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rmw_impl.cpp
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// Copyright 2020 Real-Time Innovations, Inc. (RTI)
//
// 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 "rmw_connextdds/rmw_impl.hpp"
#include <algorithm>
#include <string>
#include <vector>
#include <stdexcept>
#include "rmw_dds_common/time_utils.hpp"
#include "rmw_dds_common/qos.hpp"
#include "rmw_connextdds/graph_cache.hpp"
#define ROS_SERVICE_REQUESTER_PREFIX_STR "rq"
#define ROS_SERVICE_RESPONSE_PREFIX_STR "rr"
const char * const ROS_TOPIC_PREFIX = "rt";
const char * const ROS_SERVICE_REQUESTER_PREFIX = ROS_SERVICE_REQUESTER_PREFIX_STR;
const char * const ROS_SERVICE_RESPONSE_PREFIX = ROS_SERVICE_RESPONSE_PREFIX_STR;
const char * const ROS_CFT_TOPIC_NAME_INFIX = "_ContentFilterTopic";
std::string
rmw_connextdds_create_topic_name(
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);
}
}
std::string
rmw_connextdds_create_topic_name(
const char * prefix,
const char * topic_name,
const char * suffix,
const rmw_qos_profile_t * qos_policies)
{
return rmw_connextdds_create_topic_name(
prefix,
topic_name,
suffix,
qos_policies->avoid_ros_namespace_conventions);
}
rcutils_ret_t
rcutils_uint8_array_copy(
rcutils_uint8_array_t * const dst,
const rcutils_uint8_array_t * const src)
{
if (src->buffer_length > 0) {
if (src->buffer_length > dst->buffer_capacity) {
rcutils_ret_t rc =
rcutils_uint8_array_resize(dst, src->buffer_length);
if (RCUTILS_RET_OK != rc) {
return rc;
}
}
dst->buffer_length = src->buffer_length;
memcpy(dst->buffer, src->buffer, src->buffer_length);
} else {
dst->buffer_length = 0;
}
return RCUTILS_RET_OK;
}
static inline void str_trim(
const char * const s,
const size_t s_len,
size_t * const s_start_out,
size_t * const s_end_out)
{
size_t s_i = 0;
for (; s_i < s_len && std::isspace(s[s_i]); s_i++) {
}
*s_start_out = s_i;
for (; s_i < s_len && !std::isspace(s[s_i]); s_i++) {
}
*s_end_out = s_i;
}
// This function "tokenizes" a string and stores the parsed tokens in a sequence.
// Note that that a trailing empty element is not supported (e.g. `"foo,bar,"`,
// or `"foo, bar, "` if trimming is enabled), unless empty elements are allowed
// (in which, e.g., `"foo,,bar,"` would also be accepted).
rmw_ret_t
rmw_connextdds_parse_string_list(
const char * const list,
struct DDS_StringSeq * const parsed_out,
const char delimiter,
const bool trim_elements,
const bool allow_empty_elements,
const bool append_values)
{
const size_t input_len = strlen(list);
// This function expects to be called on a non-empty input string
RMW_CONNEXT_ASSERT(input_len > 0)
RMW_CONNEXT_LOG_TRACE_A(
"parse list: "
"delim=%c, trim_el=%d, empty_el=%d, append=%d, input='%s'",
delimiter, trim_elements, allow_empty_elements, append_values, list)
DDS_Long parsed_len = DDS_StringSeq_get_length(parsed_out);
if (!append_values) {
parsed_len = 0;
if (!DDS_StringSeq_set_length(parsed_out, parsed_len)) {
RMW_CONNEXT_LOG_ERROR_SET("failed to reset sequence length")
return RMW_RET_ERROR;
}
}
size_t input_i = 0,
next_i_start = 0;
for (;
input_i < input_len;
parsed_len += 1,
input_i += 2,
next_i_start = input_i)
{
// determine token's length by finding a delimiter (or end of input)
