Merge branch internal changes into external

README.md

@@ -52,3 +52,4 @@ RMW can currently work with only one serialization method at the time.
 
 * Dashing Diademata
 * Eloquent Elusor
+* Foxy Fitzroy

rmw_ecal_dynamic_cpp/CHANGELOG.rst

@@ -2,6 +2,10 @@
 Changelog for package rmw_ecal_dynamic_cpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.5.0 (2020-10-19)
+------------------
+* Added support for Foxy Fitzroy
+
 0.4.1 (2020-10-05)
 ------------------
 * Performance improvements for messages containing primitive type arrays

rmw_ecal_dynamic_cpp/CMakeLists.txt

@@ -33,10 +33,15 @@ if (CMAKE_CXX_COMPILER_ID MATCHES "MSVC")
 	add_compile_definitions(_CRT_SECURE_NO_WARNINGS)
 endif()
 
-if(NOT $ENV{ROS_DISTRO} MATCHES "eloquent" AND NOT $ENV{ROS_DISTRO} MATCHES "dashing")
+if(NOT $ENV{ROS_DISTRO} MATCHES "dashing" AND NOT $ENV{ROS_DISTRO} MATCHES "eloquent" AND NOT $ENV{ROS_DISTRO} MATCHES "foxy")
 	message(FATAL_ERROR "'$ENV{ROS_DISTRO}' is unsupported ros2 distro.")
 endif()
-add_compile_definitions($<UPPER_CASE:$ENV{ROS_DISTRO}>)
+
+add_compile_definitions("DASHING=0")
+add_compile_definitions("ELOQUENT=1")
+add_compile_definitions("FOXY=2")
+
+add_compile_definitions("ROS_DISTRO=$<UPPER_CASE:$ENV{ROS_DISTRO}>")
 
 option(USE_PROTOBUF_SERIALIZATION "Use google protobuf as serialization format." OFF)
 if(USE_PROTOBUF_SERIALIZATION)
@@ -69,6 +74,7 @@ add_library(${PROJECT_NAME} SHARED
 	src/get_node_info_and_types.cpp
 	src/get_service_names_and_types.cpp
 	src/get_topic_names_and_types.cpp
+	src/get_topic_endpoint_info.cpp
 	src/init_options.cpp
 	src/init.cpp
 	src/rmw.cpp

rmw_ecal_dynamic_cpp/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
 	<name>rmw_ecal_dynamic_cpp</name>
-	<version>0.4.1</version>
+	<version>0.5.0</version>
 	<description>RMW implementation based on eCAL.</description>
 	<maintainer email="aleksandar.brakmic@continental-corporation.com">Aleksandar Brakmić</maintainer>
 	<license>Apache License 2.0</license>

rmw_ecal_dynamic_cpp/src/event.cpp

@@ -37,11 +37,11 @@ rmw_ret_t rmw_publisher_event_init(rmw_event_t *rmw_event,
 	RMW_CHECK_ARGUMENT_FOR_NULL(rmw_event, RMW_RET_INVALID_ARGUMENT);
 	RMW_CHECK_ARGUMENT_FOR_NULL(publisher, RMW_RET_INVALID_ARGUMENT);
 	CHECK_RMW_IMPLEMENTATION(publisher);
-
+	
 	if (event_type != rmw_event_type_t::RMW_EVENT_OFFERED_DEADLINE_MISSED)
 	{
 		RMW_SET_ERROR_MSG("Unsupported publisher event type.");
-		return RMW_RET_INVALID_ARGUMENT;
+		return RMW_RET_UNSUPPORTED;
 	}
 
 	rmw_event->event_type = event_type;
@@ -62,7 +62,7 @@ rmw_ret_t rmw_subscription_event_init(rmw_event_t *rmw_event,
 	if (event_type != rmw_event_type_t::RMW_EVENT_REQUESTED_DEADLINE_MISSED)
 	{
 		RMW_SET_ERROR_MSG("Unsupported publisher event type.");
-		return RMW_RET_INVALID_ARGUMENT;
+		return RMW_RET_UNSUPPORTED;
 	}
 
