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Bump micro-ROS-Agent to Fast DDS v3.0.1 (#237)

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* Bump to Fast DDS v3

Signed-off-by: Carlosespicur <carlosespicur@proton.me>

* Fix xrce agent package name and change git tag in SuperBuild.cmake

Signed-off-by: Carlosespicur <carlosespicur@proton.me>

* Bump XRCE Agent version

---------

Signed-off-by: Carlosespicur <carlosespicur@proton.me>
Co-authored-by: Pablo Garrido <pablogs9@gmail.com>
This commit is contained in:
Carlos Espinoza Curto
2025-03-10 07:43:58 +01:00
committed by Pablo Garrido
co-authored by Pablo Garrido
parent 904d890366
commit e77dca435b
8 changed files with 290 additions and 221 deletions
Download Patch File Download Diff File Expand all files Collapse all files
micro_ros_agent/src/agent/Agent.cpp
+18 -18
View File
@@ -122,10 +122,10 @@ bool Agent::create(
auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
// TODO(jamoralp): Workaround for Fast-DDS bug #9977. Remove when fixed
const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
const eprosima::fastdds::rtps::InstanceHandle_t instance_handle =
datareader->get_instance_handle();
const eprosima::fastrtps::rtps::GUID_t datareader_guid =
eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
const eprosima::fastdds::rtps::GUID_t datareader_guid =
eprosima::fastdds::rtps::iHandle2GUID(instance_handle);
graph_manager_->add_datareader(datareader_guid, participant, datareader);
graph_manager_->associate_entity(
datareader_guid, participant, dds::xrce::OBJK_DATAREADER);
@@ -148,10 +148,10 @@ bool Agent::create(
auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
// TODO(jamoralp): Workaround for Fast-DDS bug #9977. Remove when fixed
const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
const eprosima::fastdds::rtps::InstanceHandle_t instance_handle =
datareader->get_instance_handle();
const eprosima::fastrtps::rtps::GUID_t datareader_guid =
eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
const eprosima::fastdds::rtps::GUID_t datareader_guid =
eprosima::fastdds::rtps::iHandle2GUID(instance_handle);
graph_manager_->remove_datareader(datareader_guid);
});
@@ -179,10 +179,10 @@ bool Agent::create(
datawriter->guid(), participant, dds::xrce::OBJK_DATAWRITER);
// TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
const eprosima::fastdds::rtps::InstanceHandle_t instance_handle =
datareader->get_instance_handle();
const eprosima::fastrtps::rtps::GUID_t datareader_guid =
eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
const eprosima::fastdds::rtps::GUID_t datareader_guid =
eprosima::fastdds::rtps::iHandle2GUID(instance_handle);
graph_manager_->add_datareader(datareader_guid, participant, datareader);
graph_manager_->associate_entity(
datareader_guid, participant, dds::xrce::OBJK_DATAREADER);
@@ -209,10 +209,10 @@ bool Agent::create(
graph_manager_->remove_datawriter(datawriter->guid());
// TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
const eprosima::fastdds::rtps::InstanceHandle_t instance_handle =
datareader->get_instance_handle();
const eprosima::fastrtps::rtps::GUID_t datareader_guid =
eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
const eprosima::fastdds::rtps::GUID_t datareader_guid =
eprosima::fastdds::rtps::iHandle2GUID(instance_handle);
graph_manager_->remove_datareader(datareader_guid);
});
@@ -240,10 +240,10 @@ bool Agent::create(
datawriter->guid(), participant, dds::xrce::OBJK_DATAWRITER);
// TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
const eprosima::fastdds::rtps::InstanceHandle_t instance_handle =
datareader->get_instance_handle();
const eprosima::fastrtps::rtps::GUID_t datareader_guid =
eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
const eprosima::fastdds::rtps::GUID_t datareader_guid =
eprosima::fastdds::rtps::iHandle2GUID(instance_handle);
graph_manager_->add_datareader(datareader_guid, participant, datareader);
graph_manager_->associate_entity(
