refactor init to allow options to be passed and to not be global

rmw/CMakeLists.txt

@@ -27,6 +27,8 @@ include_directories(include)
 set(rmw_sources
  "src/allocators.c"
  "src/convert_rcutils_ret_to_rmw_ret.c"
+ "src/init.c"
+ "src/init_options.c"
  "src/names_and_types.c"
  "src/sanity_checks.c"
  "src/node_security_options.c"

rmw/include/rmw/init.h

@@ -0,0 +1,115 @@
+// Copyright 2014-2018 Open Source Robotics Foundation, Inc.
+//
+// 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 RMW__INIT_H_
+#define RMW__INIT_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include <stdint.h>
+
+#include "rmw/init_options.h"
+#include "rmw/macros.h"
+#include "rmw/ret_types.h"
+#include "rmw/visibility_control.h"
+
+/// Implementation defined context structure returned by rmw_init().
+/**
+ * This should be defined by the rmw implementation.
+ */
+typedef struct rmw_context_impl_t rmw_context_impl_t;
+
+/// Initialization context structure which is used to store init specific information.
+typedef struct RMW_PUBLIC_TYPE rmw_context_t
+{
+ /// Locally (process local) unique ID that represents this init/shutdown cycle.
+ uint64_t instance_id;
+ /// Implementation identifier, used to ensure two different implementations are not being mixed.
+ const char * implementation_identifier;
+ /// Implementation defined context information.
+ /** May be NULL if there is no implementation defined context information. */
+ rmw_context_impl_t * impl;
+} rmw_context_t;
+
+/// Return a zero initialized context structure.
+RMW_PUBLIC
+RMW_WARN_UNUSED
+rmw_context_t
+rmw_get_zero_initialized_context(void);
+
+/// Initialize the middleware with the given options, and yielding an context.
+/**
+ * The given context must be zero initialized, and is filled with
+ * middleware specific data upon success of this function.
+ * The context is used when initializing some entities like nodes and
+ * guard conditions, and is also required to properly call rmw_shutdown().
+ *
+ * <hr>
+ * Attribute | Adherence
+ * ------------------ | -------------
+ * Allocates Memory | Yes
+ * Thread-Safe | No
+ * Uses Atomics | No
+ * Lock-Free | Yes
+ *
+ * This should be defined by the rmw implementation.
+ *
+ * \param[in] options initialization options to be used during initialization
+ * \param[out] context resulting context struct
+ * \return `RMW_RET_OK` if successful, or
+ * \return `RMW_RET_INCORRECT_RMW_IMPLEMENTATION` if the implementation
+ * identifier does not match, or
+ * \return `RMW_RET_INVALID_ARGUMENT` if any arguments are null or invalid, or
+ * \return `RMW_RET_ERROR` if an unexpected error occurs.
+ */
+RMW_PUBLIC
+RMW_WARN_UNUSED
+rmw_ret_t
+rmw_init(const rmw_init_options_t * options, rmw_context_t * context);
+
+/// Shutdown the middleware for a given context.
+/**
+ * The given context must be a valid context which has been initialized
+ * with rmw_init().
+ *
+ * <hr>
+ * Attribute | Adherence
+ * ------------------ | -------------
+ * Allocates Memory | Yes
+ * Thread-Safe | No
+ * Uses Atomics | No
+ * Lock-Free | Yes
+ *
+ * This should be defined by the rmw implementation.
+ *
+ * \param[in] context resulting context struct
+ * \return `RMW_RET_OK` if successful, or
+ * \return `RMW_RET_INCORRECT_RMW_IMPLEMENTATION` if the implementation
+ * identifier does not match, or
+ * \return `RMW_RET_INVALID_ARGUMENT` if the argument is null or invalid, or
+ * \return `RMW_RET_ERROR` if an unexpected error occurs.
+ */
+RMW_PUBLIC
+RMW_WARN_UNUSED
+rmw_ret_t
+rmw_shutdown(rmw_context_t * context);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // RMW__INIT_H_

