Add compilation guards for RMW compatibility
Use CMake rmw_VERSION for conditional compilation Signed-off-by: Dan Rose <dan@digilabs.io>
This commit is contained in:
Dan Rose
eboasson
parent
94e53ce83f
commit
c51c884413
2 changed files with 64 additions and 22 deletions
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@ -72,6 +72,13 @@ ament_target_dependencies(rmw_cyclonedds_cpp
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configure_rmw_library(rmw_cyclonedds_cpp)
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target_compile_definitions(${PROJECT_NAME}
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PRIVATE
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RMW_VERSION_MAJOR=${rmw_VERSION_MAJOR}
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RMW_VERSION_MINOR=${rmw_VERSION_MINOR}
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RMW_VERSION_PATCH=${rmw_VERSION_PATCH}
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)
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# Causes the visibility macros to use dllexport rather than dllimport,
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# which is appropriate when building the dll but not consuming it.
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target_compile_definitions(${PROJECT_NAME}
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75
rmw_cyclonedds_cpp/src/rmw_node.cpp
Executable file → Normal file
75
rmw_cyclonedds_cpp/src/rmw_node.cpp
Executable file → Normal file
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@ -61,6 +61,16 @@
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#define MULTIDOMAIN 0
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#endif
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/* True if the version of RMW is at least major.minor.patch */
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#define RMW_VERSION_GTE(major, minor, patch) ( \
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major < RMW_VERSION_MAJOR ? true \
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: major > RMW_VERSION_MAJOR ? false \
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: minor < RMW_VERSION_MINOR ? true \
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: minor > RMW_VERSION_MINOR ? false \
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: patch < RMW_VERSION_PATCH ? true \
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: patch > RMW_VERSION_PATCH ? false \
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: true)
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/* Set to > 0 for printing warnings to stderr for each messages that was taken more than this many
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ms after writing */
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#define REPORT_LATE_MESSAGES 0
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@ -1088,13 +1098,18 @@ extern "C" rmw_ret_t rmw_fini_publisher_allocation(rmw_publisher_allocation_t *
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}
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extern "C" rmw_publisher_t * rmw_create_publisher(
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const rmw_node_t * node,
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const rosidl_message_type_support_t * type_supports, const char * topic_name,
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const rmw_qos_profile_t * qos_policies, const rmw_publisher_options_t * publisher_options)
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const rmw_node_t * node, const rosidl_message_type_support_t * type_supports,
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const char * topic_name, const rmw_qos_profile_t * qos_policies
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#if RMW_VERSION_GTE(0,8,1)
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, const rmw_publisher_options_t * publisher_options
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#endif
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)
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{
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CddsPublisher * pub;
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rmw_publisher_t * rmw_publisher;
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#if RMW_VERSION_GTE(0,8,1)
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RET_NULL_X(publisher_options, return nullptr);
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#endif
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if ((pub = create_cdds_publisher(node, type_supports, topic_name, qos_policies)) == nullptr) {
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goto fail_common_init;
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}
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@ -1105,7 +1120,9 @@ extern "C" rmw_publisher_t * rmw_create_publisher(
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rmw_publisher->topic_name = reinterpret_cast<char *>(rmw_allocate(strlen(topic_name) + 1));
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RET_ALLOC_X(rmw_publisher->topic_name, goto fail_topic_name);
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memcpy(const_cast<char *>(rmw_publisher->topic_name), topic_name, strlen(topic_name) + 1);
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#if RMW_VERSION_GTE(0,8,1)
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rmw_publisher->options = *publisher_options;
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#endif
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return rmw_publisher;
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fail_topic_name:
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rmw_publisher_free(rmw_publisher);
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@ -1275,16 +1292,29 @@ extern "C" rmw_ret_t rmw_fini_subscription_allocation(rmw_subscription_allocatio
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}
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extern "C" rmw_subscription_t * rmw_create_subscription(
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const rmw_node_t * node,
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const rosidl_message_type_support_t * type_supports, const char * topic_name,
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const rmw_qos_profile_t * qos_policies, const rmw_subscription_options_t * subscription_options)
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const rmw_node_t * node, const rosidl_message_type_support_t * type_supports,
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const char * topic_name, const rmw_qos_profile_t * qos_policies
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#if RMW_VERSION_GTE(0,8,1)
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, const rmw_subscription_options_t * subscription_options
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#else
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, bool ignore_local_publications
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#endif
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)
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{
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CddsSubscription * sub;
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rmw_subscription_t * rmw_subscription;
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#if RMW_VERSION_GTE(0,8,1)
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RET_NULL_X(subscription_options, return nullptr);
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if ((sub =
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create_cdds_subscription(node, type_supports, topic_name, qos_policies,
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subscription_options->ignore_local_publications)) == nullptr)
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#endif
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if (
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(sub = create_cdds_subscription(
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node, type_supports, topic_name, qos_policies,
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#if RMW_VERSION_GTE(0,8,1)
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subscription_options->ignore_local_publications
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#else
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ignore_local_publications
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#endif
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)) == nullptr)
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{
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goto fail_common_init;
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}
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@ -1296,7 +1326,9 @@ extern "C" rmw_subscription_t * rmw_create_subscription(
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reinterpret_cast<const char *>(rmw_allocate(strlen(topic_name) + 1));
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RET_ALLOC_X(rmw_subscription->topic_name, goto fail_topic_name);
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memcpy(const_cast<char *>(rmw_subscription->topic_name), topic_name, strlen(topic_name) + 1);
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#if RMW_VERSION_GTE(0,8,1)
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rmw_subscription->options = *subscription_options;
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#endif
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return rmw_subscription;
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fail_topic_name:
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rmw_subscription_free(rmw_subscription);
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@ -2577,35 +2609,38 @@ static rmw_ret_t get_cs_names_and_types_by_node(
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}
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}
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std::set<dds_builtintopic_guid_t> guids;
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if (node_name != nullptr &&
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if (
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node_name != nullptr &&
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(ret = get_node_guids(node_impl, node_name, node_namespace, guids)) != RMW_RET_OK)
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{
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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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const auto re_tp = std::regex(
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"^(" + std::string(ros_service_requester_prefix) + "|" +
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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_::(.*)_(Response|Request)_$", std::regex::extended);
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const auto filter_and_map =
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[re_tp, re_typ, guids, node_name,
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looking_for_services](const dds_builtintopic_endpoint_t & sample, std::string & topic_name,
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std::string & type_name) -> bool {
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const auto filter_and_map = [re_tp, re_typ, guids, node_name, looking_for_services](
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const dds_builtintopic_endpoint_t & sample,
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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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}
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if (!std::regex_search(sample.topic_name, cm_tp,
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re_tp) || !std::regex_search(sample.type_name, cm_typ, re_typ))
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if (
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!std::regex_search(sample.topic_name, cm_tp, re_tp) ||
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!std::regex_search(sample.type_name, cm_typ, re_typ))
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{
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return false;
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} else {
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if (looking_for_services !=
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if (
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looking_for_services !=
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endpoint_is_from_service(std::string(cm_tp[3]) == "Request", sample.key))
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{
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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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"::"), "/");
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std::string demangled_type =
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std::regex_replace(std::string(cm_typ[1]), std::regex("::"), "/");
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topic_name = std::string(cm_tp[2]);
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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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