System test cleanup

readme.md

@@ -7,7 +7,6 @@ This project contains several ROS2 packages:
 
 - `rmw_opendds`: composed of (this repo)
   - `rmw_opendds_cpp`: Responsible for binding the ROS2 `rmw.h` interface functions to the equivalent OpenDDS functions.
-  - `rmw_opendds_shared_cpp`: Shared code used in rmw_opendds.
 - `rosidl_typesupport_opendds`: composed of (https://github.com/oci-labs/rosidl_typesupport_opendds)
   - `opendds_cmake_module`: Responsible for configuring paths to the TAO/OpenDDS IDL processors and headers.
   - `rosidl_typesupport_opendds_c`: Responsible for generating OpenDDS C headers based on the OMG IDLs produced by ROS2 preprocessors.

rmw_opendds_cpp/CMakeLists.txt

@@ -12,7 +12,6 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 find_package(ament_cmake REQUIRED)
-
 find_package(opendds_cmake_module REQUIRED)
 find_package(OpenDDS QUIET)
 
@@ -24,6 +23,11 @@ endif()
 
 find_package(rcutils REQUIRED)
 
+# rcutils package changes CXX standard to 11
+if(${CMAKE_CXX_STANDARD} LESS 14)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
 find_package(rosidl_typesupport_opendds_c)
 if(NOT rosidl_typesupport_opendds_c_FOUND)
   ament_package()
@@ -39,7 +43,6 @@ if(NOT rosidl_typesupport_opendds_cpp_FOUND)
 endif()
 
 find_package(rmw REQUIRED)
-find_package(rmw_opendds_shared_cpp REQUIRED)
 find_package(rosidl_generator_c REQUIRED)
 find_package(rosidl_generator_cpp REQUIRED)
 
@@ -53,7 +56,6 @@ ament_export_include_directories(include)
 ament_export_dependencies(
   rcutils
   rmw
-  rmw_opendds_shared_cpp
   rosidl_generator_c
   rosidl_generator_cpp
   rosidl_typesupport_opendds_c
@@ -64,49 +66,54 @@ register_rmw_implementation(
   "cpp:rosidl_typesupport_cpp:rosidl_typesupport_opendds_cpp"
 )
 
-
 # Build RMW library.
 add_library(
   rmw_opendds_cpp
   SHARED
-  src/opendds_static_publisher_info.cpp
-  src/opendds_static_subscriber_info.cpp
-  src/get_client.cpp
-  src/get_participant.cpp
-  src/get_publisher.cpp
-  src/get_service.cpp
-  src/get_subscriber.cpp
+  src/DDSPublisher.cpp
+  src/DDSSubscriber.cpp
+  src/DDSClient.cpp
+  src/DDSServer.cpp
+  src/DDSTopic.cpp
+  src/OpenDDSNode.cpp
+  src/Service.cpp
+  src/condition_error.cpp
+  src/demangle.cpp
+  src/event.cpp
+  src/event_converter.cpp
+  src/guard_condition.cpp
   src/identifier.cpp
-  src/process_topic_and_service_names.cpp
+  src/init.cpp
+  src/namespace_prefix.cpp
+  src/qos.cpp
+  src/serialization_format.cpp
+  src/topic_endpoint_info.cpp
+  src/trigger_guard_condition.cpp
+  src/types/custom_data_reader_listener.cpp
+  src/types/custom_publisher_listener.cpp
+  src/types/custom_subscriber_listener.cpp
+  src/wait.cpp
+  src/wait_set.cpp
   src/rmw_client.cpp
   src/rmw_compare_gid_equals.cpp
-  src/rmw_count.cpp
   src/rmw_event.cpp
-  src/rmw_get_gid_for_publisher.cpp
   src/rmw_get_implementation_identifier.cpp
   src/rmw_get_serialization_format.cpp
+  src/rmw_get_topic_endpoint_info.cpp
   src/rmw_guard_condition.cpp
   src/rmw_init.cpp
   src/rmw_logging.cpp
   src/rmw_node.cpp
-  src/rmw_node_info_and_types.cpp
-  src/rmw_node_names.cpp
   src/rmw_publish.cpp
   src/rmw_publisher.cpp
-  src/rmw_request.cpp
-  src/rmw_response.cpp
   src/rmw_serialize.cpp
-  src/rmw_service.cpp
-  src/rmw_service_names_and_types.cpp
-  src/rmw_service_server_is_available.cpp
+  src/rmw_server.cpp
   src/rmw_subscription.cpp
   src/rmw_take.cpp
-  src/rmw_topic_names_and_types.cpp
   src/rmw_trigger_guard_condition.cpp
   src/rmw_wait.cpp
   src/rmw_wait_set.cpp
-  src/serialization_format.cpp
-  src/rmw_get_topic_endpoint_info.cpp)
+  )
 
