Make various introspection features work
This leaves as the big gaping holes: * Cyclone DDS does not allow creating a waitset or a guard condition outside a participant, and this forces the creation of an additional participant. It can be fixed in the RMW layer, or it can be dealt with in Cyclone DDS, but the trouble with the latter is that there are solid reasons for not allowing it, even if it is easy to support it today. (E.g., a remote procedure call interface ...) * Cyclone DDS does not currently support multiple domains simultaneously, and so this RMW implementation ignores the domain_id parameter in create_node, instead creating all nodes/participants (including the special participant mentioned above) in the default domain, which can be controlled via CYCLONEDDS_URI. * Deserialization only handles native format (it doesn't do any byte swapping). This is pure laziness, adding it is trivial. * Deserialization assumes the input is valid and will do terrible things if it isn't. Again, pure laziness, it's just adding some bounds checks and other validation code. * There are some "oddities" with the way service requests and replies are serialized and what it uses as a "GUID". (It actually uses an almost-certainly-unique 64-bit number, the Cyclone DDS instance id, instead of a real GUID.) I'm pretty sure the format is wildly different from that in other RMW implementations, and so services presumably will not function cross-implementation. * The name mangling seems to be compatibl-ish with the FastRTPS implementation and in some cases using the ros2 CLI for querying the system works cross-implementation, but not always. The one in this implementation is reverse-engineered, so trouble may be lurking somewhere. As a related point: the "no_demangle" option is currently ignored ... it causes a compiler warning.
This commit is contained in:
Erik Boasson
parent
3501d8f69e
commit
c34f6c35af
2 changed files with 84 additions and 52 deletions
43
README.md
43
README.md
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@ -1,3 +1,42 @@
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# An ROS2 RMW implementation on top of Eclipse CycloneDDS
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# A ROS2 RMW implementation for Eclipse Cyclone DDS
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This is just the beginnings of an RMW implementation for [*Eclipse Cyclone DDS*](https://github.com/eclipse/cyclonedds).
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This is an extended proof-of-concept RMW implementation for
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using [*ROS2*](https://index.ros.org/doc/ros2)
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with [*Eclipse Cyclone DDS*](https://github.com/eclipse-cyclonedds/cyclonedds) as the underlying DDS
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implementation.
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Whatever ROS2 C++ test/demo code I could manage to run on macOS seems to work (that covers most of
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the core features), and the ROS2 CLI (``ros2``) on Linux gives a reasonable indication that most of
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introspection functions also work. So basically, pretty much everything works.
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There are a number of known limitations:
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* Cyclone DDS does not yet implement DDS Security. Consequently, there is no support for security
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in this RMW implementation either.
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* Cyclone DDS does not allow creating a waitset or a guard condition outside a participant, and this
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forces the creation of an additional participant. It can be fixed in the RMW layer, or it can be
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dealt with in Cyclone DDS, but the trouble with the latter is that there are solid reasons for not
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allowing it, even if it is easy to support it today. (E.g., a remote procedure call interface
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...)
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* Cyclone DDS does not currently support multiple domains simultaneously, and so this RMW
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implementation ignores the domain_id parameter in create_node, instead creating all
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nodes/participants (including the special participant mentioned above) in the default domain,
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which can be controlled via CYCLONEDDS_URI.
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* Deserialization only handles native format (it doesn't do any byte swapping). This is pure
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laziness, adding it is trivial.
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* Deserialization assumes the input is valid and will do terrible things if it isn't. Again, pure
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laziness, it's just adding some bounds checks and other validation code.
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* There are some "oddities" with the way service requests and replies are serialized and what it
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uses as a "GUID". (It actually uses an almost-certainly-unique 64-bit number, the Cyclone DDS
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instance id, instead of a real GUID.) I'm pretty sure the format is wildly different from that in
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other RMW implementations, and so services presumably will not function cross-implementation.
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* The name mangling seems to be compatibl-ish with the FastRTPS implementation and in some cases
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using the ros2 CLI for querying the system works cross-implementation, but not always. The one in
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this implementation is reverse-engineered, so trouble may be lurking somewhere. As a related
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point: the "no_demangle" option is currently ignored ... it causes a compiler warning.
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@ -1,4 +1,4 @@
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// Copyright 2018 ADLINK Technology Limited.
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// Copyright 2019 ADLINK Technology Limited.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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@ -12,28 +12,6 @@
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// See the License for the specific language governing permissions and
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// limitations under the License.