for (;
input_i + 1 < input_len && delimiter != list[input_i + 1];
input_i += 1)
{
}
RMW_CONNEXT_ASSERT(input_i >= next_i_start)
RMW_CONNEXT_ASSERT(input_i < input_len)
size_t next_len = input_i - next_i_start + 1;
if (next_len > 0 && trim_elements) {
size_t trim_head = 0,
trim_tail = 0;
str_trim(list + next_i_start, next_len, &trim_head, &trim_tail);
next_i_start += trim_head;
next_len = trim_tail - trim_head;
}
if (next_len == 0 && !allow_empty_elements) {
RMW_CONNEXT_LOG_ERROR_A_SET("empty elements are not allowed: '%s'", list)
return RMW_RET_ERROR;
}
if (!DDS_StringSeq_ensure_length(
parsed_out, parsed_len + 1, parsed_len + 1))
{
RMW_CONNEXT_LOG_ERROR_SET("failed to resize string sequence")
return RMW_RET_ERROR;
}
char ** const el_ref = DDS_StringSeq_get_reference(parsed_out, parsed_len);
RMW_CONNEXT_ASSERT(nullptr != el_ref);
if (nullptr != *el_ref) {
DDS_String_free(*el_ref);
}
*el_ref = DDS_String_alloc(next_len);
if (nullptr == *el_ref) {
RMW_CONNEXT_LOG_ERROR_SET("failed to allocate string")
return RMW_RET_ERROR;
}
if (next_len > 0) {
memcpy(*el_ref, list + next_i_start, next_len);
}
RMW_CONNEXT_LOG_TRACE_A(
"parsed list element: i=%d, el='%s'",
parsed_len, *el_ref)
// check if we have a trailing empty element
if (input_i + 2 == input_len) {
if (!allow_empty_elements) {
RMW_CONNEXT_LOG_ERROR_A_SET("empty elements are not allowed: '%s'", list)
return RMW_RET_ERROR;
}
}
}
return RMW_RET_OK;
}
bool
rmw_connextdds_find_string_in_list(
const DDS_StringSeq * const values,
const char * const value)
{
const DDS_Long values_len = DDS_StringSeq_get_length(values);
for (DDS_Long i = 0; i < values_len; i++) {
const char * const v_str =
*DDS_StringSeq_get_reference(values, i);
if (strcmp(v_str, value) == 0) {
return true;
}
}
return false;
}
DDS_Duration_t
rmw_connextdds_duration_from_ros_time(
const rmw_time_t * const ros_time)
{
if (rmw_time_equal(*ros_time, RMW_DURATION_INFINITE)) {
return DDS_DURATION_INFINITE;
}
rmw_time_t in_time = rmw_dds_common::clamp_rmw_time_to_dds_time(*ros_time);
DDS_Duration_t duration;
duration.sec = static_cast<DDS_Long>(in_time.sec);
duration.nanosec = static_cast<DDS_UnsignedLong>(in_time.nsec);
return duration;
}
/******************************************************************************
* Qos Helpers
******************************************************************************/
rmw_qos_policy_kind_t
dds_qos_policy_to_rmw_qos_policy(const DDS_QosPolicyId_t last_policy_id)
{
switch (last_policy_id) {
case DDS_DURABILITY_QOS_POLICY_ID:
return RMW_QOS_POLICY_DURABILITY;
case DDS_DEADLINE_QOS_POLICY_ID:
return RMW_QOS_POLICY_DEADLINE;
case DDS_LIVELINESS_QOS_POLICY_ID:
return RMW_QOS_POLICY_LIVELINESS;
case DDS_RELIABILITY_QOS_POLICY_ID:
return RMW_QOS_POLICY_RELIABILITY;
case DDS_HISTORY_QOS_POLICY_ID:
return RMW_QOS_POLICY_HISTORY;
case DDS_LIFESPAN_QOS_POLICY_ID:
return RMW_QOS_POLICY_LIFESPAN;
default:
break;
}
return RMW_QOS_POLICY_INVALID;
}
static
DDS_Duration_t
rmw_time_to_dds_duration(const rmw_time_t & time)
{
if (rmw_time_equal(time, RMW_DURATION_INFINITE)) {
return DDS_DURATION_INFINITE;
}
// Use rmw_dds_common::clamp_rmw_time_to_dds_time() to make sure value doesn't
// exceed the valid domain for DDS_Duration_t.
