2503 lines
83 KiB
C++
2503 lines
83 KiB
C++
// 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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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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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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#include <mutex>
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#include <unordered_set>
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#include <algorithm>
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#include <map>
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#include <set>
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#include <functional>
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#include <atomic>
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#include <vector>
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#include <string>
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#include <utility>
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#include <regex>
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#include "rcutils/logging_macros.h"
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#include "rcutils/strdup.h"
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#include "rmw/allocators.h"
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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/event.h"
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#include "rmw/validate_node_name.h"
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#include "rmw/rmw.h"
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#include "rmw/sanity_checks.h"
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#include "rmw/impl/cpp/macros.hpp"
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#include "rmw_cyclonedds_cpp/MessageTypeSupport.hpp"
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#include "rmw_cyclonedds_cpp/ServiceTypeSupport.hpp"
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#include "namespace_prefix.hpp"
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#include "dds/dds.h"
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#include "dds/ddsi/ddsi_sertopic.h"
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#include "rmw_cyclonedds_cpp/serdes.hpp"
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#include "rmw_cyclonedds_cpp/serdata.hpp"
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#define RET_ERR_X(msg, code) do {RMW_SET_ERROR_MSG(msg); code;} while (0)
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#define RET_NULL_X(var, code) do {if (!var) RET_ERR_X (#var " is null", code);} while (0)
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#define RET_ALLOC_X(var, code) do {if (!var) RET_ERR_X ("failed to allocate " #var, code); \
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} while (0)
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#define RET_WRONG_IMPLID_X(var, code) do { \
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RET_NULL_X(var, code); \
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if ((var)->implementation_identifier != eclipse_cyclonedds_identifier) { \
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RET_ERR_X(#var " not from this implementation", code); \
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} \
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} while (0)
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#define RET_NULL_OR_EMPTYSTR_X(var, code) do { \
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if (!var || strlen(var) == 0) { \
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RET_ERR_X(#var " is null or empty string", code); \
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} \
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} while (0)
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#define RET_ERR(msg) RET_ERR_X(msg, return RMW_RET_ERROR)
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#define RET_NULL(var) RET_NULL_X(var, return RMW_RET_ERROR)
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#define RET_ALLOC(var) RET_ALLOC_X(var, return RMW_RET_ERROR)
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#define RET_WRONG_IMPLID(var) RET_WRONG_IMPLID_X(var, return RMW_RET_ERROR)
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#define RET_NULL_OR_EMPTYSTR(var) RET_NULL_OR_EMPTYSTR_X(var, return RMW_RET_ERROR)
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const char * const eclipse_cyclonedds_identifier = "rmw_cyclonedds_cpp";
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const char * const eclipse_cyclonedds_serialization_format = "cdr";
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/* instance handles are unsigned 64-bit integers carefully constructed to be as close to uniformly
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distributed as possible for no other reason than making them near-perfect hash keys, hence we can
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improve over the default hash function */
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struct dds_instance_handle_hash
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{
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public:
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std::size_t operator()(dds_instance_handle_t const & x) const noexcept
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{
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return static_cast<std::size_t>(x);
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}
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};
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bool operator<(dds_builtintopic_guid_t const & a, dds_builtintopic_guid_t const & b)
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{
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return memcmp(&a, &b, sizeof(dds_builtintopic_guid_t)) < 0;
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}
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static const dds_entity_t builtin_topics[] = {
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DDS_BUILTIN_TOPIC_DCPSPARTICIPANT,
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DDS_BUILTIN_TOPIC_DCPSSUBSCRIPTION,
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DDS_BUILTIN_TOPIC_DCPSPUBLICATION
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};
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struct CddsNode
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{
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dds_entity_t pp;
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dds_entity_t pub;
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dds_entity_t sub;
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rmw_guard_condition_t * graph_guard_condition;
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};
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struct CddsPublisher
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{
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dds_entity_t pubh;
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dds_instance_handle_t pubiid;
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struct ddsi_sertopic * sertopic;
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};
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struct CddsSubscription
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{
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dds_entity_t subh;
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dds_entity_t rdcondh;
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struct ddsi_sertopic * sertopic;
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};
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struct CddsCS
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{
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CddsPublisher * pub;
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CddsSubscription * sub;
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};
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struct CddsClient
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{
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CddsCS client;
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};
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struct CddsService
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{
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CddsCS service;
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};
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struct CddsGuardCondition
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{
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dds_entity_t gcondh;
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};
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struct CddsWaitset
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{
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dds_entity_t waitseth;
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std::vector<dds_attach_t> trigs;
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std::mutex lock;
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bool inuse;
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std::vector<CddsSubscription *> subs;
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std::vector<CddsGuardCondition *> gcs;
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std::vector<CddsClient *> cls;
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std::vector<CddsService *> srvs;
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};
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struct Cdds
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{
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std::mutex lock;
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uint32_t refcount;
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dds_entity_t ppant;
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dds_entity_t builtin_readers[sizeof(builtin_topics) / sizeof(builtin_topics[0])];
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/* special guard condition that gets attached to every waitset but that is never triggered:
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this way, we can avoid Cyclone's behaviour of always returning immediately when no
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entities are attached to a waitset */
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dds_entity_t gc_for_empty_waitset;
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/* set of waitsets protected by lock, used to invalidate all waitsets caches when an entity is
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deleted */
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std::unordered_set<CddsWaitset *> waitsets;
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/* set of nodes is used to trigger graph guard conditions when something changes, but that
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something also changes when creating the built-in readers when Cdds::lock is already held */
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std::mutex nodes_lock;
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std::unordered_set<CddsNode *> nodes;
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Cdds()
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: refcount(0), ppant(0) {}
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};
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static Cdds gcdds;
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static void clean_waitset_caches();
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#ifndef WIN32
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/* TODO(allenh1): check for Clang */
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#pragma GCC visibility push (default)
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#endif
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extern "C" const char * rmw_get_implementation_identifier()
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{
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return eclipse_cyclonedds_identifier;
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}
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extern "C" const char * rmw_get_serialization_format()
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{
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return eclipse_cyclonedds_serialization_format;
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}
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extern "C" rmw_ret_t rmw_set_log_severity(rmw_log_severity_t severity)
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{
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static_cast<void>(severity);
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RMW_SET_ERROR_MSG("unimplemented");
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return RMW_RET_ERROR;
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}
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extern "C" rmw_ret_t rmw_context_fini(rmw_context_t * context)
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{
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RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
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RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
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context,
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context->implementation_identifier,
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eclipse_cyclonedds_identifier,
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return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
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// context impl is explicitly supposed to be nullptr for now, see rmw_init's code
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// RCUTILS_CHECK_ARGUMENT_FOR_NULL(context->impl, RMW_RET_INVALID_ARGUMENT);
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*context = rmw_get_zero_initialized_context();
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return RMW_RET_OK;
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}
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extern "C" rmw_ret_t rmw_init_options_init(
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rmw_init_options_t * init_options,
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rcutils_allocator_t allocator)
