Switch to one participant per context model (#145)

Signed-off-by: Erik Boasson <eb@ilities.com>

rmw_cyclonedds_cpp/CMakeLists.txt

@@ -28,6 +28,7 @@ endif()
 find_package(ament_cmake_ros REQUIRED)
 
 find_package(rcutils REQUIRED)
+find_package(rcpputils REQUIRED)
 
 #find_package(cyclonedds_cmake_module REQUIRED)
 find_package(CycloneDDS QUIET CONFIG)
@@ -38,13 +39,16 @@ if(NOT CycloneDDS_FOUND)
 endif()
 
 find_package(rmw REQUIRED)
+find_package(rmw_dds_common REQUIRED)
 find_package(rosidl_runtime_c REQUIRED)
 find_package(rosidl_typesupport_introspection_c REQUIRED)
 find_package(rosidl_typesupport_introspection_cpp REQUIRED)
 
 ament_export_dependencies(rcutils)
+ament_export_dependencies(rcpputils)
 ament_export_dependencies(rmw)
 ament_export_dependencies(rosidl_runtime_c)
+ament_export_dependencies(rmw_dds_common)
 ament_export_dependencies(rosidl_typesupport_introspection_c)
 ament_export_dependencies(rosidl_typesupport_introspection_cpp)
 
@@ -52,9 +56,9 @@ add_library(rmw_cyclonedds_cpp
   src/rmw_node.cpp
   src/serdata.cpp
   src/serdes.cpp
-  src/graphrhc.cpp
   src/u16string.cpp
   src/exception.cpp
+  src/demangle.cpp
   src/deserialization_exception.cpp
   src/Serialization.cpp
   src/TypeSupport2.cpp)
@@ -64,13 +68,17 @@ target_include_directories(rmw_cyclonedds_cpp PUBLIC
   $<INSTALL_INTERFACE:include>
 )
 
-target_link_libraries(rmw_cyclonedds_cpp CycloneDDS::ddsc)
+target_link_libraries(rmw_cyclonedds_cpp
+  CycloneDDS::ddsc
+)
 
 ament_target_dependencies(rmw_cyclonedds_cpp
   "rcutils"
+  "rcpputils"
   "rosidl_typesupport_introspection_c"
   "rosidl_typesupport_introspection_cpp"
   "rmw"
+  "rmw_dds_common"
   "rosidl_runtime_c"
 )
 

rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/graphrhc.hpp

@@ -1,27 +0,0 @@
-// Copyright 2019 ADLINK Technology
-//
-// 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 RMW_CYCLONEDDS_CPP__GRAPHRHC_HPP_
-#define RMW_CYCLONEDDS_CPP__GRAPHRHC_HPP_
-
-#include "dds/dds.h"
-
-/* Introduction of custom RHC coincides with promoting the library instance & domains to entities,
-   and so with the introduction of DDS_CYCLONEDDS_HANDLE. */
-#ifdef DDS_CYCLONEDDS_HANDLE
-#include "dds/ddsc/dds_rhc.h"
-
-struct dds_rhc * graphrhc_new();
-#endif  // DDS_CYCLONEDDS_HANDLE
-
-#endif  // RMW_CYCLONEDDS_CPP__GRAPHRHC_HPP_

rmw_cyclonedds_cpp/package.xml

@@ -11,7 +11,9 @@
 
   <depend>cyclonedds</depend>
   <depend>rcutils</depend>
+  <depend>rcpputils</depend>
   <depend>rmw</depend>
+  <depend>rmw_dds_common</depend>
   <depend>rosidl_runtime_c</depend>
   <depend>rosidl_typesupport_introspection_c</depend>
   <depend>rosidl_typesupport_introspection_cpp</depend>

