Implement converter plugin for CDR format and add converter plugins p…

…ackage (ros2#48)

* ros2GH-111 Add package for converter plugins

* ros2GH-111 Add CDR converter plugin

* ros2GH-111 Add test for more primitives types

* ros2GH-116 Fix cdr converter after rebase on new converters interface

* ros2GH-116 Use rmw_serialize/rmw_deserialize directly in converter and link against rmw_fastrtps_cpp

* Fix converter package.xml

* Fix clang warnings

* ros2GH-30 Change interface to the same convention as rmw_(de)serialize

* comply to new rcutils error handling API

* use poco to load fastrtps

* Update rosbag2_converter_default_plugins/src/rosbag2_converter_default_plugins/cdr/cdr_converter.cpp

Co-Authored-By: Karsten1987 <karsten@osrfoundation.org>

rosbag2/include/rosbag2/serialization_format_converter_interface.hpp

@@ -33,14 +33,14 @@ class SerializationFormatConverterInterface
  virtual ~SerializationFormatConverterInterface() = default;
 
  virtual void deserialize(
- std::shared_ptr<rosbag2_ros2_message_t> ros_message,
- std::shared_ptr<const SerializedBagMessage> serialized_message,
- const rosidl_message_type_support_t * type_support) = 0;
+ std::shared_ptr<const rosbag2::SerializedBagMessage> serialized_message,
+ const rosidl_message_type_support_t * type_support,
+ std::shared_ptr<rosbag2_ros2_message_t> ros_message) = 0;
 
  virtual void serialize(
- std::shared_ptr<SerializedBagMessage> serialized_message,
  std::shared_ptr<const rosbag2_ros2_message_t> ros_message,
- const rosidl_message_type_support_t * type_support) = 0;
+ const rosidl_message_type_support_t * type_support,
+ std::shared_ptr<rosbag2::SerializedBagMessage> serialized_message) = 0;
 };
 
 } // namespace rosbag2

rosbag2/test/rosbag2/converter_test_plugin.cpp

@@ -19,20 +19,19 @@
 #include "converter_test_plugin.hpp"
 
 void ConverterTestPlugin::deserialize(
-
- std::shared_ptr<rosbag2_ros2_message_t> ros_message,
  const std::shared_ptr<const rosbag2::SerializedBagMessage> serialized_message,
- const rosidl_message_type_support_t * type_support)
+ const rosidl_message_type_support_t * type_support,
+ std::shared_ptr<rosbag2_ros2_message_t> ros_message)
 {
  (void) ros_message;
  (void) serialized_message;
  (void) type_support;
 }
 
 void ConverterTestPlugin::serialize(
- std::shared_ptr<rosbag2::SerializedBagMessage> serialized_message,
  const std::shared_ptr<const rosbag2_ros2_message_t> ros_message,
- const rosidl_message_type_support_t * type_support)
+ const rosidl_message_type_support_t * type_support,
+ std::shared_ptr<rosbag2::SerializedBagMessage> serialized_message)
 {
  (void) serialized_message;
  (void) ros_message;

rosbag2/test/rosbag2/converter_test_plugin.hpp

@@ -25,14 +25,14 @@ class ConverterTestPlugin : public rosbag2::SerializationFormatConverterInterfac
 {
 public:
  void deserialize(
- std::shared_ptr<rosbag2_ros2_message_t> ros_message,
  std::shared_ptr<const rosbag2::SerializedBagMessage> serialized_message,
- const rosidl_message_type_support_t * type_support) override;
+ const rosidl_message_type_support_t * type_support,
+ std::shared_ptr<rosbag2_ros2_message_t> ros_message) override;
 
  void serialize(
- std::shared_ptr<rosbag2::SerializedBagMessage> serialized_message,
  std::shared_ptr<const rosbag2_ros2_message_t> ros_message,
- const rosidl_message_type_support_t * type_support) override;
+ const rosidl_message_type_support_t * type_support,
+ std::shared_ptr<rosbag2::SerializedBagMessage> serialized_message) override;
 };
 