const rmw_time_t ctime = rmw_dds_common::clamp_rmw_time_to_dds_time(time);
DDS_Duration_t duration;
duration.sec = static_cast<DDS_Long>(ctime.sec);
duration.nanosec = static_cast<DDS_UnsignedLong>(ctime.nsec);
return duration;
}
static
rmw_time_t
dds_duration_to_rmw_time(const DDS_Duration_t & duration)
{
if (DDS_Duration_is_infinite(&duration)) {
return RMW_DURATION_INFINITE;
}
assert(duration.sec >= 0);
rmw_time_t result = {static_cast<uint64_t>(duration.sec), duration.nanosec};
return result;
}
rmw_ret_t
rmw_connextdds_get_readerwriter_qos(
const bool writer_qos,
RMW_Connext_MessageTypeSupport * const type_support,
DDS_HistoryQosPolicy * const history,
DDS_ReliabilityQosPolicy * const reliability,
DDS_DurabilityQosPolicy * const durability,
DDS_DeadlineQosPolicy * const deadline,
DDS_LivelinessQosPolicy * const liveliness,
DDS_ResourceLimitsQosPolicy * const resource_limits,
DDS_PublishModeQosPolicy * const publish_mode,
DDS_LifespanQosPolicy * const lifespan,
DDS_UserDataQosPolicy * const user_data,
const rmw_qos_profile_t * const qos_policies,
const rmw_publisher_options_t * const pub_options,
const rmw_subscription_options_t * const sub_options)
{
UNUSED_ARG(writer_qos);
UNUSED_ARG(publish_mode);
UNUSED_ARG(resource_limits);
UNUSED_ARG(pub_options);
UNUSED_ARG(sub_options);
switch (qos_policies->history) {
case RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT:
{
break;
}
case RMW_QOS_POLICY_HISTORY_KEEP_LAST:
{
if (qos_policies->depth == RMW_QOS_POLICY_DEPTH_SYSTEM_DEFAULT) {
history->depth = 1;
history->kind = DDS_KEEP_LAST_HISTORY_QOS;
} else {
if (qos_policies->depth < 1 || qos_policies->depth > INT32_MAX) {
RMW_CONNEXT_LOG_ERROR_A_SET(
"unsupported history depth: %ld", qos_policies->depth)
return RMW_RET_ERROR;
}
history->depth = static_cast<DDS_Long>(qos_policies->depth);
history->kind = DDS_KEEP_LAST_HISTORY_QOS;
}
break;
}
case RMW_QOS_POLICY_HISTORY_KEEP_ALL:
{
history->kind = DDS_KEEP_ALL_HISTORY_QOS;
break;
}
// case RMW_QOS_POLICY_HISTORY_UNKNOWN:
default:
{
RMW_CONNEXT_LOG_ERROR_A_SET(
"unsupported history kind: %d", qos_policies->history)
return RMW_RET_ERROR;
}
}
RMW_CONNEXT_LOG_DEBUG_A(
"endpoint resource history: "
"kind=%d, "
"depth=%d",
history->kind,
history->depth);
reliability->max_blocking_time = DDS_DURATION_INFINITE;
switch (qos_policies->reliability) {
case RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT:
{
break;
}
case RMW_QOS_POLICY_RELIABILITY_RELIABLE:
{
reliability->kind = DDS_RELIABLE_RELIABILITY_QOS;
break;
}
case RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT:
{
reliability->kind = DDS_BEST_EFFORT_RELIABILITY_QOS;
break;
}
// case RMW_QOS_POLICY_RELIABILITY_UNKNOWN:
default:
{
RMW_CONNEXT_LOG_ERROR_A_SET(
"unsupported reliability kind: %d", qos_policies->reliability)
return RMW_RET_ERROR;
}
}
switch (qos_policies->durability) {
case RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT:
{
break;
}
case RMW_QOS_POLICY_DURABILITY_VOLATILE:
{
durability->kind = DDS_VOLATILE_DURABILITY_QOS;
break;
}
case RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:
{
durability->kind = DDS_TRANSIENT_LOCAL_DURABILITY_QOS;
break;
}
// case RMW_QOS_POLICY_DURABILITY_UNKNOWN:
default:
{
RMW_CONNEXT_LOG_ERROR_A_SET(
"unsupported durability kind: %d", qos_policies->durability)
return RMW_RET_ERROR;
}
}
if (!rmw_time_equal(qos_policies->deadline, RMW_DURATION_UNSPECIFIED)) {
deadline->period = rmw_time_to_dds_duration(qos_policies->deadline);
}
if (!rmw_time_equal(qos_policies->liveliness_lease_duration, RMW_DURATION_UNSPECIFIED)) {
liveliness->lease_duration =
rmw_time_to_dds_duration(qos_policies->liveliness_lease_duration);
}
switch (qos_policies->liveliness) {
case RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT:
{
break;
}
case RMW_QOS_POLICY_LIVELINESS_AUTOMATIC:
{
liveliness->kind = DDS_AUTOMATIC_LIVELINESS_QOS;
break;
}
case RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC:
{
liveliness->kind = DDS_MANUAL_BY_TOPIC_LIVELINESS_QOS;
break;
}
// case RMW_QOS_POLICY_LIVELINESS_UNKNOWN:
default:
{
RMW_CONNEXT_LOG_ERROR_A_SET(
"unsupported liveliness kind: %d", qos_policies->liveliness)
return RMW_RET_ERROR;
}
}
// LifespanQosPolicy is a writer-only policy, so `lifespan` might be NULL.
// Micro does not support this policy, so the value will always be NULL.
#if RMW_CONNEXT_DDS_API == RMW_CONNEXT_DDS_API_MICRO
assert(nullptr == lifespan);
#else /* RMW_CONNEXT_DDS_API == RMW_CONNEXT_DDS_API_PRO */
if (lifespan != nullptr &&
!rmw_time_equal(qos_policies->lifespan, RMW_DURATION_UNSPECIFIED))
{
// Guard access to type since it's not defined by Micro (only forward declared
// by rmw_connextdds/dds_api_rtime.hpp)
lifespan->duration = rmw_time_to_dds_duration(qos_policies->lifespan);
}
#endif /* RMW_CONNEXT_DDS_API == RMW_CONNEXT_DDS_API_PRO */
std::string user_data_str;
if (RMW_RET_OK != rmw_dds_common::encode_type_hash_for_user_data_qos(
type_support->type_hash(), user_data_str))
{
RMW_CONNEXT_LOG_WARNING(
"Failed to encode type hash for topic, will not distribute it in USER_DATA.");
user_data_str.clear();
}
DDS_OctetSeq_from_array(
&user_data->value,
reinterpret_cast<const uint8_t *>(user_data_str.c_str()),
static_cast<DDS_Long>(user_data_str.size()));
return RMW_RET_OK;
}
rmw_ret_t
rmw_connextdds_readerwriter_qos_to_ros(
const DDS_HistoryQosPolicy * const history,
const DDS_ReliabilityQosPolicy * const reliability,
const DDS_DurabilityQosPolicy * const durability,
const DDS_DeadlineQosPolicy * const deadline,
const DDS_LivelinessQosPolicy * const liveliness,
const DDS_LifespanQosPolicy * const lifespan,
rmw_qos_profile_t * const qos_policies)
{
if (nullptr != history) {
switch (history->kind) {
case DDS_KEEP_LAST_HISTORY_QOS:
{
qos_policies->history = RMW_QOS_POLICY_HISTORY_KEEP_LAST;
break;
}
case DDS_KEEP_ALL_HISTORY_QOS:
{
qos_policies->history = RMW_QOS_POLICY_HISTORY_KEEP_ALL;
break;
}
default:
{
RMW_CONNEXT_LOG_ERROR_A_SET(
"invalid DDS history kind: %d", history->kind)
return RMW_RET_ERROR;
}
}
qos_policies->depth = (uint32_t) history->depth;
}
switch (reliability->kind) {
