Load profiles based on topic names in rmw_fastrtps_dynamic_cpp (#497)

Signed-off-by: EduPonz <eduardoponz@eprosima.com>
ros2 · Jan 27, 2021 · ac3b908 · ac3b908
1 parent b20809b
commit ac3b908
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Showing 4 changed files with 90 additions and 16 deletions.
diff --git a/rmw_fastrtps_dynamic_cpp/src/publisher.cpp b/rmw_fastrtps_dynamic_cpp/src/publisher.cpp
@@ -15,6 +15,8 @@
 
 #include <string>
 
+#include "fastrtps/xmlparser/XMLProfileManager.h"
+
 #include "rcutils/error_handling.h"
 
 #include "rmw/allocators.h"
@@ -42,6 +44,7 @@ using Domain = eprosima::fastrtps::Domain;
 using Participant = eprosima::fastrtps::Participant;
 using TopicDataType = eprosima::fastrtps::TopicDataType;
 using TypeSupportProxy = rmw_fastrtps_dynamic_cpp::TypeSupportProxy;
+using XMLProfileManager = eprosima::fastrtps::xmlparser::XMLProfileManager;
 
 rmw_publisher_t *
 rmw_fastrtps_dynamic_cpp::create_publisher(
@@ -105,12 +108,15 @@ rmw_fastrtps_dynamic_cpp::create_publisher(
  return nullptr;
  }
 
- CustomPublisherInfo * info = nullptr;
- rmw_publisher_t * rmw_publisher = nullptr;
+ // If the user defined an XML file via env "FASTRTPS_DEFAULT_PROFILES_FILE", try to load
+ // publisher which profile name matches with topic_name. If such profile does not exist,
+ // then use the default attributes.
  eprosima::fastrtps::PublisherAttributes publisherParam;
+ Domain::getDefaultPublisherAttributes(publisherParam); // Loads the XML file if not loaded
+ XMLProfileManager::fillPublisherAttributes(topic_name, publisherParam, false);
 
- // Load default XML profile.
- Domain::getDefaultPublisherAttributes(publisherParam);
+ CustomPublisherInfo * info = nullptr;
+ rmw_publisher_t * rmw_publisher = nullptr;
 
  info = new (std::nothrow) CustomPublisherInfo();
  if (!info) {

diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp
@@ -40,11 +40,15 @@
 #include "type_support_common.hpp"
 #include "type_support_registry.hpp"
 
+#include "fastrtps/xmlparser/XMLProfileManager.h"
+
 using BaseTypeSupport = rmw_fastrtps_dynamic_cpp::BaseTypeSupport;
 using Domain = eprosima::fastrtps::Domain;
 using Participant = eprosima::fastrtps::Participant;
 using TopicDataType = eprosima::fastrtps::TopicDataType;
 using TypeSupportProxy = rmw_fastrtps_dynamic_cpp::TypeSupportProxy;
+using XMLProfileManager = eprosima::fastrtps::xmlparser::XMLProfileManager;
+using XMLP_ret = eprosima::fastrtps::xmlparser::XMLP_ret;
 
 extern "C"
 {
@@ -118,6 +122,9 @@ rmw_create_client(
  eprosima::fastrtps::SubscriberAttributes subscriberParam;
  eprosima::fastrtps::PublisherAttributes publisherParam;
  rmw_client_t * rmw_client = nullptr;
+ eprosima::fastrtps::fixed_string<255> sub_topic_name;
+ eprosima::fastrtps::fixed_string<255> pub_topic_name;
+ std::string topic_name_fallback;
 
  info = new CustomClientInfo();
  info->participant_ = participant;
@@ -181,15 +188,41 @@ rmw_create_client(
  _register_type(participant, info->response_type_support_);
  }
 
