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Merged
clalancette merged 17 commits into from
Mar 26, 2023
Merged

Type hash distribution in discovery (rep2011) #671

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aefd05d
WIP just making the branch and noting the place where code goes
emersonknapp Feb 15, 2023
dd124b3
Basic test workflow, not getting actual type hash value yet
emersonknapp Feb 15, 2023
c4b18ff
Adding type hash to user data
emersonknapp Feb 16, 2023
3e9feea
Receive type hash (and debug print)
emersonknapp Feb 17, 2023
6d38682
Use common helpers for type hash user_data encoding
emersonknapp Feb 20, 2023
0b598a0
User data key-value strings
emersonknapp Feb 21, 2023
41fe673
Type hash struct first pass
emersonknapp Feb 22, 2023
04788cd
Fix debug print
emersonknapp Feb 22, 2023
765021c
Add dynamic_cpp implementations
emersonknapp Feb 23, 2023
740421f
Remove debug logging
emersonknapp Feb 23, 2023
1112a0f
Update fn name
emersonknapp Mar 13, 2023
fba5d60
Fix linter
emersonknapp Mar 13, 2023
f22e400
Use new signatures
emersonknapp Mar 15, 2023
a39da37
Address review comments
emersonknapp Mar 16, 2023
f723920
Add warnings on failed type hash operations
emersonknapp Mar 17, 2023
f7b2aab
Use new typesupport hashes
emersonknapp Mar 22, 2023
40afb80
review nits
emersonknapp Mar 23, 2023
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2 changes: 1 addition & 1 deletion rmw_fastrtps_cpp/src/publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -256,7 +256,7 @@ rmw_fastrtps_cpp::create_publisher(
}

// Get QoS from RMW
if (!get_datawriter_qos(*qos_policies, writer_qos)) {
if (!get_datawriter_qos(*qos_policies, *type_supports->type_hash, writer_qos)) {
RMW_SET_ERROR_MSG("create_publisher() failed setting data writer QoS");
return nullptr;
}
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8 changes: 6 additions & 2 deletions rmw_fastrtps_cpp/src/rmw_client.cpp
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Expand Up @@ -314,7 +314,9 @@ rmw_create_client(
reader_qos.data_sharing().off();
}

if (!get_datareader_qos(adapted_qos_policies, reader_qos)) {
if (!get_datareader_qos(
adapted_qos_policies, *type_supports->response_typesupport->type_hash, reader_qos))
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@wjwwood wjwwood Mar 23, 2023

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nitpick: I don't know if this package has our linters run over it, but I would have expected this to use two spaces of indent, not four

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@emersonknapp emersonknapp Mar 23, 2023

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linters did run - your intuition is my intuition, but uncrustify wants it this way. I believe the logic is "2 times the number of opening braces" - in this case there's if (( so it expects 4 spaces

{
RMW_SET_ERROR_MSG("create_client() failed setting response DataReader QoS");
return nullptr;
}
Expand Down Expand Up @@ -368,7 +370,9 @@ rmw_create_client(
writer_qos.data_sharing().off();
}

if (!get_datawriter_qos(adapted_qos_policies, writer_qos)) {
if (!get_datawriter_qos(
adapted_qos_policies, *type_supports->request_typesupport->type_hash, writer_qos))
{
RMW_SET_ERROR_MSG("create_client() failed setting request DataWriter QoS");
return nullptr;
}
Expand Down
8 changes: 6 additions & 2 deletions rmw_fastrtps_cpp/src/rmw_service.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -313,7 +313,9 @@ rmw_create_service(
reader_qos.data_sharing().off();
}

if (!get_datareader_qos(adapted_qos_policies, reader_qos)) {
if (!get_datareader_qos(
adapted_qos_policies, *type_supports->request_typesupport->type_hash, reader_qos))
{
RMW_SET_ERROR_MSG("create_service() failed setting request DataReader QoS");
return nullptr;
}
Expand Down Expand Up @@ -371,7 +373,9 @@ rmw_create_service(
writer_qos.data_sharing().off();
}

if (!get_datawriter_qos(adapted_qos_policies, writer_qos)) {
if (!get_datawriter_qos(
adapted_qos_policies, *type_supports->response_typesupport->type_hash, writer_qos))
{
RMW_SET_ERROR_MSG("create_service() failed setting response DataWriter QoS");
return nullptr;
}
Expand Down
2 changes: 1 addition & 1 deletion rmw_fastrtps_cpp/src/subscription.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -280,7 +280,7 @@ create_subscription(
reader_qos.data_sharing().off();
}

if (!get_datareader_qos(*qos_policies, reader_qos)) {
if (!get_datareader_qos(*qos_policies, *type_supports->type_hash, reader_qos)) {
RMW_SET_ERROR_MSG("create_subscription() failed setting data reader QoS");
return nullptr;
}
Expand Down
2 changes: 1 addition & 1 deletion rmw_fastrtps_dynamic_cpp/src/publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -262,7 +262,7 @@ rmw_fastrtps_dynamic_cpp::create_publisher(
}