case DDS_RELIABLE_RELIABILITY_QOS:
{
qos_policies->reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
break;
}
case DDS_BEST_EFFORT_RELIABILITY_QOS:
{
qos_policies->reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
break;
}
default:
{
RMW_CONNEXT_LOG_ERROR_A_SET(
"invalid DDS reliability kind: %d", reliability->kind)
return RMW_RET_ERROR;
}
}
switch (durability->kind) {
case DDS_VOLATILE_DURABILITY_QOS:
{
qos_policies->durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
break;
}
case DDS_TRANSIENT_LOCAL_DURABILITY_QOS:
{
qos_policies->durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
break;
}
default:
{
RMW_CONNEXT_LOG_ERROR_A_SET(
"invalid DDS durability kind: %d", durability->kind)
return RMW_RET_ERROR;
}
}
qos_policies->deadline = dds_duration_to_rmw_time(deadline->period);
qos_policies->liveliness_lease_duration =
dds_duration_to_rmw_time(liveliness->lease_duration);
switch (liveliness->kind) {
case DDS_AUTOMATIC_LIVELINESS_QOS:
{
qos_policies->liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
break;
}
case DDS_MANUAL_BY_TOPIC_LIVELINESS_QOS:
{
qos_policies->liveliness = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC;
break;
}
default:
{
RMW_CONNEXT_LOG_ERROR_A_SET(
"invalid DDS liveliness kind: %d", liveliness->kind)
return RMW_RET_ERROR;
}
}
if (nullptr != lifespan) {
#if RMW_CONNEXT_DDS_API == RMW_CONNEXT_DDS_API_PRO
qos_policies->lifespan = dds_duration_to_rmw_time(lifespan->duration);
#else
// Only emit a debug message in this case, since we don't want to pollute the
// output too much. We print a warning when going from ROS to DDS.
RMW_CONNEXT_LOG_DEBUG("lifespan qos policy not supported")
#endif /* RMW_CONNEXT_DDS_API == RMW_CONNEXT_DDS_API_PRO */
}
return RMW_RET_OK;
}
rmw_ret_t
rmw_connextdds_datawriter_qos_to_ros(
DDS_DataWriterQos * const qos,
rmw_qos_profile_t * const qos_policies)
{
return rmw_connextdds_readerwriter_qos_to_ros(
&qos->history,
&qos->reliability,
&qos->durability,
&qos->deadline,
&qos->liveliness,
#if RMW_CONNEXT_DDS_API == RMW_CONNEXT_DDS_API_PRO
&qos->lifespan,
#elif RMW_CONNEXT_DDS_API == RMW_CONNEXT_DDS_API_MICRO
nullptr,
#endif /* RMW_CONNEXT_DDS_API == RMW_CONNEXT_DDS_API_PRO */
qos_policies);
}
rmw_ret_t
rmw_connextdds_datareader_qos_to_ros(
DDS_DataReaderQos * const qos,
rmw_qos_profile_t * const qos_policies)
{
return rmw_connextdds_readerwriter_qos_to_ros(
&qos->history,
&qos->reliability,
&qos->durability,
&qos->deadline,
&qos->liveliness,
nullptr /* Lifespan is a writer-only qos policy */,
qos_policies);
}
/******************************************************************************
* Node support
******************************************************************************/
RMW_Connext_Node *
RMW_Connext_Node::create(
rmw_context_impl_t * const ctx)
{
RMW_Connext_Node * node_impl =
new (std::nothrow) RMW_Connext_Node(ctx);
if (nullptr == node_impl) {
RMW_CONNEXT_LOG_ERROR_SET("failed to allocate node implementation")
return nullptr;
}
return node_impl;
}
rmw_ret_t
RMW_Connext_Node::finalize()
{
return RMW_RET_OK;