+ // If FASTRTPS_DEFAULT_PROFILES_FILE defined, fill subscriber attributes with a subscriber profile
+ // located based of topic name defined by _create_topic_name(). If no profile is found, a search
+ // with profile_name "client" is attempted. Else, use the default attributes.
+ topic_name_fallback = "client";
+ sub_topic_name = _create_topic_name(
+ qos_policies, ros_service_response_prefix, service_name, "Reply");
+ Domain::getDefaultSubscriberAttributes(subscriberParam);
+
+ if (XMLProfileManager::fillSubscriberAttributes(
+ sub_topic_name.to_string(), subscriberParam, false) != XMLP_ret::XML_OK)
+ {
+ XMLProfileManager::fillSubscriberAttributes(topic_name_fallback, subscriberParam, false);
+ }
+
  if (!participant_info->leave_middleware_default_qos) {
  subscriberParam.historyMemoryPolicy =
  eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
  }
 
  subscriberParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
  subscriberParam.topic.topicDataType = response_type_name;
- subscriberParam.topic.topicName = _create_topic_name(
- qos_policies, ros_service_response_prefix, service_name, "Reply");
+ subscriberParam.topic.topicName = sub_topic_name;
+
+ // If FASTRTPS_DEFAULT_PROFILES_FILE defined, fill publisher attributes with a publisher profile
+ // located based of topic name defined by _create_topic_name(). If no profile is found, a search
+ // with profile_name "client" is attempted. Else, use the default attributes.
+ pub_topic_name = _create_topic_name(
+ qos_policies, ros_service_requester_prefix, service_name, "Request");
+ Domain::getDefaultPublisherAttributes(publisherParam);
+
+ if (XMLProfileManager::fillPublisherAttributes(
+ pub_topic_name.to_string(), publisherParam, false) != XMLP_ret::XML_OK)
+ {
+ XMLProfileManager::fillPublisherAttributes(topic_name_fallback, publisherParam, false);
+ }
 
  if (!participant_info->leave_middleware_default_qos) {
  publisherParam.historyMemoryPolicy =
@@ -203,8 +236,7 @@ rmw_create_client(
 
  publisherParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
  publisherParam.topic.topicDataType = request_type_name;
- publisherParam.topic.topicName = _create_topic_name(
- qos_policies, ros_service_requester_prefix, service_name, "Request");
+ publisherParam.topic.topicName = pub_topic_name;
 
  RCUTILS_LOG_DEBUG_NAMED(
  "rmw_fastrtps_dynamic_cpp",

diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp
@@ -52,11 +52,15 @@
 #include "type_support_common.hpp"
 #include "type_support_registry.hpp"
 
+#include "fastrtps/xmlparser/XMLProfileManager.h"
+
 using BaseTypeSupport = rmw_fastrtps_dynamic_cpp::BaseTypeSupport;
 using Domain = eprosima::fastrtps::Domain;
 using Participant = eprosima::fastrtps::Participant;
 using TopicDataType = eprosima::fastrtps::TopicDataType;
 using TypeSupportProxy = rmw_fastrtps_dynamic_cpp::TypeSupportProxy;
+using XMLProfileManager = eprosima::fastrtps::xmlparser::XMLProfileManager;
+using XMLP_ret = eprosima::fastrtps::xmlparser::XMLP_ret;
 
 extern "C"
 {
@@ -130,6 +134,10 @@ rmw_create_service(
  eprosima::fastrtps::SubscriberAttributes subscriberParam;
  eprosima::fastrtps::PublisherAttributes publisherParam;
  rmw_service_t * rmw_service = nullptr;
+ eprosima::fastrtps::fixed_string<255> sub_topic_name;
+ eprosima::fastrtps::fixed_string<255> pub_topic_name;
+ std::string topic_name_fallback;
+
 
  info = new CustomServiceInfo();
  info->participant_ = participant;
@@ -191,15 +199,40 @@ rmw_create_service(
  _register_type(participant, info->response_type_support_);
  }
 
