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Load profiles based on topic names in rmw_fastrtps_dynamic_cpp #497

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Jan 27, 2021
Merged

Load profiles based on topic names in rmw_fastrtps_dynamic_cpp #497

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14 changes: 10 additions & 4 deletions rmw_fastrtps_dynamic_cpp/src/publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,8 @@

#include <string>

#include "fastrtps/xmlparser/XMLProfileManager.h"

#include "rcutils/error_handling.h"

#include "rmw/allocators.h"
Expand Down Expand Up @@ -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(
Expand Down Expand Up @@ -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) {
Expand Down
40 changes: 36 additions & 4 deletions rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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"
{
Expand Down Expand Up @@ -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;
Expand Down Expand Up @@ -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 =
Expand All @@ -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",
Expand Down
42 changes: 37 additions & 5 deletions rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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"
{
Expand Down Expand Up @@ -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;
Expand Down Expand Up @@ -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 =
Expand All @@ -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",
Expand Down
10 changes: 7 additions & 3 deletions rmw_fastrtps_dynamic_cpp/src/subscription.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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"
Expand All @@ -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
{
Expand Down Expand Up @@ -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) {
Expand Down