niklas/rmw_cyclonedds
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add type names, some more introspection functions

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Almost there! Known issues:
* mangling/demangling is still wrong
* it necessarily has to run in the Cyclone default domain id: (1)
  Cyclone is today still limited to a single domain at a time; and (2)
  there is the "extra" participant that pops up here and there for
  creating guard conditions and waitsets without a node existing
* almost all query operations create a reader for a builtin topic and
  throw it away afterward, that might be a little excessive (on the other
  hand, those readers are pretty cheap, so using them as a throwaway
  reader is not so bad).

Still missing:
* get_service_names_and_types
* get_service_names_and_types_by_node

I haven't been able to actually try everything yet, so bugs are probably
lurking here-and-there.
This commit is contained in:
Erik Boasson 2019-05-21 16:05:52 +02:00
parent 24726b4685
commit f1602da3be
4 changed files with 244 additions and 151 deletions
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39
rmw_cyclonedds_cpp/src/serdata.cpp
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@ -12,6 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.
#include <vector>
#include <regex>
#include <sstream>
#include "rmw/error_handling.h"
@ -299,11 +301,46 @@ static const struct ddsi_sertopic_ops sertopic_rmw_ops = {
sertopic_rmw_free_samples
};
template<typename MembersType>
ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_LOCAL
inline std::string create_type_name (const void * untyped_members)
{
auto members = static_cast<const MembersType *> (untyped_members);
if (!members) {
RMW_SET_ERROR_MSG("members handle is null");
return "";
}
std::ostringstream ss;
std::string message_namespace (members->message_namespace_);
// Find and replace C namespace separator with C++, in case this is using C typesupport
message_namespace = std::regex_replace (message_namespace, std::regex("__"), "::");
std::string message_name (members->message_name_);
if (!message_namespace.empty ()) {
ss << message_namespace << "::";
}
ss << "dds_::" << message_name << "_";
return ss.str ();
}
static std::string get_type_name (const char *type_support_identifier, void *type_support)
{
if (using_introspection_c_typesupport (type_support_identifier)) {
auto typed_typesupport = static_cast<MessageTypeSupport_c *> (type_support);
return typed_typesupport->getName ();
} else if (using_introspection_cpp_typesupport (type_support_identifier)) {
auto typed_typesupport = static_cast<MessageTypeSupport_cpp *> (type_support);
return typed_typesupport->getName ();
} else {
return "absent";
}
}
struct sertopic_rmw *create_sertopic (const char *topicname, const char *type_support_identifier, void *type_support, bool is_request_header)
{
struct sertopic_rmw *st = new struct sertopic_rmw;
st->cpp_name = std::string (topicname);
st->cpp_type_name = std::string ("absent"); // FIXME: obviously a hack
st->cpp_type_name = get_type_name (type_support_identifier, type_support);
st->cpp_name_type_name = st->cpp_name + std::string (";") + std::string (st->cpp_type_name);
st->ops = &sertopic_rmw_ops;
st->serdata_ops = &serdata_rmw_ops;