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Allow sharing DomainParticipant with C++ applications #25

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Merged
asorbini merged 3 commits into from
Apr 27, 2021
Merged

Allow sharing DomainParticipant with C++ applications #25

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49bcb5c
Allow sharing DomainParticipant with C++ applications
asorbini Apr 5, 2021
4627deb
Add comment about UserObjectQosPolicy
asorbini Apr 9, 2021
cb90c7b
Resolve uncrustify errors
asorbini Apr 12, 2021
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8 changes: 8 additions & 0 deletions rmw_connextdds_common/include/rmw_connextdds/static_config.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -280,6 +280,14 @@
#define RMW_CONNEXT_FAST_ENDPOINT_DISCOVERY 1
#endif /* RMW_CONNEXT_FAST_ENDPOINT_DISCOVERY */

/******************************************************************************
* Modify DomainParticipantQos to allow sharing of DDS entities created with
* the Connext C API with applications using the C++11 API.
******************************************************************************/
#ifndef RMW_CONNEXT_SHARE_DDS_ENTITIES_WITH_CPP
#define RMW_CONNEXT_SHARE_DDS_ENTITIES_WITH_CPP 1
#endif /* RMW_CONNEXT_SHARE_DDS_ENTITIES_WITH_CPP */

/******************************************************************************
* Override dds.transport.UDPv4.builtin.ignore_loopback_interface in
* DomainParticipantQos to force communication over loopback (in addition to
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14 changes: 14 additions & 0 deletions rmw_connextdds_common/src/ndds/dds_api_ndds.cpp
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Expand Up @@ -207,6 +207,20 @@ rmw_connextdds_initialize_participant_qos_impl(
}
#endif /* RMW_CONNEXT_FAST_ENDPOINT_DISCOVERY */

#if RMW_CONNEXT_SHARE_DDS_ENTITIES_WITH_CPP
// UserObjectQosPolicy is an internal, undocumented Connext policy used by the
// implementations of different language bindings to control the memory
// representations of various objects created by user applications. In this
// case, the settings match the requirements of the "modern C++" API, and they
// allow the DomainParticipant to be used directly by applications that want
// to create new entities in C++11, even though the participant was created
// using the C API. If these settings are not specified, an application will
// receive a SIGSEGV when trying to create one of these entities.
dp_qos->user_object.flow_controller_user_object.size = sizeof(void *);
dp_qos->user_object.topic_user_object.size = sizeof(void *);
dp_qos->user_object.content_filtered_topic_user_object.size = sizeof(void *);
#endif /* RMW_CONNEXT_SHARE_DDS_ENTITIES_WITH_CPP */

return RMW_RET_OK;
}

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