Update rmw_iceoryx for galactic

.github/workflows/main.yml

@@ -3,7 +3,7 @@ name: Integration build rmw_iceoryx
 on:
   push:
     branches:
-      - foxy
+      - galactic
   pull_request:
 
 jobs:
@@ -18,13 +18,11 @@ jobs:
       - name: Setup ROS
         uses: ros-tooling/setup-ros@master
         with:
-          required-ros-distributions: foxy
+          required-ros-distributions: galactic
       - name: Install Iceoryx Dependencies
         run: sudo apt-get update && sudo apt-get install -y cmake libacl1-dev libncurses5-dev pkg-config
       - name: Build & Test
         uses: ros-tooling/action-ros-ci@master
         with:
           package-name: rmw_iceoryx_cpp iceoryx_ros2_bridge
-          target-ros2-distro: foxy
-          vcs-repo-file-url: |
-            ./.github/workflows/additional_repos.repos
+          target-ros2-distro: galactic

README.md

@@ -20,12 +20,12 @@ git clone https://github.com/ros2/rmw_iceoryx.git
 ```
 For alternative installation instructions and more details about iceoryx's internals, please see [iceoryx's GitHub repo](https://github.com/eclipse/iceoryx).
 
-rmw_iceoryx is compatible with ROS 2 Foxy.
+rmw_iceoryx is compatible with ROS 2 Galactic.
 Assuming you have ROS2 installed correctly, you can compile the iceoryx workspace with colcon:
 
 ```
 cd ~/iceoryx_ws/
-source /opt/ros/foxy/setup.bash  # alternatively source your own ROS 2 workspace
+source /opt/ros/galactic/setup.bash  # alternatively source your own ROS 2 workspace
 colcon build
 # or with more options
 colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF

iceoryx_ros2_bridge/src/generic_subscription.cpp

@@ -1,4 +1,5 @@
 // Copyright 2018, Bosch Software Innovations GmbH.
+// Copyright (c) 2021 by Apex.AI Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -88,6 +89,14 @@ void GenericSubscription::return_serialized_message(
   message.reset();
 }
 
+void GenericSubscription::handle_serialized_message(
+  const std::shared_ptr<rclcpp::SerializedMessage> & serialized_message,
+  const rclcpp::MessageInfo & message_info)
+{
+  (void) serialized_message;
+  (void) message_info;
+}
+
 void GenericSubscription::handle_loaned_message(
   void * loaned_message,
   const rclcpp::MessageInfo & message_info)

iceoryx_ros2_bridge/src/generic_subscription.hpp

@@ -1,4 +1,5 @@
 // Copyright 2018, Bosch Software Innovations GmbH.
+// Copyright (c) 2021 by Apex.AI Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -80,6 +81,10 @@ class GenericSubscription : public rclcpp::SubscriptionBase
 
   void return_serialized_message(std::shared_ptr<rclcpp::SerializedMessage> & message) override;
 
+  void handle_serialized_message(
+    const std::shared_ptr<rclcpp::SerializedMessage> & serialized_message,
+    const rclcpp::MessageInfo & message_info);
+
   void handle_loaned_message(
     void * loaned_message, const rclcpp::MessageInfo & message_info) override;
 

rmw_iceoryx_cpp/CMakeLists.txt

@@ -87,11 +87,13 @@ add_library(rmw_iceoryx_cpp SHARED
   src/rmw_guard_condition.cpp
   src/rmw_init.cpp
   src/rmw_logging.cpp
+  src/rmw_network_flow_endpoint.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_qos.cpp
   src/rmw_request.cpp
   src/rmw_response.cpp
   src/rmw_serialize.cpp

rmw_iceoryx_cpp/include/rmw_iceoryx_cpp/iceoryx_type_info_introspection.hpp

@@ -1,4 +1,5 @@
 // Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
+// Copyright (c) 2021 by Apex.AI Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -16,12 +17,24 @@
 #define RMW_ICEORYX_CPP__ICEORYX_TYPE_INFO_INTROSPECTION_HPP_
 
 #include <string>
+#include <utility>
 
 struct rosidl_message_type_support_t;
 
 namespace rmw_iceoryx_cpp
 {
 
+enum class TypeSupportLanguage
+{
+  CPP,
+  C
+};
+
+/// @brief Wraps get_message_typesupport_handle() and does error handling
+/// @return std::pair containing enum TypeSupportLanguage and handle to the type support
+const std::pair<TypeSupportLanguage, const rosidl_message_type_support_t *> get_type_support(
+  const rosidl_message_type_support_t * type_supports);
+
 bool iceoryx_is_fixed_size(const rosidl_message_type_support_t * type_supports);
 
 bool iceoryx_is_valid_type_support(const rosidl_message_type_support_t * type_supports);

rmw_iceoryx_cpp/src/internal/iceoryx_deserialize.cpp

@@ -1,4 +1,5 @@
 // Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
+// Copyright (c) 2021 by Apex.AI Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -20,7 +21,10 @@
 #include "rosidl_typesupport_introspection_cpp/identifier.hpp"
 #include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
 