datareader_guid, participant, dds::xrce::OBJK_DATAREADER);
@@ -270,10 +270,10 @@ bool Agent::create(
graph_manager_->remove_datawriter(datawriter->guid());
// TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
const eprosima::fastdds::rtps::InstanceHandle_t instance_handle =
datareader->get_instance_handle();
const eprosima::fastrtps::rtps::GUID_t datareader_guid =
eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
const eprosima::fastdds::rtps::GUID_t datareader_guid =
eprosima::fastdds::rtps::iHandle2GUID(instance_handle);
graph_manager_->remove_datareader(datareader_guid);
});
micro_ros_agent/src/agent/graph_manager/graph_manager.cpp
+106 -82
View File
@@ -16,6 +16,9 @@
#define _UROS_AGENT_GRAPH_MANAGER_CPP
#include <agent/graph_manager/graph_manager.hpp>
#include <fastdds/dds/core/detail/DDSReturnCode.hpp>
#include <fastdds/rtps/participant/ParticipantDiscoveryInfo.hpp>
#include <fastdds/rtps/reader/ReaderDiscoveryStatus.hpp>
#include <memory>
#include <string>
@@ -54,9 +57,9 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
participant_qos.name(enclave);
participant_qos.wire_protocol().builtin.readerHistoryMemoryPolicy =
eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
participant_qos.wire_protocol().builtin.writerHistoryMemoryPolicy =
eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
eprosima::fastdds::dds::StatusMask par_mask = eprosima::fastdds::dds::StatusMask::none();
participant_.reset(eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->
@@ -91,7 +94,7 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
eprosima::fastdds::dds::HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
datawriter_qos_.history().depth = 1;
datawriter_qos_.endpoint().history_memory_policy =
eprosima::fastrtps::rtps::MemoryManagementPolicy::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
eprosima::fastdds::rtps::MemoryManagementPolicy::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
datawriter_qos_.publish_mode().kind =
eprosima::fastdds::dds::PublishModeQosPolicyKind::ASYNCHRONOUS_PUBLISH_MODE;
datawriter_qos_.reliability().kind =
@@ -113,7 +116,7 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
eprosima::fastdds::dds::HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
datareader_qos.history().depth = 1;
datareader_qos.endpoint().history_memory_policy =
eprosima::fastrtps::rtps::MemoryManagementPolicy::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
eprosima::fastdds::rtps::MemoryManagementPolicy::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
datareader_qos.reliability().kind =
eprosima::fastdds::dds::ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
datareader_qos.durability().kind =
@@ -351,7 +354,7 @@ void GraphManager::remove_participant(
}
void GraphManager::add_datawriter(
const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
const eprosima::fastdds::rtps::GUID_t& datawriter_guid,
const eprosima::fastdds::dds::DomainParticipant* participant,
const eprosima::fastdds::dds::DataWriter* datawriter)
{
@@ -362,10 +365,10 @@ void GraphManager::add_datawriter(
}
void GraphManager::add_datawriter(
const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
const eprosima::fastdds::rtps::GUID_t& datawriter_guid,
const std::string& topic_name,
const std::string& type_name,
const eprosima::fastrtps::rtps::GUID_t& participant_guid,
const eprosima::fastdds::rtps::GUID_t& participant_guid,
const eprosima::fastdds::dds::DataWriterQos& writer_qos)
{
const rmw_gid_t datawriter_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
@@ -379,7 +382,7 @@ void GraphManager::add_datawriter(
}
void GraphManager::remove_datawriter(
const eprosima::fastrtps::rtps::GUID_t& datawriter_guid)
const eprosima::fastdds::rtps::GUID_t& datawriter_guid)
{
const rmw_gid_t datawriter_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
"rmw_fastrtps_cpp", datawriter_guid);
@@ -388,7 +391,7 @@ void GraphManager::remove_datawriter(
}
void GraphManager::add_datareader(
