAllocatorT>(*allocator.get());
     result.allocator = allocator::get_rcl_allocator<MessageT>(*message_alloc);
-    result.ignore_local_publications = this->ignore_local_publications;
     result.qos = qos.get_rmw_qos_profile();
+    result.rmw_subscription_options.ignore_local_publications = this->ignore_local_publications;
+
+    // Apply payload to rcl_subscription_options if necessary.
+    if (rmw_implementation_payload && rmw_implementation_payload->has_been_customized()) {
+      rmw_implementation_payload->modify_rmw_subscription_options(result.rmw_subscription_options);
+    }
+
     return result;
   }
 

rclcpp/src/rclcpp/detail/rmw_implementation_specific_payload.cpp

@@ -0,0 +1,35 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <rclcpp/detail/rmw_implementation_specific_payload.hpp>
+
+namespace rclcpp
+{
+namespace detail
+{
+
+bool
+RMWImplementationSpecificPayload::has_been_customized() const
+{
+  return nullptr != this->get_implementation_identifier();
+}
+
+const char *
+RMWImplementationSpecificPayload::get_implementation_identifier() const
+{
+  return nullptr;
+}
+
+}  // namespace detail
+}  // namespace rclcpp

rclcpp/src/rclcpp/detail/rmw_implementation_specific_publisher_payload.cpp

@@ -0,0 +1,33 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <rclcpp/detail/rmw_implementation_specific_publisher_payload.hpp>
+
+#include "rcl/publisher.h"
+
+namespace rclcpp
+{
+namespace detail
+{
+
+void
+RMWImplementationSpecificPublisherPayload::modify_rmw_publisher_options(
+  rmw_publisher_options_t & rmw_publisher_options) const
+{
+  // By default, do not mutate the rmw publisher options.
+  (void)rmw_publisher_options;
+}
+
+}  // namespace detail
+}  // namespace rclcpp

rclcpp/src/rclcpp/detail/rmw_implementation_specific_subscription_payload.cpp

@@ -0,0 +1,33 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <rclcpp/detail/rmw_implementation_specific_subscription_payload.hpp>
+
+#include "rcl/subscription.h"
+
+namespace rclcpp
+{
+namespace detail
+{
+
+void
+RMWImplementationSpecificSubscriptionPayload::modify_rmw_subscription_options(
+  rmw_subscription_options_t & rmw_subscription_options) const
+{
+  // By default, do not mutate the rmw subscription options.
+  (void)rmw_subscription_options;
+}
+
+}  // namespace detail
+}  // namespace rclcpp