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{
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RMW_CHECK_ARGUMENT_FOR_NULL(init_options, RMW_RET_INVALID_ARGUMENT);
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RCUTILS_CHECK_ALLOCATOR(&allocator, return RMW_RET_INVALID_ARGUMENT);
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if (NULL != init_options->implementation_identifier) {
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RMW_SET_ERROR_MSG("expected zero-initialized init_options");
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return RMW_RET_INVALID_ARGUMENT;
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}
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init_options->instance_id = 0;
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init_options->implementation_identifier = eclipse_cyclonedds_identifier;
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init_options->allocator = allocator;
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init_options->impl = nullptr;
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return RMW_RET_OK;
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}
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extern "C" rmw_ret_t rmw_init_options_copy(const rmw_init_options_t * src, rmw_init_options_t * dst)
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{
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RMW_CHECK_ARGUMENT_FOR_NULL(src, RMW_RET_INVALID_ARGUMENT);
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RMW_CHECK_ARGUMENT_FOR_NULL(dst, RMW_RET_INVALID_ARGUMENT);
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RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
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src,
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src->implementation_identifier,
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eclipse_cyclonedds_identifier,
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return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
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if (NULL != dst->implementation_identifier) {
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RMW_SET_ERROR_MSG("expected zero-initialized dst");
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return RMW_RET_INVALID_ARGUMENT;
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}
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*dst = *src;
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return RMW_RET_OK;
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}
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extern "C" rmw_ret_t rmw_init_options_fini(rmw_init_options_t * init_options)
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{
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RMW_CHECK_ARGUMENT_FOR_NULL(init_options, RMW_RET_INVALID_ARGUMENT);
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RCUTILS_CHECK_ALLOCATOR(&init_options->allocator, return RMW_RET_INVALID_ARGUMENT);
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RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
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init_options,
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init_options->implementation_identifier,
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eclipse_cyclonedds_identifier,
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return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
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*init_options = rmw_get_zero_initialized_init_options();
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return RMW_RET_OK;
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}
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extern "C" rmw_ret_t rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
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{
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static_cast<void>(options);
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static_cast<void>(context);
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RCUTILS_CHECK_ARGUMENT_FOR_NULL(options, RMW_RET_INVALID_ARGUMENT);
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RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
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RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
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options,
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options->implementation_identifier,
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eclipse_cyclonedds_identifier,
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return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
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context->instance_id = options->instance_id;
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context->implementation_identifier = eclipse_cyclonedds_identifier;
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context->impl = nullptr;
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return RMW_RET_OK;
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}
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extern "C" rmw_ret_t rmw_node_assert_liveliness(const rmw_node_t * node)
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{
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RET_WRONG_IMPLID(node);
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return RMW_RET_OK;
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}
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extern "C" rmw_ret_t rmw_shutdown(rmw_context_t * context)
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{
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RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
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RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
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context,
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context->implementation_identifier,
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eclipse_cyclonedds_identifier,
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return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
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// context impl is explicitly supposed to be nullptr for now, see rmw_init's code
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// RCUTILS_CHECK_ARGUMENT_FOR_NULL (context->impl, RMW_RET_INVALID_ARGUMENT);
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*context = rmw_get_zero_initialized_context();
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return RMW_RET_OK;
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}
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static void ggcallback(dds_entity_t rd, void * varg)
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{
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static_cast<void>(varg);
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void * msg = 0;
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dds_sample_info_t info;
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while (dds_take(rd, &msg, &info, 1, 1) > 0) {
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dds_return_loan(rd, &msg, 1);
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}
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{
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std::lock_guard<std::mutex> lock(gcdds.nodes_lock);
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for (auto && node_impl : gcdds.nodes) {
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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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}
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}
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static dds_entity_t ref_ppant()
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{
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std::lock_guard<std::mutex> lock(gcdds.lock);
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if (gcdds.refcount == 0) {
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if ((gcdds.ppant = dds_create_participant(DDS_DOMAIN_DEFAULT, nullptr, nullptr)) < 0) {
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RMW_SET_ERROR_MSG("failed to create participant");
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return gcdds.ppant;
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}
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if ((gcdds.gc_for_empty_waitset = dds_create_guardcondition(gcdds.ppant)) < 0) {
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RMW_SET_ERROR_MSG("failed to create guardcondition for handling empty waitsets");
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dds_delete(gcdds.ppant);
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gcdds.ppant = 0;
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return 0;
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}
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static_assert(sizeof(gcdds.builtin_readers) / sizeof(gcdds.builtin_readers[0]) ==
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sizeof(builtin_topics) / sizeof(builtin_topics[0]),
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"mismatch between array of built-in topics and array of built-in readers");
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dds_listener_t * gglistener = dds_create_listener(nullptr);
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dds_lset_data_available(gglistener, ggcallback);
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for (size_t i = 0; i < sizeof(builtin_topics) / sizeof(builtin_topics[0]); i++) {
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dds_entity_t rd = dds_create_reader(gcdds.ppant, builtin_topics[i], nullptr, gglistener);
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if (rd < 0) {
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RCUTILS_LOG_ERROR_NAMED("rmw_cyclonedds_cpp",
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"rmw_create_node: failed to create DDS built-in reader");
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while (i--) {
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dds_delete(gcdds.builtin_readers[i]);
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}
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dds_delete(gcdds.ppant);
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gcdds.ppant = 0;
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return 0;
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}
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gcdds.builtin_readers[i] = rd;
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}
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dds_delete_listener(gglistener);
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}
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gcdds.refcount++;
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return gcdds.ppant;
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}
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static void unref_ppant()
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{
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std::lock_guard<std::mutex> lock(gcdds.lock);
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if (--gcdds.refcount == 0) {
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dds_delete(gcdds.ppant);
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gcdds.ppant = 0;
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}
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}
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/////////////////////////////////////////////////////////////////////////////////////////
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/////////// ///////////
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/////////// NODES ///////////
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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("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(
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rmw_context_t * context, const char * name,
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const char * namespace_, size_t domain_id,
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const rmw_node_security_options_t * security_options)
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{
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static_cast<void>(context);
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RET_NULL_X(name, return nullptr);
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RET_NULL_X(namespace_, return nullptr);
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(void) domain_id;
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(void) security_options;
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rmw_ret_t ret;
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int dummy_validation_result;
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size_t dummy_invalid_index;
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if ((ret =
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rmw_validate_node_name(name, &dummy_validation_result, &dummy_invalid_index)) != RMW_RET_OK)
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{
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return nullptr;
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}
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dds_qos_t * qos = dds_create_qos();
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std::string user_data = get_node_user_data(name, namespace_);
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dds_qset_userdata(qos, user_data.c_str(), user_data.size());
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dds_entity_t pp = dds_create_participant(DDS_DOMAIN_DEFAULT, qos, nullptr);
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dds_delete_qos(qos);
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if (pp < 0) {
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RCUTILS_LOG_ERROR_NAMED("rmw_cyclonedds_cpp",
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"rmw_create_node: failed to create DDS participant");
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return nullptr;
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}
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dds_entity_t pub, sub;
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if ((pub = dds_create_publisher(pp, nullptr, nullptr)) < 0) {
