Unique network flows (ros2#502)

* Changes required to incorporate the network flows feature Signed-off-by: Miguel Barro <miguelbarro@eprosima.com> Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> * Update API names to match rmw updated ones Signed-off-by: Miguel Barro <miguelbarro@eprosima.com> Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> * Update to new options interface. Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> * Solve windows linkage issues. Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> * Remove unique flows support on publishers. Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> * Update subscription creation to new Fast DDS interface Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> * Update to new locator getters interface. Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> * Update to endpoints interface. Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> * Fix linting Signed-off-by: EduPonz <eduardoponz@eprosima.com> * Make linters happy Signed-off-by: EduPonz <eduardoponz@eprosima.com> * Use updated rmw interface Signed-off-by: Ananya Muddukrishna <ananya.x.muddukrishna@ericsson.com> * Uncrustify Signed-off-by: Ananya Muddukrishna <ananya.x.muddukrishna@ericsson.com> * Include C++ header before others Signed-off-by: Ananya Muddukrishna <ananya.x.muddukrishna@ericsson.com> * Use updated rmw interface to populate flow endpoint Signed-off-by: Ananya Muddukrishna <ananya.x.muddukrishna@ericsson.com> * Fixed unreferenced local variable warnings Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> Co-authored-by: Miguel Barro <miguelbarro@eprosima.com> Co-authored-by: EduPonz <eduardoponz@eprosima.com> Co-authored-by: Ananya Muddukrishna <ananya.x.muddukrishna@ericsson.com>
eProsima · Apr 5, 2021 · ae4485e · ae4485e
1 parent a7be807
commit ae4485e
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Showing 11 changed files with 402 additions and 3 deletions.
diff --git a/rmw_fastrtps_cpp/CMakeLists.txt b/rmw_fastrtps_cpp/CMakeLists.txt
@@ -89,6 +89,7 @@ add_library(rmw_fastrtps_cpp
   src/serialization_format.cpp
   src/subscription.cpp
   src/type_support_common.cpp
+  src/rmw_get_endpoint_network_flow.cpp
 )
 target_link_libraries(rmw_fastrtps_cpp
   fastcdr fastrtps)

diff --git a/rmw_fastrtps_cpp/src/publisher.cpp b/rmw_fastrtps_cpp/src/publisher.cpp
@@ -81,6 +81,13 @@ rmw_fastrtps_cpp::create_publisher(
   }
   RMW_CHECK_ARGUMENT_FOR_NULL(publisher_options, nullptr);
 
+  if (RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_STRICTLY_REQUIRED ==
+    publisher_options->require_unique_network_flow_endpoints)
+  {
+    RMW_SET_ERROR_MSG("Unique network flow endpoints not supported on publishers");
+    return nullptr;
+  }
+
   Participant * participant = participant_info->participant;
   RMW_CHECK_ARGUMENT_FOR_NULL(participant, nullptr);
 

diff --git a/rmw_fastrtps_cpp/src/rmw_get_endpoint_network_flow.cpp b/rmw_fastrtps_cpp/src/rmw_get_endpoint_network_flow.cpp
@@ -0,0 +1,46 @@
+// Copyright 2016-2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// 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.
+
+#include "rmw/get_network_flow_endpoints.h"
+#include "rmw/error_handling.h"
+#include "rmw/rmw.h"
+#include "rmw/types.h"
+#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
+
+extern "C"
+{
+rmw_ret_t
+rmw_publisher_get_network_flow_endpoints(
+  const rmw_publisher_t * publisher,
+  rcutils_allocator_t * allocator,
+  rmw_network_flow_endpoint_array_t * network_flow_endpoint_array)
+{
+  return rmw_fastrtps_shared_cpp::__rmw_publisher_get_network_flow_endpoints(
+    publisher,
+    allocator,
+    network_flow_endpoint_array);
+}
+
+rmw_ret_t
+rmw_subscription_get_network_flow_endpoints(
+  const rmw_subscription_t * subscription,
+  rcutils_allocator_t * allocator,
+  rmw_network_flow_endpoint_array_t * network_flow_endpoint_array)
+{
+  return rmw_fastrtps_shared_cpp::__rmw_subscription_get_network_flow_endpoints(
+    subscription,
+    allocator,
+    network_flow_endpoint_array);
+}
+}  // extern "C"
diff --git a/rmw_fastrtps_cpp/src/subscription.cpp b/rmw_fastrtps_cpp/src/subscription.cpp
@@ -46,6 +46,7 @@
 using Domain = eprosima::fastrtps::Domain;
 using Participant = eprosima::fastrtps::Participant;
 using TopicDataType = eprosima::fastrtps::TopicDataType;
+using PropertyPolicyHelper = eprosima::fastrtps::rtps::PropertyPolicyHelper;
 using XMLProfileManager = eprosima::fastrtps::xmlparser::XMLProfileManager;
 