rmw_cyclonedds_cpp/src/demangle.cpp

@@ -0,0 +1,197 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+// Copyright 2016-2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// 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 <algorithm>
+#include <string>
+#include <vector>
+
+#include "rcpputils/find_and_replace.hpp"
+#include "rcutils/logging_macros.h"
+#include "rcutils/types.h"
+#include "namespace_prefix.hpp"
+#include "demangle.hpp"
+
+extern "C"
+{
+const char * const ros_topic_prefix = "rt";
+const char * const ros_service_requester_prefix = "rq";
+const char * const ros_service_response_prefix = "rr";
+
+const std::vector<std::string> _ros_prefixes =
+{ROS_TOPIC_PREFIX, ROS_SERVICE_REQUESTER_PREFIX, ROS_SERVICE_RESPONSE_PREFIX};
+}  // extern "C"
+
+/// Returns `name` stripped of `prefix`.
+std::string
+_resolve_prefix(const std::string & name, const std::string & prefix)
+{
+  if (name.rfind(prefix, 0) == 0 && name.at(prefix.length()) == '/') {
+    return name.substr(prefix.length());
+  }
+  return "";
+}
+
+/// Strip the ROS specific prefix if it exists from the topic name.
+std::string
+_strip_ros_prefix_if_exists(const std::string & topic_name)
+{
+  for (const auto & prefix : _ros_prefixes) {
+    if (topic_name.rfind(prefix, 0) == 0 && topic_name.at(prefix.length()) == '/') {
+      return topic_name.substr(prefix.length());
+    }
+  }
+  return topic_name;
+}
+
+/// Return the demangle ROS topic or the original if not a ROS topic.
+std::string
+_demangle_if_ros_topic(const std::string & topic_name)
+{
+  return _strip_ros_prefix_if_exists(topic_name);
+}
+
+/// Return the demangled ROS type or the original if not a ROS type.
+std::string
+_demangle_if_ros_type(const std::string & dds_type_string)
+{
+  if (dds_type_string[dds_type_string.size() - 1] != '_') {
+    // not a ROS type
+    return dds_type_string;
+  }
+
+  std::string substring = "dds_::";
+  size_t substring_position = dds_type_string.find(substring);
+  if (substring_position == std::string::npos) {
+    // not a ROS type
+    return dds_type_string;
+  }
+
+  std::string type_namespace = dds_type_string.substr(0, substring_position);
+  type_namespace = rcpputils::find_and_replace(type_namespace, "::", "/");
+  size_t start = substring_position + substring.size();
+  std::string type_name = dds_type_string.substr(start, dds_type_string.length() - 1 - start);
+  return type_namespace + type_name;
+}
+
+/// Return the topic name for a given topic if it is part of one, else "".
+std::string
+_demangle_ros_topic_from_topic(const std::string & topic_name)
+{
+  return _resolve_prefix(topic_name, ros_topic_prefix);
+}
+
+/// Return the service name for a given topic if it is part of one, else "".
+std::string
+_demangle_service_from_topic(
+  const std::string & prefix, const std::string & topic_name, std::string suffix)
+{
+  std::string service_name = _resolve_prefix(topic_name, prefix);
+  if ("" == service_name) {
+    return "";
+  }
+
+  size_t suffix_position = service_name.rfind(suffix);
+  if (suffix_position != std::string::npos) {
+    if (service_name.length() - suffix_position - suffix.length() != 0) {
+      RCUTILS_LOG_WARN_NAMED(
+        "rmw_fastrtps_shared_cpp",
+        "service topic has service prefix and a suffix, but not at the end"
+        ", report this: '%s'", topic_name.c_str());
+      return "";
+    }
+  } else {
+    RCUTILS_LOG_WARN_NAMED(
+      "rmw_fastrtps_shared_cpp",
+      "service topic has prefix but no suffix"
+      ", report this: '%s'", topic_name.c_str());
+    return "";
+  }
+  return service_name.substr(0, suffix_position);
+}
+
+std::string
+_demangle_service_from_topic(const std::string & topic_name)
+{
+  const std::string demangled_topic = _demangle_service_reply_from_topic(topic_name);
+  if ("" != demangled_topic) {
+    return demangled_topic;
+  }
+  return _demangle_service_request_from_topic(topic_name);
+}
+
+
+std::string
+_demangle_service_request_from_topic(const std::string & topic_name)
+{
+  return _demangle_service_from_topic(ros_service_requester_prefix, topic_name, "Request");
+}
+
+std::string
+_demangle_service_reply_from_topic(const std::string & topic_name)
+{
+  return _demangle_service_from_topic(ros_service_response_prefix, topic_name, "Reply");
+}
+
+/// Return the demangled service type if it is a ROS srv type, else "".
+std::string
+_demangle_service_type_only(const std::string & dds_type_name)
+{
+  std::string ns_substring = "dds_::";
+  size_t ns_substring_position = dds_type_name.find(ns_substring);
+  if (std::string::npos == ns_substring_position) {
+    // not a ROS service type
+    return "";
+  }
+  auto suffixes = {
+    std::string("_Response_"),
+    std::string("_Request_"),
+  };
+  std::string found_suffix = "";
+  size_t suffix_position = 0;
+  for (auto suffix : suffixes) {
+    suffix_position = dds_type_name.rfind(suffix);
+    if (suffix_position != std::string::npos) {
+      if (dds_type_name.length() - suffix_position - suffix.length() != 0) {
+        RCUTILS_LOG_WARN_NAMED(
+          "rmw_fastrtps_shared_cpp",
+          "service type contains 'dds_::' and a suffix, but not at the end"
+          ", report this: '%s'", dds_type_name.c_str());
+        continue;
+      }
+      found_suffix = suffix;
+      break;
+    }
+  }
+  if (std::string::npos == suffix_position) {
+    RCUTILS_LOG_WARN_NAMED(
+      "rmw_fastrtps_shared_cpp",
+      "service type contains 'dds_::' but does not have a suffix"
+      ", report this: '%s'", dds_type_name.c_str());
+    return "";
+  }
+  // everything checks out, reformat it from '[type_namespace::]dds_::<type><suffix>'
+  // to '[type_namespace/]<type>'
+  std::string type_namespace = dds_type_name.substr(0, ns_substring_position);
+  type_namespace = rcpputils::find_and_replace(type_namespace, "::", "/");
+  size_t start = ns_substring_position + ns_substring.length();
+  std::string type_name = dds_type_name.substr(start, suffix_position - start);
+  return type_namespace + type_name;
+}
+
+std::string
+_identity_demangle(const std::string & name)
+{
+  return name;
+}