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RCUTILS_LOG_ERROR_NAMED("rmw_cyclonedds_cpp",
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"rmw_create_node: failed to create DDS publisher");
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dds_delete(pp);
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return nullptr;
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}
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if ((sub = dds_create_subscriber(pp, nullptr, nullptr)) < 0) {
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RCUTILS_LOG_ERROR_NAMED("rmw_cyclonedds_cpp",
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"rmw_create_node: failed to create DDS subscriber");
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dds_delete(pp);
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return nullptr;
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}
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auto * node_impl = new CddsNode();
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rmw_node_t * node_handle = nullptr;
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RET_ALLOC_X(node_impl, goto fail_node_impl);
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rmw_guard_condition_t * graph_guard_condition;
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if (!(graph_guard_condition = rmw_create_guard_condition(context))) {
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goto fail_ggc;
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}
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node_impl->pp = pp;
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node_impl->pub = pub;
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node_impl->sub = sub;
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node_impl->graph_guard_condition = graph_guard_condition;
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{
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std::lock_guard<std::mutex> lock(gcdds.nodes_lock);
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gcdds.nodes.insert(node_impl);
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}
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/* FIXME: should there be a (potentially spurious) trigger of the graph guard condition here? */
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node_handle = rmw_node_allocate();
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RET_ALLOC_X(node_handle, goto fail_node_handle);
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node_handle->implementation_identifier = eclipse_cyclonedds_identifier;
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node_handle->data = node_impl;
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node_handle->name = static_cast<const char *>(rmw_allocate(sizeof(char) * strlen(name) + 1));
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RET_ALLOC_X(node_handle->name, goto fail_node_handle_name);
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memcpy(const_cast<char *>(node_handle->name), name, strlen(name) + 1);
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node_handle->namespace_ =
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static_cast<const char *>(rmw_allocate(sizeof(char) * strlen(namespace_) + 1));
|
|
RET_ALLOC_X(node_handle->namespace_, goto fail_node_handle_namespace);
|
|
memcpy(const_cast<char *>(node_handle->namespace_), namespace_, strlen(namespace_) + 1);
|
|
return node_handle;
|
|
|
|
#if 0
|
|
fail_add_node:
|
|
rmw_free(const_cast<char *>(node_handle->namespace_));
|
|
#endif
|
|
fail_node_handle_namespace:
|
|
rmw_free(const_cast<char *>(node_handle->name));
|
|
fail_node_handle_name:
|
|
rmw_node_free(node_handle);
|
|
fail_node_handle:
|
|
{
|
|
std::lock_guard<std::mutex> lock(gcdds.nodes_lock);
|
|
gcdds.nodes.erase(node_impl);
|
|
}
|
|
if (RMW_RET_OK != rmw_destroy_guard_condition(graph_guard_condition)) {
|
|
RCUTILS_LOG_ERROR_NAMED("rmw_cyclonedds_cpp",
|
|
"failed to destroy guard condition during error handling");
|
|
}
|
|
fail_ggc:
|
|
delete node_impl;
|
|
fail_node_impl:
|
|
dds_delete(pp);
|
|
return nullptr;
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_destroy_node(rmw_node_t * node)
|
|
{
|
|
rmw_ret_t result_ret = RMW_RET_OK;
|
|
RET_WRONG_IMPLID(node);
|
|
auto node_impl = static_cast<CddsNode *>(node->data);
|
|
RET_NULL(node_impl);
|
|
rmw_free(const_cast<char *>(node->name));
|
|
rmw_free(const_cast<char *>(node->namespace_));
|
|
rmw_node_free(node);
|
|
{
|
|
std::lock_guard<std::mutex> lock(gcdds.nodes_lock);
|
|
gcdds.nodes.erase(node_impl);
|
|
}
|
|
if (RMW_RET_OK != rmw_destroy_guard_condition(node_impl->graph_guard_condition)) {
|
|
RMW_SET_ERROR_MSG("failed to destroy graph guard condition");
|
|
result_ret = RMW_RET_ERROR;
|
|
}
|
|
if (dds_delete(node_impl->pp) < 0) {
|
|
RMW_SET_ERROR_MSG("failed to destroy DDS participant");
|
|
result_ret = RMW_RET_ERROR;
|
|
}
|
|
delete node_impl;
|
|
return result_ret;
|
|
}
|
|
|
|
extern "C" const rmw_guard_condition_t * rmw_node_get_graph_guard_condition(const rmw_node_t * node)
|
|
{
|
|
RET_WRONG_IMPLID_X(node, return nullptr);
|
|
auto node_impl = static_cast<CddsNode *>(node->data);
|
|
RET_NULL_X(node_impl, return nullptr);
|
|
return node_impl->graph_guard_condition;
|
|
}
|
|
|
|
/////////////////////////////////////////////////////////////////////////////////////////
|
|
/////////// ///////////
|
|
/////////// (DE)SERIALIZATION ///////////
|
|
/////////// ///////////
|
|
/////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
using MessageTypeSupport_c =
|
|
rmw_cyclonedds_cpp::MessageTypeSupport<rosidl_typesupport_introspection_c__MessageMembers>;
|
|
using MessageTypeSupport_cpp =
|
|
rmw_cyclonedds_cpp::MessageTypeSupport<rosidl_typesupport_introspection_cpp::MessageMembers>;
|
|
|
|
extern "C" rmw_ret_t rmw_get_serialized_message_size(
|
|
const rosidl_message_type_support_t * type_support,
|
|
const rosidl_message_bounds_t * message_bounds, size_t * size)
|
|
{
|
|
static_cast<void>(type_support);
|
|
static_cast<void>(message_bounds);
|
|
static_cast<void>(size);
|
|
RMW_SET_ERROR_MSG("rmw_get_serialized_message_size: unimplemented");
|
|
return RMW_RET_ERROR;
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_serialize(
|
|
const void * ros_message,
|
|
const rosidl_message_type_support_t * type_support,
|
|
rmw_serialized_message_t * serialized_message)
|
|
{
|
|
std::vector<unsigned char> data;
|
|
cycser sd(data);
|
|
rmw_ret_t ret;
|
|
const rosidl_message_type_support_t * ts;
|
|
if ((ts =
|
|
get_message_typesupport_handle(type_support,
|
|
rosidl_typesupport_introspection_c__identifier)) != nullptr)
|
|
{
|
|
auto members =
|
|
static_cast<const rosidl_typesupport_introspection_c__MessageMembers *>(ts->data);
|
|
MessageTypeSupport_c msgts(members);
|
|
msgts.serializeROSmessage(ros_message, sd, nullptr);
|
|
} else {
|
|
if ((ts =
|
|
get_message_typesupport_handle(type_support,
|
|
rosidl_typesupport_introspection_cpp::typesupport_identifier)) != nullptr)
|
|
{
|
|
auto members =
|
|
static_cast<const rosidl_typesupport_introspection_cpp::MessageMembers *>(ts->data);
|
|
MessageTypeSupport_cpp msgts(members);
|
|
msgts.serializeROSmessage(ros_message, sd, nullptr);
|
|
} else {
|
|
RMW_SET_ERROR_MSG("rmw_serialize: type support trouble");
|
|
return RMW_RET_ERROR;
|
|
}
|
|
}
|
|
/* FIXME: what about the header - should be included or not? */
|
|
if ((ret = rmw_serialized_message_resize(serialized_message, data.size())) != RMW_RET_OK) {
|
|
return ret;
|
|
}
|
|
memcpy(serialized_message->buffer, data.data(), data.size());
|
|
serialized_message->buffer_length = data.size();
|
|
return RMW_RET_OK;
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_deserialize(
|
|
const rmw_serialized_message_t * serialized_message,
|
|
const rosidl_message_type_support_t * type_support,
|
|
void * ros_message)
|
|
{
|
|
cycdeser sd(serialized_message->buffer, serialized_message->buffer_length);
|
|
bool ok;
|
|
const rosidl_message_type_support_t * ts;
|
|
if ((ts =
|
|
get_message_typesupport_handle(type_support,
|
|
rosidl_typesupport_introspection_c__identifier)) != nullptr)
|
|
{
|
|
auto members =
|
|
static_cast<const rosidl_typesupport_introspection_c__MessageMembers *>(ts->data);
|
|
MessageTypeSupport_c msgts(members);
|
|
ok = msgts.deserializeROSmessage(sd, ros_message, nullptr);
|
|
} else {
|
|
if ((ts =
|
|
get_message_typesupport_handle(type_support,
|
|
rosidl_typesupport_introspection_cpp::typesupport_identifier)) != nullptr)
|
|
{
|
|
auto members =
|
|
static_cast<const rosidl_typesupport_introspection_cpp::MessageMembers *>(ts->data);
|
|
MessageTypeSupport_cpp msgts(members);
|
|
ok = msgts.deserializeROSmessage(sd, ros_message, nullptr);
|
|
} else {
|
|
RMW_SET_ERROR_MSG("rmw_serialize: type support trouble");
|
|
return RMW_RET_ERROR;
|
|
}
|
|
}
|
|
return ok ? RMW_RET_OK : RMW_RET_ERROR;
|
|
}
|
|
|
|
/////////////////////////////////////////////////////////////////////////////////////////
|
|
/////////// ///////////
|
|
/////////// PUBLICATIONS ///////////
|
|
/////////// ///////////
|
|
/////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
extern "C" rmw_ret_t rmw_publish(
|
|
const rmw_publisher_t * publisher, const void * ros_message,
|
|
rmw_publisher_allocation_t * allocation)
|
|
{
|
|
static_cast<void>(allocation); // unused
|
|
RET_WRONG_IMPLID(publisher);
|
|
RET_NULL(ros_message);
|
|
auto pub = static_cast<CddsPublisher *>(publisher->data);
|
|
assert(pub);
|
|
if (dds_write(pub->pubh, ros_message) >= 0) {
|
|
return RMW_RET_OK;
|
|
} else {
|
|
RMW_SET_ERROR_MSG("failed to publish data");
|
|
return RMW_RET_ERROR;
|
|
}
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_publish_serialized_message(
|
|
const rmw_publisher_t * publisher,
|
|
const rmw_serialized_message_t * serialized_message, rmw_publisher_allocation_t * allocation)
|
|
{
|
|
static_cast<void>(allocation); // unused
|
|
RET_WRONG_IMPLID(publisher);
|
|
RET_NULL(serialized_message);
|
|
auto pub = static_cast<CddsPublisher *>(publisher->data);
|
|
struct ddsi_serdata * d = serdata_rmw_from_serialized_message(pub->sertopic,
|
|
serialized_message->buffer,
|
|
serialized_message->buffer_length);
|
|
const bool ok = (dds_writecdr(pub->pubh, d) >= 0);
|
|
return ok ? RMW_RET_OK : RMW_RET_ERROR;
|
|
}
|
|
|
|
static const rosidl_message_type_support_t * get_typesupport(
|
|
const rosidl_message_type_support_t * type_supports)
|
|
{
|
|
const rosidl_message_type_support_t * ts;
|
|
if ((ts =
|
|
get_message_typesupport_handle(type_supports,
|
|
rosidl_typesupport_introspection_c__identifier)) != nullptr)
|
|
{
|
|
return ts;
|
|
} else {
|
|
if ((ts =
|
|
get_message_typesupport_handle(type_supports,
|
|
rosidl_typesupport_introspection_cpp::typesupport_identifier)) != nullptr)
|
|
{
|
|
return ts;
|
|
} else {
|
|
RMW_SET_ERROR_MSG("type support not from this implementation");
|
|
return nullptr;
|
|
}
|
|
}
|
|
}
|
|
|
|
static std::string make_fqtopic(
|
|
const char * prefix, const char * topic_name, const char * suffix,
|
|
bool avoid_ros_namespace_conventions)
|
|
{
|
|
if (avoid_ros_namespace_conventions) {
|
|
return std::string(topic_name) + "__" + std::string(suffix);
|
|
} else {
|
|
return std::string(prefix) + std::string(topic_name) + std::string(suffix);
|
|
}
|
|
}
|
|
|
|
static std::string make_fqtopic(
|
|
const char * prefix, const char * topic_name, const char * suffix,
|
|
const rmw_qos_profile_t * qos_policies)
|
|
{
|
|
return make_fqtopic(prefix, topic_name, suffix, qos_policies->avoid_ros_namespace_conventions);
|
|
}
|
|
|
|
static dds_qos_t * create_readwrite_qos(
|
|
const rmw_qos_profile_t * qos_policies,
|
|
bool ignore_local_publications)
|
|
{
|
|
dds_qos_t * qos = dds_create_qos();
|
|
switch (qos_policies->history) {
|
|
case RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT:
|
|
case RMW_QOS_POLICY_HISTORY_UNKNOWN:
|
|
case RMW_QOS_POLICY_HISTORY_KEEP_LAST:
|
|
if (qos_policies->depth == RMW_QOS_POLICY_DEPTH_SYSTEM_DEFAULT) {
|
|
dds_qset_history(qos, DDS_HISTORY_KEEP_LAST, 1);
|
|
} else {
|
|
if (qos_policies->depth < 1 || qos_policies->depth > INT32_MAX) {
|
|
RMW_SET_ERROR_MSG("unsupported history depth");
|
|
dds_delete_qos(qos);
|
|
return nullptr;
|
|
}
|
|
dds_qset_history(qos, DDS_HISTORY_KEEP_LAST, static_cast<uint32_t>(qos_policies->depth));
|
|
}
|
|
break;
|
|
case RMW_QOS_POLICY_HISTORY_KEEP_ALL:
|
|
dds_qset_history(qos, DDS_HISTORY_KEEP_ALL, DDS_LENGTH_UNLIMITED);
|
|
break;
|
|
}
|
|
switch (qos_policies->reliability) {
|
|
case RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT:
|
|
case RMW_QOS_POLICY_RELIABILITY_UNKNOWN:
|
|
case RMW_QOS_POLICY_RELIABILITY_RELIABLE:
|
|
dds_qset_reliability(qos, DDS_RELIABILITY_RELIABLE, DDS_INFINITY);
|
|
break;
|
|
case RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT:
|
|
dds_qset_reliability(qos, DDS_RELIABILITY_BEST_EFFORT, 0);
|
|
break;
|
|
}
|
|
switch (qos_policies->durability) {
|
|
case RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT:
|
|
case RMW_QOS_POLICY_DURABILITY_UNKNOWN:
|
|
case RMW_QOS_POLICY_DURABILITY_VOLATILE:
|
|
dds_qset_durability(qos, DDS_DURABILITY_VOLATILE);
|
|
break;
|
|
case RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:
|
|
dds_qset_durability(qos, DDS_DURABILITY_TRANSIENT_LOCAL);
|
|
break;
|
|
}
|
|
/* deadline, lifespan, liveliness are not yet supported */
|
|
if (ignore_local_publications) {
|
|
dds_qset_ignorelocal(qos, DDS_IGNORELOCAL_PARTICIPANT);
|
|
}
|
|
return qos;
|
|
}
|
|
|
|
static bool get_readwrite_qos(dds_entity_t handle, rmw_qos_profile_t * qos_policies)
|
|
{
|
|
dds_qos_t * qos = dds_create_qos();
|
|
if (dds_get_qos(handle, qos) < 0) {
|
|
RMW_SET_ERROR_MSG("get_readwrite_qos: invalid handle");
|
|
goto error;
|
|
}
|
|
|
|
{
|
|
dds_history_kind_t kind;
|
|
int32_t depth;
|
|
if (!dds_qget_history(qos, &kind, &depth)) {
|
|
RMW_SET_ERROR_MSG("get_readwrite_qos: history not set");
|
|
goto error;
|
|
}
|
|
switch (kind) {
|
|
case DDS_HISTORY_KEEP_LAST:
|
|
qos_policies->history = RMW_QOS_POLICY_HISTORY_KEEP_LAST;
|
|
qos_policies->depth = (uint32_t) depth;
|
|
break;
|
|
case DDS_HISTORY_KEEP_ALL:
|
|
qos_policies->history = RMW_QOS_POLICY_HISTORY_KEEP_ALL;
|
|
qos_policies->depth = (uint32_t) depth;
|
|
break;
|
|
}
|
|
}
|
|
|
|
{
|
|
dds_reliability_kind_t kind;
|
|
dds_duration_t max_blocking_time;
|
|
if (!dds_qget_reliability(qos, &kind, &max_blocking_time)) {
|
|
RMW_SET_ERROR_MSG("get_readwrite_qos: history not set");
|
|
goto error;
|
|
}
|
|
switch (kind) {
|
|
case DDS_RELIABILITY_BEST_EFFORT:
|
|
qos_policies->reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
|
|
break;
|
|
