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Ensure compliant publisher API (#210)

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Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
This commit is contained in:
Michel Hidalgo 2020-07-28 18:47:03 -03:00 • committed by Alejandro Hernández Cordero
parent 3d03bf6c53
commit 398812c12d
1 changed files with 128 additions and 41 deletions
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163
rmw_cyclonedds_cpp/src/rmw_node.cpp
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@ -1593,7 +1593,6 @@ static dds_qos_t * create_readwrite_qos(
dds_qset_writer_data_lifecycle(qos, false); /* disable autodispose */
switch (qos_policies->history) {
case RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT:
case RMW_QOS_POLICY_HISTORY_UNKNOWN:
case RMW_QOS_POLICY_HISTORY_KEEP_LAST:
if (qos_policies->depth == RMW_QOS_POLICY_DEPTH_SYSTEM_DEFAULT) {
dds_qset_history(qos, DDS_HISTORY_KEEP_LAST, 1);
@ -1609,24 +1608,26 @@ static dds_qos_t * create_readwrite_qos(
case RMW_QOS_POLICY_HISTORY_KEEP_ALL:
dds_qset_history(qos, DDS_HISTORY_KEEP_ALL, DDS_LENGTH_UNLIMITED);
break;
case RMW_QOS_POLICY_HISTORY_UNKNOWN:
return nullptr;
default:
rmw_cyclonedds_cpp::unreachable();
}
switch (qos_policies->reliability) {
case RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT:
case RMW_QOS_POLICY_RELIABILITY_UNKNOWN:
case RMW_QOS_POLICY_RELIABILITY_RELIABLE:
dds_qset_reliability(qos, DDS_RELIABILITY_RELIABLE, DDS_INFINITY);
break;
case RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT:
dds_qset_reliability(qos, DDS_RELIABILITY_BEST_EFFORT, 0);
break;
case RMW_QOS_POLICY_RELIABILITY_UNKNOWN:
return nullptr;
default:
rmw_cyclonedds_cpp::unreachable();
}
switch (qos_policies->durability) {
case RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT:
case RMW_QOS_POLICY_DURABILITY_UNKNOWN:
case RMW_QOS_POLICY_DURABILITY_VOLATILE:
dds_qset_durability(qos, DDS_DURABILITY_VOLATILE);
break;
@ -1643,6 +1644,8 @@ static dds_qos_t * create_readwrite_qos(
DDS_LENGTH_UNLIMITED);
break;
}
case RMW_QOS_POLICY_DURABILITY_UNKNOWN:
return nullptr;
default:
rmw_cyclonedds_cpp::unreachable();
}
@ -1664,12 +1667,13 @@ static dds_qos_t * create_readwrite_qos(
switch (qos_policies->liveliness) {
case RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT:
case RMW_QOS_POLICY_LIVELINESS_AUTOMATIC:
case RMW_QOS_POLICY_LIVELINESS_UNKNOWN:
dds_qset_liveliness(qos, DDS_LIVELINESS_AUTOMATIC, ldur);
break;
case RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC:
dds_qset_liveliness(qos, DDS_LIVELINESS_MANUAL_BY_TOPIC, ldur);
break;
case RMW_QOS_POLICY_LIVELINESS_UNKNOWN:
return nullptr;
default:
rmw_cyclonedds_cpp::unreachable();
}
@ -1907,33 +1911,40 @@ static rmw_publisher_t * create_publisher(
)
{
CddsPublisher * pub;
rmw_publisher_t * rmw_publisher;
if ((pub =
create_cdds_publisher(
dds_ppant, dds_pub, type_supports, topic_name,
qos_policies)) == nullptr)
{
goto fail_common_init;
return nullptr;
}
rmw_publisher = rmw_publisher_allocate();
RET_ALLOC_X(rmw_publisher, goto fail_publisher);
auto cleanup_cdds_publisher = rcpputils::make_scope_exit(
[pub]() {
if (dds_delete(pub->enth) < 0) {
RCUTILS_LOG_ERROR_NAMED(
"rmw_cyclonedds_cpp", "failed to delete writer during error handling");
}
delete pub;
});
rmw_publisher_t * rmw_publisher = rmw_publisher_allocate();