rmw_cyclonedds_cpp/src/demangle.hpp

@@ -0,0 +1,57 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+// Copyright 2016-2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// 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 DEMANGLE_HPP_
+#define DEMANGLE_HPP_
+
+#include <string>
+
+/// Return the demangle ROS topic or the original if not a ROS topic.
+std::string
+_demangle_if_ros_topic(const std::string & topic_name);
+
+/// Return the demangled ROS type or the original if not a ROS type.
+std::string
+_demangle_if_ros_type(const std::string & dds_type_string);
+
+/// Return the topic name for a given topic if it is part of one, else "".
+std::string
+_demangle_ros_topic_from_topic(const std::string & topic_name);
+
+/// Return the service name for a given topic if it is part of a service, else "".
+std::string
+_demangle_service_from_topic(const std::string & topic_name);
+
+/// Return the service name for a given topic if it is part of a service request, else "".
+std::string
+_demangle_service_request_from_topic(const std::string & topic_name);
+
+/// Return the service name for a given topic if it is part of a service reply, else "".
+std::string
+_demangle_service_reply_from_topic(const std::string & topic_name);
+
+/// Return the demangled service type if it is a ROS srv type, else "".
+std::string
+_demangle_service_type_only(const std::string & dds_type_name);
+
+/// Used when ros names are not mangled.
+std::string
+_identity_demangle(const std::string & name);
+
+
+using DemangleFunction = std::string (*)(const std::string &);
+using MangleFunction = DemangleFunction;
+
+#endif  // DEMANGLE_HPP_