case DDS_RELIABILITY_RELIABLE:
|
|
qos_policies->reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
|
|
break;
|
|
}
|
|
}
|
|
|
|
{
|
|
dds_durability_kind_t kind;
|
|
if (!dds_qget_durability(qos, &kind)) {
|
|
RMW_SET_ERROR_MSG("get_readwrite_qos: durability not set");
|
|
goto error;
|
|
}
|
|
switch (kind) {
|
|
case DDS_DURABILITY_VOLATILE:
|
|
qos_policies->durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
|
|
break;
|
|
case DDS_DURABILITY_TRANSIENT_LOCAL:
|
|
qos_policies->durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
|
|
break;
|
|
case DDS_DURABILITY_TRANSIENT:
|
|
case DDS_DURABILITY_PERSISTENT:
|
|
qos_policies->durability = RMW_QOS_POLICY_DURABILITY_UNKNOWN;
|
|
break;
|
|
}
|
|
}
|
|
|
|
{
|
|
dds_duration_t deadline;
|
|
if (!dds_qget_deadline(qos, &deadline)) {
|
|
RMW_SET_ERROR_MSG("get_readwrite_qos: deadline not set");
|
|
goto error;
|
|
}
|
|
if (deadline == DDS_INFINITY) {
|
|
qos_policies->deadline.sec = qos_policies->deadline.nsec = 0;
|
|
} else {
|
|
qos_policies->deadline.sec = (uint64_t) deadline / 1000000000;
|
|
qos_policies->deadline.nsec = (uint64_t) deadline % 1000000000;
|
|
}
|
|
}
|
|
|
|
{
|
|
dds_duration_t lifespan;
|
|
if (!dds_qget_lifespan(qos, &lifespan)) {
|
|
lifespan = DDS_INFINITY;
|
|
}
|
|
if (lifespan == DDS_INFINITY) {
|
|
qos_policies->lifespan.sec = qos_policies->lifespan.nsec = 0;
|
|
} else {
|
|
qos_policies->lifespan.sec = (uint64_t) lifespan / 1000000000;
|
|
qos_policies->lifespan.nsec = (uint64_t) lifespan % 1000000000;
|
|
}
|
|
}
|
|
|
|
{
|
|
dds_liveliness_kind_t kind;
|
|
dds_duration_t lease_duration;
|
|
if (!dds_qget_liveliness(qos, &kind, &lease_duration)) {
|
|
RMW_SET_ERROR_MSG("get_readwrite_qos: liveliness not set");
|
|
goto error;
|
|
}
|
|
switch (kind) {
|
|
case DDS_LIVELINESS_AUTOMATIC:
|
|
qos_policies->liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
|
|
break;
|
|
case DDS_LIVELINESS_MANUAL_BY_PARTICIPANT:
|
|
qos_policies->liveliness = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE;
|
|
break;
|
|
case DDS_LIVELINESS_MANUAL_BY_TOPIC:
|
|
qos_policies->liveliness = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC;
|
|
break;
|
|
}
|
|
if (lease_duration == DDS_INFINITY) {
|
|
qos_policies->liveliness_lease_duration.sec = qos_policies->liveliness_lease_duration.nsec =
|
|
0;
|
|
} else {
|
|
qos_policies->liveliness_lease_duration.sec = (uint64_t) lease_duration / 1000000000;
|
|
qos_policies->liveliness_lease_duration.nsec = (uint64_t) lease_duration % 1000000000;
|
|
}
|
|
}
|
|
|
|
dds_delete_qos(qos);
|
|
return true;
|
|
error:
|
|
dds_delete_qos(qos);
|
|
return false;
|
|
}
|
|
|
|
static CddsPublisher * create_cdds_publisher(
|
|
const rmw_node_t * node,
|
|
const rosidl_message_type_support_t * type_supports,
|
|
const char * topic_name,
|
|
const rmw_qos_profile_t * qos_policies)
|
|
{
|
|
RET_WRONG_IMPLID_X(node, return nullptr);
|
|
RET_NULL_OR_EMPTYSTR_X(topic_name, return nullptr);
|
|
RET_NULL_X(qos_policies, return nullptr);
|
|
auto node_impl = static_cast<CddsNode *>(node->data);
|
|
RET_NULL_X(node_impl, return nullptr);
|
|
const rosidl_message_type_support_t * type_support = get_typesupport(type_supports);
|
|
RET_NULL_X(type_support, return nullptr);
|
|
CddsPublisher * pub = new CddsPublisher();
|
|
dds_entity_t topic;
|
|
dds_qos_t * qos;
|
|
|
|
std::string fqtopic_name = make_fqtopic(ros_topic_prefix, topic_name, "", qos_policies);
|
|
|
|
auto sertopic = create_sertopic(
|
|
fqtopic_name.c_str(), type_support->typesupport_identifier,
|
|
create_message_type_support(type_support->data, type_support->typesupport_identifier), false);
|
|
if ((topic =
|
|
dds_create_topic_arbitrary(node_impl->pp, sertopic, nullptr, nullptr, nullptr)) < 0)
|
|
{
|
|
RMW_SET_ERROR_MSG("failed to create topic");
|
|
goto fail_topic;
|
|
}
|
|
if ((qos = create_readwrite_qos(qos_policies, false)) == nullptr) {
|
|
goto fail_qos;
|
|
}
|
|
if ((pub->pubh = dds_create_writer(node_impl->pub, topic, qos, nullptr)) < 0) {
|
|
RMW_SET_ERROR_MSG("failed to create writer");
|
|
goto fail_writer;
|
|
}
|
|
if (dds_get_instance_handle(pub->pubh, &pub->pubiid) < 0) {
|
|
RMW_SET_ERROR_MSG("failed to get instance handle for writer");
|
|
goto fail_instance_handle;
|
|
}
|
|
/* FIXME: not guaranteed that "topic" will refer to "sertopic" because topic might have been
|
|
created earlier, but the two are equivalent, so this'll do */
|
|
pub->sertopic = sertopic;
|
|
dds_delete_qos(qos);
|
|
dds_delete(topic);
|
|
return pub;
|
|
|
|
fail_instance_handle:
|
|
if (dds_delete(pub->pubh) < 0) {
|
|
RCUTILS_LOG_ERROR_NAMED("rmw_cyclonedds_cpp", "failed to destroy writer during error handling");
|
|
}
|
|
fail_writer:
|
|
dds_delete_qos(qos);
|
|
fail_qos:
|
|
dds_delete(topic);
|
|
fail_topic:
|
|
delete pub;
|
|
return nullptr;
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_init_publisher_allocation(
|
|
const rosidl_message_type_support_t * type_support,
|
|
const rosidl_message_bounds_t * message_bounds, rmw_publisher_allocation_t * allocation)
|
|
{
|
|
static_cast<void>(type_support);
|
|
static_cast<void>(message_bounds);
|
|
static_cast<void>(allocation);
|
|
RMW_SET_ERROR_MSG("rmw_init_publisher_allocation: unimplemented");
|
|
return RMW_RET_ERROR;
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_fini_publisher_allocation(rmw_publisher_allocation_t * allocation)
|
|
{
|
|
static_cast<void>(allocation);
|
|
RMW_SET_ERROR_MSG("rmw_fini_publisher_allocation: unimplemented");
|
|
return RMW_RET_ERROR;
|
|
}
|
|
|
|
extern "C" rmw_publisher_t * rmw_create_publisher(
|
|
const rmw_node_t * node,
|
|
const rosidl_message_type_support_t * type_supports, const char * topic_name,
|
|
const rmw_qos_profile_t * qos_policies)
|
|
{
|
|
CddsPublisher * pub;
|
|
rmw_publisher_t * rmw_publisher;
|
|
if ((pub = create_cdds_publisher(node, type_supports, topic_name, qos_policies)) == nullptr) {
|
|
goto fail_common_init;
|
|
}
|
|
rmw_publisher = rmw_publisher_allocate();
|
|
RET_ALLOC_X(rmw_publisher, goto fail_publisher);
|
|
rmw_publisher->implementation_identifier = eclipse_cyclonedds_identifier;
|
|
rmw_publisher->data = pub;
|
|
rmw_publisher->topic_name = reinterpret_cast<char *>(rmw_allocate(strlen(topic_name) + 1));
|
|
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);
|
|
return rmw_publisher;
|
|
fail_topic_name:
|
|
rmw_publisher_free(rmw_publisher);
|
|
fail_publisher:
|
|
if (dds_delete(pub->pubh) < 0) {
|
|
RCUTILS_LOG_ERROR_NAMED("rmw_cyclonedds_cpp", "failed to delete writer during error handling");
|
|
}
|
|
delete pub;
|
|
fail_common_init:
|
|
return nullptr;
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_get_gid_for_publisher(const rmw_publisher_t * publisher, rmw_gid_t * gid)
|
|
{
|
|
RET_WRONG_IMPLID(publisher);
|
|
RET_NULL(gid);
|
|
auto pub = static_cast<const CddsPublisher *>(publisher->data);
|
|
RET_NULL(pub);
|
|
gid->implementation_identifier = eclipse_cyclonedds_identifier;
|
|
memset(gid->data, 0, sizeof(gid->data));
|
|
assert(sizeof(pub->pubiid) <= sizeof(gid->data));
|
|
memcpy(gid->data, &pub->pubiid, sizeof(pub->pubiid));
|
|
return RMW_RET_OK;
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_compare_gids_equal(
|
|
const rmw_gid_t * gid1, const rmw_gid_t * gid2,
|
|
bool * result)
|
|
{
|
|
RET_WRONG_IMPLID(gid1);
|
|
RET_WRONG_IMPLID(gid2);
|
|
RET_NULL(result);
|
|
/* alignment is potentially lost because of the translation to an array of bytes, so use
|
|
memcmp instead of a simple integer comparison */
|
|
*result = memcmp(gid1->data, gid2->data, sizeof(gid1->data)) == 0;
|
|
return RMW_RET_OK;
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_publisher_count_matched_subscriptions(
|
|
const rmw_publisher_t * publisher,
|
|
size_t * subscription_count)
|
|
{
|
|
RET_WRONG_IMPLID(publisher);
|
|
auto pub = static_cast<CddsPublisher *>(publisher->data);
|
|
dds_publication_matched_status_t status;
|
|
if (dds_get_publication_matched_status(pub->pubh, &status) < 0) {
|
|
return RMW_RET_ERROR;
|
|
} else {
|
|
*subscription_count = status.current_count;
|
|
return RMW_RET_OK;
|
|
}
|
|
}
|
|
|
|
rmw_ret_t rmw_publisher_assert_liveliness(const rmw_publisher_t * publisher)
|
|
{
|
|
RET_WRONG_IMPLID(publisher);
|
|
return RMW_RET_OK;
|
|
}
|
|
|
|
rmw_ret_t rmw_publisher_get_actual_qos(const rmw_publisher_t * publisher, rmw_qos_profile_t * qos)
|
|
{
|
|
RET_NULL(qos);
|
|
RET_WRONG_IMPLID(publisher);
|
|
auto pub = static_cast<CddsPublisher *>(publisher->data);
|
|
if (get_readwrite_qos(pub->pubh, qos)) {
|
|
return RMW_RET_OK;
|
|
} else {
|
|
return RMW_RET_ERROR;
|
|
}
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_destroy_publisher(rmw_node_t * node, rmw_publisher_t * publisher)
|
|
{
|
|
RET_WRONG_IMPLID(node);
|
|
RET_WRONG_IMPLID(publisher);
|
|
auto pub = static_cast<CddsPublisher *>(publisher->data);
|
|
if (pub != nullptr) {
|
|
if (dds_delete(pub->pubh) < 0) {
|
|
RMW_SET_ERROR_MSG("failed to delete writer");
|
|
}
|
|
ddsi_sertopic_unref(pub->sertopic);
|
|
delete pub;
|
|
}
|
|
rmw_free(const_cast<char *>(publisher->topic_name));
|
|
publisher->topic_name = nullptr;
|
|
rmw_publisher_free(publisher);
|
|
return RMW_RET_OK;
|
|
}
|
|
|
|
/////////////////////////////////////////////////////////////////////////////////////////
|
|
/////////// ///////////
|
|
/////////// SUBSCRIPTIONS ///////////
|
|
/////////// ///////////
|
|
/////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
static CddsSubscription * create_cdds_subscription(
|
|
const rmw_node_t * node,
|
|
const rosidl_message_type_support_t * type_supports, const char * topic_name,
|
|
const rmw_qos_profile_t * qos_policies, bool ignore_local_publications)
|
|
{
|
|
RET_WRONG_IMPLID_X(node, return nullptr);
|
|
RET_NULL_OR_EMPTYSTR_X(topic_name, return nullptr);
|
|
RET_NULL_X(qos_policies, return nullptr);
|
|
auto node_impl = static_cast<CddsNode *>(node->data);
|
|
RET_NULL_X(node_impl, return nullptr);
|
|
const rosidl_message_type_support_t * type_support = get_typesupport(type_supports);
|
|
RET_NULL_X(type_support, return nullptr);
|
|
CddsSubscription * sub = new CddsSubscription();
|
|
dds_entity_t topic;
|
|
dds_qos_t * qos;
|
|
|
|
std::string fqtopic_name = make_fqtopic(ros_topic_prefix, topic_name, "", qos_policies);
|
|
|
|
auto sertopic = create_sertopic(
|
|
fqtopic_name.c_str(), type_support->typesupport_identifier,
|
|
create_message_type_support(type_support->data, type_support->typesupport_identifier), false);
|
|
if ((topic =
|
|
dds_create_topic_arbitrary(node_impl->pp, sertopic, nullptr, nullptr, nullptr)) < 0)
|
|
{
|
|
RMW_SET_ERROR_MSG("failed to create topic");
|
|
goto fail_topic;
|
|
}
|
|
if ((qos = create_readwrite_qos(qos_policies, ignore_local_publications)) == nullptr) {
|
|
goto fail_qos;
|
|
}
|
|
if ((sub->subh = dds_create_reader(node_impl->sub, topic, qos, nullptr)) < 0) {
|
|
RMW_SET_ERROR_MSG("failed to create reader");
|
|
goto fail_reader;
|
|
}
|
|
if ((sub->rdcondh = dds_create_readcondition(sub->subh, DDS_ANY_STATE)) < 0) {
|
|
RMW_SET_ERROR_MSG("failed to create readcondition");
|
|
goto fail_readcond;
|
|
}
|
|
/* FIXME: not guaranteed that "topic" will refer to "sertopic" because topic might have been
|
|
created earlier, but the two are equivalent, so this'll do */
|
|
sub->sertopic = sertopic;
|
|
dds_delete_qos(qos);
|
|
dds_delete(topic);
|
|
return sub;
|
|
fail_readcond:
|
|
if (dds_delete(sub->subh) < 0) {
|
|
RCUTILS_LOG_ERROR_NAMED("rmw_cyclonedds_cpp", "failed to delete reader during error handling");
|
|
}
|
|
fail_reader:
|
|
dds_delete_qos(qos);
|
|
fail_qos:
|
|
dds_delete(topic);
|
|
fail_topic:
|
|
delete sub;
|
|
return nullptr;
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_init_subscription_allocation(
|
|
const rosidl_message_type_support_t * type_support,
|
|
const rosidl_message_bounds_t * message_bounds, rmw_subscription_allocation_t * allocation)
|
|
{
|
|
static_cast<void>(type_support);
|
|
static_cast<void>(message_bounds);
|
|
static_cast<void>(allocation);
|
|
RMW_SET_ERROR_MSG("rmw_init_subscription_allocation: unimplemented");
|
|
return RMW_RET_ERROR;
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_fini_subscription_allocation(rmw_subscription_allocation_t * allocation)
|
|
{
|
|
static_cast<void>(allocation);
|
|
RMW_SET_ERROR_MSG("rmw_fini_subscription_allocation: unimplemented");
|
|
return RMW_RET_ERROR;
|
|
}
|
|
|
|
extern "C" rmw_subscription_t * rmw_create_subscription(
|
|
const rmw_node_t * node,
|
|
const rosidl_message_type_support_t * type_supports, const char * topic_name,
|
|
const rmw_qos_profile_t * qos_policies, bool ignore_local_publications)
|
|
{
|
|
CddsSubscription * sub;
|
|
rmw_subscription_t * rmw_subscription;
|
|
if ((sub =
|
|
create_cdds_subscription(node, type_supports, topic_name, qos_policies,
|
|
ignore_local_publications)) == nullptr)
|
|
{
|
|
goto fail_common_init;
|
|
}
|
|
rmw_subscription = rmw_subscription_allocate();
|
|
RET_ALLOC_X(rmw_subscription, goto fail_subscription);
|
|
rmw_subscription->implementation_identifier = eclipse_cyclonedds_identifier;
|
|
rmw_subscription->data = sub;
|
|
rmw_subscription->topic_name =
|
|
reinterpret_cast<const char *>(rmw_allocate(strlen(topic_name) + 1));
|
|
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);
|
|
return rmw_subscription;
|
|
fail_topic_name:
|
|
rmw_subscription_free(rmw_subscription);
|
|
fail_subscription:
|
|
if (dds_delete(sub->rdcondh) < 0) {
|
|
RCUTILS_LOG_ERROR_NAMED("rmw_cyclonedds_cpp",
|
|
"failed to delete readcondition during error handling");
|
|
}
|
|
if (dds_delete(sub->subh) < 0) {
|
|
RCUTILS_LOG_ERROR_NAMED("rmw_cyclonedds_cpp", "failed to delete reader during error handling");
|
|
}
|
|
delete sub;
|
|
fail_common_init:
|
|
return nullptr;
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_subscription_count_matched_publishers(
|
|
const rmw_subscription_t * subscription, size_t * publisher_count)
|
|
{
|
|
RET_WRONG_IMPLID(subscription);
|
|
auto sub = static_cast<CddsSubscription *>(subscription->data);
|
|
dds_subscription_matched_status_t status;
|
|
if (dds_get_subscription_matched_status(sub->subh, &status) < 0) {
|
|
return RMW_RET_ERROR;
|
|
} else {
|
|
*publisher_count = status.current_count;
|
|
return RMW_RET_OK;
|
|
}
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_subscription_get_actual_qos(
|
|
const rmw_subscription_t * subscription,
|
|
rmw_qos_profile_t * qos)
|
|
{
|
|
RET_NULL(qos);
|
|
RET_WRONG_IMPLID(subscription);
|
|
auto sub = static_cast<CddsSubscription *>(subscription->data);
|
|
if (get_readwrite_qos(sub->subh, qos)) {
|
|
return RMW_RET_OK;
|
|
} else {
|
|
return RMW_RET_ERROR;
|
|
}
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_destroy_subscription(rmw_node_t * node, rmw_subscription_t * subscription)
