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Add compilation guards for RMW compatibility

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Use CMake rmw_VERSION for conditional compilation

Signed-off-by: Dan Rose <dan@digilabs.io>
This commit is contained in:
Dan Rose 2019-10-17 22:24:44 -05:00 • committed by eboasson
parent 94e53ce83f
commit c51c884413
2 changed files with 64 additions and 22 deletions
Download patch file Download diff file Expand all files Collapse all files

7
rmw_cyclonedds_cpp/CMakeLists.txt
View file

@ -72,6 +72,13 @@ ament_target_dependencies(rmw_cyclonedds_cpp
configure_rmw_library(rmw_cyclonedds_cpp) configure_rmw_library(rmw_cyclonedds_cpp)
target_compile_definitions(${PROJECT_NAME}
PRIVATE
RMW_VERSION_MAJOR=${rmw_VERSION_MAJOR}
RMW_VERSION_MINOR=${rmw_VERSION_MINOR}
RMW_VERSION_PATCH=${rmw_VERSION_PATCH}
)
# Causes the visibility macros to use dllexport rather than dllimport, # Causes the visibility macros to use dllexport rather than dllimport,
# which is appropriate when building the dll but not consuming it. # which is appropriate when building the dll but not consuming it.
target_compile_definitions(${PROJECT_NAME} target_compile_definitions(${PROJECT_NAME}