const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
const eprosima::fastdds::rtps::GUID_t& datareader_guid,
const eprosima::fastdds::dds::DomainParticipant* participant,
const eprosima::fastdds::dds::DataReader* datareader)
{
@@ -399,10 +402,10 @@ void GraphManager::add_datareader(
}
void GraphManager::add_datareader(
const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
const eprosima::fastdds::rtps::GUID_t& datareader_guid,
const std::string& topic_name,
const std::string& type_name,
const eprosima::fastrtps::rtps::GUID_t& participant_guid,
const eprosima::fastdds::rtps::GUID_t& participant_guid,
const eprosima::fastdds::dds::DataReaderQos& reader_qos)
{
const rmw_gid_t datareader_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
@@ -421,7 +424,7 @@ void GraphManager::add_datareader(
}
void GraphManager::remove_datareader(
const eprosima::fastrtps::rtps::GUID_t& datareader_guid)
const eprosima::fastdds::rtps::GUID_t& datareader_guid)
{
const rmw_gid_t datareader_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
"rmw_fastrtps_cpp", datareader_guid);
@@ -430,7 +433,7 @@ void GraphManager::remove_datareader(
}
void GraphManager::associate_entity(
const eprosima::fastrtps::rtps::GUID_t& entity_guid,
const eprosima::fastdds::rtps::GUID_t& entity_guid,
const eprosima::fastdds::dds::DomainParticipant* participant,
const dds::xrce::ObjectKind& entity_kind)
{
@@ -550,7 +553,7 @@ void GraphManager::update_node_entities_info()
rmw_dds_common::msg::ParticipantEntitiesInfo entities_info;
eprosima::fastdds::dds::SampleInfo sample_info;
if (ros_discovery_datareader_->take_next_sample(&entities_info, &sample_info) ==
eprosima::fastrtps::types::ReturnCode_t::RETCODE_OK)
eprosima::fastdds::dds::RETCODE_OK)
{
if (sample_info.instance_state == eprosima::fastdds::dds::InstanceStateKind::ALIVE_INSTANCE_STATE)
{
@@ -604,14 +607,19 @@ GraphManager::ParticipantListener::ParticipantListener(
}
void GraphManager::ParticipantListener::on_participant_discovery(
eprosima::fastdds::dds::DomainParticipant* /* participant */,
eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&& info)
eprosima::fastdds::dds::DomainParticipant* participant,
eprosima::fastdds::rtps::ParticipantDiscoveryStatus reason,
const eprosima::fastdds::dds::ParticipantBuiltinTopicData& info,
bool& should_be_ignored)
{
switch (info.status)
static_cast<void>(participant);
static_cast<void>(should_be_ignored);
switch (reason)
{
case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DISCOVERED_PARTICIPANT:
case eprosima::fastdds::rtps::ParticipantDiscoveryStatus::DISCOVERED_PARTICIPANT:
{
auto map = rmw::impl::cpp::parse_key_value(info.info.m_userData);
auto map = rmw::impl::cpp::parse_key_value(info.user_data);
auto name_found = map.find("enclave");
if (map.end() == name_found)
@@ -621,14 +629,14 @@ void GraphManager::ParticipantListener::on_participant_discovery(
const std::string enclave =
std::string(name_found->second.begin(), name_found->second.end());
const rmw_gid_t gid = rmw_fastrtps_shared_cpp::create_rmw_gid("rmw_fastrtps_cpp", info.info.m_guid);
const rmw_gid_t gid = rmw_fastrtps_shared_cpp::create_rmw_gid("rmw_fastrtps_cpp", info.guid);
graphManager_from_->get_graph_cache().add_participant(gid, enclave);
break;
}
case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::REMOVED_PARTICIPANT:
case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DROPPED_PARTICIPANT:
case eprosima::fastdds::rtps::ParticipantDiscoveryStatus::REMOVED_PARTICIPANT:
case eprosima::fastdds::rtps::ParticipantDiscoveryStatus::DROPPED_PARTICIPANT:
{
const rmw_gid_t gid = rmw_fastrtps_shared_cpp::create_rmw_gid("rmw_fastrtps_cpp", info.info.m_guid);
const rmw_gid_t gid = rmw_fastrtps_shared_cpp::create_rmw_gid("rmw_fastrtps_cpp", info.guid);
graphManager_from_->get_graph_cache().remove_participant(gid);
break;
}
@@ -640,117 +648,133 @@ void GraphManager::ParticipantListener::on_participant_discovery(
}
