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Compatibility before and after RMW pub/sub option structures #51

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Merged
merged 2 commits into from
Oct 20, 2019
Merged

Compatibility before and after RMW pub/sub option structures #51

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1f9070b
update signature for added pub/sub options
eboasson Oct 9, 2019
6ef7d89
Add compilation guards for RMW compatibility
rotu Oct 18, 2019
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7 changes: 7 additions & 0 deletions rmw_cyclonedds_cpp/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -72,6 +72,13 @@ ament_target_dependencies(rmw_cyclonedds_cpp

configure_rmw_library(rmw_cyclonedds_cpp)

target_compile_definitions(${PROJECT_NAME}
PRIVATE
RMW_VERSION_MAJOR=${rmw_VERSION_MAJOR}
RMW_VERSION_MINOR=${rmw_VERSION_MINOR}
RMW_VERSION_PATCH=${rmw_VERSION_PATCH}
)

# Causes the visibility macros to use dllexport rather than dllimport,
# which is appropriate when building the dll but not consuming it.
target_compile_definitions(${PROJECT_NAME}
Expand Down
83 changes: 61 additions & 22 deletions rmw_cyclonedds_cpp/src/rmw_node.cpp
100755 → 100644
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Original file line number Diff line number Diff line change
Expand Up @@ -61,6 +61,16 @@
#define MULTIDOMAIN 0
#endif

/* True if the version of RMW is at least major.minor.patch */
#define RMW_VERSION_GTE(major, minor, patch) ( \
major < RMW_VERSION_MAJOR ? true \
: major > RMW_VERSION_MAJOR ? false \
: minor < RMW_VERSION_MINOR ? true \
: minor > RMW_VERSION_MINOR ? false \
: patch < RMW_VERSION_PATCH ? true \
: patch > RMW_VERSION_PATCH ? false \
: true)

/* Set to > 0 for printing warnings to stderr for each messages that was taken more than this many
ms after writing */
#define REPORT_LATE_MESSAGES 0
Expand Down Expand Up @@ -1086,12 +1096,18 @@ extern "C" rmw_ret_t rmw_fini_publisher_allocation(rmw_publisher_allocation_t *
}

extern "C" 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_node_t * node, const rosidl_message_type_support_t * type_supports,
const char * topic_name, const rmw_qos_profile_t * qos_policies
#if RMW_VERSION_GTE(0,8,1)
, const rmw_publisher_options_t * publisher_options
#endif
)
{
CddsPublisher * pub;
rmw_publisher_t * rmw_publisher;
#if RMW_VERSION_GTE(0,8,1)
RET_NULL_X(publisher_options, return nullptr);
#endif
if ((pub = create_cdds_publisher(node, type_supports, topic_name, qos_policies)) == nullptr) {
goto fail_common_init;
}
Expand All @@ -1102,6 +1118,9 @@ extern "C" rmw_publisher_t * rmw_create_publisher(
rmw_publisher->topic_name = reinterpret_cast<char *>(rmw_allocate(strlen(topic_name) + 1));
RET_ALLOC_X(rmw_publisher->topic_name, goto fail_topic_name);
memcpy(const_cast<char *>(rmw_publisher->topic_name), topic_name, strlen(topic_name) + 1);
#if RMW_VERSION_GTE(0,8,1)
rmw_publisher->options = *publisher_options;
#endif
return rmw_publisher;
fail_topic_name:
rmw_publisher_free(rmw_publisher);
Expand Down Expand Up @@ -1271,15 +1290,29 @@ extern "C" rmw_ret_t rmw_fini_subscription_allocation(rmw_subscription_allocatio
}