|
|
{
|
|
RET_WRONG_IMPLID(node);
|
|
RET_WRONG_IMPLID(subscription);
|
|
auto sub = static_cast<CddsSubscription *>(subscription->data);
|
|
if (sub != nullptr) {
|
|
clean_waitset_caches();
|
|
if (dds_delete(sub->rdcondh) < 0) {
|
|
RMW_SET_ERROR_MSG("failed to delete readcondition");
|
|
}
|
|
if (dds_delete(sub->subh) < 0) {
|
|
RMW_SET_ERROR_MSG("failed to delete reader");
|
|
}
|
|
ddsi_sertopic_unref(sub->sertopic);
|
|
delete sub;
|
|
}
|
|
rmw_free(const_cast<char *>(subscription->topic_name));
|
|
subscription->topic_name = nullptr;
|
|
rmw_subscription_free(subscription);
|
|
return RMW_RET_OK;
|
|
}
|
|
|
|
static rmw_ret_t rmw_take_int(
|
|
const rmw_subscription_t * subscription, void * ros_message,
|
|
bool * taken, rmw_message_info_t * message_info)
|
|
{
|
|
RET_NULL(taken);
|
|
RET_NULL(ros_message);
|
|
RET_WRONG_IMPLID(subscription);
|
|
CddsSubscription * sub = static_cast<CddsSubscription *>(subscription->data);
|
|
RET_NULL(sub);
|
|
dds_sample_info_t info;
|
|
while (dds_take(sub->subh, &ros_message, &info, 1, 1) == 1) {
|
|
if (info.valid_data) {
|
|
if (message_info) {
|
|
message_info->publisher_gid.implementation_identifier = eclipse_cyclonedds_identifier;
|
|
memset(message_info->publisher_gid.data, 0, sizeof(message_info->publisher_gid.data));
|
|
assert(sizeof(info.publication_handle) <= sizeof(message_info->publisher_gid.data));
|
|
memcpy(message_info->publisher_gid.data, &info.publication_handle,
|
|
sizeof(info.publication_handle));
|
|
}
|
|
*taken = true;
|
|
return RMW_RET_OK;
|
|
}
|
|
}
|
|
*taken = false;
|
|
return RMW_RET_OK;
|
|
}
|
|
|
|
static rmw_ret_t rmw_take_ser_int(
|
|
const rmw_subscription_t * subscription,
|
|
rmw_serialized_message_t * serialized_message, bool * taken,
|
|
rmw_message_info_t * message_info)
|
|
{
|
|
RET_NULL(taken);
|
|
RET_NULL(serialized_message);
|
|
RET_WRONG_IMPLID(subscription);
|
|
CddsSubscription * sub = static_cast<CddsSubscription *>(subscription->data);
|
|
RET_NULL(sub);
|
|
dds_sample_info_t info;
|
|
struct ddsi_serdata * dcmn;
|
|
while (dds_takecdr(sub->subh, &dcmn, 1, &info, DDS_ANY_STATE) == 1) {
|
|
if (info.valid_data) {
|
|
if (message_info) {
|
|
message_info->publisher_gid.implementation_identifier = eclipse_cyclonedds_identifier;
|
|
memset(message_info->publisher_gid.data, 0, sizeof(message_info->publisher_gid.data));
|
|
assert(sizeof(info.publication_handle) <= sizeof(message_info->publisher_gid.data));
|
|
memcpy(message_info->publisher_gid.data, &info.publication_handle,
|
|
sizeof(info.publication_handle));
|
|
}
|
|
auto d = static_cast<struct serdata_rmw *>(dcmn);
|
|
/* FIXME: what about the header - should be included or not? */
|
|
if (rmw_serialized_message_resize(serialized_message, d->data.size()) != RMW_RET_OK) {
|
|
ddsi_serdata_unref(dcmn);
|
|
*taken = false;
|
|
return RMW_RET_ERROR;
|
|
}
|
|
memcpy(serialized_message->buffer, d->data.data(), d->data.size());
|
|
serialized_message->buffer_length = d->data.size();
|
|
ddsi_serdata_unref(dcmn);
|
|
*taken = true;
|
|
return RMW_RET_OK;
|
|
}
|
|
ddsi_serdata_unref(dcmn);
|
|
}
|
|
*taken = false;
|
|
return RMW_RET_OK;
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_take(
|
|
const rmw_subscription_t * subscription, void * ros_message,
|
|
bool * taken, rmw_subscription_allocation_t * allocation)
|
|
{
|
|
static_cast<void>(allocation);
|
|
return rmw_take_int(subscription, ros_message, taken, nullptr);
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_take_with_info(
|
|
const rmw_subscription_t * subscription, void * ros_message,
|
|
bool * taken, rmw_message_info_t * message_info,
|
|
rmw_subscription_allocation_t * allocation)
|
|
{
|
|
static_cast<void>(allocation);
|
|
return rmw_take_int(subscription, ros_message, taken, message_info);
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_take_serialized_message(
|
|
const rmw_subscription_t * subscription,
|
|
rmw_serialized_message_t * serialized_message,
|
|
bool * taken,
|
|
rmw_subscription_allocation_t * allocation)
|
|
{
|
|
static_cast<void>(allocation);
|
|
return rmw_take_ser_int(subscription, serialized_message, taken, nullptr);
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_take_serialized_message_with_info(
|
|
const rmw_subscription_t * subscription,
|
|
rmw_serialized_message_t * serialized_message, bool * taken, rmw_message_info_t * message_info,
|
|
rmw_subscription_allocation_t * allocation)
|
|
{
|
|
static_cast<void>(allocation);
|
|
return rmw_take_ser_int(subscription, serialized_message, taken, message_info);
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_take_event(
|
|
const rmw_event_t * event_handle, void * event_info,
|
|
bool * taken)
|
|
{
|
|
RET_WRONG_IMPLID(event_handle);
|
|
RET_NULL(taken);
|
|
RET_NULL(event_info);
|
|
switch (event_handle->event_type) {
|
|
case RMW_EVENT_LIVELINESS_CHANGED: {
|
|
auto ei = static_cast<rmw_liveliness_changed_status_t *>(event_info);
|
|
auto sub = static_cast<CddsSubscription *>(event_handle->data);
|
|
dds_liveliness_changed_status_t st;
|
|
if (dds_get_liveliness_changed_status(sub->subh, &st) < 0) {
|
|
*taken = false;
|
|
return RMW_RET_ERROR;
|
|
} else {
|
|
ei->alive_count = static_cast<int32_t>(st.alive_count);
|
|
ei->not_alive_count = static_cast<int32_t>(st.not_alive_count);
|
|
ei->alive_count_change = st.alive_count_change;
|
|
ei->not_alive_count_change = st.not_alive_count_change;
|
|
*taken = true;
|
|
return RMW_RET_OK;
|
|
}
|
|
}
|
|
|
|
case RMW_EVENT_REQUESTED_DEADLINE_MISSED: {
|
|
auto ei = static_cast<rmw_requested_deadline_missed_status_t *>(event_info);
|
|
auto sub = static_cast<CddsSubscription *>(event_handle->data);
|
|
dds_requested_deadline_missed_status_t st;
|
|
if (dds_get_requested_deadline_missed_status(sub->subh, &st) < 0) {
|
|
*taken = false;
|
|
return RMW_RET_ERROR;
|
|
} else {
|
|
ei->total_count = static_cast<int32_t>(st.total_count);
|
|
ei->total_count_change = st.total_count_change;
|
|
*taken = true;
|
|
return RMW_RET_OK;
|
|
}
|
|
}
|
|
|
|
case RMW_EVENT_LIVELINESS_LOST: {
|
|
auto ei = static_cast<rmw_requested_deadline_missed_status_t *>(event_info);
|
|
auto pub = static_cast<CddsPublisher *>(event_handle->data);
|
|
dds_requested_deadline_missed_status_t st;
|
|
if (dds_get_requested_deadline_missed_status(pub->pubh, &st) < 0) {
|
|
*taken = false;
|
|
return RMW_RET_ERROR;
|
|
} else {
|
|
ei->total_count = static_cast<int32_t>(st.total_count);
|
|
ei->total_count_change = st.total_count_change;
|
|
*taken = true;
|
|
return RMW_RET_OK;
|
|
}
|
|
}
|
|
|
|
case RMW_EVENT_OFFERED_DEADLINE_MISSED: {
|
|
auto ei = static_cast<rmw_offered_deadline_missed_status_t *>(event_info);
|
|
auto pub = static_cast<CddsPublisher *>(event_handle->data);
|
|
dds_offered_deadline_missed_status_t st;
|
|
if (dds_get_offered_deadline_missed_status(pub->pubh, &st) < 0) {
|
|
*taken = false;
|
|
return RMW_RET_ERROR;
|
|
} else {
|
|
ei->total_count = static_cast<int32_t>(st.total_count);
|
|
ei->total_count_change = st.total_count_change;
|
|
*taken = true;
|
|
return RMW_RET_OK;
|
|
}
|
|
}
|
|
|
|
case RMW_EVENT_INVALID: {
|
|
break;
|
|
}
|
|
}
|
|
*taken = false;
|
|
return RMW_RET_ERROR;
|
|
}
|
|
|
|
/////////////////////////////////////////////////////////////////////////////////////////
|
|
/////////// ///////////
|
|
/////////// GUARDS AND WAITSETS ///////////
|
|
/////////// ///////////
|
|
/////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
extern "C" rmw_guard_condition_t * rmw_create_guard_condition(rmw_context_t * context)
|
|
{
|
|
static_cast<void>(context);
|
|
rmw_guard_condition_t * guard_condition_handle;
|
|
auto * gcond_impl = new CddsGuardCondition();
|
|
if (ref_ppant() < 0) {
|
|
goto fail_ppant;
|
|
}
|
|
if ((gcond_impl->gcondh = dds_create_guardcondition(gcdds.ppant)) < 0) {
|
|
RMW_SET_ERROR_MSG("failed to create guardcondition");
|
|
goto fail_guardcond;
|
|
}
|
|
guard_condition_handle = new rmw_guard_condition_t;
|
|
guard_condition_handle->implementation_identifier = eclipse_cyclonedds_identifier;
|
|
guard_condition_handle->data = gcond_impl;
|
|
return guard_condition_handle;
|
|
|
|
fail_guardcond:
|
|
unref_ppant();
|
|
fail_ppant:
|
|
delete (gcond_impl);
|
|
return nullptr;
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_destroy_guard_condition(rmw_guard_condition_t * guard_condition_handle)
|
|
{
|
|
RET_NULL(guard_condition_handle);
|
|
auto * gcond_impl = static_cast<CddsGuardCondition *>(guard_condition_handle->data);
|
|
clean_waitset_caches();
|
|
dds_delete(gcond_impl->gcondh);
|
|
unref_ppant();
|
|
delete gcond_impl;
|
|
delete guard_condition_handle;
|
|
return RMW_RET_OK;
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_trigger_guard_condition(
|
|
const rmw_guard_condition_t * guard_condition_handle)
|
|
{
|
|
RET_WRONG_IMPLID(guard_condition_handle);
|
|
auto * gcond_impl = static_cast<CddsGuardCondition *>(guard_condition_handle->data);
|
|
dds_set_guardcondition(gcond_impl->gcondh, true);
|
|
return RMW_RET_OK;
|
|
}
|
|
|
|
extern "C" rmw_wait_set_t * rmw_create_wait_set(rmw_context_t * context, size_t max_conditions)
|
|
{
|
|
static_cast<void>(context);
|
|
(void) max_conditions;
|
|
rmw_wait_set_t * wait_set = rmw_wait_set_allocate();
|
|
CddsWaitset * ws = nullptr;
|
|
RET_ALLOC_X(wait_set, goto fail_alloc_wait_set);
|
|
wait_set->implementation_identifier = eclipse_cyclonedds_identifier;
|
|
wait_set->data = rmw_allocate(sizeof(CddsWaitset));
|
|
RET_ALLOC_X(wait_set->data, goto fail_alloc_wait_set_data);
|
|
// This should default-construct the fields of CddsWaitset
|
|
ws = static_cast<CddsWaitset *>(wait_set->data);
|
|
RMW_TRY_PLACEMENT_NEW(ws, ws, goto fail_placement_new, CddsWaitset, );
|
|
if (!ws) {
|
|
RMW_SET_ERROR_MSG("failed to construct wait set info struct");
|
|
goto fail_ws;
|
|
}
|
|
ws->inuse = false;
|
|
if ((ws->waitseth = dds_create_waitset(ref_ppant())) < 0) {
|
|
RMW_SET_ERROR_MSG("failed to create waitset");
|
|
goto fail_waitset;
|
|
}
|
|
// Attach never-triggered guard condition. As it will never be triggered, it will never be
|
|
// included in the result of dds_waitset_wait
|
|
if (dds_waitset_attach(ws->waitseth, gcdds.gc_for_empty_waitset, INTPTR_MAX) < 0) {
|
|
RMW_SET_ERROR_MSG("failed to attach dummy guard condition for blocking on empty waitset");
|
|
goto fail_attach_dummy;
|
|
}
|
|
{
|
|
std::lock_guard<std::mutex> lock(gcdds.lock);
|
|
gcdds.waitsets.insert(ws);
|
|
}
|
|
return wait_set;
|
|
|
|
fail_attach_dummy:
|
|
dds_delete(ws->waitseth);
|
|
fail_waitset:
|
|
unref_ppant();
|
|
fail_ws:
|
|
RMW_TRY_DESTRUCTOR_FROM_WITHIN_FAILURE(ws->~CddsWaitset(), ws);
|
|
fail_placement_new:
|
|
rmw_free(wait_set->data);
|
|
fail_alloc_wait_set_data:
|
|
rmw_wait_set_free(wait_set);
|
|
fail_alloc_wait_set:
|
|
return nullptr;
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_destroy_wait_set(rmw_wait_set_t * wait_set)
|
|
{
|
|
RET_WRONG_IMPLID(wait_set);
|
|
auto result = RMW_RET_OK;
|
|
auto ws = static_cast<CddsWaitset *>(wait_set->data);
|
|
RET_NULL(ws);
|
|
dds_delete(ws->waitseth);
|
|
{
|
|
std::lock_guard<std::mutex> lock(gcdds.lock);
|
|
gcdds.waitsets.erase(ws);
|
|
}
|
|
unref_ppant();
|
|
RMW_TRY_DESTRUCTOR(ws->~CddsWaitset(), ws, result = RMW_RET_ERROR);
|
|
rmw_free(wait_set->data);
|
|
rmw_wait_set_free(wait_set);
|
|
return result;
|
|
}
|
|
|
|
template<typename T>
|
|
static bool require_reattach(const std::vector<T *> & cached, size_t count, void ** ary)
|
|
{
|
|
if (ary == nullptr || count == 0) {
|
|
return cached.size() != 0;
|
|
} else if (count != cached.size()) {
|
|
return true;
|
|
} else {
|
|
return memcmp(
|
|
static_cast<const void *>(cached.data()), static_cast<void *>(ary),
|
|
count * sizeof(void *)) != 0;
|
|
}
|
|
}
|
|
|
|
static void waitset_detach(CddsWaitset * ws)
|
|
{
|
|
for (auto && x : ws->subs) {
|
|
dds_waitset_detach(ws->waitseth, x->rdcondh);
|
|
}
|
|
for (auto && x : ws->gcs) {
|
|
dds_waitset_detach(ws->waitseth, x->gcondh);
|
|
}
|
|
for (auto && x : ws->srvs) {
|
|
dds_waitset_detach(ws->waitseth, x->service.sub->rdcondh);
|
|
}
|
|
for (auto && x : ws->cls) {
|
|
dds_waitset_detach(ws->waitseth, x->client.sub->rdcondh);
|
|
}
|
|
ws->subs.resize(0);
|
|
ws->gcs.resize(0);
|
|
ws->srvs.resize(0);
|
|
ws->cls.resize(0);
|
|
}
|
|
|
|
static void clean_waitset_caches()
|
|
{
|
|
/* Called whenever a subscriber, guard condition, service or client is deleted (as these may
|
|
have been cached in a waitset), and drops all cached entities from all waitsets (just to keep
|
|
life simple). I'm assuming one is not allowed to delete an entity while it is still being
|
|
used ... */
|
|
std::lock_guard<std::mutex> lock(gcdds.lock);
|
|
for (auto && ws : gcdds.waitsets) {
|
|
std::lock_guard<std::mutex> lock(ws->lock);
|
|
if (!ws->inuse) {
|
|
waitset_detach(ws);
|
|
}
|
|
}
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_wait(
|
|
rmw_subscriptions_t * subs, rmw_guard_conditions_t * gcs,
|
|
rmw_services_t * srvs, rmw_clients_t * cls, rmw_events_t * evs,
|
|
rmw_wait_set_t * wait_set, const rmw_time_t * wait_timeout)
|
|
{
|
|
static_cast<void>(evs);
|
|
RET_NULL(wait_set);
|
|
CddsWaitset * ws = static_cast<CddsWaitset *>(wait_set->data);
|
|
RET_NULL(ws);
|
|
|
|
{
|
|
std::lock_guard<std::mutex> lock(ws->lock);
|
|
if (ws->inuse) {
|
|
RMW_SET_ERROR_MSG("concurrent calls to rmw_wait on a single waitset is not supported");
|
|
return RMW_RET_ERROR;
|
|
}
|
|
ws->inuse = true;
|
|
}
|
|
|
|
if (require_reattach(ws->subs, subs ? subs->subscriber_count : 0,
|
|
subs ? subs->subscribers : nullptr) ||
|
|
require_reattach(ws->gcs, gcs ? gcs->guard_condition_count : 0,
|
|
gcs ? gcs->guard_conditions : nullptr) ||
|
|
require_reattach(ws->srvs, srvs ? srvs->service_count : 0, srvs ? srvs->services : nullptr) ||
|
|
require_reattach(ws->cls, cls ? cls->client_count : 0, cls ? cls->clients : nullptr))
|
|
{
|
|
size_t nelems = 0;
|
|
waitset_detach(ws);
|
|
#define ATTACH(type, var, name, cond) do { \
|
|
ws->var.resize(0); \
|
|
if (var) { \
|
|
ws->var.reserve(var->name ## _count); \
|
|
for (size_t i = 0; i < var->name ## _count; i++) { \
|
|
auto x = static_cast<type *>(var->name ## s[i]); \
|
|
ws->var.push_back(x); \
|
|
dds_waitset_attach(ws->waitseth, x->cond, nelems); \
|
|
nelems++; \
|
|
} \
|
|
} \
|
|
} \
|
|
while (0)
|
|
ATTACH(CddsSubscription, subs, subscriber, rdcondh);
|
|
ATTACH(CddsGuardCondition, gcs, guard_condition, gcondh);
|
|
ATTACH(CddsService, srvs, service, service.sub->rdcondh);
|
|
ATTACH(CddsClient, cls, client, client.sub->rdcondh);
|
|
#undef ATTACH
|
|
ws->trigs.resize(nelems + 1);
|
|
}
|
|
|
|
const dds_duration_t timeout =
|
|
(wait_timeout == NULL) ?