static eprosima::fastdds::dds::DataWriterQos writer_qos_conversion(
const eprosima::fastdds::dds::WriterQos& writer_qos)
const eprosima::fastdds::dds::PublicationBuiltinTopicData& writer_info)
{
eprosima::fastdds::dds::DataWriterQos datawriter_qos;
datawriter_qos.durability(writer_qos.m_durability);
datawriter_qos.durability_service(writer_qos.m_durabilityService);
datawriter_qos.deadline(writer_qos.m_deadline);
datawriter_qos.latency_budget(writer_qos.m_latencyBudget);
datawriter_qos.liveliness(writer_qos.m_liveliness);
datawriter_qos.reliability(writer_qos.m_reliability);
datawriter_qos.destination_order(writer_qos.m_destinationOrder);
datawriter_qos.lifespan(writer_qos.m_lifespan);
datawriter_qos.user_data(writer_qos.m_userData);
datawriter_qos.ownership(writer_qos.m_ownership);
datawriter_qos.ownership_strength(writer_qos.m_ownershipStrength);
datawriter_qos.publish_mode(writer_qos.m_publishMode);
datawriter_qos.representation(writer_qos.representation);
datawriter_qos.data_sharing(writer_qos.data_sharing);
eprosima::fastdds::dds::RTPSReliableWriterQos reliable_writer_qos;
reliable_writer_qos.disable_positive_acks = writer_info.disable_positive_acks;
datawriter_qos.durability(writer_info.durability);
datawriter_qos.durability_service(writer_info.durability_service);
datawriter_qos.deadline(writer_info.deadline);
datawriter_qos.latency_budget(writer_info.latency_budget);
datawriter_qos.liveliness(writer_info.liveliness);
datawriter_qos.reliability(writer_info.reliability);
datawriter_qos.lifespan(writer_info.lifespan);
datawriter_qos.user_data(writer_info.user_data);
datawriter_qos.ownership(writer_info.ownership);
datawriter_qos.ownership_strength(writer_info.ownership_strength);
datawriter_qos.destination_order(writer_info.destination_order);
datawriter_qos.reliable_writer_qos(reliable_writer_qos);
datawriter_qos.representation(writer_info.representation);
datawriter_qos.data_sharing(writer_info.data_sharing);
return datawriter_qos;
}
static eprosima::fastdds::dds::DataReaderQos reader_qos_conversion(
const eprosima::fastdds::dds::ReaderQos& reader_qos)
const eprosima::fastdds::rtps::SubscriptionBuiltinTopicData& reader_info)
{
eprosima::fastdds::dds::DataReaderQos datareader_qos;
eprosima::fastdds::dds::RTPSReliableReaderQos reliable_reader_qos;
reliable_reader_qos.disable_positive_acks = reader_info.disable_positive_acks;
datareader_qos.durability(reader_qos.m_durability);
datareader_qos.deadline(reader_qos.m_deadline);
datareader_qos.latency_budget(reader_qos.m_latencyBudget);
datareader_qos.liveliness(reader_qos.m_liveliness);
datareader_qos.reliability(reader_qos.m_reliability);
datareader_qos.destination_order(reader_qos.m_destinationOrder);
datareader_qos.user_data(reader_qos.m_userData);
datareader_qos.ownership(reader_qos.m_ownership);
datareader_qos.time_based_filter(reader_qos.m_timeBasedFilter);
datareader_qos.lifespan(reader_qos.m_lifespan);
datareader_qos.durability_service(reader_qos.m_durabilityService);
eprosima::fastdds::dds::TypeConsistencyQos consistency;
consistency.type_consistency = reader_qos.type_consistency;
datareader_qos.type_consistency(consistency);
datareader_qos.data_sharing(reader_qos.data_sharing);
datareader_qos.durability(reader_info.durability);
datareader_qos.deadline(reader_info.deadline);
datareader_qos.latency_budget(reader_info.latency_budget);
datareader_qos.lifespan(reader_info.lifespan);
datareader_qos.liveliness(reader_info.liveliness);
datareader_qos.reliability(reader_info.reliability);
datareader_qos.ownership(reader_info.ownership);
datareader_qos.destination_order(reader_info.destination_order);
datareader_qos.user_data(reader_info.user_data);
datareader_qos.time_based_filter(reader_info.time_based_filter);
datareader_qos.type_consistency(reader_info.type_consistency);
datareader_qos.reliable_reader_qos(reliable_reader_qos);
datareader_qos.representation(reader_info.representation);
datareader_qos.data_sharing(reader_info.data_sharing);
return datareader_qos;