 	rmw_event->event_type = event_type;

rmw_ecal_dynamic_cpp/src/get_topic_endpoint_info.cpp

@@ -0,0 +1,47 @@
+/* ========================= RMW eCAL LICENSE =================================
+ *
+ * Copyright (C) 2019 - 2020 Continental Corporation
+ *
+ * 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.
+ *
+ * ========================= RMW eCAL LICENSE =================================
+*/
+
+#if ROS_DISTRO >= FOXY
+
+#include <rmw/get_topic_endpoint_info.h>
+
+#include <rmw/rmw.h>
+
+#include "internal/graph.hpp"
+#include "internal/common.hpp"
+
+rmw_ret_t rmw_get_publishers_info_by_topic(const rmw_node_t * /* node */,
+										   rcutils_allocator_t * /* allocator */,
+										   const char * /* topic_name */,
+										   bool /* no_mangle */,
+										   rmw_topic_endpoint_info_array_t * /* publishers_info */)
+{
+	UNSUPPORTED;
+}
+
+rmw_ret_t rmw_get_subscriptions_info_by_topic(const rmw_node_t * /* node */,
+											  rcutils_allocator_t * /* allocator */,
+											  const char * /* topic_name */,
+											  bool /* no_mangle */,
+											  rmw_topic_endpoint_info_array_t * /* subscriptions_info */)
+{
+	UNSUPPORTED;
+}
+
+#endif