// Get QoS from RMW
if (!get_datawriter_qos(*qos_policies, writer_qos)) {
if (!get_datawriter_qos(*qos_policies, *type_supports->type_hash, writer_qos)) {
RMW_SET_ERROR_MSG("create_publisher() failed setting data writer QoS");
return nullptr;
}
Expand Down
8 changes: 6 additions & 2 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 @@ -345,7 +345,9 @@ rmw_create_client(
reader_qos.data_sharing().off();
}

if (!get_datareader_qos(adapted_qos_policies, reader_qos)) {
if (!get_datareader_qos(
adapted_qos_policies, *type_supports->response_typesupport->type_hash, reader_qos))
{
RMW_SET_ERROR_MSG("create_client() failed setting response DataReader QoS");
return nullptr;
}
Expand Down Expand Up @@ -399,7 +401,9 @@ rmw_create_client(
writer_qos.data_sharing().off();
}

if (!get_datawriter_qos(adapted_qos_policies, writer_qos)) {
if (!get_datawriter_qos(
adapted_qos_policies, *type_supports->request_typesupport->type_hash, writer_qos))
{
RMW_SET_ERROR_MSG("create_client() failed setting request DataWriter QoS");
return nullptr;
}
Expand Down
8 changes: 6 additions & 2 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 @@ -344,7 +344,9 @@ rmw_create_service(
reader_qos.data_sharing().off();
}

if (!get_datareader_qos(adapted_qos_policies, reader_qos)) {
if (!get_datareader_qos(
adapted_qos_policies, *type_supports->request_typesupport->type_hash, reader_qos))
{
RMW_SET_ERROR_MSG("create_service() failed setting request DataReader QoS");
return nullptr;
}
Expand Down Expand Up @@ -402,7 +404,9 @@ rmw_create_service(
writer_qos.data_sharing().off();
}

if (!get_datawriter_qos(adapted_qos_policies, writer_qos)) {
if (!get_datawriter_qos(
adapted_qos_policies, *type_supports->response_typesupport->type_hash, writer_qos))
{
RMW_SET_ERROR_MSG("create_service() failed setting response DataWriter QoS");
return nullptr;
}
Expand Down
4 changes: 3 additions & 1 deletion rmw_fastrtps_dynamic_cpp/src/subscription.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,8 @@
#include "rmw/rmw.h"
#include "rmw/validate_full_topic_name.h"

#include "rosidl_runtime_c/type_hash.h"

#include "rcpputils/scope_exit.hpp"

#include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
Expand Down Expand Up @@ -264,7 +266,7 @@ create_subscription(
reader_qos.data_sharing().off();
}

if (!get_datareader_qos(*qos_policies, reader_qos)) {
if (!get_datareader_qos(*qos_policies, *type_supports->type_hash, reader_qos)) {
RMW_SET_ERROR_MSG("create_subscription() failed setting data reader QoS");
return nullptr;
}
Expand Down
1 change: 1 addition & 0 deletions rmw_fastrtps_shared_cpp/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,7 @@ find_package(ament_cmake_ros REQUIRED)
find_package(rcpputils REQUIRED)
find_package(rcutils REQUIRED)
find_package(rmw_dds_common REQUIRED)
find_package(rosidl_runtime_c REQUIRED)
find_package(rosidl_typesupport_introspection_c REQUIRED)
find_package(rosidl_typesupport_introspection_cpp REQUIRED)
find_package(tracetools REQUIRED)
Expand Down
17 changes: 17 additions & 0 deletions rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_participant_info.hpp
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Expand Up @@ -40,6 +40,7 @@
#include "rmw/rmw.h"

#include "rmw_dds_common/context.hpp"
#include "rmw_dds_common/qos.hpp"

#include "rmw_fastrtps_shared_cpp/create_rmw_gid.hpp"
#include "rmw_fastrtps_shared_cpp/custom_event_info.hpp"
Expand Down Expand Up @@ -205,12 +206,28 @@ class ParticipantListener : public eprosima::fastdds::dds::DomainParticipantList
rmw_qos_profile_t qos_profile = rmw_qos_profile_unknown;
rtps_qos_to_rmw_qos(proxyData.m_qos, &qos_profile);