RET_ALLOC_X(rmw_publisher, return nullptr);
auto cleanup_rmw_publisher = rcpputils::make_scope_exit(
[rmw_publisher]() {
rmw_free(const_cast<char *>(rmw_publisher->topic_name));
rmw_publisher_free(rmw_publisher);
});
rmw_publisher->implementation_identifier = eclipse_cyclonedds_identifier;
rmw_publisher->data = pub;
rmw_publisher->topic_name = reinterpret_cast<char *>(rmw_allocate(strlen(topic_name) + 1));
RET_ALLOC_X(rmw_publisher->topic_name, goto fail_topic_name);
RET_ALLOC_X(rmw_publisher->topic_name, return nullptr);
memcpy(const_cast<char *>(rmw_publisher->topic_name), topic_name, strlen(topic_name) + 1);
rmw_publisher->options = *publisher_options;
rmw_publisher->can_loan_messages = false;
cleanup_rmw_publisher.cancel();
cleanup_cdds_publisher.cancel();
return rmw_publisher;
fail_topic_name:
rmw_publisher_free(rmw_publisher);
fail_publisher:
if (dds_delete(pub->enth) < 0) {
RCUTILS_LOG_ERROR_NAMED("rmw_cyclonedds_cpp", "failed to delete writer during error handling");
}
delete pub;
fail_common_init:
return nullptr;
}
extern "C" rmw_publisher_t * rmw_create_publisher(
@ -1942,29 +1953,67 @@ extern "C" rmw_publisher_t * rmw_create_publisher(
const rmw_publisher_options_t * publisher_options
)
{
RET_WRONG_IMPLID_X(node, return nullptr);
RMW_CHECK_ARGUMENT_FOR_NULL(node, nullptr);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
node,
node->implementation_identifier,
eclipse_cyclonedds_identifier,
return nullptr);
RMW_CHECK_ARGUMENT_FOR_NULL(type_supports, nullptr);
RMW_CHECK_ARGUMENT_FOR_NULL(topic_name, nullptr);
if (0 == strlen(topic_name)) {
RMW_SET_ERROR_MSG("topic_name argument is an empty string");
return nullptr;
}
RMW_CHECK_ARGUMENT_FOR_NULL(qos_policies, nullptr);
if (!qos_policies->avoid_ros_namespace_conventions) {
int validation_result = RMW_TOPIC_VALID;
rmw_ret_t ret = rmw_validate_full_topic_name(topic_name, &validation_result, nullptr);
if (RMW_RET_OK != ret) {
return nullptr;
}
if (RMW_TOPIC_VALID != validation_result) {
const char * reason = rmw_full_topic_name_validation_result_string(validation_result);
RMW_SET_ERROR_MSG_WITH_FORMAT_STRING("invalid topic name: %s", reason);
return nullptr;
}
}
RMW_CHECK_ARGUMENT_FOR_NULL(publisher_options, nullptr);
rmw_publisher_t * pub = create_publisher(
node->context->impl->ppant, node->context->impl->dds_pub,
type_supports, topic_name, qos_policies,
publisher_options);
if (pub != nullptr) {
if (pub == nullptr) {
return nullptr;
}
auto cleanup_publisher = rcpputils::make_scope_exit(
[pub]() {
rmw_error_state_t error_state = *rmw_get_error_state();
rmw_reset_error();
if (RMW_RET_OK != destroy_publisher(pub)) {
RMW_SAFE_FWRITE_TO_STDERR(rmw_get_error_string().str);
RMW_SAFE_FWRITE_TO_STDERR(" during '" RCUTILS_STRINGIFY(__function__) "' cleanup\n");
rmw_reset_error();
}
rmw_set_error_state(error_state.message, error_state.file, error_state.line_number);
});
// Update graph
auto common = &node->context->impl->common;
const auto cddspub = static_cast<const CddsPublisher *>(pub->data);
{
std::lock_guard<std::mutex> guard(common->node_update_mutex);
rmw_dds_common::msg::ParticipantEntitiesInfo msg =
common->graph_cache.associate_writer(cddspub->gid, common->gid, node->name, node->namespace_);
if (RMW_RET_OK != rmw_publish(
common->pub,
static_cast<void *>(&msg),
nullptr))
{