 namespace rmw_fastrtps_cpp
@@ -169,7 +170,40 @@ create_subscription(
     }
   }
 
-  info->subscriber_ = Domain::createSubscriber(participant, subscriberParam, info->listener_);
+  eprosima::fastrtps::SubscriberAttributes originalParam = subscriberParam;
+  switch (subscription_options->require_unique_network_flow_endpoints) {
+    default:
+    case RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_SYSTEM_DEFAULT:
+    case RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_NOT_REQUIRED:
+      // Unique network flow endpoints not required. We leave the decission to the XML profile.
+      break;
+
+    case RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_OPTIONALLY_REQUIRED:
+    case RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_STRICTLY_REQUIRED:
+      // Ensure we request unique network flow endpoints
+      if (nullptr ==
+        PropertyPolicyHelper::find_property(
+          subscriberParam.properties,
+          "fastdds.unique_network_flows"))
+      {
+        subscriberParam.properties.properties().emplace_back("fastdds.unique_network_flows", "");
+      }
+      break;
+  }
+
+  info->subscriber_ = Domain::createSubscriber(
+    participant,
+    subscriberParam,
+    info->listener_);
+  if (!info->subscriber_ &&
+    (RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_OPTIONALLY_REQUIRED ==
+    subscription_options->require_unique_network_flow_endpoints))
+  {
+    info->subscriber_ = Domain::createSubscriber(
+      participant,
+      originalParam,
+      info->listener_);
+  }
   if (!info->subscriber_) {
     RMW_SET_ERROR_MSG("create_subscriber() could not create subscriber");
     return nullptr;

diff --git a/rmw_fastrtps_dynamic_cpp/CMakeLists.txt b/rmw_fastrtps_dynamic_cpp/CMakeLists.txt
@@ -94,6 +94,7 @@ add_library(rmw_fastrtps_dynamic_cpp
   src/type_support_common.cpp
   src/type_support_proxy.cpp
   src/type_support_registry.cpp
+  src/rmw_get_endpoint_network_flow.cpp
 )
 target_link_libraries(rmw_fastrtps_dynamic_cpp
   fastcdr fastrtps)

diff --git a/rmw_fastrtps_dynamic_cpp/src/publisher.cpp b/rmw_fastrtps_dynamic_cpp/src/publisher.cpp
@@ -81,6 +81,13 @@ rmw_fastrtps_dynamic_cpp::create_publisher(
   }
   RMW_CHECK_ARGUMENT_FOR_NULL(publisher_options, nullptr);
 
+  if (RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_STRICTLY_REQUIRED ==
+    publisher_options->require_unique_network_flow_endpoints)
+  {
+    RMW_SET_ERROR_MSG("Unique network flow endpoints not supported on publishers");
+    return nullptr;
+  }
+
   Participant * participant = participant_info->participant;
   RMW_CHECK_ARGUMENT_FOR_NULL(participant, nullptr);
 
@@ -193,7 +200,10 @@ rmw_fastrtps_dynamic_cpp::create_publisher(
     return nullptr;
   }
 
-  info->publisher_ = Domain::createPublisher(participant, publisherParam, info->listener_);
+  info->publisher_ = Domain::createPublisher(
+    participant,
+    publisherParam,
+    info->listener_);
   if (!info->publisher_) {
     RMW_SET_ERROR_MSG("create_publisher() could not create publisher");
     return nullptr;

diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_get_endpoint_network_flow.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_get_endpoint_network_flow.cpp
@@ -0,0 +1,46 @@
+// Copyright 2016-2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// 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.
+
+#include "rmw/error_handling.h"
+#include "rmw/rmw.h"
+#include "rmw/types.h"
+#include "rmw/get_network_flow_endpoints.h"
+#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
+
+extern "C"
+{
+rmw_ret_t
+rmw_publisher_get_network_flow_endpoints(
+  const rmw_publisher_t * publisher,
+  rcutils_allocator_t * allocator,
+  rmw_network_flow_endpoint_array_t * network_flow_endpoint_array)
+{
+  return rmw_fastrtps_shared_cpp::__rmw_publisher_get_network_flow_endpoints(
+    publisher,
+    allocator,
+    network_flow_endpoint_array);
+}
+
+rmw_ret_t
+rmw_subscription_get_network_flow_endpoints(
+  const rmw_subscription_t * subscription,
+  rcutils_allocator_t * allocator,
+  rmw_network_flow_endpoint_array_t * network_flow_endpoint_array)
+{
+  return rmw_fastrtps_shared_cpp::__rmw_subscription_get_network_flow_endpoints(
+    subscription,
+    allocator,
+    network_flow_endpoint_array);
+}
+}  // extern "C"
diff --git a/rmw_fastrtps_dynamic_cpp/src/subscription.cpp b/rmw_fastrtps_dynamic_cpp/src/subscription.cpp
@@ -44,6 +44,7 @@
 using BaseTypeSupport = rmw_fastrtps_dynamic_cpp::BaseTypeSupport;
 using Domain = eprosima::fastrtps::Domain;
 using Participant = eprosima::fastrtps::Participant;
+using PropertyPolicyHelper = eprosima::fastrtps::rtps::PropertyPolicyHelper;
 using TopicDataType = eprosima::fastrtps::TopicDataType;
 using TypeSupportProxy = rmw_fastrtps_dynamic_cpp::TypeSupportProxy;
 using XMLProfileManager = eprosima::fastrtps::xmlparser::XMLProfileManager;
@@ -180,7 +181,40 @@ create_subscription(
     return nullptr;
   }
 
-  info->subscriber_ = Domain::createSubscriber(participant, subscriberParam, info->listener_);
+  eprosima::fastrtps::SubscriberAttributes originalParam = subscriberParam;
+  switch (subscription_options->require_unique_network_flow_endpoints) {
+    default:
+    case RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_SYSTEM_DEFAULT:
+    case RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_NOT_REQUIRED:
+      // Unique network flow endpoints not required. We leave the decission to the XML profile.
+      break;
+
+    case RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_OPTIONALLY_REQUIRED:
+    case RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_STRICTLY_REQUIRED:
+      // Ensure we request unique network flow endpoints
+      if (nullptr ==
+        PropertyPolicyHelper::find_property(
+          subscriberParam.properties,
+          "fastdds.unique_network_flows"))
+      {
+        subscriberParam.properties.properties().emplace_back("fastdds.unique_network_flows", "");
+      }
+      break;
+  }
+
+  info->subscriber_ = Domain::createSubscriber(
+    participant,
+    subscriberParam,
+    info->listener_);
+  if (!info->subscriber_ &&
+    (RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_OPTIONALLY_REQUIRED ==
+    subscription_options->require_unique_network_flow_endpoints))
+  {
+    info->subscriber_ = Domain::createSubscriber(
+      participant,
+      originalParam,
+      info->listener_);
+  }
   if (!info->subscriber_) {
     RMW_SET_ERROR_MSG("create_subscriber() could not create subscriber");
     return nullptr;

diff --git a/rmw_fastrtps_shared_cpp/CMakeLists.txt b/rmw_fastrtps_shared_cpp/CMakeLists.txt
@@ -86,6 +86,7 @@ add_library(rmw_fastrtps_shared_cpp
   src/rmw_wait_set.cpp
   src/subscription.cpp
   src/TypeSupport_impl.cpp
+  src/rmw_get_endpoint_network_flow.cpp
 )
 target_include_directories(rmw_fastrtps_shared_cpp
   PUBLIC

diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp
@@ -23,6 +23,7 @@
 #include "rmw/topic_endpoint_info_array.h"
 #include "rmw/types.h"
 #include "rmw/names_and_types.h"
+#include "rmw/network_flow_endpoint_array.h"
 
 namespace rmw_fastrtps_shared_cpp
 {
@@ -401,6 +402,20 @@ __rmw_qos_profile_check_compatible(
   char * reason,
   size_t reason_size);
 
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_publisher_get_network_flow_endpoints(
+  const rmw_publisher_t * publisher,
+  rcutils_allocator_t * allocator,
+  rmw_network_flow_endpoint_array_t * network_flow_endpoint_array);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_subscription_get_network_flow_endpoints(
+  const rmw_subscription_t * subscription,
+  rcutils_allocator_t * allocator,
+  rmw_network_flow_endpoint_array_t * network_flow_endpoint_array);
+
 }  // namespace rmw_fastrtps_shared_cpp
 
 #endif  // RMW_FASTRTPS_SHARED_CPP__RMW_COMMON_HPP_