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/* TODO:
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- topic names (should use the same as other RMW layers)
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- type names (make a copy of the generic type descriptor, modify the name and pass that)
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- need to handle endianness differences in deserialization
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- topic creation: shouldn't leak topics
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- introspection stuff not done yet
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- check / make sure a node remains valid while one of its subscriptions exists
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- service/client simply use the instance handle of its publisher as its GUID -- yikes! but it is
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actually only kinda wrong because the instance handles allocated by different instance of cdds
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are actually taken from uncorrelated (close to uncorrelated anyway) permutations of 64-bit
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unsigned integers
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- ... and probably many more things ...
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*/
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#include <mutex>
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#include <unordered_set>
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#include <algorithm>
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@ -50,6 +28,9 @@
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#include "rmw/convert_rcutils_ret_to_rmw_ret.h"
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#include "rmw/error_handling.h"
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#include "rmw/names_and_types.h"
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#include "rmw/get_service_names_and_types.h"
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#include "rmw/get_topic_names_and_types.h"
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#include "rmw/get_node_info_and_types.h"
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#include "rmw/rmw.h"
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#include "rmw/sanity_checks.h"
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@ -309,13 +290,16 @@ static void ggcallback (dds_entity_t rd, void *varg)
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while (dds_take_mask (rd, &msg, &info, 1, 1, DDS_ANY_SAMPLE_STATE | DDS_ANY_VIEW_STATE | DDS_NOT_ALIVE_DISPOSED_INSTANCE_STATE | DDS_NOT_ALIVE_NO_WRITERS_INSTANCE_STATE) > 0) {
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dds_return_loan (rd, &msg, 1);
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}
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(void) rmw_trigger_guard_condition (node_impl->graph_guard_condition);
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if (rmw_trigger_guard_condition (node_impl->graph_guard_condition) != RMW_RET_OK) {
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RCUTILS_LOG_ERROR_NAMED ("rmw_cyclonedds_cpp", "failed to trigger graph guard condition");
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}
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}
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static std::string get_node_user_data (const char *node_name, const char *node_namespace)
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{
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return (std::string ("ros2_name=") + std::string (node_name) +
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std::string (";ros2_namespace=") + std::string (node_namespace));
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return (std::string ("name=") + std::string (node_name) +
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std::string (";namespace=") + std::string (node_namespace) +
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std::string (";"));
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}
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extern "C" rmw_node_t *rmw_create_node (rmw_context_t *context __attribute__ ((unused)), const char *name, const char *namespace_, size_t domain_id, const rmw_node_security_options_t *security_options)
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@ -527,7 +511,7 @@ static std::string make_fqtopic (const char *prefix, const char *topic_name, con
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if (avoid_ros_namespace_conventions) {
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return std::string (topic_name) + "__" + std::string (suffix);
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} else {
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return std::string (prefix) + "/" + make_fqtopic (prefix, topic_name, suffix, true);
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return std::string (prefix) + std::string (topic_name) + std::string (suffix);
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}
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}
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@ -674,7 +658,7 @@ static CddsPublisher *create_cdds_publisher (const rmw_node_t *node, const rosid
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if ((qos = create_readwrite_qos (qos_policies, false)) == nullptr) {
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goto fail_qos;
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}
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if ((pub->pubh = dds_create_writer (gcdds.ppant, topic, qos, nullptr)) < 0) {
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if ((pub->pubh = dds_create_writer (node_impl->pp, topic, qos, nullptr)) < 0) {
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RMW_SET_ERROR_MSG ("failed to create writer");
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goto fail_writer;
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}
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@ -842,7 +826,7 @@ static CddsSubscription *create_cdds_subscription (const rmw_node_t *node, const
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if ((qos = create_readwrite_qos (qos_policies, ignore_local_publications)) == nullptr) {
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goto fail_qos;
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}
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if ((sub->subh = dds_create_reader (gcdds.ppant, topic, qos, nullptr)) < 0) {
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if ((sub->subh = dds_create_reader (node_impl->pp, topic, qos, nullptr)) < 0) {
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RMW_SET_ERROR_MSG ("failed to create reader");
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goto fail_reader;
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}
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@ -1368,13 +1352,13 @@ static rmw_ret_t rmw_init_cs (CddsCS *cs, const rmw_node_t *node, const rosidl_s
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if (is_service) {
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sub_type_support = create_request_type_support (type_support->data, type_support->typesupport_identifier);