|
|
DDS_NEVER :
|
|
(dds_duration_t) wait_timeout->sec * 1000000000 + wait_timeout->nsec;
|
|
const dds_return_t ntrig = dds_waitset_wait(ws->waitseth, ws->trigs.data(),
|
|
ws->trigs.capacity(), timeout);
|
|
ws->trigs.resize(ntrig);
|
|
std::sort(ws->trigs.begin(), ws->trigs.end());
|
|
ws->trigs.push_back((dds_attach_t) -1);
|
|
|
|
{
|
|
dds_attach_t trig_idx = 0;
|
|
bool dummy;
|
|
size_t nelems = 0;
|
|
#define DETACH(type, var, name, cond, on_triggered) do { \
|
|
if (var) { \
|
|
for (size_t i = 0; i < var->name ## _count; i++) { \
|
|
auto x = static_cast<type *>(var->name ## s[i]); \
|
|
/*dds_waitset_detach (ws->waitseth, x->cond);*/ \
|
|
if (ws->trigs[trig_idx] == static_cast<dds_attach_t>(nelems)) { \
|
|
on_triggered; \
|
|
trig_idx++; \
|
|
} else { \
|
|
var->name ## s[i] = nullptr; \
|
|
} \
|
|
nelems++; \
|
|
} \
|
|
} \
|
|
} while (0)
|
|
DETACH(CddsSubscription, subs, subscriber, rdcondh, (void) x);
|
|
DETACH(CddsGuardCondition, gcs, guard_condition, gcondh,
|
|
dds_take_guardcondition(x->gcondh, &dummy));
|
|
DETACH(CddsService, srvs, service, service.sub->rdcondh, (void) x);
|
|
DETACH(CddsClient, cls, client, client.sub->rdcondh, (void) x);
|
|
#undef DETACH
|
|
}
|
|
|
|
{
|
|
std::lock_guard<std::mutex> lock(ws->lock);
|
|
ws->inuse = false;
|
|
}
|
|
|
|
return (ws->trigs.size() == 1) ? RMW_RET_TIMEOUT : RMW_RET_OK;
|
|
}
|
|
|
|
/////////////////////////////////////////////////////////////////////////////////////////
|
|
/////////// ///////////
|
|
/////////// CLIENTS AND SERVERS ///////////
|
|
/////////// ///////////
|
|
/////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
static rmw_ret_t rmw_take_response_request(
|
|
CddsCS * cs, rmw_request_id_t * request_header,
|
|
void * ros_data, bool * taken,
|
|
dds_instance_handle_t srcfilter)
|
|
{
|
|
RET_NULL(taken);
|
|
RET_NULL(ros_data);
|
|
RET_NULL(request_header);
|
|
cdds_request_wrapper_t wrap;
|
|
dds_sample_info_t info;
|
|
wrap.data = ros_data;
|
|
void * wrap_ptr = static_cast<void *>(&wrap);
|
|
while (dds_take(cs->sub->subh, &wrap_ptr, &info, 1, 1) == 1) {
|
|
if (info.valid_data) {
|
|
memset(request_header, 0, sizeof(wrap.header));
|
|
assert(sizeof(wrap.header.guid) <= sizeof(request_header->writer_guid));
|
|
memcpy(request_header->writer_guid, &wrap.header.guid, sizeof(wrap.header.guid));
|
|
request_header->sequence_number = wrap.header.seq;
|
|
if (srcfilter == 0 || srcfilter == wrap.header.guid) {
|
|
*taken = true;
|
|
return RMW_RET_OK;
|
|
}
|
|
}
|
|
}
|
|
*taken = false;
|
|
return RMW_RET_OK;
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_take_response(
|
|
const rmw_client_t * client,
|
|
rmw_request_id_t * request_header, void * ros_response,
|
|
bool * taken)
|
|
{
|
|
RET_WRONG_IMPLID(client);
|
|
auto info = static_cast<CddsClient *>(client->data);
|
|
return rmw_take_response_request(&info->client, request_header, ros_response, taken,
|
|
info->client.pub->pubiid);
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_take_request(
|
|
const rmw_service_t * service,
|
|
rmw_request_id_t * request_header, void * ros_request,
|
|
bool * taken)
|
|
{
|
|
RET_WRONG_IMPLID(service);
|
|
auto info = static_cast<CddsService *>(service->data);
|
|
return rmw_take_response_request(&info->service, request_header, ros_request, taken, 0);
|
|
}
|
|
|
|
static rmw_ret_t rmw_send_response_request(
|
|
CddsCS * cs, const cdds_request_header_t & header,
|
|
const void * ros_data)
|
|
{
|
|
const cdds_request_wrapper_t wrap = {header, const_cast<void *>(ros_data)};
|
|
if (dds_write(cs->pub->pubh, static_cast<const void *>(&wrap)) >= 0) {
|
|
return RMW_RET_OK;
|
|
} else {
|
|
RMW_SET_ERROR_MSG("cannot publish data");
|
|
return RMW_RET_ERROR;
|
|
}
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_send_response(
|
|
const rmw_service_t * service,
|
|
rmw_request_id_t * request_header, void * ros_response)
|
|
{
|
|
RET_WRONG_IMPLID(service);
|
|
RET_NULL(request_header);
|
|
RET_NULL(ros_response);
|
|
CddsService * info = static_cast<CddsService *>(service->data);
|
|
cdds_request_header_t header;
|
|
memcpy(&header.guid, request_header->writer_guid, sizeof(header.guid));
|
|
header.seq = request_header->sequence_number;
|
|
return rmw_send_response_request(&info->service, header, ros_response);
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_send_request(
|
|
const rmw_client_t * client, const void * ros_request,
|
|
int64_t * sequence_id)
|
|
{
|
|
static std::atomic_uint next_request_id;
|
|
RET_WRONG_IMPLID(client);
|
|
RET_NULL(ros_request);
|
|
RET_NULL(sequence_id);
|
|
auto info = static_cast<CddsClient *>(client->data);
|
|
cdds_request_header_t header;
|
|
header.guid = info->client.pub->pubiid;
|
|
header.seq = *sequence_id = ++next_request_id;
|
|
return rmw_send_response_request(&info->client, header, ros_request);
|
|
}
|
|
|
|
static const rosidl_service_type_support_t * get_service_typesupport(
|
|
const rosidl_service_type_support_t * type_supports)
|
|
{
|
|
const rosidl_service_type_support_t * ts;
|
|
if ((ts =
|
|
get_service_typesupport_handle(type_supports,
|
|
rosidl_typesupport_introspection_c__identifier)) != nullptr)
|
|
{
|
|
return ts;
|
|
} else {
|
|
if ((ts =
|
|
get_service_typesupport_handle(type_supports,
|
|
rosidl_typesupport_introspection_cpp::typesupport_identifier)) != nullptr)
|
|
{
|
|
return ts;
|
|
} else {
|
|
RMW_SET_ERROR_MSG("service type support not from this implementation");
|
|
return nullptr;
|
|
}
|
|
}
|
|
}
|
|
|
|
static rmw_ret_t rmw_init_cs(
|
|
CddsCS * cs, const rmw_node_t * node,
|
|
const rosidl_service_type_support_t * type_supports,
|
|
const char * service_name, const rmw_qos_profile_t * qos_policies,
|
|
bool is_service)
|
|
{
|
|
RET_WRONG_IMPLID(node);
|
|
RET_NULL_OR_EMPTYSTR(service_name);
|
|
RET_NULL(qos_policies);
|
|
auto node_impl = static_cast<CddsNode *>(node->data);
|
|
RET_NULL(node_impl);
|
|
const rosidl_service_type_support_t * type_support = get_service_typesupport(type_supports);
|
|
RET_NULL(type_support);
|
|
|
|
auto pub = new CddsPublisher();
|
|
auto sub = new CddsSubscription();
|
|
std::string subtopic_name, pubtopic_name;
|
|
void * pub_type_support, * sub_type_support;
|
|
if (is_service) {
|
|
sub_type_support = create_request_type_support(type_support->data,
|
|
type_support->typesupport_identifier);
|
|
pub_type_support = create_response_type_support(type_support->data,
|
|
type_support->typesupport_identifier);
|
|
subtopic_name =
|
|
make_fqtopic(ros_service_requester_prefix, service_name, "Request", qos_policies);
|
|
pubtopic_name = make_fqtopic(ros_service_response_prefix, service_name, "Reply", qos_policies);
|
|
} else {
|
|
pub_type_support = create_request_type_support(type_support->data,
|
|
type_support->typesupport_identifier);
|
|
sub_type_support = create_response_type_support(type_support->data,
|
|
type_support->typesupport_identifier);
|
|
pubtopic_name =
|
|
make_fqtopic(ros_service_requester_prefix, service_name, "Request", qos_policies);
|
|
subtopic_name = make_fqtopic(ros_service_response_prefix, service_name, "Reply", qos_policies);
|
|
}
|
|
|
|
RCUTILS_LOG_DEBUG_NAMED("rmw_cyclonedds_cpp", "************ %s Details *********",
|
|
is_service ? "Service" : "Client");
|
|
RCUTILS_LOG_DEBUG_NAMED("rmw_cyclonedds_cpp", "Sub Topic %s", subtopic_name.c_str());
|
|
RCUTILS_LOG_DEBUG_NAMED("rmw_cyclonedds_cpp", "Pub Topic %s", pubtopic_name.c_str());
|
|
RCUTILS_LOG_DEBUG_NAMED("rmw_cyclonedds_cpp", "***********");
|
|
|
|
dds_entity_t pubtopic, subtopic;
|
|
|
|
auto pub_st = create_sertopic(
|
|
pubtopic_name.c_str(), type_support->typesupport_identifier, pub_type_support, true);
|
|
auto sub_st = create_sertopic(
|
|
subtopic_name.c_str(), type_support->typesupport_identifier, sub_type_support, true);
|
|
|
|
dds_qos_t * qos;
|
|
if ((pubtopic =
|
|
dds_create_topic_arbitrary(node_impl->pp, pub_st, nullptr, nullptr, nullptr)) < 0)
|
|
{
|
|
RMW_SET_ERROR_MSG("failed to create topic");
|
|
goto fail_pubtopic;
|
|
}
|
|
if ((subtopic =
|
|
dds_create_topic_arbitrary(node_impl->pp, sub_st, nullptr, nullptr, nullptr)) < 0)
|
|
{
|
|
RMW_SET_ERROR_MSG("failed to create topic");
|
|
goto fail_subtopic;
|
|
}
|
|
if ((qos = dds_create_qos()) == nullptr) {
|
|
goto fail_qos;
|
|
}
|
|
dds_qset_reliability(qos, DDS_RELIABILITY_RELIABLE, DDS_SECS(1));
|
|
dds_qset_history(qos, DDS_HISTORY_KEEP_ALL, DDS_LENGTH_UNLIMITED);
|
|
if ((pub->pubh = dds_create_writer(node_impl->pub, pubtopic, qos, nullptr)) < 0) {
|
|
RMW_SET_ERROR_MSG("failed to create writer");
|
|
goto fail_writer;
|
|
}
|
|
/* FIXME: not guaranteed that "topic" will refer to "sertopic" because topic might have been
|
|
created earlier, but the two are equivalent, so this'll do */
|
|
pub->sertopic = pub_st;
|
|
if ((sub->subh = dds_create_reader(node_impl->sub, subtopic, qos, nullptr)) < 0) {
|
|
RMW_SET_ERROR_MSG("failed to create reader");
|
|
goto fail_reader;
|
|
}
|
|
/* FIXME: not guaranteed that "topic" will refer to "sertopic" because topic might have been
|
|
created earlier, but the two are equivalent, so this'll do */
|
|
sub->sertopic = sub_st;
|
|
if ((sub->rdcondh = dds_create_readcondition(sub->subh, DDS_ANY_STATE)) < 0) {
|
|
RMW_SET_ERROR_MSG("failed to create readcondition");
|
|
goto fail_readcond;
|
|
}
|
|
if (dds_get_instance_handle(pub->pubh, &pub->pubiid) < 0) {
|
|
RMW_SET_ERROR_MSG("failed to get instance handle for writer");
|
|
goto fail_instance_handle;
|
|
}
|
|
dds_delete_qos(qos);
|
|
dds_delete(subtopic);
|
|
dds_delete(pubtopic);
|
|
|
|
cs->pub = pub;
|
|
cs->sub = sub;
|
|
return RMW_RET_OK;
|
|
|
|
fail_instance_handle:
|
|
dds_delete(sub->rdcondh);
|
|
fail_readcond:
|
|
dds_delete(sub->subh);
|
|
fail_reader:
|
|
dds_delete(pub->pubh);