}
/******************************************************************************
* Publisher Implementation functions
******************************************************************************/
RMW_Connext_Publisher::RMW_Connext_Publisher(
rmw_context_impl_t * const ctx,
DDS_DataWriter * const dds_writer,
RMW_Connext_MessageTypeSupport * const type_support,
const bool created_topic)
: ctx(ctx),
dds_writer(dds_writer),
type_support(type_support),
created_topic(created_topic),
status_condition(dds_writer)
{
rmw_connextdds_get_entity_gid(this->dds_writer, this->ros_gid);
if (RMW_RET_OK != this->status_condition.install(this)) {
RMW_CONNEXT_LOG_ERROR("failed to install condition on writer")
throw std::runtime_error("failed to install condition on writer");
}
}
RMW_Connext_Publisher *
RMW_Connext_Publisher::create(
rmw_context_impl_t * const ctx,
DDS_DomainParticipant * const dp,
DDS_Publisher * const pub,
const rosidl_message_type_support_t * const type_supports,
const char * const topic_name,
const rmw_qos_profile_t * const qos_policies,
const rmw_publisher_options_t * const publisher_options,
const bool internal,
const RMW_Connext_MessageType msg_type,
const void * const intro_members,
const bool intro_members_cpp,
std::string * const type_name)
{
UNUSED_ARG(internal);
RMW_Connext_MessageTypeSupport * type_support =
RMW_Connext_MessageTypeSupport::register_type_support(
ctx,
type_supports,
dp,
msg_type,
intro_members,
intro_members_cpp,
type_name);
if (nullptr == type_support) {
RMW_CONNEXT_LOG_ERROR("failed to register type for writer")
return nullptr;
}
auto scope_exit_type_unregister = rcpputils::make_scope_exit(
[dp, type_support, ctx]()
{
if (RMW_RET_OK !=
RMW_Connext_MessageTypeSupport::unregister_type_support(
ctx, dp, type_support->type_name()))
{
RMW_CONNEXT_LOG_ERROR(
"failed to unregister type for writer")
}
delete type_support;
});
std::string fqtopic_name;
std::string prefix_rep(ROS_SERVICE_RESPONSE_PREFIX_STR "/");
std::string prefix_req(ROS_SERVICE_REQUESTER_PREFIX_STR "/");
std::string str_topic(topic_name);
if (str_topic.find(prefix_rep) == 0 || str_topic.find(prefix_req) == 0) {
fqtopic_name = str_topic;
} else {
fqtopic_name =
rmw_connextdds_create_topic_name(
ROS_TOPIC_PREFIX, topic_name, "", qos_policies);
}
DDS_Topic * topic = nullptr;
bool topic_created = false;
if (RMW_RET_OK !=
ctx->assert_topic(
dp,
fqtopic_name.c_str(),
type_support->type_name(),
internal,
&topic,
topic_created))
{
RMW_CONNEXT_LOG_ERROR_A(
"failed to assert topic: "
"name=%s, "
"type=%s",
fqtopic_name.c_str(),
type_support->type_name())
return nullptr;
}
auto scope_exit_topic_delete = rcpputils::make_scope_exit(
[topic_created, dp, topic]()
{
if (topic_created) {
if (DDS_RETCODE_OK !=
DDS_DomainParticipant_delete_topic(dp, topic))
{
RMW_CONNEXT_LOG_ERROR_SET(
"failed to delete writer's topic")
}
}
});
// The following initialization generates warnings when built
// with RTI Connext DDS Professional < 6 (e.g. 5.3.1), so use
// DDS_DataWriterQos_initialize() for older versions.