const auto & userDataValue = proxyData.m_qos.m_userData.getValue();
rosidl_type_hash_t type_hash;
if (RMW_RET_OK != rmw_dds_common::parse_type_hash_from_user_data(
userDataValue.data(), userDataValue.size(), type_hash))
{
RCUTILS_LOG_WARN_NAMED(
"rmw_fastrtps_shared_cpp",
"Failed to parse type hash for topic '%s' with type '%s' from USER_DATA '%*s'.",
proxyData.topicName().c_str(),
proxyData.typeName().c_str(),
static_cast<int>(userDataValue.size()),
reinterpret_cast<const char *>(userDataValue.data()));
type_hash = rosidl_get_zero_initialized_type_hash();
}

context->graph_cache.add_entity(
rmw_fastrtps_shared_cpp::create_rmw_gid(
identifier_,
proxyData.guid()),
proxyData.topicName().to_string(),
proxyData.typeName().to_string(),
type_hash,
rmw_fastrtps_shared_cpp::create_rmw_gid(
identifier_,
iHandle2GUID(proxyData.RTPSParticipantKey())),
Expand Down
4 changes: 4 additions & 0 deletions rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/qos.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,8 @@

#include "rmw_fastrtps_shared_cpp/visibility_control.h"

#include "rosidl_runtime_c/type_hash.h"

RMW_FASTRTPS_SHARED_CPP_PUBLIC
bool
is_valid_qos(const rmw_qos_profile_t & qos_policies);
Expand All @@ -35,12 +37,14 @@ RMW_FASTRTPS_SHARED_CPP_PUBLIC
bool
get_datareader_qos(
const rmw_qos_profile_t & qos_policies,
const rosidl_type_hash_t & type_hash,
eprosima::fastdds::dds::DataReaderQos & reader_qos);

RMW_FASTRTPS_SHARED_CPP_PUBLIC
bool
get_datawriter_qos(
const rmw_qos_profile_t & qos_policies,
const rosidl_type_hash_t & type_hash,
eprosima::fastdds::dds::DataWriterQos & writer_qos);

RMW_FASTRTPS_SHARED_CPP_PUBLIC
Expand Down
1 change: 1 addition & 0 deletions rmw_fastrtps_shared_cpp/package.xml
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Expand Up @@ -27,6 +27,7 @@
<build_depend>rcutils</build_depend>
<build_depend>rmw</build_depend>
<build_depend>rmw_dds_common</build_depend>
<build_depend>rosidl_runtime_c</build_depend>
<build_depend>rosidl_typesupport_introspection_c</build_depend>
<build_depend>rosidl_typesupport_introspection_cpp</build_depend>
<build_depend>tracetools</build_depend>
Expand Down
36 changes: 34 additions & 2 deletions rmw_fastrtps_shared_cpp/src/qos.cpp
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Expand Up @@ -13,6 +13,9 @@
// limitations under the License.

#include <limits>
#include <vector>

#include "rcutils/logging_macros.h"

#include "rmw_fastrtps_shared_cpp/qos.hpp"

Expand All @@ -22,6 +25,10 @@

#include "rmw/error_handling.h"

#include "rmw_dds_common/qos.hpp"

#include "rosidl_runtime_c/type_hash.h"

#include "time_utils.hpp"

static
Expand Down Expand Up @@ -142,20 +149,45 @@ bool fill_entity_qos_from_profile(
return true;
}

template<typename DDSEntityQos>
bool
fill_data_entity_qos_from_profile(
const rmw_qos_profile_t & qos_policies,
const rosidl_type_hash_t & type_hash,
DDSEntityQos & entity_qos)
{
if (!fill_entity_qos_from_profile(qos_policies, entity_qos)) {
return false;
}
std::string user_data_str;
if (RMW_RET_OK != rmw_dds_common::encode_type_hash_for_user_data_qos(type_hash, user_data_str)) {
RCUTILS_LOG_WARN_NAMED(
"rmw_fastrtps_shared_cpp",
"Failed to encode type hash for topic, will not distribute it in USER_DATA.");
user_data_str.clear();
}
std::vector<uint8_t> user_data(user_data_str.begin(), user_data_str.end());
entity_qos.user_data().resize(user_data.size());
entity_qos.user_data().setValue(user_data);
return true;
}

bool
get_datareader_qos(
const rmw_qos_profile_t & qos_policies,
const rosidl_type_hash_t & type_hash,
eprosima::fastdds::dds::DataReaderQos & datareader_qos)
{
return fill_entity_qos_from_profile(qos_policies, datareader_qos);
return fill_data_entity_qos_from_profile(qos_policies, type_hash, datareader_qos);
}

bool
get_datawriter_qos(
const rmw_qos_profile_t & qos_policies,
const rosidl_type_hash_t & type_hash,
eprosima::fastdds::dds::DataWriterQos & datawriter_qos)
{
return fill_entity_qos_from_profile(qos_policies, datawriter_qos);
return fill_data_entity_qos_from_profile(qos_policies, type_hash, datawriter_qos);
}

bool
Expand Down
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