}
template <>
void GraphManager::ParticipantListener::process_discovery_info<eprosima::fastrtps::rtps::ReaderDiscoveryInfo>(
const eprosima::fastrtps::rtps::ReaderDiscoveryInfo& reader_info)
void GraphManager::ParticipantListener::process_discovery_info<eprosima::fastdds::rtps::ReaderDiscoveryStatus, eprosima::fastdds::rtps::SubscriptionBuiltinTopicData>(
eprosima::fastdds::rtps::ReaderDiscoveryStatus reason,
const eprosima::fastdds::rtps::SubscriptionBuiltinTopicData& reader_info)
{
switch (reader_info.status)
switch (reason)
{
case eprosima::fastrtps::rtps::ReaderDiscoveryInfo::CHANGED_QOS_READER:
case eprosima::fastdds::rtps::ReaderDiscoveryStatus::CHANGED_QOS_READER:
{
return;
}
case eprosima::fastrtps::rtps::ReaderDiscoveryInfo::DISCOVERED_READER:
case eprosima::fastdds::rtps::ReaderDiscoveryStatus::DISCOVERED_READER:
{
const std::string topic_name = reader_info.info.topicName().to_string();
const std::string type_name = reader_info.info.typeName().to_string();
const std::string topic_name = reader_info.topic_name.to_string();
const std::string type_name = reader_info.type_name.to_string();
graphManager_from_->add_datareader(reader_info.info.guid(), topic_name, type_name,
iHandle2GUID(reader_info.info.RTPSParticipantKey()), reader_qos_conversion(reader_info.info.m_qos));
graphManager_from_->add_datareader(reader_info.guid, topic_name, type_name,
reader_info.participant_guid, reader_qos_conversion(reader_info));
break;
}
default:
{
graphManager_from_->remove_datareader(reader_info.info.guid());
graphManager_from_->remove_datareader(reader_info.guid);
break;
}
}
}
template <>
void GraphManager::ParticipantListener::process_discovery_info<eprosima::fastrtps::rtps::WriterDiscoveryInfo>(
const eprosima::fastrtps::rtps::WriterDiscoveryInfo& writer_info)
void GraphManager::ParticipantListener::process_discovery_info<eprosima::fastdds::rtps::WriterDiscoveryStatus, eprosima::fastdds::rtps::PublicationBuiltinTopicData>(
eprosima::fastdds::rtps::WriterDiscoveryStatus reason,
const eprosima::fastdds::rtps::PublicationBuiltinTopicData& writer_info)
{
switch (writer_info.status)
switch (reason)
{
case eprosima::fastrtps::rtps::WriterDiscoveryInfo::CHANGED_QOS_WRITER:
case eprosima::fastdds::rtps::WriterDiscoveryStatus::CHANGED_QOS_WRITER:
{
return;
}
case eprosima::fastrtps::rtps::WriterDiscoveryInfo::DISCOVERED_WRITER:
case eprosima::fastdds::rtps::WriterDiscoveryStatus::DISCOVERED_WRITER:
{
const std::string topic_name = writer_info.info.topicName().to_string();
const std::string type_name = writer_info.info.typeName().to_string();
const std::string topic_name = writer_info.topic_name.to_string();
const std::string type_name = writer_info.type_name.to_string();
graphManager_from_->add_datawriter(writer_info.info.guid(), topic_name, type_name,
iHandle2GUID(writer_info.info.RTPSParticipantKey()), writer_qos_conversion(writer_info.info.m_qos));
graphManager_from_->add_datawriter(writer_info.guid, topic_name, type_name,
writer_info.participant_guid, writer_qos_conversion(writer_info));
break;
}
default:
{
graphManager_from_->remove_datawriter(writer_info.info.guid());
graphManager_from_->remove_datawriter(writer_info.guid);
break;
}
}
}
void GraphManager::ParticipantListener::on_subscriber_discovery(
eprosima::fastdds::dds::DomainParticipant* /*participant*/,
eprosima::fastrtps::rtps::ReaderDiscoveryInfo&& info)
void GraphManager::ParticipantListener::on_data_reader_discovery(
eprosima::fastdds::dds::DomainParticipant* participant,
eprosima::fastdds::rtps::ReaderDiscoveryStatus reason,
const eprosima::fastdds::dds::SubscriptionBuiltinTopicData& info,
bool& should_be_ignored)
{
process_discovery_info<eprosima::fastrtps::rtps::ReaderDiscoveryInfo>(info);
static_cast<void>(participant);
static_cast<void>(should_be_ignored);
process_discovery_info<eprosima::fastdds::rtps::ReaderDiscoveryStatus, eprosima::fastdds::rtps::SubscriptionBuiltinTopicData>(reason, info);
}
void GraphManager::ParticipantListener::on_publisher_discovery(