rmw_cyclonedds_cpp/src/graphrhc.cpp

@@ -1,184 +0,0 @@
-// Copyright 2019 ADLINK Technology
-//
-// 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 RMW_CYCLONEDDS_CPP__GRAPHRHC_HPP_
-#define RMW_CYCLONEDDS_CPP__GRAPHRHC_HPP_
-
-#include "dds/dds.h"
-
-/* Introduction of custom RHC coincides with promoting the library instance & domains to entities,
-   and so with the introduction of DDS_CYCLONEDDS_HANDLE. */
-#ifdef DDS_CYCLONEDDS_HANDLE
-
-#include "dds/ddsc/dds_rhc.h"
-
-struct graphrhc : dds_rhc
-{
-  struct dds_reader * reader;
-};
-
-static dds_return_t graphrhc_associate(
-  struct dds_rhc * rhc_cmn, struct dds_reader * reader,
-  const struct ddsi_sertopic * topic,
-  struct ddsi_tkmap * tkmap)
-{
-  // C++ doesn't grok the fake inheritance in C, so static_cast won't work
-  struct graphrhc * rhc = reinterpret_cast<struct graphrhc *>(rhc_cmn);
-  rhc->reader = reader;
-  static_cast<void>(topic);
-  static_cast<void>(tkmap);
-  return DDS_RETCODE_OK;
-}
-
-static void graphrhc_free(struct ddsi_rhc * rhc_cmn)
-{
-  // C++ doesn't grok the fake inheritance in C, so static_cast won't work
-  struct graphrhc * rhc = reinterpret_cast<struct graphrhc *>(rhc_cmn);
-  delete rhc;
-}
-
-static bool graphrhc_store(
-  struct ddsi_rhc * __restrict rhc_cmn,
-  const struct ddsi_writer_info * __restrict wrinfo,
-  struct ddsi_serdata * __restrict sample,
-  struct ddsi_tkmap_instance * __restrict tk)
-{
-  // C++ doesn't grok the fake inheritance in C, so static_cast won't work
-  struct graphrhc * rhc = reinterpret_cast<struct graphrhc *>(rhc_cmn);
-  dds_reader_data_available_cb(rhc->reader);
-  static_cast<void>(wrinfo);
-  static_cast<void>(sample);
-  static_cast<void>(tk);
-  return true;
-}
-
-static void graphrhc_unregister_wr(
-  struct ddsi_rhc * __restrict rhc_cmn,
-  const struct ddsi_writer_info * __restrict wrinfo)
-{
-  // C++ doesn't grok the fake inheritance in C, so static_cast won't work
-  struct graphrhc * rhc = reinterpret_cast<struct graphrhc *>(rhc_cmn);
-  dds_reader_data_available_cb(rhc->reader);
-  static_cast<void>(wrinfo);
-}
-
-static void graphrhc_relinquish_ownership(
-  struct ddsi_rhc * __restrict rhc_cmn,
-  const uint64_t wr_iid)
-{
-  static_cast<void>(rhc_cmn);
-  static_cast<void>(wr_iid);
-}
-
-static void graphrhc_set_qos(struct ddsi_rhc * rhc_cmn, const struct dds_qos * qos)
-{
-  static_cast<void>(rhc_cmn);
-  static_cast<void>(qos);
-}
-
-static int graphrhc_read(
-  struct dds_rhc * rhc_cmn, bool lock, void ** values,
-  dds_sample_info_t * info_seq, uint32_t max_samples, uint32_t mask,
-  dds_instance_handle_t handle, struct dds_readcond * cond)
-{
-  static_cast<void>(rhc_cmn);
-  static_cast<void>(lock);
-  static_cast<void>(values);
-  static_cast<void>(info_seq);
-  static_cast<void>(max_samples);
-  static_cast<void>(mask);
-  static_cast<void>(handle);
-  static_cast<void>(cond);
-  return 0;
-}
-
-static int graphrhc_take(
-  struct dds_rhc * rhc_cmn, bool lock, void ** values,
-  dds_sample_info_t * info_seq, uint32_t max_samples, uint32_t mask,
-  dds_instance_handle_t handle, struct dds_readcond * cond)
-{
-  static_cast<void>(rhc_cmn);
-  static_cast<void>(lock);
-  static_cast<void>(values);
-  static_cast<void>(info_seq);
-  static_cast<void>(max_samples);
-  static_cast<void>(mask);
-  static_cast<void>(handle);
-  static_cast<void>(cond);
-  return 0;
-}
-
-static int graphrhc_takecdr(
-  struct dds_rhc * rhc_cmn, bool lock, struct ddsi_serdata ** values,
-  dds_sample_info_t * info_seq, uint32_t max_samples,
-  uint32_t sample_states, uint32_t view_states, uint32_t instance_states,
-  dds_instance_handle_t handle)
-{
-  static_cast<void>(rhc_cmn);
-  static_cast<void>(lock);
-  static_cast<void>(values);
-  static_cast<void>(info_seq);
-  static_cast<void>(max_samples);
-  static_cast<void>(sample_states);
-  static_cast<void>(view_states);
-  static_cast<void>(instance_states);
-  static_cast<void>(handle);
-  return 0;
-}
-
-static bool graphrhc_add_readcondition(struct dds_rhc * rhc_cmn, struct dds_readcond * cond)
-{
-  static_cast<void>(rhc_cmn);
-  static_cast<void>(cond);
-  return true;
-}
-
-static void graphrhc_remove_readcondition(struct dds_rhc * rhc_cmn, struct dds_readcond * cond)
-{
-  static_cast<void>(rhc_cmn);
-  static_cast<void>(cond);
-}
-
-static uint32_t graphrhc_lock_samples(struct dds_rhc * rhc_cmn)
-{
-  static_cast<void>(rhc_cmn);
-  return 0;
-}
-
-static const struct dds_rhc_ops graphrhc_ops = {
-  {
-    graphrhc_store,
-    graphrhc_unregister_wr,
-    graphrhc_relinquish_ownership,
-    graphrhc_set_qos,
-    graphrhc_free
-  },
-  graphrhc_read,
-  graphrhc_take,
-  graphrhc_takecdr,
-  graphrhc_add_readcondition,
-  graphrhc_remove_readcondition,
-  graphrhc_lock_samples,
-  graphrhc_associate
-};
-
-struct dds_rhc * graphrhc_new()
-{
-  auto rhc = new graphrhc;
-  rhc->common.ops = &graphrhc_ops;
-  return static_cast<struct dds_rhc *>(rhc);
-}
-
-#endif  // DDS_CYCLONEDDS_HANDLE
-
-#endif  // RMW_CYCLONEDDS_CPP__GRAPHRHC_HPP_