extern "C" rmw_subscription_t * rmw_create_subscription(
const rmw_node_t * node,
const rosidl_message_type_support_t * type_supports, const char * topic_name,
const rmw_qos_profile_t * qos_policies, bool ignore_local_publications)
const rmw_node_t * node, const rosidl_message_type_support_t * type_supports,
const char * topic_name, const rmw_qos_profile_t * qos_policies
#if RMW_VERSION_GTE(0,8,1)
, const rmw_subscription_options_t * subscription_options
#else
, bool ignore_local_publications
#endif
)
{
CddsSubscription * sub;
rmw_subscription_t * rmw_subscription;
if ((sub =
create_cdds_subscription(node, type_supports, topic_name, qos_policies,
ignore_local_publications)) == nullptr)
#if RMW_VERSION_GTE(0,8,1)
RET_NULL_X(subscription_options, return nullptr);
#endif
if (
(sub = create_cdds_subscription(
node, type_supports, topic_name, qos_policies,
#if RMW_VERSION_GTE(0,8,1)
subscription_options->ignore_local_publications
#else
ignore_local_publications
#endif
)) == nullptr)
{
goto fail_common_init;
}
Expand All @@ -1291,6 +1324,9 @@ extern "C" rmw_subscription_t * rmw_create_subscription(
reinterpret_cast<const char *>(rmw_allocate(strlen(topic_name) + 1));
RET_ALLOC_X(rmw_subscription->topic_name, goto fail_topic_name);
memcpy(const_cast<char *>(rmw_subscription->topic_name), topic_name, strlen(topic_name) + 1);
#if RMW_VERSION_GTE(0,8,1)
rmw_subscription->options = *subscription_options;
#endif
return rmw_subscription;
fail_topic_name:
rmw_subscription_free(rmw_subscription);
Expand Down Expand Up @@ -2571,35 +2607,38 @@ static rmw_ret_t get_cs_names_and_types_by_node(
}
}
std::set<dds_builtintopic_guid_t> guids;
if (node_name != nullptr &&
if (
node_name != nullptr &&
(ret = get_node_guids(node_impl, node_name, node_namespace, guids)) != RMW_RET_OK)
{
return ret;
}
const auto re_tp = std::regex("^(" + std::string(ros_service_requester_prefix) + "|" +
std::string(ros_service_response_prefix) + ")(/.*)(Request|Reply)$",
std::regex::extended);
const auto re_tp = std::regex(
"^(" + std::string(ros_service_requester_prefix) + "|" +
std::string(ros_service_response_prefix) + ")(/.*)(Request|Reply)$",
std::regex::extended);
const auto re_typ = std::regex("^(.*::)dds_::(.*)_(Response|Request)_$", std::regex::extended);
const auto filter_and_map =
[re_tp, re_typ, guids, node_name,
looking_for_services](const dds_builtintopic_endpoint_t & sample, std::string & topic_name,
std::string & type_name) -> bool {
const auto filter_and_map = [re_tp, re_typ, guids, node_name, looking_for_services](
const dds_builtintopic_endpoint_t & sample,
std::string & topic_name, std::string & type_name) -> bool {
std::cmatch cm_tp, cm_typ;
if (node_name != nullptr && guids.count(sample.participant_key) == 0) {
return false;
}
if (!std::regex_search(sample.topic_name, cm_tp,
re_tp) || !std::regex_search(sample.type_name, cm_typ, re_typ))
if (
!std::regex_search(sample.topic_name, cm_tp, re_tp) ||
!std::regex_search(sample.type_name, cm_typ, re_typ))
{
return false;
} else {
if (looking_for_services !=
if (
looking_for_services !=
endpoint_is_from_service(std::string(cm_tp[3]) == "Request", sample.key))
{
return false;
} else {
std::string demangled_type = std::regex_replace(std::string(cm_typ[1]), std::regex(
"::"), "/");
std::string demangled_type =
std::regex_replace(std::string(cm_typ[1]), std::regex("::"), "/");
topic_name = std::string(cm_tp[2]);
type_name = std::string(demangled_type) + std::string(cm_typ[2]);
return true;
Expand Down