|
|
fail_writer:
|
|
dds_delete_qos(qos);
|
|
fail_qos:
|
|
dds_delete(subtopic);
|
|
fail_subtopic:
|
|
dds_delete(pubtopic);
|
|
fail_pubtopic:
|
|
return RMW_RET_ERROR;
|
|
}
|
|
|
|
static void rmw_fini_cs(CddsCS * cs)
|
|
{
|
|
ddsi_sertopic_unref(cs->sub->sertopic);
|
|
ddsi_sertopic_unref(cs->pub->sertopic);
|
|
dds_delete(cs->sub->rdcondh);
|
|
dds_delete(cs->sub->subh);
|
|
dds_delete(cs->pub->pubh);
|
|
}
|
|
|
|
extern "C" rmw_client_t * rmw_create_client(
|
|
const rmw_node_t * node,
|
|
const rosidl_service_type_support_t * type_supports,
|
|
const char * service_name,
|
|
const rmw_qos_profile_t * qos_policies)
|
|
{
|
|
CddsClient * info = new CddsClient();
|
|
if (rmw_init_cs(&info->client, node, type_supports, service_name, qos_policies,
|
|
false) != RMW_RET_OK)
|
|
{
|
|
delete (info);
|
|
return nullptr;
|
|
}
|
|
rmw_client_t * rmw_client = rmw_client_allocate();
|
|
RET_NULL_X(rmw_client, goto fail_client);
|
|
rmw_client->implementation_identifier = eclipse_cyclonedds_identifier;
|
|
rmw_client->data = info;
|
|
rmw_client->service_name = reinterpret_cast<const char *>(rmw_allocate(strlen(service_name) + 1));
|
|
RET_NULL_X(rmw_client->service_name, goto fail_service_name);
|
|
memcpy(const_cast<char *>(rmw_client->service_name), service_name, strlen(service_name) + 1);
|
|
return rmw_client;
|
|
fail_service_name:
|
|
rmw_client_free(rmw_client);
|
|
fail_client:
|
|
rmw_fini_cs(&info->client);
|
|
return nullptr;
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_destroy_client(rmw_node_t * node, rmw_client_t * client)
|
|
{
|
|
RET_WRONG_IMPLID(node);
|
|
RET_WRONG_IMPLID(client);
|
|
auto info = static_cast<CddsClient *>(client->data);
|
|
clean_waitset_caches();
|
|
rmw_fini_cs(&info->client);
|
|
rmw_free(const_cast<char *>(client->service_name));
|
|
rmw_client_free(client);
|
|
return RMW_RET_OK;
|
|
}
|
|
|
|
extern "C" rmw_service_t * rmw_create_service(
|
|
const rmw_node_t * node,
|
|
const rosidl_service_type_support_t * type_supports,
|
|
const char * service_name,
|
|
const rmw_qos_profile_t * qos_policies)
|
|
{
|
|
CddsService * info = new CddsService();
|
|
if (rmw_init_cs(&info->service, node, type_supports, service_name, qos_policies,
|
|
true) != RMW_RET_OK)
|
|
{
|
|
delete (info);
|
|
return nullptr;
|
|
}
|
|
rmw_service_t * rmw_service = rmw_service_allocate();
|
|
RET_NULL_X(rmw_service, goto fail_service);
|
|
rmw_service->implementation_identifier = eclipse_cyclonedds_identifier;
|
|
rmw_service->data = info;
|
|
rmw_service->service_name =
|
|
reinterpret_cast<const char *>(rmw_allocate(strlen(service_name) + 1));
|
|
RET_NULL_X(rmw_service->service_name, goto fail_service_name);
|
|
memcpy(const_cast<char *>(rmw_service->service_name), service_name, strlen(service_name) + 1);
|
|
return rmw_service;
|
|
fail_service_name:
|
|
rmw_service_free(rmw_service);
|
|
fail_service:
|
|
rmw_fini_cs(&info->service);
|
|
return nullptr;
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_destroy_service(rmw_node_t * node, rmw_service_t * service)
|
|
{
|
|
RET_WRONG_IMPLID(node);
|
|
RET_WRONG_IMPLID(service);
|
|
auto info = static_cast<CddsService *>(service->data);
|
|
clean_waitset_caches();
|
|
rmw_fini_cs(&info->service);
|
|
rmw_free(const_cast<char *>(service->service_name));
|
|
rmw_service_free(service);
|
|
return RMW_RET_OK;
|
|
}
|
|
|
|
/////////////////////////////////////////////////////////////////////////////////////////
|
|
/////////// ///////////
|
|
/////////// INTROSPECTION ///////////
|
|
/////////// ///////////
|
|
/////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
static rmw_ret_t do_for_node(
|
|
std::function<bool(const dds_builtintopic_participant_t & sample)> oper)
|
|
{
|
|
dds_entity_t rd;
|
|
if ((rd = dds_create_reader(ref_ppant(), DDS_BUILTIN_TOPIC_DCPSPARTICIPANT, NULL, NULL)) < 0) {
|
|
unref_ppant();
|
|
RMW_SET_ERROR_MSG("rmw_get_node_names: failed to create reader");
|
|
return RMW_RET_ERROR;
|
|
}
|
|
dds_sample_info_t info;
|
|
void * msg = NULL;
|
|
int32_t n;
|
|
bool cont = true;
|
|
while (cont && (n = dds_take(rd, &msg, &info, 1, 1)) == 1) {
|
|
if (info.valid_data && info.instance_state == DDS_IST_ALIVE) {
|
|
auto sample = static_cast<const dds_builtintopic_participant_t *>(msg);
|
|
cont = oper(*sample);
|
|
}
|
|
dds_return_loan(rd, &msg, n);
|
|
}
|
|
dds_delete(rd);
|
|
unref_ppant();
|
|
if (n < 0) {
|
|
RMW_SET_ERROR_MSG("rmw_get_node_names: error reading participants");
|
|
return RMW_RET_ERROR;
|
|
}
|
|
return RMW_RET_OK;
|
|
}
|
|
|
|
static rmw_ret_t do_for_node_user_data(
|
|
std::function<bool(const dds_builtintopic_participant_t & sample, const char * user_data)> oper)
|
|
{
|
|
auto f = [oper](const dds_builtintopic_participant_t & sample) -> bool {
|
|
void * ud;
|
|
size_t udsz;
|
|
if (dds_qget_userdata(sample.qos, &ud, &udsz) && ud != nullptr) {
|
|
/* CycloneDDS guarantees a null-terminated user data so we pretend it's a
|
|
string */
|
|
bool ret = oper(sample, static_cast<char *>(ud));
|
|
dds_free(ud);
|
|
return ret;
|
|
} else {
|
|
/* If no user data present treat it as an empty string */
|
|
return oper(sample, "");
|
|
}
|
|
};
|
|
return do_for_node(f);
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_get_node_names(
|
|
const rmw_node_t * node,
|
|
rcutils_string_array_t * node_names,
|
|
rcutils_string_array_t * node_namespaces)
|
|
{
|
|
RET_WRONG_IMPLID(node);
|
|
if (rmw_check_zero_rmw_string_array(node_names) != RMW_RET_OK ||
|
|
rmw_check_zero_rmw_string_array(node_namespaces) != RMW_RET_OK)
|
|
{
|
|
return RMW_RET_ERROR;
|
|
}
|
|
|
|
std::set<std::pair<std::string, std::string>> ns;
|
|
const auto re = std::regex("^name=(.*);namespace=(.*);$", std::regex::extended);
|
|
auto oper =
|
|
[&ns, re](const dds_builtintopic_participant_t & sample, const char * ud) -> bool {
|
|
std::cmatch cm;
|
|
static_cast<void>(sample);
|
|
if (std::regex_search(ud, cm, re)) {
|
|
ns.insert(std::make_pair(std::string(cm[1]), std::string(cm[2])));
|
|
}
|
|
return true;
|
|
};
|
|
rmw_ret_t ret;
|
|
if ((ret = do_for_node_user_data(oper)) != RMW_RET_OK) {
|
|
return ret;
|
|
}
|
|
|
|
rcutils_allocator_t allocator = rcutils_get_default_allocator();
|
|
if (rcutils_string_array_init(node_names, ns.size(), &allocator) != RCUTILS_RET_OK ||
|
|
rcutils_string_array_init(node_namespaces, ns.size(), &allocator) != RCUTILS_RET_OK)
|
|
{
|
|
RMW_SET_ERROR_MSG(rcutils_get_error_string().str);
|
|
goto fail_alloc;
|
|
}
|
|
size_t i;
|
|
i = 0;
|
|
for (auto && n : ns) {
|
|
node_names->data[i] = rcutils_strdup(n.first.c_str(), allocator);
|
|
node_namespaces->data[i] = rcutils_strdup(n.second.c_str(), allocator);
|
|
if (!node_names->data[i] || !node_namespaces->data[i]) {
|
|
RMW_SET_ERROR_MSG("rmw_get_node_names for name/namespace");
|
|
goto fail_alloc;
|
|
}
|
|
i++;
|
|
}
|
|
return RMW_RET_OK;
|
|
|
|
fail_alloc:
|
|
if (node_names) {
|
|
if (rcutils_string_array_fini(node_names) != RCUTILS_RET_OK) {
|
|
RCUTILS_LOG_ERROR_NAMED(
|
|
"rmw_cyclonedds_cpp",
|
|
"failed to cleanup during error handling: %s", rcutils_get_error_string().str);
|
|
rcutils_reset_error();
|
|
}
|
|
}
|
|
if (node_namespaces) {
|
|
if (rcutils_string_array_fini(node_namespaces) != RCUTILS_RET_OK) {
|
|
RCUTILS_LOG_ERROR_NAMED(
|
|
"rmw_cyclonedds_cpp",
|
|
"failed to cleanup during error handling: %s", rcutils_get_error_string().str);
|
|
rcutils_reset_error();
|
|
}
|
|
}
|
|
return RMW_RET_BAD_ALLOC;
|
|
}
|
|
|
|
static rmw_ret_t rmw_collect_tptyp_for_kind(
|
|
std::map<std::string, std::set<std::string>> & tt,
|
|
dds_entity_t builtin_topic,
|
|
std::function<bool(const dds_builtintopic_endpoint_t & sample, std::string & topic_name,
|
|
std::string & type_name)> filter_and_map)
|
|
{
|
|
assert(
|
|
builtin_topic == DDS_BUILTIN_TOPIC_DCPSSUBSCRIPTION ||
|
|
builtin_topic == DDS_BUILTIN_TOPIC_DCPSPUBLICATION);
|
|
dds_entity_t rd;
|
|
if ((rd = dds_create_reader(ref_ppant(), builtin_topic, NULL, NULL)) < 0) {
|
|
unref_ppant();
|
|
RMW_SET_ERROR_MSG("rmw_collect_tptyp_for_kind failed to create reader");
|
|
return RMW_RET_ERROR;
|
|
}
|
|
dds_sample_info_t info;
|
|
void * msg = NULL;
|
|
int32_t n;
|
|
while ((n = dds_take(rd, &msg, &info, 1, 1)) == 1) {
|
|
if (info.valid_data && info.instance_state == DDS_IST_ALIVE) {
|
|
auto sample = static_cast<const dds_builtintopic_endpoint_t *>(msg);
|
|
std::string topic_name, type_name;
|
|
if (filter_and_map(*sample, topic_name, type_name)) {
|
|
tt[topic_name].insert(type_name);
|
|
}
|
|
}
|
|
dds_return_loan(rd, &msg, n);
|
|
}
|
|
dds_delete(rd);
|
|
unref_ppant();
|
|
if (n == 0) {
|
|
return RMW_RET_OK;
|
|
} else {
|
|
RMW_SET_ERROR_MSG("rmw_collect_tptyp_for_kind dds_take failed");
|
|
return RMW_RET_ERROR;
|
|
}
|
|
}
|
|
|
|
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)
|
|
{
|
|
if (source.size() == 0) {
|
|
return RMW_RET_OK;
|
|
}
|
|
rmw_ret_t ret;
|
|
if ((ret = rmw_names_and_types_init(tptyp, source.size(), allocator)) != RMW_RET_OK) {
|
|
return ret;
|
|
}
|
|
size_t index = 0;
|
|
for (const auto & tp : source) {
|
|
if ((tptyp->names.data[index] = rcutils_strdup(tp.first.c_str(), *allocator)) == NULL) {
|
|
goto fail_mem;
|
|
}
|
|
if (rcutils_string_array_init(&tptyp->types[index], tp.second.size(),
|
|
allocator) != RCUTILS_RET_OK)
|
|
{
|
|
goto fail_mem;
|
|
}
|
|
size_t type_index = 0;
|
|
for (const auto & type : tp.second) {
|
|
if ((tptyp->types[index].data[type_index] =
|
|
rcutils_strdup(type.c_str(), *allocator)) == NULL)
|
|
{
|
|
goto fail_mem;
|
|
}
|
|
type_index++;
|
|
}
|
|
index++;
|
|
}
|
|
return RMW_RET_OK;
|
|
|
|
fail_mem:
|
|
if (rmw_names_and_types_fini(tptyp) != RMW_RET_OK) {
|
|
RMW_SET_ERROR_MSG("rmw_collect_tptyp_for_kind: rmw_names_and_types_fini failed");
|
|
}