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pub_type_support = create_response_type_support (type_support->data, type_support->typesupport_identifier);
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subtopic_name = make_fqtopic (ros_service_requester_prefix, service_name, "_request", qos_policies);
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pubtopic_name = make_fqtopic (ros_service_response_prefix, service_name, "_reply", qos_policies);
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subtopic_name = make_fqtopic (ros_service_requester_prefix, service_name, "Request", qos_policies);
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pubtopic_name = make_fqtopic (ros_service_response_prefix, service_name, "Reply", qos_policies);
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} else {
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pub_type_support = create_request_type_support (type_support->data, type_support->typesupport_identifier);
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sub_type_support = create_response_type_support (type_support->data, type_support->typesupport_identifier);
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pubtopic_name = make_fqtopic (ros_service_requester_prefix, service_name, "_request", qos_policies);
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subtopic_name = make_fqtopic (ros_service_response_prefix, service_name, "_reply", qos_policies);
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pubtopic_name = make_fqtopic (ros_service_requester_prefix, service_name, "Request", qos_policies);
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subtopic_name = make_fqtopic (ros_service_response_prefix, service_name, "Reply", qos_policies);
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}
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RCUTILS_LOG_DEBUG_NAMED ("rmw_cyclonedds_cpp", "************ %s Details *********", is_service ? "Service" : "Client");
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@ -1401,14 +1385,14 @@ static rmw_ret_t rmw_init_cs (CddsCS *cs, const rmw_node_t *node, const rosidl_s
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}
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dds_qset_reliability (qos, DDS_RELIABILITY_RELIABLE, DDS_SECS (1));
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dds_qset_history (qos, DDS_HISTORY_KEEP_ALL, DDS_LENGTH_UNLIMITED);
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if ((pub->pubh = dds_create_writer (gcdds.ppant, pubtopic, qos, nullptr)) < 0) {
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if ((pub->pubh = dds_create_writer (node_impl->pp, pubtopic, qos, nullptr)) < 0) {
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RMW_SET_ERROR_MSG ("failed to create writer");
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goto fail_writer;
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}
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/* FIXME: not guaranteed that "topic" will refer to "sertopic" because topic might have been
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created earlier, but the two are equivalent, so this'll do */
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pub->sertopic = pub_st;
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if ((sub->subh = dds_create_reader (gcdds.ppant, subtopic, qos, nullptr)) < 0) {
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if ((sub->subh = dds_create_reader (node_impl->pp, subtopic, qos, nullptr)) < 0) {
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RMW_SET_ERROR_MSG ("failed to create reader");
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goto fail_reader;
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}
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@ -1586,11 +1570,11 @@ extern "C" rmw_ret_t rmw_get_node_names (const rmw_node_t *node, rcutils_string_
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}
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std::set< std::pair<std::string, std::string> > ns;
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const auto re = std::regex ("^ros2_name=(.*);ros2_namespace=(.*)$");
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const auto re = std::regex ("^name=(.*);namespace=(.*);$", std::regex::extended);
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auto oper =
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[&ns, re](const dds_builtintopic_participant_t& sample __attribute__ ((unused)), const char *ud) -> bool {
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std::cmatch cm;
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if (std::regex_match (ud, cm, re)) {
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if (std::regex_search (ud, cm, re)) {
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ns.insert (std::make_pair (std::string (cm[1]), std::string (cm[2])));
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}
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return true;
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@ -1673,6 +1657,9 @@ static rmw_ret_t rmw_collect_tptyp_for_kind (std::map<std::string, std::set<std:
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static rmw_ret_t make_names_and_types (rmw_names_and_types_t *tptyp, const std::map<std::string, std::set<std::string>>& source, rcutils_allocator_t *allocator)
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{
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if (source.size () == 0) {
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return RMW_RET_OK;
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}
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rmw_ret_t ret;
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if ((ret = rmw_names_and_types_init (tptyp, source.size (), allocator)) != RMW_RET_OK) {
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return ret;
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@ -1697,7 +1684,9 @@ static rmw_ret_t make_names_and_types (rmw_names_and_types_t *tptyp, const std::
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return RMW_RET_OK;
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fail_mem:
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(void) rmw_names_and_types_fini (tptyp);
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if (rmw_names_and_types_fini (tptyp) != RMW_RET_OK) {
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RMW_SET_ERROR_MSG ("rmw_collect_tptyp_for_kind: rmw_names_and_types_fini failed");
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}
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return RMW_RET_BAD_ALLOC;
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}
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@ -1725,16 +1714,19 @@ static rmw_ret_t get_endpoint_names_and_types_by_node (const rmw_node_t *node, r
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if (node_name != nullptr && (ret = get_node_guids (node_name, node_namespace, guids)) != RMW_RET_OK) {
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return ret;
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}
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const auto re = std::regex ("^" + std::string (ros_topic_prefix) + "/");
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const auto re_tp = std::regex ("^" + std::string (ros_topic_prefix) + "(/.*)", std::regex::extended);