 OPENDDS_TARGET_SOURCES(rmw_opendds_cpp resources/opendds_static_serialized_data.idl TAO_IDL_OPTIONS "-Sa -St")
 target_link_libraries(rmw_opendds_cpp ${opendds_libs})
@@ -115,7 +122,6 @@ target_link_libraries(rmw_opendds_cpp ${opendds_libs})
 ament_target_dependencies(rmw_opendds_cpp
   "rcutils"
   "rmw"
-  "rmw_opendds_shared_cpp"
   "rosidl_generator_c"
   "rosidl_generator_cpp"
   "rosidl_typesupport_opendds_c"
@@ -124,6 +130,14 @@ ament_target_dependencies(rmw_opendds_cpp
 target_include_directories(rmw_opendds_cpp PUBLIC ${patched_directory})
 ament_export_libraries(rmw_opendds_cpp)
 
+if(WIN32)
+  # Causes the visibility macros to use dllexport rather than dllimport
+  # which is appropriate when building the dll but not consuming it.
+  target_compile_definitions(rmw_opendds_cpp
+    PRIVATE "RMW_OPENDDS_CPP_BUILDING_DLL"
+            "_CRT_NONSTDC_NO_DEPRECATE")
+endif()
+
 # Causes the visibility macros to use dllexport rather than dllimport
 # which is appropriate when building the library but not consuming it.
 target_compile_definitions(rmw_opendds_cpp

rmw_opendds_cpp/include/rmw_opendds_cpp/DDSClient.hpp

@@ -0,0 +1,54 @@
+// Copyright 2014-2017 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#ifndef RMW_OPENDDS_CPP__DDSCLIENT_HPP_
+#define RMW_OPENDDS_CPP__DDSCLIENT_HPP_
+
+#include <rmw_opendds_cpp/Service.hpp>
+#include <rmw_opendds_cpp/OpenDDSNode.hpp>
+#include <rmw_opendds_cpp/RmwAllocateFree.hpp>
+
+#include <dds/DCPS/GuardCondition.h>
+
+class DDSClient
+{
+public:
+  typedef RmwAllocateFree<DDSClient> Raf;
+  static DDSClient * from(const rmw_client_t * client);
+  int64_t send(const void * ros_request) const;
+  bool take(rmw_service_info_t * request_header, void * ros_reply) const;
+  void add_to(OpenDDSNode * dds_node);
+  bool remove_from(OpenDDSNode * dds_node);
+  bool is_server_available() const;
+  const std::string& service_name() const { return service_.name(); }
+  void * requester() const { return requester_; }
+  DDS::ReadCondition_var read_condition() const { return read_condition_; }
+
+private:
+  friend Raf;
+  DDSClient(const rosidl_service_type_support_t * ts, const char * service_name,
+            const rmw_qos_profile_t * rmw_qos, DDS::DomainParticipant_var dp);
+  ~DDSClient() { cleanup(); }
+  void cleanup();
+  bool count_matched_subscribers(size_t & count) const;
+  bool count_matched_publishers(size_t & count) const;
+
+  Service service_;
+  void * requester_;
+  DDS::DataReader_var reader_;
+  DDS::ReadCondition_var read_condition_;
+  DDS::DataWriter_var writer_;
+};
+
+#endif  // RMW_OPENDDS_CPP__DDSCLIENT_HPP_

rmw_opendds_cpp/src/get_participant.cpp → rmw_opendds_cpp/include/rmw_opendds_cpp/DDSEntity.hpp

@@ -1,5 +1,3 @@
-// Copyright 2017 Open Source Robotics Foundation, Inc.
-//
 // 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
@@ -12,23 +10,21 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "rmw_opendds_cpp/get_participant.hpp"
+#ifndef RMW_OPENDDS_CPP__DDSENTITY_HPP_
+#define RMW_OPENDDS_CPP__DDSENTITY_HPP_
 
-#include "rmw_opendds_cpp/identifier.hpp"
+#include <dds/DdsDcpsInfrastructureC.h>
 
-namespace rmw_opendds_cpp
-{
+#include <rmw/ret_types.h>
 
-DDS::DomainParticipant *
-get_participant(rmw_node_t * node)
+class DDSEntity
 {
-  if (!node) {
-    return NULL;
-  }
-  if (node->implementation_identifier != opendds_identifier) {
-    return NULL;
-  }
-  return static_cast<DDS::DomainParticipant *>(node->data);
-}
+public:
+  // Given DDS::StatusMask, fill the corresponding rmw_status and return RMW_RET_OK.
+  // Otherwise return RMW_RET_UNSUPPORTED if DDS::StatusMask is unsupported,
+  // RMW_RET_TIMEOUT, or RMW_RET_ERROR on other errors.
+  virtual rmw_ret_t get_status(const DDS::StatusMask mask, void * rmw_status) = 0;
+  virtual DDS::Entity * get_entity() = 0;
+};
 