if (RMW_RET_OK != rmw_publish(common->pub, static_cast<void *>(&msg), nullptr)) {
static_cast<void>(common->graph_cache.dissociate_writer(
cddspub->gid, common->gid, node->name, node->namespace_));
static_cast<void>(destroy_publisher(pub));
return nullptr;
}
}
cleanup_publisher.cancel();
return pub;
}
@ -2021,14 +2070,18 @@ rmw_ret_t rmw_publisher_assert_liveliness(const rmw_publisher_t * publisher)
rmw_ret_t rmw_publisher_get_actual_qos(const rmw_publisher_t * publisher, rmw_qos_profile_t * qos)
{
RET_NULL(qos);
RET_WRONG_IMPLID(publisher);
RMW_CHECK_ARGUMENT_FOR_NULL(publisher, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
publisher,
publisher->implementation_identifier,
eclipse_cyclonedds_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
RMW_CHECK_ARGUMENT_FOR_NULL(qos, RMW_RET_INVALID_ARGUMENT);
auto pub = static_cast<CddsPublisher *>(publisher->data);
if (get_readwrite_qos(pub->enth, qos)) {
return RMW_RET_OK;
} else {
return RMW_RET_ERROR;
}
return RMW_RET_ERROR;
}
extern "C" rmw_ret_t rmw_borrow_loaned_message(
@ -2056,23 +2109,37 @@ extern "C" rmw_ret_t rmw_return_loaned_message_from_publisher(
static rmw_ret_t destroy_publisher(rmw_publisher_t * publisher)
{
RET_WRONG_IMPLID(publisher);
rmw_ret_t ret = RMW_RET_OK;
auto pub = static_cast<CddsPublisher *>(publisher->data);
if (pub != nullptr) {
if (dds_delete(pub->enth) < 0) {
RMW_SET_ERROR_MSG("failed to delete writer");
ret = RMW_RET_ERROR;
}
delete pub;
}
rmw_free(const_cast<char *>(publisher->topic_name));
publisher->topic_name = nullptr;
rmw_publisher_free(publisher);
return RMW_RET_OK;
return ret;
}
extern "C" rmw_ret_t rmw_destroy_publisher(rmw_node_t * node, rmw_publisher_t * publisher)
{
RET_WRONG_IMPLID(node);
RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(publisher, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
node,
node->implementation_identifier,
eclipse_cyclonedds_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
publisher,
publisher->implementation_identifier,
eclipse_cyclonedds_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
rmw_ret_t ret = RMW_RET_OK;
rmw_error_state_t error_state;
{
auto common = &node->context->impl->common;
const auto cddspub = static_cast<const CddsPublisher *>(publisher->data);
@ -2081,12 +2148,32 @@ extern "C" rmw_ret_t rmw_destroy_publisher(rmw_node_t * node, rmw_publisher_t *
common->graph_cache.dissociate_writer(
cddspub->gid, common->gid, node->name,
node->namespace_);
if (RMW_RET_OK != rmw_publish(common->pub, static_cast<void *>(&msg), nullptr)) {
RMW_SET_ERROR_MSG(
"failed to publish ParticipantEntitiesInfo message after dissociating writer");
rmw_ret_t publish_ret =
rmw_publish(common->pub, static_cast<void *>(&msg), nullptr);
if (RMW_RET_OK != publish_ret) {
error_state = *rmw_get_error_state();
ret = publish_ret;
rmw_reset_error();
}
}
return destroy_publisher(publisher);
rmw_ret_t inner_ret = destroy_publisher(publisher);
if (RMW_RET_OK != inner_ret) {
if (RMW_RET_OK != ret) {
RMW_SAFE_FWRITE_TO_STDERR(rmw_get_error_string().str);
RMW_SAFE_FWRITE_TO_STDERR(" during '" RCUTILS_STRINGIFY(__function__) "'\n");
} else {
error_state = *rmw_get_error_state();
ret = inner_ret;
}
rmw_reset_error();
}
if (RMW_RET_OK != ret) {
rmw_set_error_state(error_state.message, error_state.file, error_state.line_number);
}
return ret;
}