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const auto re_typ = std::regex ("^(.*::)dds_::(.*)_$", std::regex::extended);
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const auto filter_and_map =
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[re, guids, node_name](const dds_builtintopic_endpoint_t& sample, std::string& topic_name, std::string& type_name) -> bool {
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[re_tp, re_typ, guids, node_name](const dds_builtintopic_endpoint_t& sample, std::string& topic_name, std::string& type_name) -> bool {
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std::cmatch cm_tp, cm_typ;
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if (node_name != nullptr && guids.count (sample.participant_key) == 0) {
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return false;
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} else if (! std::regex_match (topic_name, re)) {
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} else if (! std::regex_search (sample.topic_name, cm_tp, re_tp) || ! std::regex_search (sample.type_name, cm_typ, re_typ)) {
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return false;
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} else {
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topic_name = std::string (sample.topic_name);
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type_name = std::string (sample.type_name);
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std::string demangled_type = std::regex_replace (std::string (cm_typ[1]), std::regex ("::"), "/");
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topic_name = std::string (cm_tp[1]);
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type_name = std::string (demangled_type) + std::string (cm_typ[2]);
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return true;
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}
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};
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@ -1748,7 +1740,7 @@ static rmw_ret_t get_endpoint_names_and_types_by_node (const rmw_node_t *node, r
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return make_names_and_types (tptyp, tt, allocator);
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}
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static rmw_ret_t get_service_names_and_types_by_node (const rmw_node_t *node, rcutils_allocator_t *allocator, const char *node_name, const char *node_namespace, bool no_demangle, rmw_names_and_types_t *sntyp)
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static rmw_ret_t get_service_names_and_types_by_node (const rmw_node_t *node, rcutils_allocator_t *allocator, const char *node_name, const char *node_namespace, rmw_names_and_types_t *sntyp)
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{
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RET_WRONG_IMPLID (node);
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RET_NULL (allocator);
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@ -1761,14 +1753,15 @@ static rmw_ret_t get_service_names_and_types_by_node (const rmw_node_t *node, rc
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return ret;
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}
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const auto re_tp = std::regex ("^(" + std::string (ros_service_requester_prefix) + "|" +
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std::string (ros_service_response_prefix) + ")/(.*)___(request|reply)$");
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const auto re_typ = std::regex ("^(.*::)dds_::(.*)_(Reponse|Request)_$");
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std::string (ros_service_response_prefix) + ")(/.*)(Request|Reply)$",
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std::regex::extended);
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const auto re_typ = std::regex ("^(.*::)dds_::(.*)_(Reponse|Request)_$", std::regex::extended);
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const auto filter_and_map =
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[re_tp, re_typ, guids, node_name](const dds_builtintopic_endpoint_t& sample, std::string& topic_name, std::string& type_name) -> bool {
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std::cmatch cm_tp, cm_typ;
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if (node_name != nullptr && guids.count (sample.participant_key) == 0) {
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return false;
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} if (! std::regex_match (topic_name.c_str (), cm_tp, re_tp) || ! std::regex_match (type_name.c_str (), cm_typ, re_typ)) {
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} if (! std::regex_search (sample.topic_name, cm_tp, re_tp) || ! std::regex_search (sample.type_name, cm_typ, re_typ)) {
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return false;
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} else {
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std::string demangled_type = std::regex_replace (std::string (cm_typ[1]), std::regex ("::"), "/");
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@ -1792,7 +1785,7 @@ extern "C" rmw_ret_t rmw_get_topic_names_and_types (const rmw_node_t *node, rcut
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extern "C" rmw_ret_t rmw_get_service_names_and_types (const rmw_node_t *node, rcutils_allocator_t *allocator, rmw_names_and_types_t *sntyp)
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{
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return get_service_names_and_types_by_node (node, allocator, nullptr, nullptr, false, sntyp);
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return get_service_names_and_types_by_node (node, allocator, nullptr, nullptr, sntyp);
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}
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extern "C" rmw_ret_t rmw_service_server_is_available (const rmw_node_t *node, const rmw_client_t *client, bool *is_available)
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@ -1864,7 +1857,7 @@ extern "C" rmw_ret_t rmw_get_publisher_names_and_types_by_node (const rmw_node_t
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return get_endpoint_names_and_types_by_node (node, allocator, node_name, node_namespace, no_demangle, tptyp, false, true);
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}
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extern "C" rmw_ret_t rmw_get_service_names_and_types_by_node (const rmw_node_t *node, rcutils_allocator_t *allocator, const char *node_name, const char *node_namespace, bool no_demangle, rmw_names_and_types_t *sntyp)
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extern "C" rmw_ret_t rmw_get_service_names_and_types_by_node (const rmw_node_t *node, rcutils_allocator_t *allocator, const char *node_name, const char *node_namespace, rmw_names_and_types_t *sntyp)
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{
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return get_service_names_and_types_by_node (node, allocator, node_name, node_namespace, no_demangle, sntyp);
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return get_service_names_and_types_by_node (node, allocator, node_name, node_namespace, sntyp);
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}
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