 #endif // ROSBAG2__CONVERTER_TEST_PLUGIN_HPP_

rosbag2_converter_default_plugins/CMakeLists.txt

@@ -0,0 +1,81 @@
+cmake_minimum_required(VERSION 3.5)
+project(rosbag2_converter_default_plugins)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+ set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+ set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+ add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(ament_index_cpp REQUIRED)
+find_package(poco_vendor REQUIRED)
+find_package(Poco COMPONENTS Foundation)
+find_package(pluginlib REQUIRED)
+find_package(rosbag2 REQUIRED)
+find_package(rosidl_generator_cpp REQUIRED)
+find_package(rcutils REQUIRED)
+find_package(rmw REQUIRED)
+
+add_library(${PROJECT_NAME} SHARED
+ src/rosbag2_converter_default_plugins/cdr/cdr_converter.cpp)
+
+ament_target_dependencies(${PROJECT_NAME}
+ ament_index_cpp
+ pluginlib
+ Poco
+ rosbag2
+ rcutils
+ rmw
+ rosidl_generator_cpp)
+
+target_include_directories(${PROJECT_NAME}
+ PUBLIC
+ $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+ $<INSTALL_INTERFACE:include>)
+
+pluginlib_export_plugin_description_file(rosbag2 plugin_description.xml)
+
+install(
+ TARGETS ${PROJECT_NAME}
+ ARCHIVE DESTINATION lib
+ LIBRARY DESTINATION lib
+ RUNTIME DESTINATION bin)
+
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME})
+ament_export_dependencies(rosbag2)
+
+if(BUILD_TESTING)
+ find_package(ament_cmake_gmock REQUIRED)
+ find_package(ament_lint_auto REQUIRED)
+ find_package(rcutils REQUIRED)
+ find_package(rosbag2 REQUIRED)
+ find_package(rosbag2_test_common REQUIRED)
+ find_package(test_msgs REQUIRED)
+
+ ament_lint_auto_find_test_dependencies()
+
+ ament_add_gmock(test_cdr_converter
+ test/rosbag2_converter_default_plugins/cdr/test_cdr_converter.cpp
+ src/rosbag2_converter_default_plugins/cdr/cdr_converter.cpp
+ WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
+ if(TARGET test_cdr_converter)
+ ament_target_dependencies(test_cdr_converter
+ pluginlib
+ rosbag2
+ rosbag2_test_common
+ rcutils
+ test_msgs)
+ endif()
+endif()
+
+ament_package()

rosbag2_converter_default_plugins/package.xml

@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+ <name>rosbag2_converter_default_plugins</name>
+ <version>0.0.0</version>
+ <description>Package containing default plugins for format converters</description>
+ <maintainer email="karsten.knese@googlemail.com">Karsten Knese</maintainer>
+ <license>Apache License 2.0</license>
+
+ <buildtool_depend>ament_cmake</buildtool_depend>
+
+ <depend>ament_index_cpp</depend>
+ <depend>pluginlib</depend>
+ <depend>poco_vendor</depend>
+ <depend>rosidl_generator_cpp</depend>
+ <depend>rcutils</depend>
+ <depend>rmw</depend>
+ <depend>rosbag2</depend>
+
+ <test_depend>ament_cmake_gmock</test_depend>
+ <test_depend>ament_lint_auto</test_depend>
+ <test_depend>ament_lint_common</test_depend>
+ <test_depend>rcutils</test_depend>
+ <test_depend>rosbag2</test_depend>
+ <test_depend>rosbag2_test_common</test_depend>
+ <test_depend>test_msgs</test_depend>
+
+ <export>
+ <build_type>ament_cmake</build_type>
+ </export>
+</package>

rosbag2_converter_default_plugins/plugin_description.xml

@@ -0,0 +1,9 @@
+<library path="rosbag2_converter_default_plugins">
+<class
+ name="cdr_converter"
+ type="CdrConverterPlugin"
+ base_class_type="rosbag2::FormatConverterInterface"
+>
+ <description>This is a converter plugin for cdr format.</description>
+</class>
+</library>

rosbag2_converter_default_plugins/src/rosbag2_converter_default_plugins/cdr/cdr_converter.cpp