+ // If FASTRTPS_DEFAULT_PROFILES_FILE defined, fill subscriber attributes with a subscriber profile
+ // located based of topic name defined by _create_topic_name(). If no profile is found, a search
+ // with profile_name "service" is attempted. Else, use the default attributes.
+ topic_name_fallback = "service";
+ sub_topic_name = _create_topic_name(
+ qos_policies, ros_service_requester_prefix, service_name, "Request");
+ Domain::getDefaultSubscriberAttributes(subscriberParam);
+
+ if (XMLProfileManager::fillSubscriberAttributes(
+ sub_topic_name.to_string(), subscriberParam, false) != XMLP_ret::XML_OK)
+ {
+ XMLProfileManager::fillSubscriberAttributes(topic_name_fallback, subscriberParam, false);
+ }
+
  if (!impl->leave_middleware_default_qos) {
  subscriberParam.historyMemoryPolicy =
  eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
  }
-
  subscriberParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
  subscriberParam.topic.topicDataType = request_type_name;
- subscriberParam.topic.topicName = _create_topic_name(
- qos_policies, ros_service_requester_prefix, service_name, "Request");
+ subscriberParam.topic.topicName = sub_topic_name;
+
+ // If FASTRTPS_DEFAULT_PROFILES_FILE defined, fill publisher attributes with a publisher profile
+ // located based of topic name defined by _create_topic_name(). If no profile is found, a search
+ // with profile_name "service" is attempted. Else, use the default attributes.
+ pub_topic_name = _create_topic_name(
+ qos_policies, ros_service_response_prefix, service_name, "Reply");
+ Domain::getDefaultPublisherAttributes(publisherParam);
+
+ if (XMLProfileManager::fillPublisherAttributes(
+ pub_topic_name.to_string(), publisherParam, false) != XMLP_ret::XML_OK)
+ {
+ XMLProfileManager::fillPublisherAttributes(topic_name_fallback, publisherParam, false);
+ }
 
  if (!impl->leave_middleware_default_qos) {
  publisherParam.historyMemoryPolicy =
@@ -213,8 +246,7 @@ rmw_create_service(
 
  publisherParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
  publisherParam.topic.topicDataType = response_type_name;
- publisherParam.topic.topicName = _create_topic_name(
- qos_policies, ros_service_response_prefix, service_name, "Reply");
+ publisherParam.topic.topicName = pub_topic_name;
 
  RCUTILS_LOG_DEBUG_NAMED(
  "rmw_fastrtps_dynamic_cpp",

diff --git a/rmw_fastrtps_dynamic_cpp/src/subscription.cpp b/rmw_fastrtps_dynamic_cpp/src/subscription.cpp
@@ -33,6 +33,7 @@
 
 #include "fastrtps/participant/Participant.h"
 #include "fastrtps/subscriber/Subscriber.h"
+#include "fastrtps/xmlparser/XMLProfileManager.h"
 
 #include "rmw_fastrtps_dynamic_cpp/identifier.hpp"
 #include "rmw_fastrtps_dynamic_cpp/subscription.hpp"
@@ -45,7 +46,7 @@ using Domain = eprosima::fastrtps::Domain;
 using Participant = eprosima::fastrtps::Participant;
 using TopicDataType = eprosima::fastrtps::TopicDataType;
 using TypeSupportProxy = rmw_fastrtps_dynamic_cpp::TypeSupportProxy;
-
+using XMLProfileManager = eprosima::fastrtps::xmlparser::XMLProfileManager;
 
 namespace rmw_fastrtps_dynamic_cpp
 {
@@ -111,9 +112,12 @@ create_subscription(
  return nullptr;
  }
 
- // Load default XML profile.
+ // If the user defined an XML file via env "FASTRTPS_DEFAULT_PROFILES_FILE", try to load
+ // subscriber which profile name matches with topic_name. If such profile does not exist, then use
+ // the default attributes.
  eprosima::fastrtps::SubscriberAttributes subscriberParam;
- Domain::getDefaultSubscriberAttributes(subscriberParam);
+ Domain::getDefaultSubscriberAttributes(subscriberParam); // Loads the XML file if not loaded
+ XMLProfileManager::fillSubscriberAttributes(topic_name, subscriberParam, false);
 
  CustomSubscriberInfo * info = new (std::nothrow) CustomSubscriberInfo();
  if (!info) {