rmw/include/rmw/init_options.h

@@ -0,0 +1,159 @@
+// Copyright 2014-2018 Open Source Robotics Foundation, Inc.
+//
+// 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 RMW__INIT_OPTIONS_H_
+#define RMW__INIT_OPTIONS_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include <stdint.h>
+
+#include "rcutils/allocator.h"
+#include "rmw/macros.h"
+#include "rmw/ret_types.h"
+#include "rmw/visibility_control.h"
+
+/// Implementation defined options structure used during rmw_init().
+/**
+ * This should be defined by the rmw implementation.
+ */
+typedef struct rmw_init_options_impl_t rmw_init_options_impl_t;
+
+/// Options structure used during rmw_init().
+typedef struct RMW_PUBLIC_TYPE rmw_init_options_t
+{
+ /// Locally (process local) unique ID that represents this init/shutdown cycle.
+ /**
+ * This should be set by the caller of `rmw_init()` to a number that is
+ * unique within this process.
+ * It is designed to be used with `rcl_init()` and `rcl_get_instance_id()`.
+ */
+ uint64_t instance_id;
+ /// Implementation identifier, used to ensure two different implementations are not being mixed.
+ const char * implementation_identifier;
+ // TODO(wjwwood): replace with rmw_allocator_t when that refactor happens
+ /// Allocator used during internal allocation of init options, if needed.
+ rcutils_allocator_t allocator;
+ /// Implementation defined init options.
+ /** May be NULL if there are no implementation defined options. */
+ rmw_init_options_impl_t * impl;
+} rmw_init_options_t;
+
+/// Return a zero initialized init options structure.
+RMW_PUBLIC
+RMW_WARN_UNUSED
+rmw_init_options_t
+rmw_get_zero_initialized_init_options(void);
+
+/// Initialize given init_options with the default values and implementation specific values.
+/**
+ * The given allocator is used, if required, during setup of the init options,
+ * but is also used during initialization.
+ *
+ * In either case the given allocator is stored in the returned init options.
+ *
+ * The `impl` pointer should not be changed manually.
+ *
+ * <hr>
+ * Attribute | Adherence
+ * ------------------ | -------------
+ * Allocates Memory | Yes
+ * Thread-Safe | No
+ * Uses Atomics | Yes
+ * Lock-Free | Yes
+ *
+ * This should be defined by the rmw implementation.
+ *
+ * \param[inout] init_options object to be setup
+ * \param[in] allocator to be used during setup and during initialization
+ * \return `RMW_RET_OK` if setup is successful, or
+ * \return `RMW_RET_INVALID_ARGUMENT` if init_options has already be initialized, or
+ * \return `RMW_RET_INVALID_ARGUMENT` if any arguments are invalid, or
+ * \return `RMW_RET_BAD_ALLOC` if allocating memory failed, or
+ * \return `RMW_RET_ERROR` if an unspecified error occurs.
+ */
+RMW_PUBLIC
+RMW_WARN_UNUSED
+rmw_ret_t
+rmw_init_options_init(rmw_init_options_t * init_options, rcutils_allocator_t allocator);
+
+/// Copy the given source init options to the destination init options.
+/**
+ * The allocator from the source is used for any allocations and stored in the
+ * destination.
+ *
+ * The destination should either be zero initialized with
+ * `rmw_get_zero_initialized_init_options()` or should have had
+ * `rmw_init_options_fini()` called on it.
+ * Giving an already initialized init options for the destination will result
+ * in a failure with return code `RMW_RET_INVALID_ARGUMENT`.
+ *
+ * <hr>
+ * Attribute | Adherence
+ * ------------------ | -------------
+ * Allocates Memory | Yes
+ * Thread-Safe | No
+ * Uses Atomics | Yes
+ * Lock-Free | Yes
+ *
+ * This should be defined by the rmw implementation.
+ *
+ * \param[in] src rcl_init_options_t object to be copied from
+ * \param[out] dst rcl_init_options_t object to be copied into
+ * \return `RMW_RET_OK` if the copy is successful, or
+ * \return `RMW_RET_INCORRECT_RMW_IMPLEMENTATION` if the implementation
+ * identifier for src does not match the implementation of this function, or
+ * \return `RMW_RET_INVALID_ARGUMENT` if the dst has already be initialized, or
+ * \return `RMW_RET_INVALID_ARGUMENT` if any arguments are invalid, or
+ * \return `RMW_RET_BAD_ALLOC` if allocating memory failed, or
+ * \return `RMW_RET_ERROR` if an unspecified error occurs.
+ */
+RMW_PUBLIC
+RMW_WARN_UNUSED
+rmw_ret_t
+rmw_init_options_copy(const rmw_init_options_t * src, rmw_init_options_t * dst);
+
+/// Finalize the given init_options.
+/**
+ * The given init_options must be non-`NULL` and valid, i.e. had
+ * `rmw_init_options_init()` called on it but not this function yet.
+ *
+ * <hr>
+ * Attribute | Adherence
+ * ------------------ | -------------
+ * Allocates Memory | Yes
+ * Thread-Safe | No
+ * Uses Atomics | Yes
+ * Lock-Free | Yes
+ *
+ * This should be defined by the rmw implementation.
+ *
+ * \param[inout] init_options object to be setup
+ * \return `RMW_RET_OK` if setup is successful, or
+ * \return `RMW_RET_INVALID_ARGUMENT` if any arguments are invalid, or
+ * \return `RMW_RET_ERROR` if an unspecified error occurs.
+ */
+RMW_PUBLIC
+RMW_WARN_UNUSED
+rmw_ret_t
+rmw_init_options_fini(rmw_init_options_t * init_options);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // RMW__INIT_OPTIONS_H_

rmw/include/rmw/ret_types.h

@@ -0,0 +1,41 @@
+// Copyright 2014-2018 Open Source Robotics Foundation, Inc.
+//
+// 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 RMW__RET_TYPES_H_
+#define RMW__RET_TYPES_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include <stdint.h>
+
+typedef int32_t rmw_ret_t;
+#define RMW_RET_OK 0
+#define RMW_RET_ERROR 1
+#define RMW_RET_TIMEOUT 2
+
+/// Failed to allocate memory return code.
+#define RMW_RET_BAD_ALLOC 10
+/// Invalid argument return code.
+#define RMW_RET_INVALID_ARGUMENT 11
+/// Incorrect rmw implementation.
+#define RMW_RET_INCORRECT_RMW_IMPLEMENTATION 12
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // RMW__RET_TYPES_H_