|
|
return RMW_RET_BAD_ALLOC;
|
|
}
|
|
|
|
static rmw_ret_t get_node_guids(
|
|
const char * node_name, const char * node_namespace,
|
|
std::set<dds_builtintopic_guid_t> & guids)
|
|
{
|
|
std::string needle = get_node_user_data(node_name, node_namespace);
|
|
auto oper =
|
|
[&guids, needle](const dds_builtintopic_participant_t & sample, const char * ud) -> bool {
|
|
if (std::string(ud) == needle) {
|
|
guids.insert(sample.key);
|
|
}
|
|
return true; /* do keep looking - what if there are many? */
|
|
};
|
|
rmw_ret_t ret = do_for_node_user_data(oper);
|
|
if (ret != RMW_RET_OK) {
|
|
return ret;
|
|
} else if (guids.size() == 0) {
|
|
/* It appears the get_..._by_node operations are supposed to return ERROR if no such node
|
|
exists */
|
|
return RMW_RET_ERROR;
|
|
} else {
|
|
return RMW_RET_OK;
|
|
}
|
|
}
|
|
|
|
static rmw_ret_t get_endpoint_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 * tptyp, bool subs,
|
|
bool pubs)
|
|
{
|
|
RET_WRONG_IMPLID(node);
|
|
RET_NULL(allocator);
|
|
rmw_ret_t ret = rmw_names_and_types_check_zero(tptyp);
|
|
if (ret != RMW_RET_OK) {
|
|
return ret;
|
|
}
|
|
if (node_name) {
|
|
int dummy_validation_result;
|
|
size_t dummy_invalid_index;
|
|
if ((ret =
|
|
rmw_validate_node_name(node_name, &dummy_validation_result,
|
|
&dummy_invalid_index)) != RMW_RET_OK)
|
|
{
|
|
return ret;
|
|
}
|
|
}
|
|
std::set<dds_builtintopic_guid_t> guids;
|
|
if (node_name != nullptr &&
|
|
(ret = get_node_guids(node_name, node_namespace, guids)) != RMW_RET_OK)
|
|
{
|
|
return ret;
|
|
}
|
|
const auto re_tp =
|
|
std::regex("^" + std::string(ros_topic_prefix) + "(/.*)", std::regex::extended);
|
|
const auto re_typ = std::regex("^(.*::)dds_::(.*)_$", std::regex::extended);
|
|
const auto filter_and_map =
|
|
[re_tp, re_typ, guids, node_name, no_demangle](const dds_builtintopic_endpoint_t & sample,
|
|
std::string & topic_name, std::string & type_name) -> bool {
|
|
std::cmatch cm_tp, cm_typ;
|
|
if (node_name != nullptr && guids.count(sample.participant_key) == 0) {
|
|
return false;
|
|
} else {
|
|
if (!std::regex_search(sample.topic_name, cm_tp,
|
|
re_tp) || !std::regex_search(sample.type_name, cm_typ, re_typ))
|
|
{
|
|
return false;
|
|
} else {
|
|
topic_name = std::string(cm_tp[1]);
|
|
if (no_demangle) {
|
|
type_name = std::string(type_name);
|
|
} else {
|
|
std::string demangled_type = std::regex_replace(std::string(cm_typ[1]), std::regex(
|
|
"::"), "/");
|
|
type_name = std::string(demangled_type) + std::string(cm_typ[2]);
|
|
}
|
|
return true;
|
|
}
|
|
}
|
|
};
|
|
std::map<std::string, std::set<std::string>> tt;
|
|
if (subs &&
|
|
(ret =
|
|
rmw_collect_tptyp_for_kind(tt, DDS_BUILTIN_TOPIC_DCPSSUBSCRIPTION,
|
|
filter_and_map)) != RMW_RET_OK)
|
|
{
|
|
return ret;
|
|
}
|
|
if (pubs &&
|
|
(ret =
|
|
rmw_collect_tptyp_for_kind(tt, DDS_BUILTIN_TOPIC_DCPSPUBLICATION,
|
|
filter_and_map)) != RMW_RET_OK)
|
|
{
|
|
return ret;
|
|
}
|
|
return make_names_and_types(tptyp, tt, allocator);
|
|
}
|
|
|
|
static bool endpoint_is_from_service(bool is_request, const dds_builtintopic_guid_t & guid)
|
|
{
|
|
/* Final byte of GUID is entity type, application writers use 0x02 (write with key) and 0x03
|
|
(writer without key); readers use 0x04 and 0x07. See DDSI specification, table 9.1.
|
|
|
|
A service has a reader for a request and a writer for the reply; a client has it the other
|
|
way round. Therefore, it is a service iff is_request is set and the GUID indicates it is a
|
|
writer. */
|
|
if (is_request) {
|
|
return guid.v[15] == 0x04 || guid.v[15] == 0x07;
|
|
} else {
|
|
return guid.v[15] == 0x02 || guid.v[15] == 0x03;
|
|
}
|
|
}
|
|
|
|
static rmw_ret_t get_cs_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,
|
|
bool looking_for_services)
|
|
{
|
|
RET_WRONG_IMPLID(node);
|
|
RET_NULL(allocator);
|
|
rmw_ret_t ret = rmw_names_and_types_check_zero(sntyp);
|
|
if (ret != RMW_RET_OK) {
|
|
return ret;
|
|
}
|
|
if (node_name) {
|
|
int dummy_validation_result;
|
|
size_t dummy_invalid_index;
|
|
if ((ret =
|
|
rmw_validate_node_name(node_name, &dummy_validation_result,
|
|
&dummy_invalid_index)) != RMW_RET_OK)
|
|
{
|
|
return ret;
|
|
}
|
|
}
|
|
std::set<dds_builtintopic_guid_t> guids;
|
|
if (node_name != nullptr &&
|
|
(ret = get_node_guids(node_name, node_namespace, guids)) != RMW_RET_OK)
|
|
{
|
|
return ret;
|
|
}
|
|
const auto re_tp = std::regex("^(" + std::string(ros_service_requester_prefix) + "|" +
|
|
std::string(ros_service_response_prefix) + ")(/.*)(Request|Reply)$",
|
|
std::regex::extended);
|
|
const auto re_typ = std::regex("^(.*::)dds_::(.*)_(Response|Request)_$", std::regex::extended);
|
|
const auto filter_and_map =
|
|
[re_tp, re_typ, guids, node_name,
|
|
looking_for_services](const dds_builtintopic_endpoint_t & sample, std::string & topic_name,
|
|
std::string & type_name) -> bool {
|
|
std::cmatch cm_tp, cm_typ;
|
|
if (node_name != nullptr && guids.count(sample.participant_key) == 0) {
|
|
return false;
|
|
}
|
|
if (!std::regex_search(sample.topic_name, cm_tp,
|
|
re_tp) || !std::regex_search(sample.type_name, cm_typ, re_typ))
|
|
{
|
|
return false;
|
|
} else {
|
|
if (looking_for_services !=
|
|
endpoint_is_from_service(std::string(cm_tp[3]) == "Request", sample.key))
|
|
{
|
|
return false;
|
|
} else {
|
|
std::string demangled_type = std::regex_replace(std::string(cm_typ[1]), std::regex(
|
|
"::"), "/");
|
|
topic_name = std::string(cm_tp[2]);
|
|
type_name = std::string(demangled_type) + std::string(cm_typ[2]);
|
|
return true;
|
|
}
|
|
}
|
|
};
|
|
std::map<std::string, std::set<std::string>> tt;
|
|
if ((ret =
|
|
rmw_collect_tptyp_for_kind(tt, DDS_BUILTIN_TOPIC_DCPSSUBSCRIPTION,
|
|
filter_and_map)) != RMW_RET_OK ||
|
|
(ret =
|
|
rmw_collect_tptyp_for_kind(tt, DDS_BUILTIN_TOPIC_DCPSPUBLICATION,
|
|
filter_and_map)) != RMW_RET_OK)
|
|
{
|
|
return ret;
|
|
}
|
|
return make_names_and_types(sntyp, tt, allocator);
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_get_topic_names_and_types(
|
|
const rmw_node_t * node,
|
|
rcutils_allocator_t * allocator,
|
|
bool no_demangle, rmw_names_and_types_t * tptyp)
|
|
{
|
|
return get_endpoint_names_and_types_by_node(node, allocator, nullptr, nullptr, no_demangle, tptyp,
|
|
true, true);
|
|
}
|
|
|
|
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)
|
|
{
|
|
return get_cs_names_and_types_by_node(node, allocator, nullptr, nullptr, sntyp, true);
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_service_server_is_available(
|
|
const rmw_node_t * node,
|
|
const rmw_client_t * client,
|
|
bool * is_available)
|
|
{
|
|
RET_WRONG_IMPLID(node);
|
|
RET_WRONG_IMPLID(client);
|
|
RET_NULL(is_available);
|
|
auto info = static_cast<CddsClient *>(client->data);
|
|
dds_publication_matched_status_t ps;
|
|
dds_subscription_matched_status_t cs;
|
|
if (dds_get_publication_matched_status(info->client.pub->pubh, &ps) < 0 ||
|
|
dds_get_subscription_matched_status(info->client.sub->subh, &cs) < 0)
|
|
{
|
|
RMW_SET_ERROR_MSG("rmw_service_server_is_available: get_..._matched_status failed");
|
|
return RMW_RET_ERROR;
|
|
}
|
|
*is_available = ps.current_count > 0 && cs.current_count > 0;
|
|
return RMW_RET_OK;
|
|
}
|
|
|
|
static rmw_ret_t rmw_count_pubs_or_subs(
|
|
const rmw_node_t * node, dds_entity_t builtin_topic,
|
|
const char * topic_name, size_t * count)
|
|
{
|
|
assert(
|
|
builtin_topic == DDS_BUILTIN_TOPIC_DCPSSUBSCRIPTION ||
|
|
builtin_topic == DDS_BUILTIN_TOPIC_DCPSPUBLICATION);
|
|
RET_NULL(topic_name);
|
|
RET_NULL(count);
|
|
RET_WRONG_IMPLID(node);
|
|
|
|
std::string fqtopic_name = make_fqtopic(ros_topic_prefix, topic_name, "", false);
|
|
dds_entity_t rd;
|
|
if ((rd = dds_create_reader(ref_ppant(), builtin_topic, NULL, NULL)) < 0) {
|
|
unref_ppant();
|
|
RMW_SET_ERROR_MSG("rmw_count_pubs_or_subs failed to create reader");
|
|
return RMW_RET_ERROR;
|
|
}
|
|
dds_sample_info_t info;
|
|
void * msg = NULL;
|
|
int32_t n;
|
|
*count = 0;
|
|
while ((n = dds_take(rd, &msg, &info, 1, 1)) == 1) {
|
|
if (info.valid_data && info.instance_state == DDS_IST_ALIVE) {
|
|
auto sample = static_cast<const dds_builtintopic_endpoint_t *>(msg);
|
|
if (fqtopic_name == std::string(sample->topic_name)) {
|
|
(*count)++;
|
|
}
|
|
}
|
|
dds_return_loan(rd, &msg, n);
|
|
}
|
|
dds_delete(rd);
|
|
unref_ppant();
|
|
return RMW_RET_OK;
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_count_publishers(
|
|
const rmw_node_t * node, const char * topic_name,
|
|
size_t * count)
|
|
{
|
|
return rmw_count_pubs_or_subs(node, DDS_BUILTIN_TOPIC_DCPSPUBLICATION, topic_name, count);
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_count_subscribers(
|
|
const rmw_node_t * node, const char * topic_name,
|
|
size_t * count)
|
|
{
|
|
return rmw_count_pubs_or_subs(node, DDS_BUILTIN_TOPIC_DCPSSUBSCRIPTION, topic_name, count);
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_get_subscriber_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 * tptyp)
|
|
{
|
|
return get_endpoint_names_and_types_by_node(node, allocator, node_name, node_namespace,
|
|
no_demangle, tptyp, true, false);
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_get_publisher_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 * tptyp)
|
|
{
|
|
return get_endpoint_names_and_types_by_node(node, allocator, node_name, node_namespace,
|
|
no_demangle, tptyp, false, true);
|
|
}
|
|
|
|
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)
|
|
{
|
|
return get_cs_names_and_types_by_node(node, allocator, node_name, node_namespace, sntyp, true);
|
|
}
|
|
|
|
extern "C" rmw_ret_t rmw_get_client_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)
|
|
{
|
|
return get_cs_names_and_types_by_node(node, allocator, node_name, node_namespace, sntyp, false);
|
|
}
|