rmw_publisher.cpp

// Copyright 2019 Open Source Robotics Foundation, Inc.
// Copyright 2016-2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
// 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 <string>

#include "rmw/allocators.h"
#include "rmw/error_handling.h"
#include "rmw/get_topic_endpoint_info.h"
#include "rmw/rmw.h"

#include "rcpputils/scope_exit.hpp"

#include "rmw/impl/cpp/macros.hpp"

#include "rmw_dds_common/qos.hpp"

#include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
#include "rmw_fastrtps_shared_cpp/custom_publisher_info.hpp"
#include "rmw_fastrtps_shared_cpp/publisher.hpp"
#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
#include "rmw_fastrtps_shared_cpp/rmw_context_impl.hpp"

#include "rmw_fastrtps_cpp/identifier.hpp"
#include "rmw_fastrtps_cpp/publisher.hpp"

#include "rmw_dds_common/context.hpp"
#include "rmw_dds_common/msg/participant_entities_info.hpp"

extern "C"
{
rmw_ret_t
rmw_init_publisher_allocation(
  const rosidl_message_type_support_t * type_support,
  const rosidl_runtime_c__Sequence__bound * message_bounds,
  rmw_publisher_allocation_t * allocation)
{
  // Unused in current implementation.
  (void) type_support;
  (void) message_bounds;
  (void) allocation;
  RMW_SET_ERROR_MSG("unimplemented");
  return RMW_RET_UNSUPPORTED;
}

rmw_ret_t
rmw_fini_publisher_allocation(rmw_publisher_allocation_t * allocation)
{
  // Unused in current implementation.
  (void) allocation;
  RMW_SET_ERROR_MSG("unimplemented");
  return RMW_RET_UNSUPPORTED;
}

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,
  const rmw_publisher_options_t * publisher_options)
{
  RMW_CHECK_ARGUMENT_FOR_NULL(node, nullptr);
  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
    node,
    node->implementation_identifier,
    eprosima_fastrtps_identifier,
    return nullptr);
  RMW_CHECK_ARGUMENT_FOR_NULL(qos_policies, nullptr);

  // Adapt any 'best available' QoS options
  rmw_qos_profile_t adapted_qos_policies = *qos_policies;
  rmw_ret_t ret = rmw_dds_common::qos_profile_get_best_available_for_topic_publisher(
    node, topic_name, &adapted_qos_policies, rmw_get_subscriptions_info_by_topic);
  if (RMW_RET_OK != ret) {
    return nullptr;
  }


  auto participant_info =
    static_cast<CustomParticipantInfo *>(node->context->impl->participant_info);

  rmw_publisher_t * publisher = rmw_fastrtps_cpp::create_publisher(
    participant_info,
    type_supports,
    topic_name,
    &adapted_qos_policies,
    publisher_options);

  if (!publisher) {
    return nullptr;
  }
  auto cleanup_publisher = rcpputils::make_scope_exit(
    [participant_info, publisher]() {
      rmw_error_state_t error_state = *rmw_get_error_state();
      rmw_reset_error();
      if (RMW_RET_OK != rmw_fastrtps_shared_cpp::destroy_publisher(
        eprosima_fastrtps_identifier, participant_info, publisher))
      {
        RMW_SAFE_FWRITE_TO_STDERR(rmw_get_error_string().str);
        RMW_SAFE_FWRITE_TO_STDERR(" during '" RCUTILS_STRINGIFY(__function__) "' cleanup\n");
        rmw_reset_error();
      }
      rmw_set_error_state(error_state.message, error_state.file, error_state.line_number);
    });

  auto common_context = static_cast<rmw_dds_common::Context *>(node->context->impl->common);
  auto info = static_cast<const CustomPublisherInfo *>(publisher->data);

  // Update graph
  if (RMW_RET_OK != common_context->add_publisher_graph(
      info->publisher_gid,
      node->name, node->namespace_))
  {
    return nullptr;
  }

  cleanup_publisher.cancel();
  return publisher;
}

rmw_ret_t
rmw_publisher_count_matched_subscriptions(
  const rmw_publisher_t * publisher,
  size_t * subscription_count)
{
  RMW_CHECK_ARGUMENT_FOR_NULL(publisher, RMW_RET_INVALID_ARGUMENT);
  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
    publisher,
    publisher->implementation_identifier,
    eprosima_fastrtps_identifier,
    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
  RMW_CHECK_ARGUMENT_FOR_NULL(subscription_count, RMW_RET_INVALID_ARGUMENT);

  return rmw_fastrtps_shared_cpp::__rmw_publisher_count_matched_subscriptions(
    publisher, subscription_count);
}

rmw_ret_t
rmw_publisher_assert_liveliness(const rmw_publisher_t * publisher)
{
  return rmw_fastrtps_shared_cpp::__rmw_publisher_assert_liveliness(
    eprosima_fastrtps_identifier, publisher);
}

rmw_ret_t
rmw_publisher_wait_for_all_acked(const rmw_publisher_t * publisher, rmw_time_t wait_timeout)
{
  return rmw_fastrtps_shared_cpp::__rmw_publisher_wait_for_all_acked(
    eprosima_fastrtps_identifier, publisher, wait_timeout);
}

rmw_ret_t
rmw_publisher_get_actual_qos(
  const rmw_publisher_t * publisher,
  rmw_qos_profile_t * qos)
{
  RMW_CHECK_ARGUMENT_FOR_NULL(publisher, RMW_RET_INVALID_ARGUMENT);
  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
    publisher,
    publisher->implementation_identifier,
    eprosima_fastrtps_identifier,
    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
  RMW_CHECK_ARGUMENT_FOR_NULL(qos, RMW_RET_INVALID_ARGUMENT);

  return rmw_fastrtps_shared_cpp::__rmw_publisher_get_actual_qos(
    publisher, qos);
}

rmw_ret_t
rmw_borrow_loaned_message(
  const rmw_publisher_t * publisher,
  const rosidl_message_type_support_t * type_support,
  void ** ros_message)
{
  return rmw_fastrtps_shared_cpp::__rmw_borrow_loaned_message(
    eprosima_fastrtps_identifier, publisher, type_support, ros_message);
}

rmw_ret_t
rmw_return_loaned_message_from_publisher(
  const rmw_publisher_t * publisher,
  void * loaned_message)
{
  return rmw_fastrtps_shared_cpp::__rmw_return_loaned_message_from_publisher(
    eprosima_fastrtps_identifier, publisher, loaned_message);
}

rmw_ret_t
rmw_destroy_publisher(rmw_node_t * node, rmw_publisher_t * publisher)
{
  RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
  RMW_CHECK_ARGUMENT_FOR_NULL(publisher, RMW_RET_INVALID_ARGUMENT);
  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
    node,
    node->implementation_identifier,
    eprosima_fastrtps_identifier,
    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
    publisher,
    publisher->implementation_identifier,
    eprosima_fastrtps_identifier,
    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);

  return rmw_fastrtps_shared_cpp::__rmw_destroy_publisher(
    eprosima_fastrtps_identifier, node, publisher);
}
}  // extern "C"