* Block rmw_send_response if response reader unknown
The client checks using rmw_service_server_is_available whether the
request it sends will be delivered to service, but that does not imply
that the (independent, as far as DDS is concerned) response reader of
the client has been discovered by the service. Usually that will be the
case, but there is no guarantee.
Ideally DDS would offer an interface that allows checking the reverse
discovery, but that does not yet exist in either the specification or in
Cyclone. This commit works around that by delaying publishing the
response until the number of request writers matches the number of
response readers.
Signed-off-by: Erik Boasson <eb@ilities.com>
* Change request headers to use rmw_request_id_t on the wire
Signed-off-by: Erik Boasson <eb@ilities.com>
* Precise check for matched client/service
Assign a unique identifier to each client/service on creation, add it
to the USER_DATA QoS of the reader and writer and use it for the request
ids. This allows:
* rmw_service_server_is_available to only return true once it has
discovered a reader/writer pair of a single service (rather than a
reader from some service and a writer from some service); and
* rmw_send_response to block until it has discovered the requesting
client's response reader and to abandon the operation when the client
has disappeared.
The USER_DATA is formatted in the same manner as the participant
USER_DATA, this uses the keys "serviceid" and "clientid".
This is still but a workaround for having a mechanism in DDS to ensure
that the response reader has been discovered prior by the request writer
prior to sending the request.
Signed-off-by: Erik Boasson <eb@ilities.com>
* Address review comments
Signed-off-by: Erik Boasson <eb@ilities.com>
* Backwards compatibility
* Revert commit fb040c5db6c05be7698f05969f9bb48b8740f0fe to retain the
old wire representation;
* Embed the publication_handle of the request inside rmw_request_id_t,
possible because reverting to the old wire representation frees up
enough space, and use this in rmw_send_response to check for the
presence of the client's reader;
* Clients and services without a client/service id in the reader/writer
user data are treated as fully matched at all times.
* Replace ERROR by FAILURE to because of windows.h
Signed-off-by: Erik Boasson <eb@ilities.com>
* Timeout rmw_send_response after waiting 100ms for discovery
The discovery will eventually result in the client's reader being known
or its writer no longer being known, so a timeout is not necessary for
correctness. However, if it ever were to block for a longish
time (which is possible in the face of network failures), returning a
timeout to the caller is expected to result in less confusion.
Signed-off-by: Erik Boasson <eb@ilities.com>
* Make iterators "const auto &"
Signed-off-by: Erik Boasson <eb@ilities.com>
* Add TODO for eliminating rmw_send_response blocking
Signed-off-by: Erik Boasson <eb@ilities.com>
Co-authored-by: eboasson <eb@ilities.com>
* Delete superfluous/erroneous/misleading comment
Signed-off-by: Erik Boasson <eb@ilities.com>
* Check for matched endpoints in server_is_available
Signed-off-by: Erik Boasson <eb@ilities.com>
* Initialize participant on first use. Destroy participant after last node is destroyed
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
* Please linters
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
* Solve problems with guard conditions
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
* Address peer review comments
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
* Address peer review comments
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
* Used DDS_CYCLONEDDS_HANDLE to create all guard conditions
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
* Increase ref count always
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
* Add support for taking a sequence of messages
Signed-off-by: Michael Carroll <michael@openrobotics.org>
* Reorder valid messages to front of sequence
Signed-off-by: Michael Carroll <michael@openrobotics.org>
* Initialize taken value
Signed-off-by: Michael Carroll <michael@openrobotics.org>
* implement with_info version of take
Signed-off-by: Luetkebohle Ingo (CR/AEX3) <ingo.luetkebohle@de.bosch.com>
* Fix function names and signatures.
Signed-off-by: Luetkebohle Ingo (CR/AEX3) <ingo.luetkebohle@de.bosch.com>
* Return 0 on received for responses as well
Signed-off-by: Luetkebohle Ingo (CR/AEX3) <ingo.luetkebohle@de.bosch.com>
* Fill in message_info timestamps
Signed-off-by: Luetkebohle Ingo (CR/AEX3) <ingo.luetkebohle@de.bosch.com>
* Report error when timestamp cannot be obtained.
Signed-off-by: Luetkebohle Ingo (CR/AEX3) <ingo.luetkebohle@de.bosch.com>
* return 0 for received timestamp to signify lack of support
Signed-off-by: Luetkebohle Ingo (CR/AEX3) <ingo.luetkebohle@de.bosch.com>
Properly handle downstream effects of ROS_SECURITY_STRATEGY and ROS_SECURITY_ENABLE environment variables through security_options. Improve memory management and make sure to only set security qos properties when all files are sure to exist.
Add in conditional compile based on ENABLE_SECURITY make flag
and Cyclone DDS feature availability. Also addressed review
comments.
Signed-off-by: Sid Faber <sid.faber@canonical.com>
Add utility function to insert security settings to the cyclone QOS
object used to create nodes. Include a utility to find security
files and properly format their location to use with DDS.
Signed-off-by: Sid Faber <sid.faber@canonical.com>
Use the function dds_create_topic_generic for creating topic, so that
the sertopic that is actually used is referenced in the publisher.
Signed-off-by: Dennis Potman <dennis.potman@adlinktech.com>
* Events and liveliness/lifespan/deadline qos support
This commit adds support for liveliness, lifespan and deadline missed
qos in rmw, and it adds event support in rmw_wait that is required for
these qos policies to work correctly.
* Removed redundant empty check in rmw_wait, fix duration 0 vs infinity for qos getter and setter
* Disabled auto-dispose so that deadline-missed on reader is still triggered when a writer becomes not-alive and unregisters itself
1. Make CDRWriter remember its top level struct value type
2. Populate the trivially serializable cache when CDRWriter is created instead of waiting until the first time a message is sent.
3. Speed up arrays/sequences of trivially serializable structs
Signed-off-by: Dan Rose <dan@digilabs.io>
Introduce a new [[noreturn]] unreachable() function that marks code as unreachable and throws a logic error if it is executed.
Fix build error due to Windows min/max macros.
Fix linker errors from referring to a non-constexpr extern from a constexpr.
Fix warnings about narrowing conversions.
Signed-off-by: Dan Rose <dan@digilabs.io>
* Use rcutils_get_env() instead of getenv() (#71)
Signed-off-by: Erik Boasson <eb@ilities.com>
* Keep includes in alphabetical order
Signed-off-by: Erik Boasson <eb@ilities.com>
Cyclone's original code for dds_create_domain() appears to create a
domain entity that is automatically deleted when the last attached
participant disappears. In reality, it leaks a reference while
returning DDS_RETCODE_OK, making it appear as-if it is a regular entity
that remains into existence until explicitly deleted.
The RMW code assumed that it would be automatically deleted when the
last node was destroyed and that a subsequent call to rmw_create_node
could create the domain anew. This then fails with "precondition not
met".
In an upcoming fixed version of dds_create_domain() the domain entities
will behave normally (return a handle, require an explicit delete).
This commit provides a workaround for the bug in the original
implementation: by recovering the handle from the first participant the
preceding commits that were intended to future-proof the code will
ensure that the entity now gets deleted explicitly.
Signed-off-by: Erik Boasson <eb@ilities.com>
* Support localhost-only communications
Signed-off-by: Erik Boasson <eb@ilities.com>
* Future-proof localhost-only for upcoming Cyclone fix
Signed-off-by: Erik Boasson <eb@ilities.com>