+#include "rcutils/error_handling.h"
+
 #include "rmw_iceoryx_cpp/iceoryx_deserialize.hpp"
+#include "rmw_iceoryx_cpp/iceoryx_type_info_introspection.hpp"
 
 #include "./iceoryx_deserialize_typesupport_c.hpp"
 #include "./iceoryx_deserialize_typesupport_cpp.hpp"
@@ -33,24 +37,16 @@ void deserialize(
   const rosidl_message_type_support_t * type_supports,
   void * ros_message)
 {
-  // serialize with cpp typesupport
-  auto ts_cpp = get_message_typesupport_handle(
-    type_supports,
-    rosidl_typesupport_introspection_cpp::typesupport_identifier);
-  if (ts_cpp != nullptr) {
-    auto members =
-      static_cast<const rosidl_typesupport_introspection_cpp::MessageMembers *>(ts_cpp->data);
-    rmw_iceoryx_cpp::details_cpp::deserialize(serialized_msg, members, ros_message);
-  }
-
-  // serialize with c typesupport
-  auto ts_c = get_message_typesupport_handle(
-    type_supports,
-    rosidl_typesupport_introspection_c__identifier);
-  if (ts_c != nullptr) {
-    auto members =
-      static_cast<const rosidl_typesupport_introspection_c__MessageMembers *>(ts_c->data);
-    rmw_iceoryx_cpp::details_c::deserialize(serialized_msg, members, ros_message);
+  auto ts = get_type_support(type_supports);
+
+  if (ts.first == TypeSupportLanguage::CPP) {
+    auto members_cpp =
+      static_cast<const rosidl_typesupport_introspection_cpp::MessageMembers *>(ts.second->data);
+    rmw_iceoryx_cpp::details_cpp::deserialize(serialized_msg, members_cpp, ros_message);
+  } else if (ts.first == TypeSupportLanguage::C) {
+    auto members_c =
+      static_cast<const rosidl_typesupport_introspection_c__MessageMembers *>(ts.second->data);
+    rmw_iceoryx_cpp::details_c::deserialize(serialized_msg, members_c, ros_message);
   }
 }
 

rmw_iceoryx_cpp/src/internal/iceoryx_serialize.cpp

@@ -1,4 +1,5 @@
 // Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
+// Copyright (c) 2021 by Apex.AI Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -22,7 +23,10 @@
 #include "rosidl_typesupport_introspection_cpp/identifier.hpp"
 #include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
 
+#include "rcutils/error_handling.h"
+
 #include "rmw_iceoryx_cpp/iceoryx_serialize.hpp"
+#include "rmw_iceoryx_cpp/iceoryx_type_info_introspection.hpp"
 
 #include "./iceoryx_serialize_typesupport_c.hpp"
 #include "./iceoryx_serialize_typesupport_cpp.hpp"
@@ -35,23 +39,15 @@ void serialize(
   const rosidl_message_type_support_t * type_supports,
   std::vector<char> & payload_vector)
 {
-  // serialize with cpp typesupport
-  auto ts_cpp = get_message_typesupport_handle(
-    type_supports,
-    rosidl_typesupport_introspection_cpp::typesupport_identifier);
-  if (ts_cpp != nullptr) {
+  auto ts = get_type_support(type_supports);
+
+  if (ts.first == TypeSupportLanguage::CPP) {
     auto members =
-      static_cast<const rosidl_typesupport_introspection_cpp::MessageMembers *>(ts_cpp->data);
+      static_cast<const rosidl_typesupport_introspection_cpp::MessageMembers *>(ts.second->data);
     rmw_iceoryx_cpp::details_cpp::serialize(ros_message, members, payload_vector);
-  }
-
-  // serialize with c typesupport
-  auto ts_c = get_message_typesupport_handle(
-    type_supports,
-    rosidl_typesupport_introspection_c__identifier);
-  if (ts_c != nullptr) {
+  } else if (ts.first == TypeSupportLanguage::C) {
     auto members =
-      static_cast<const rosidl_typesupport_introspection_c__MessageMembers *>(ts_c->data);
+      static_cast<const rosidl_typesupport_introspection_c__MessageMembers *>(ts.second->data);
     rmw_iceoryx_cpp::details_c::serialize(ros_message, members, payload_vector);
   }
 }