#if !RMW_CONNEXT_DDS_API_PRO_LEGACY
DDS_DataWriterQos dw_qos = DDS_DataWriterQos_INITIALIZER;
#else
DDS_DataWriterQos dw_qos;
if (DDS_RETCODE_OK != DDS_DataWriterQos_initialize(&dw_qos)) {
RMW_CONNEXT_LOG_ERROR_SET("failed to initialize datawriter qos")
return nullptr;
}
#endif /* !RMW_CONNEXT_DDS_API_PRO_LEGACY */
DDS_DataWriterQos * const dw_qos_ptr = &dw_qos;
auto scope_exit_dw_qos_delete =
rcpputils::make_scope_exit(
[dw_qos_ptr]()
{
if (DDS_RETCODE_OK != DDS_DataWriterQos_finalize(dw_qos_ptr)) {
RMW_CONNEXT_LOG_ERROR_SET("failed to finalize DataWriterQoS")
}
});
if (DDS_RETCODE_OK !=
DDS_Publisher_get_default_datawriter_qos_w_topic_name(pub, &dw_qos, fqtopic_name.c_str()))
{
RMW_CONNEXT_LOG_ERROR_SET("failed to get default writer QoS")
return nullptr;
}
DDS_DataWriter * const dds_writer =
rmw_connextdds_create_datawriter(
ctx,
dp,
pub,
qos_policies,
publisher_options,
internal,
type_support,
topic,
&dw_qos);
if (nullptr == dds_writer) {
RMW_CONNEXT_LOG_ERROR("failed to create DDS writer")
return nullptr;
}
auto scope_exit_dds_writer_delete =
rcpputils::make_scope_exit(
[pub, dds_writer]()
{
if (DDS_RETCODE_OK !=
DDS_Publisher_delete_datawriter(pub, dds_writer))
{
RMW_CONNEXT_LOG_ERROR_SET(
"failed to delete DDS DataWriter")
}
});
RMW_Connext_Publisher * rmw_pub_impl =
new (std::nothrow) RMW_Connext_Publisher(
ctx, dds_writer, type_support, topic_created);
if (nullptr == rmw_pub_impl) {
RMW_CONNEXT_LOG_ERROR_SET("failed to allocate RMW publisher")
return nullptr;
}
scope_exit_type_unregister.cancel();
scope_exit_topic_delete.cancel();
scope_exit_dds_writer_delete.cancel();
return rmw_pub_impl;
}
rmw_ret_t
RMW_Connext_Publisher::finalize()
{
RMW_CONNEXT_LOG_DEBUG_A(
"finalizing publisher: pub=%p, type=%s",
(void *)this, this->type_support->type_name())
// Make sure publisher's condition is detached from any waitset
this->status_condition.invalidate();
if (DDS_RETCODE_OK !=
DDS_Publisher_delete_datawriter(
this->dds_publisher(), this->dds_writer))
{
RMW_CONNEXT_LOG_ERROR_SET("failed to delete DDS DataWriter")
return RMW_RET_ERROR;
}
DDS_DomainParticipant * const participant = this->dds_participant();
if (this->created_topic) {
DDS_Topic * const topic = this->dds_topic();
RMW_CONNEXT_LOG_DEBUG_A(
"deleting topic: name=%s",
DDS_TopicDescription_get_name(
DDS_Topic_as_topicdescription(topic)))
DDS_ReturnCode_t rc =
DDS_DomainParticipant_delete_topic(participant, topic);
if (DDS_RETCODE_OK != rc) {
RMW_CONNEXT_LOG_ERROR_SET("failed to delete DDS Topic")
return RMW_RET_ERROR;
}
}
rmw_ret_t rc = RMW_Connext_MessageTypeSupport::unregister_type_support(
this->ctx, participant, this->type_support->type_name());
if (RMW_RET_OK != rc) {
return rc;
}
delete this->type_support;
this->type_support = nullptr;
return RMW_RET_OK;
}
#ifndef DDS_GUID_INITIALIZER
#define DDS_GUID_INITIALIZER DDS_GUID_DEFAULT
#endif /* DDS_GUID_INITIALIZER */
rmw_ret_t