75
rmw_cyclonedds_cpp/src/rmw_node.cpp Executable file → Normal file
View file

@ -61,6 +61,16 @@
#define MULTIDOMAIN 0 #define MULTIDOMAIN 0
#endif #endif
/* True if the version of RMW is at least major.minor.patch */
#define RMW_VERSION_GTE(major, minor, patch) ( \
major < RMW_VERSION_MAJOR ? true \
: major > RMW_VERSION_MAJOR ? false \
: minor < RMW_VERSION_MINOR ? true \
: minor > RMW_VERSION_MINOR ? false \
: patch < RMW_VERSION_PATCH ? true \
: patch > RMW_VERSION_PATCH ? false \
: true)
/* Set to > 0 for printing warnings to stderr for each messages that was taken more than this many /* Set to > 0 for printing warnings to stderr for each messages that was taken more than this many
ms after writing */ ms after writing */
#define REPORT_LATE_MESSAGES 0 #define REPORT_LATE_MESSAGES 0
@ -1088,13 +1098,18 @@ extern "C" rmw_ret_t rmw_fini_publisher_allocation(rmw_publisher_allocation_t *
} }
extern "C" rmw_publisher_t * rmw_create_publisher( extern "C" rmw_publisher_t * rmw_create_publisher(
const rmw_node_t * node, const rmw_node_t * node, const rosidl_message_type_support_t * type_supports,
const rosidl_message_type_support_t * type_supports, const char * topic_name, const char * topic_name, const rmw_qos_profile_t * qos_policies
const rmw_qos_profile_t * qos_policies, const rmw_publisher_options_t * publisher_options) #if RMW_VERSION_GTE(0,8,1)
, const rmw_publisher_options_t * publisher_options
#endif
)
{ {
CddsPublisher * pub; CddsPublisher * pub;
rmw_publisher_t * rmw_publisher; rmw_publisher_t * rmw_publisher;
#if RMW_VERSION_GTE(0,8,1)
RET_NULL_X(publisher_options, return nullptr); RET_NULL_X(publisher_options, return nullptr);
#endif
if ((pub = create_cdds_publisher(node, type_supports, topic_name, qos_policies)) == nullptr) { if ((pub = create_cdds_publisher(node, type_supports, topic_name, qos_policies)) == nullptr) {
goto fail_common_init; goto fail_common_init;
} }
@ -1105,7 +1120,9 @@ extern "C" rmw_publisher_t * rmw_create_publisher(
rmw_publisher->topic_name = reinterpret_cast<char *>(rmw_allocate(strlen(topic_name) + 1)); 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, goto fail_topic_name);
memcpy(const_cast<char *>(rmw_publisher->topic_name), topic_name, strlen(topic_name) + 1); memcpy(const_cast<char *>(rmw_publisher->topic_name), topic_name, strlen(topic_name) + 1);
#if RMW_VERSION_GTE(0,8,1)
rmw_publisher->options = *publisher_options; rmw_publisher->options = *publisher_options;
#endif
return rmw_publisher; return rmw_publisher;
fail_topic_name: fail_topic_name:
rmw_publisher_free(rmw_publisher); rmw_publisher_free(rmw_publisher);
@ -1275,16 +1292,29 @@ extern "C" rmw_ret_t rmw_fini_subscription_allocation(rmw_subscription_allocatio
} }
extern "C" rmw_subscription_t * rmw_create_subscription( extern "C" rmw_subscription_t * rmw_create_subscription(
const rmw_node_t * node, const rmw_node_t * node, const rosidl_message_type_support_t * type_supports,
const rosidl_message_type_support_t * type_supports, const char * topic_name, const char * topic_name, const rmw_qos_profile_t * qos_policies
const rmw_qos_profile_t * qos_policies, const rmw_subscription_options_t * subscription_options) #if RMW_VERSION_GTE(0,8,1)
, const rmw_subscription_options_t * subscription_options
#else
, bool ignore_local_publications
#endif
)
{ {
CddsSubscription * sub; CddsSubscription * sub;
rmw_subscription_t * rmw_subscription; rmw_subscription_t * rmw_subscription;
#if RMW_VERSION_GTE(0,8,1)
RET_NULL_X(subscription_options, return nullptr); RET_NULL_X(subscription_options, return nullptr);
if ((sub = #endif
create_cdds_subscription(node, type_supports, topic_name, qos_policies, if (
subscription_options->ignore_local_publications)) == nullptr) (sub = create_cdds_subscription(
node, type_supports, topic_name, qos_policies,
#if RMW_VERSION_GTE(0,8,1)
subscription_options->ignore_local_publications
#else
ignore_local_publications
#endif
)) == nullptr)
{ {
goto fail_common_init; goto fail_common_init;
} }
@ -1296,7 +1326,9 @@ extern "C" rmw_subscription_t * rmw_create_subscription(
reinterpret_cast<const char *>(rmw_allocate(strlen(topic_name) + 1)); reinterpret_cast<const char *>(rmw_allocate(strlen(topic_name) + 1));
RET_ALLOC_X(rmw_subscription->topic_name, goto fail_topic_name); RET_ALLOC_X(rmw_subscription->topic_name, goto fail_topic_name);
memcpy(const_cast<char *>(rmw_subscription->topic_name), topic_name, strlen(topic_name) + 1); memcpy(const_cast<char *>(rmw_subscription->topic_name), topic_name, strlen(topic_name) + 1);
#if RMW_VERSION_GTE(0,8,1)
rmw_subscription->options = *subscription_options; rmw_subscription->options = *subscription_options;
#endif
return rmw_subscription; return rmw_subscription;
fail_topic_name: fail_topic_name:
rmw_subscription_free(rmw_subscription); rmw_subscription_free(rmw_subscription);
@ -2577,35 +2609,38 @@ static rmw_ret_t get_cs_names_and_types_by_node(
} }
} }
std::set<dds_builtintopic_guid_t> guids; std::set<dds_builtintopic_guid_t> guids;
if (node_name != nullptr && if (
node_name != nullptr &&
(ret = get_node_guids(node_impl, node_name, node_namespace, guids)) != RMW_RET_OK) (ret = get_node_guids(node_impl, node_name, node_namespace, guids)) != RMW_RET_OK)
{ {
return ret; return ret;
} }
const auto re_tp = std::regex("^(" + std::string(ros_service_requester_prefix) + "|" + const auto re_tp = std::regex(
"^(" + std::string(ros_service_requester_prefix) + "|" +
std::string(ros_service_response_prefix) + ")(/.*)(Request|Reply)$", std::string(ros_service_response_prefix) + ")(/.*)(Request|Reply)$",
std::regex::extended); std::regex::extended);
const auto re_typ = std::regex("^(.*::)dds_::(.*)_(Response|Request)_$", std::regex::extended); const auto re_typ = std::regex("^(.*::)dds_::(.*)_(Response|Request)_$", std::regex::extended);
const auto filter_and_map = const auto filter_and_map = [re_tp, re_typ, guids, node_name, looking_for_services](
[re_tp, re_typ, guids, node_name, const dds_builtintopic_endpoint_t & sample,
looking_for_services](const dds_builtintopic_endpoint_t & sample, std::string & topic_name, std::string & topic_name, std::string & type_name) -> bool {
std::string & type_name) -> bool {
std::cmatch cm_tp, cm_typ; std::cmatch cm_tp, cm_typ;
if (node_name != nullptr && guids.count(sample.participant_key) == 0) { if (node_name != nullptr && guids.count(sample.participant_key) == 0) {
return false; return false;
} }
if (!std::regex_search(sample.topic_name, cm_tp, if (
re_tp) || !std::regex_search(sample.type_name, cm_typ, re_typ)) !std::regex_search(sample.topic_name, cm_tp, re_tp) ||
!std::regex_search(sample.type_name, cm_typ, re_typ))
{ {
return false; return false;
} else { } else {
if (looking_for_services != if (
looking_for_services !=
endpoint_is_from_service(std::string(cm_tp[3]) == "Request", sample.key)) endpoint_is_from_service(std::string(cm_tp[3]) == "Request", sample.key))
{ {
return false; return false;
} else { } else {
std::string demangled_type = std::regex_replace(std::string(cm_typ[1]), std::regex( std::string demangled_type =
"::"), "/"); std::regex_replace(std::string(cm_typ[1]), std::regex("::"), "/");
topic_name = std::string(cm_tp[2]); topic_name = std::string(cm_tp[2]);
type_name = std::string(demangled_type) + std::string(cm_typ[2]); type_name = std::string(demangled_type) + std::string(cm_typ[2]);
return true; return true;