eprosima::fastdds::dds::DomainParticipant* /*participant*/,
eprosima::fastrtps::rtps::WriterDiscoveryInfo&& info)
void GraphManager::ParticipantListener::on_data_writer_discovery(
eprosima::fastdds::dds::DomainParticipant* participant,
eprosima::fastdds::rtps::WriterDiscoveryStatus reason,
const eprosima::fastdds::dds::PublicationBuiltinTopicData& info,
bool& should_be_ignored)
{
process_discovery_info<eprosima::fastrtps::rtps::WriterDiscoveryInfo>(info);
static_cast<void>(participant);
static_cast<void>(should_be_ignored);
process_discovery_info<eprosima::fastdds::rtps::WriterDiscoveryStatus, eprosima::fastdds::rtps::PublicationBuiltinTopicData>(reason, info);
}
GraphManager::DatareaderListener::DatareaderListener(
micro_ros_agent/src/agent/graph_manager/graph_typesupport.cpp
+78 -50
View File
@@ -41,27 +41,30 @@ ParticipantEntitiesInfoTypeSupport::ParticipantEntitiesInfoTypeSupport()
ss << message_namespace << "::";
}
ss << "dds_::" << message_name << "_";
this->setName(ss.str().c_str());
this->set_name(ss.str().c_str());
char full_bounded;
m_typeSize = 4 + callbacks_->max_serialized_size(full_bounded);
max_serialized_type_size = 4 + callbacks_->max_serialized_size(full_bounded);
}
bool ParticipantEntitiesInfoTypeSupport::serialize(
void * data,
eprosima::fastrtps::rtps::SerializedPayload_t * payload)
const void* const data,
eprosima::fastdds::rtps::SerializedPayload_t& payload,
eprosima::fastdds::dds::DataRepresentationId_t data_representation)
{
eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload->data),
payload->max_size);
static_cast<void>(data_representation);
eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload.data),
payload.max_size);
eprosima::fastcdr::Cdr scdr(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
eprosima::fastcdr::DDS_CDR);
scdr.serialize_encapsulation();
if (callbacks_->cdr_serialize(data, scdr))
{
payload->encapsulation = (scdr.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS) ?
payload.encapsulation = (scdr.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS) ?
CDR_BE : CDR_LE;
payload->length = static_cast<uint32_t>(scdr.get_serialized_data_length());
payload.length = static_cast<uint32_t>(scdr.get_serialized_data_length());
return true;
}
else
@@ -71,11 +74,11 @@ bool ParticipantEntitiesInfoTypeSupport::serialize(
}
bool ParticipantEntitiesInfoTypeSupport::deserialize(
eprosima::fastrtps::rtps::SerializedPayload_t * payload,
eprosima::fastdds::rtps::SerializedPayload_t& payload,
void * data)
{
eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload->data),
payload->length);
eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload.data),
payload.length);
eprosima::fastcdr::Cdr dcdr(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
eprosima::fastcdr::DDS_CDR);
@@ -83,35 +86,46 @@ bool ParticipantEntitiesInfoTypeSupport::deserialize(
return callbacks_->cdr_deserialize(dcdr, data);
}
std::function<uint32_t()> ParticipantEntitiesInfoTypeSupport::getSerializedSizeProvider(
void * data)
uint32_t ParticipantEntitiesInfoTypeSupport::calculate_serialized_size(
const void* const data,
eprosima::fastdds::dds::DataRepresentationId_t data_representation)
{
return [data, this]() -> uint32_t
{
return static_cast<uint32_t>(4 + callbacks_->get_serialized_size(data));
};
static_cast<void>(data_representation);
return static_cast<uint32_t>(4 + callbacks_->get_serialized_size(data));
}
void * ParticipantEntitiesInfoTypeSupport::createData()
void * ParticipantEntitiesInfoTypeSupport::create_data()
{
return static_cast<void *>(nullptr);
}
void ParticipantEntitiesInfoTypeSupport::deleteData(
void ParticipantEntitiesInfoTypeSupport::delete_data(
void * data)
{
(void) data;
}
bool ParticipantEntitiesInfoTypeSupport::getKey(
void * data,
eprosima::fastrtps::rtps::InstanceHandle_t * handle,
bool force_md5)
bool ParticipantEntitiesInfoTypeSupport::compute_key(
eprosima::fastdds::rtps::SerializedPayload_t& payload,
eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
bool force_md5 /* = false */)
{
(void) payload;
(void) ihandle;
(void) force_md5;
return is_compute_key_provided;
}
bool ParticipantEntitiesInfoTypeSupport::compute_key(
const void * const data,
eprosima::fastdds::rtps::InstanceHandle_t& handle,
bool force_md5 /* = false */)
{
(void) data;
(void) handle;
(void) force_md5;
return m_isGetKeyDefined;
return is_compute_key_provided;
}
@@ -133,27 +147,30 @@ MicrorosGraphInfoTypeSupport::MicrorosGraphInfoTypeSupport()
ss << message_namespace << "::";
}
ss << "dds_::" << message_name << "_";
this->setName(ss.str().c_str());
this->set_name(ss.str().c_str());
char full_bounded;
m_typeSize = 4 + callbacks_->max_serialized_size(full_bounded);
max_serialized_type_size = 4 + callbacks_->max_serialized_size(full_bounded);
}
bool MicrorosGraphInfoTypeSupport::serialize(
void * data,
eprosima::fastrtps::rtps::SerializedPayload_t * payload)
const void* const data,
eprosima::fastdds::rtps::SerializedPayload_t& payload,
eprosima::fastdds::dds::DataRepresentationId_t data_representation)
{
eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload->data),
payload->max_size);
static_cast<void>(data_representation);
eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload.data),
payload.max_size);
eprosima::fastcdr::Cdr scdr(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
eprosima::fastcdr::DDS_CDR);
scdr.serialize_encapsulation();
if (callbacks_->cdr_serialize(data, scdr))
{
payload->encapsulation = (scdr.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS) ?
payload.encapsulation = (scdr.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS) ?
CDR_BE : CDR_LE;
payload->length = static_cast<uint32_t>(scdr.get_serialized_data_length());
payload.length = static_cast<uint32_t>(scdr.get_serialized_data_length());
return true;
}
else
@@ -163,11 +180,11 @@ bool MicrorosGraphInfoTypeSupport::serialize(
}
bool MicrorosGraphInfoTypeSupport::deserialize(
eprosima::fastrtps::rtps::SerializedPayload_t * payload,
void * data)
eprosima::fastdds::rtps::SerializedPayload_t& payload,
void* data)
{
eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload->data),
payload->length);
eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload.data),
payload.length);
eprosima::fastcdr::Cdr dcdr(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
eprosima::fastcdr::DDS_CDR);
@@ -175,35 +192,46 @@ bool MicrorosGraphInfoTypeSupport::deserialize(
return callbacks_->cdr_deserialize(dcdr, data);
}
std::function<uint32_t()> MicrorosGraphInfoTypeSupport::getSerializedSizeProvider(
void * data)
uint32_t MicrorosGraphInfoTypeSupport::calculate_serialized_size(
const void* const data,
eprosima::fastdds::dds::DataRepresentationId_t data_representation)
{
return [data, this]() -> uint32_t
{
return static_cast<uint32_t>(4 + callbacks_->get_serialized_size(data));
};
static_cast<void>(data_representation);
return static_cast<uint32_t>(4 + callbacks_->get_serialized_size(data));
}
void * MicrorosGraphInfoTypeSupport::createData()
void * MicrorosGraphInfoTypeSupport::create_data()
{
return static_cast<void *>(nullptr);
}
void MicrorosGraphInfoTypeSupport::deleteData(
void MicrorosGraphInfoTypeSupport::delete_data(
void * data)
{
(void) data;
}
bool MicrorosGraphInfoTypeSupport::getKey(
void * data,
eprosima::fastrtps::rtps::InstanceHandle_t * handle,
bool force_md5)
bool MicrorosGraphInfoTypeSupport::compute_key(
eprosima::fastdds::rtps::SerializedPayload_t& payload,
eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
bool force_md5 /* = false */)
{
(void) payload;
(void) ihandle;
(void) force_md5;
return is_compute_key_provided;
}
bool MicrorosGraphInfoTypeSupport::compute_key(
const void* const data,
eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
bool force_md5 /* = false */)
{
(void) data;
(void) handle;
(void) ihandle;
(void) force_md5;
return m_isGetKeyDefined;
return is_compute_key_provided;
}
} // namespace graph_manager