RMW_Connext_Publisher::requestreply_header_to_dds(
const RMW_Connext_RequestReplyMessage * const rr_msg,
DDS_SampleIdentity_t * const sample_identity,
DDS_SampleIdentity_t * const related_sample_identity)
{
struct DDS_GUID_t src_guid = DDS_GUID_INITIALIZER;
struct DDS_SequenceNumber_t src_sn = DDS_SEQUENCE_NUMBER_UNKNOWN;
rmw_ret_t rc = RMW_RET_ERROR;
rc = rmw_connextdds_gid_to_guid(rr_msg->gid, src_guid);
if (RMW_RET_OK != rc) {
return rc;
}
rmw_connextdds_sn_ros_to_dds(rr_msg->sn, src_sn);
if (rr_msg->request) {
sample_identity->writer_guid = src_guid;
sample_identity->sequence_number = src_sn;
} else {
related_sample_identity->writer_guid = src_guid;
related_sample_identity->sequence_number = src_sn;
}
return RMW_RET_OK;
}
rmw_ret_t
RMW_Connext_Publisher::write(
const void * const ros_message,
const bool serialized,
int64_t * const sn_out)
{
RMW_Connext_Message user_msg;
if (RMW_RET_OK != RMW_Connext_Message_initialize(&user_msg, this->type_support, 0)) {
return RMW_RET_ERROR;
}
user_msg.user_data = ros_message;
user_msg.serialized = serialized;
return rmw_connextdds_write_message(this, &user_msg, sn_out);
}
size_t
RMW_Connext_Publisher::subscriptions_count()
{
DDS_PublicationMatchedStatus status =
DDS_PublicationMatchedStatus_INITIALIZER;
if (DDS_RETCODE_OK !=
DDS_DataWriter_get_publication_matched_status(
this->dds_writer, &status))
{
RMW_CONNEXT_LOG_ERROR_SET(
"failed to get publication matched status")
return 0;
}
return status.current_count;
}
rmw_ret_t
RMW_Connext_Publisher::assert_liveliness()
{
if (DDS_RETCODE_OK !=
DDS_DataWriter_assert_liveliness(this->dds_writer))
{
RMW_CONNEXT_LOG_ERROR_SET(
"failed to assert writer liveliness")
return RMW_RET_ERROR;
}
return RMW_RET_OK;
}
rmw_ret_t
RMW_Connext_Publisher::wait_for_all_acked(rmw_time_t wait_timeout)
{
DDS_Duration_t timeout = rmw_connextdds_duration_from_ros_time(&wait_timeout);
#if RMW_CONNEXT_DDS_API == RMW_CONNEXT_DDS_API_MICRO
// Avoid warnings for unused variable in micro, since wait_for_ack() is
// mapped to an empty call.
UNUSED_ARG(timeout);
#endif // RMW_CONNEXT_DDS_API == RMW_CONNEXT_DDS_API_MICRO
const DDS_ReturnCode_t dds_rc =
DDS_DataWriter_wait_for_acknowledgments(this->dds_writer, &timeout);
switch (dds_rc) {
case DDS_RETCODE_OK:
return RMW_RET_OK;
case DDS_RETCODE_TIMEOUT:
return RMW_RET_TIMEOUT;
default:
{
RMW_CONNEXT_LOG_ERROR_A_SET(
"failed to wait for reader acknowledgements: dds_rc=%d", dds_rc)
return RMW_RET_ERROR;
}
}
}
rmw_ret_t
RMW_Connext_Publisher::qos(rmw_qos_profile_t * const qos)
{
// The following initialization generates warnings when built
// with RTI Connext DDS Professional < 6 (e.g. 5.3.1), so use
// DDS_DataWriterQos_initialize() for older versions.
#if !RMW_CONNEXT_DDS_API_PRO_LEGACY
DDS_DataWriterQos dw_qos = DDS_DataWriterQos_INITIALIZER;
#else
DDS_DataWriterQos dw_qos;
if (DDS_RETCODE_OK != DDS_DataWriterQos_initialize(&dw_qos)) {