@@ -0,0 +1,131 @@
+// Copyright 2018, Bosch Software Innovations GmbH.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "cdr_converter.hpp"
+
+#include <memory>
+#include <string>
+
+#include "ament_index_cpp/get_resources.hpp"
+#include "ament_index_cpp/get_package_prefix.hpp"
+
+#include "Poco/SharedLibrary.h"
+
+#include "rcutils/strdup.h"
+
+#include "../logging.hpp"
+
+namespace rosbag2_converter_default_plugins
+{
+
+inline
+std::string get_package_library_path(const std::string & package_name)
+{
+ const char * filename_prefix;
+ const char * filename_extension;
+ const char * dynamic_library_folder;
+#ifdef _WIN32
+ filename_prefix = "";
+ filename_extension = ".dll";
+ dynamic_library_folder = "/bin/";
+#elif __APPLE__
+ filename_prefix = "lib";
+ filename_extension = ".dylib";
+ dynamic_library_folder = "/lib/";
+#else
+ filename_prefix = "lib";
+ filename_extension = ".so";
+ dynamic_library_folder = "/lib/";
+#endif
+
+ auto package_prefix = ament_index_cpp::get_package_prefix(package_name);
+ auto library_path = package_prefix + dynamic_library_folder + filename_prefix +
+ package_name + filename_extension;
+
+ return library_path;
+}
+
+CdrConverter::CdrConverter()
+{
+ auto library_path = get_package_library_path("rmw_fastrtps_dynamic_cpp");
+ std::shared_ptr<Poco::SharedLibrary> library;
+ try {
+ library = std::make_shared<Poco::SharedLibrary>(library_path);
+ } catch (Poco::LibraryLoadException &) {
+ throw std::runtime_error(
+ std::string("poco exception: library could not be found:") + library_path);
+ }
+
+ std::string serialize_symbol = "rmw_serialize";
+ std::string deserialize_symbol = "rmw_deserialize";
+
+ if (!library->hasSymbol(serialize_symbol)) {
+ throw std::runtime_error(
+ std::string("poco exception: symbol not found: ") + serialize_symbol);
+ }
+
+ if (!library->hasSymbol(deserialize_symbol)) {
+ throw std::runtime_error(
+ std::string("poco exception: symbol not found: ") + deserialize_symbol);
+ }
+
+ serialize_fcn_ = (decltype(serialize_fcn_))library->getSymbol(serialize_symbol);
+ if (!serialize_fcn_) {
+ throw std::runtime_error(
+ std::string("poco exception: symbol of wrong type: ") + serialize_symbol);
+ }
+
+ deserialize_fcn_ = (decltype(deserialize_fcn_))library->getSymbol(deserialize_symbol);
+ if (!deserialize_fcn_) {
+ throw std::runtime_error(
+ std::string("poco exception: symbol of wrong type: ") + deserialize_symbol);
+ }
+}
+
+void CdrConverter::deserialize(
+ const std::shared_ptr<const rosbag2::SerializedBagMessage> serialized_message,
+ const rosidl_message_type_support_t * type_support,
+ std::shared_ptr<rosbag2_ros2_message_t> ros_message)
+{
+ ros_message->topic_name = serialized_message->topic_name.c_str();
+ ros_message->timestamp = serialized_message->time_stamp;
+
+ printf("this should be a call to FASTRTPS\n");
+ auto ret =
+ deserialize_fcn_(serialized_message->serialized_data.get(), type_support, ros_message->message);
+ if (ret != RMW_RET_OK) {
+ ROSBAG2_CONVERTER_DEFAULT_PLUGINS_LOG_ERROR("Failed to deserialize message.");
+ }
+}
+
+void CdrConverter::serialize(
+ const std::shared_ptr<const rosbag2_ros2_message_t> ros_message,
+ const rosidl_message_type_support_t * type_support,
+ std::shared_ptr<rosbag2::SerializedBagMessage> serialized_message)
+{
+ serialized_message->topic_name = std::string(ros_message->topic_name);
+ serialized_message->time_stamp = ros_message->timestamp;
+
+ auto ret = serialize_fcn_(
+ ros_message->message, type_support, serialized_message->serialized_data.get());
+ if (ret != RMW_RET_OK) {
+ ROSBAG2_CONVERTER_DEFAULT_PLUGINS_LOG_ERROR("Failed to serialize message.");
+ }
+}
+
+} // namespace rosbag2_converter_default_plugins
+
+#include "pluginlib/class_list_macros.hpp" // NOLINT
+PLUGINLIB_EXPORT_CLASS(rosbag2_converter_default_plugins::CdrConverter,
+ rosbag2::SerializationFormatConverterInterface)

rosbag2_converter_default_plugins/src/rosbag2_converter_default_plugins/cdr/cdr_converter.hpp

@@ -0,0 +1,57 @@
+// Copyright 2018, Bosch Software Innovations GmbH.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef ROSBAG2_CONVERTER_DEFAULT_PLUGINS__CDR__CDR_CONVERTER_HPP_
+#define ROSBAG2_CONVERTER_DEFAULT_PLUGINS__CDR__CDR_CONVERTER_HPP_
+
+#include <memory>
+#include <string>
+
+#include "rmw/types.h"
+
+#include "rosbag2/serialization_format_converter_interface.hpp"
+
+namespace rosbag2_converter_default_plugins
+{
+
+class CdrConverter : public rosbag2::SerializationFormatConverterInterface
+{
+public:
+ CdrConverter();
+
+ void deserialize(
+ std::shared_ptr<const rosbag2::SerializedBagMessage> serialized_message,
+ const rosidl_message_type_support_t * type_support,
+ std::shared_ptr<rosbag2_ros2_message_t> ros_message) override;
+
+ void serialize(
+ std::shared_ptr<const rosbag2_ros2_message_t> ros_message,
+ const rosidl_message_type_support_t * type_support,
+ std::shared_ptr<rosbag2::SerializedBagMessage> serialized_message) override;
+
+protected:
+ rmw_ret_t (* serialize_fcn_)(
+ const void *,
+ const rosidl_message_type_support_t *,
+ rmw_serialized_message_t *) = nullptr;
+
+ rmw_ret_t (* deserialize_fcn_)(
+ const rmw_serialized_message_t *,
+ const rosidl_message_type_support_t *,
+ void *) = nullptr;
+};
+
+} // namespace rosbag2_converter_default_plugins
+
+#endif // ROSBAG2_CONVERTER_DEFAULT_PLUGINS__CDR__CDR_CONVERTER_HPP_