-}  // namespace rmw_opendds_cpp
+#endif  // RMW_OPENDDS_CPP__DDSENTITY_HPP_

rmw_opendds_cpp/include/rmw_opendds_cpp/DDSPublisher.hpp

@@ -0,0 +1,78 @@
+// Copyright 2014-2017 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#ifndef RMW_OPENDDS_CPP__DDSPUBLISHER_HPP_
+#define RMW_OPENDDS_CPP__DDSPUBLISHER_HPP_
+
+#include <rmw_opendds_cpp/DDSEntity.hpp>
+#include <rmw_opendds_cpp/DDSTopic.hpp>
+#include <rmw_opendds_cpp/RmwAllocateFree.hpp>
+
+#include <atomic>
+
+class OpenDDSPublisherListener : public DDS::PublisherListener
+{
+public:
+  typedef RmwAllocateFree<OpenDDSPublisherListener> Raf;
+
+  virtual void on_publication_matched(DDS::DataWriter *, const DDS::PublicationMatchedStatus & status) {
+    current_count_ = status.current_count;
+  }
+  std::size_t current_count() const { return current_count_; }
+
+  void on_offered_deadline_missed(DDS::DataWriter_ptr, const DDS::OfferedDeadlineMissedStatus&) {}
+  void on_offered_incompatible_qos(DDS::DataWriter_ptr, const DDS::OfferedIncompatibleQosStatus&) {}
+  void on_liveliness_lost(DDS::DataWriter_ptr, const DDS::LivelinessLostStatus&) {}
+
+private:
+  friend Raf;
+  OpenDDSPublisherListener() { current_count_ = 0; }
+  ~OpenDDSPublisherListener() {}
+  std::atomic<std::size_t> current_count_;
+};
+
+class DDSPublisher : public DDSEntity
+{
+public:
+  typedef RmwAllocateFree<DDSPublisher> Raf;
+  static DDSPublisher * from(const rmw_publisher_t * pub);
+  const std::string& topic_name() const { return topic_.name(); }
+  const std::string& topic_type() const { return topic_.type(); }
+  rmw_ret_t get_rmw_qos(rmw_qos_profile_t & qos) const;
+  rmw_ret_t to_cdr_stream(const void * ros_message, rcutils_uint8_array_t & cdr_stream);
+  DDS::DataWriter_var writer() const { return writer_; }
+
+  std::size_t matched_subscribers() const { return listener_->current_count(); }
+  DDS::InstanceHandle_t instance_handle() const { return publisher_->get_instance_handle(); }
+  rmw_gid_t gid() const { return publisher_gid_; }
+
+  // Remap the OpenDDS DataWriter status to a generic RMW status
+  rmw_ret_t get_status(const DDS::StatusMask mask, void * rmw_status) override;
+  // Return the writer associated with this publisher
+  DDS::Entity * get_entity() override { return writer_; }
+private:
+  friend Raf;
+  DDSPublisher(DDS::DomainParticipant_var dp, const rosidl_message_type_support_t * ros_ts,
+               const char * topic_name, const rmw_qos_profile_t * rmw_qos);
+  ~DDSPublisher() { cleanup(); }
+  void cleanup();
+
+  DDSTopic topic_;
+  OpenDDSPublisherListener * listener_;
+  DDS::Publisher_var publisher_;
+  DDS::DataWriter_var writer_;
+  rmw_gid_t publisher_gid_;
+};
+
+#endif  // RMW_OPENDDS_CPP__DDSPUBLISHER_HPP_

rmw_opendds_cpp/include/rmw_opendds_cpp/DDSServer.hpp

@@ -0,0 +1,51 @@
+// Copyright 2014-2017 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#ifndef RMW_OPENDDS_CPP__DDSSERVER_HPP_
+#define RMW_OPENDDS_CPP__DDSSERVER_HPP_
+
+#include <rmw_opendds_cpp/Service.hpp>
+#include <rmw_opendds_cpp/OpenDDSNode.hpp>
+#include <rmw_opendds_cpp/RmwAllocateFree.hpp>
+
+#include <dds/DCPS/GuardCondition.h>
+
+class DDSServer
+{
+public:
+  typedef RmwAllocateFree<DDSServer> Raf;
+  static DDSServer * from(const rmw_service_t * service);
+  bool take(rmw_service_info_t * request_header, void * ros_request) const;
+  bool send(const rmw_request_id_t * request_header, const void * ros_reply) const;
+  void add_to(OpenDDSNode * dds_node);
+  bool remove_from(OpenDDSNode * dds_node);
+  const std::string& service_name() const { return service_.name(); }
+  void * replier() const { return replier_; }
+  DDS::ReadCondition_var read_condition() const { return read_condition_; }
+
+private:
+  friend Raf;
+  DDSServer(const rosidl_service_type_support_t * ts, const char * service_name,
+            const rmw_qos_profile_t * rmw_qos, DDS::DomainParticipant_var dp);
+  ~DDSServer() { cleanup(); }
+  void cleanup();
+
+  Service service_;
+  void * replier_;
+  DDS::DataReader_var reader_;
+  DDS::ReadCondition_var read_condition_;
+  DDS::DataWriter_var writer_;
+};
+
+#endif  // RMW_OPENDDS_CPP__DDSSERVER_HPP_