rmw_ecal_dynamic_cpp/src/internal/qos.hpp

@@ -20,6 +20,7 @@
 #pragma once
 
 #include <limits>
+#include <stdexcept>
 
 #include <ecal/ecal.h>
 

rmw_ecal_dynamic_cpp/src/internal/rosidl_generator_c_pkg_adapter.hpp

@@ -0,0 +1,129 @@
+/* ========================= RMW eCAL LICENSE =================================
+*
+* Copyright (C) 2019 - 2020 Continental Corporation
+*
+* 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.
+*
+* ========================= RMW eCAL LICENSE =================================
+*/
+
+//From Foxy distro rosidl_generator_c has been renamed to rosidl_generator_c,
+//purpose of this header file is to alias old C type names to new ones, that way the
+//rest of the code doesn't have to care about old package name regardless of distro.
+//any rosidl_generator_c to rosidl_runtime_c adaptions should be added here
+
+#if ROS_DISTRO >= FOXY
+
+#include <rosidl_runtime_c/primitives_sequence.h>
+#include <rosidl_runtime_c/primitives_sequence_functions.h>
+#include <rosidl_runtime_c/string.h>
+#include <rosidl_runtime_c/string_functions.h>
+
+#else
+
+#include <rosidl_generator_c/primitives_sequence.h>
+#include <rosidl_generator_c/primitives_sequence_functions.h>
+#include <rosidl_generator_c/string.h>
+#include <rosidl_generator_c/string_functions.h>
+
+#define ADAPT_PRIMITIVE_SEQUENCE_NAMESPACE(STRUCT_NAME) \
+	using rosidl_runtime_c__##STRUCT_NAME##__Sequence = rosidl_generator_c__##STRUCT_NAME##__Sequence;
+
+ADAPT_PRIMITIVE_SEQUENCE_NAMESPACE(float)
+ADAPT_PRIMITIVE_SEQUENCE_NAMESPACE(double)
+ADAPT_PRIMITIVE_SEQUENCE_NAMESPACE(long_double)
+ADAPT_PRIMITIVE_SEQUENCE_NAMESPACE(char)
+ADAPT_PRIMITIVE_SEQUENCE_NAMESPACE(wchar)
+ADAPT_PRIMITIVE_SEQUENCE_NAMESPACE(boolean)
+ADAPT_PRIMITIVE_SEQUENCE_NAMESPACE(octet)
+ADAPT_PRIMITIVE_SEQUENCE_NAMESPACE(uint8)
+ADAPT_PRIMITIVE_SEQUENCE_NAMESPACE(int8)
+ADAPT_PRIMITIVE_SEQUENCE_NAMESPACE(uint16)
+ADAPT_PRIMITIVE_SEQUENCE_NAMESPACE(int16)
+ADAPT_PRIMITIVE_SEQUENCE_NAMESPACE(uint32)
+ADAPT_PRIMITIVE_SEQUENCE_NAMESPACE(int32)
+ADAPT_PRIMITIVE_SEQUENCE_NAMESPACE(uint64)
+ADAPT_PRIMITIVE_SEQUENCE_NAMESPACE(int64)
+ADAPT_PRIMITIVE_SEQUENCE_NAMESPACE(String)
+
+#undef ADAPT_PRIMITIVE_SEQUENCE_NAMESPACE
+
+using rosidl_runtime_c__String = rosidl_generator_c__String;
+
+#define rosidl_runtime_c__float__Sequence__fini(sequence) rosidl_generator_c__float__Sequence__fini(sequence)
+#define rosidl_runtime_c__float__Sequence__init(sequence, size) rosidl_generator_c__float__Sequence__init(sequence, size)
+
+#define rosidl_runtime_c__double__Sequence__fini(sequence) rosidl_generator_c__double__Sequence__fini(sequence)
+#define rosidl_runtime_c__double__Sequence__init(sequence, size) rosidl_generator_c__double__Sequence__init(sequence, size)
+
+#define rosidl_runtime_c__long_double__Sequence__fini(sequence) rosidl_generator_c__long_double__Sequence__fini(sequence)
+#define rosidl_runtime_c__long_double__Sequence__init(sequence, size) rosidl_generator_c__long_double__Sequence__init(sequence, size)
+
+#define rosidl_runtime_c__char__Sequence__fini(sequence) rosidl_generator_c__char__Sequence__fini(sequence)
+#define rosidl_runtime_c__char__Sequence__init(sequence, size) rosidl_generator_c__char__Sequence__init(sequence, size)
+
+#define rosidl_runtime_c__wchar__Sequence__fini(sequence) rosidl_generator_c__wchar__Sequence__fini(sequence)
+#define rosidl_runtime_c__wchar__Sequence__init(sequence, size) rosidl_generator_c__wchar__Sequence__init(sequence, size)
+
+#define rosidl_runtime_c__boolean__Sequence__fini(sequence) rosidl_generator_c__boolean__Sequence__fini(sequence)
+#define rosidl_runtime_c__boolean__Sequence__init(sequence, size) rosidl_generator_c__boolean__Sequence__init(sequence, size)
+
+#define rosidl_runtime_c__octet__Sequence__fini(sequence) rosidl_generator_c__octet__Sequence__fini(sequence)
+#define rosidl_runtime_c__octet__Sequence__init(sequence, size) rosidl_generator_c__octet__Sequence__init(sequence, size)
+
+#define rosidl_runtime_c__uint8__Sequence__fini(sequence) rosidl_generator_c__uint8__Sequence__fini(sequence)
+#define rosidl_runtime_c__uint8__Sequence__init(sequence, size) rosidl_generator_c__uint8__Sequence__init(sequence, size)
+
+#define rosidl_runtime_c__int8__Sequence__fini(sequence) rosidl_generator_c__int8__Sequence__fini(sequence)
+#define rosidl_runtime_c__int8__Sequence__init(sequence, size) rosidl_generator_c__int8__Sequence__init(sequence, size)
+
+#define rosidl_runtime_c__uint16__Sequence__fini(sequence) rosidl_generator_c__uint16__Sequence__fini(sequence)
+#define rosidl_runtime_c__uint16__Sequence__init(sequence, size) rosidl_generator_c__uint16__Sequence__init(sequence, size)
+
+#define rosidl_runtime_c__int16__Sequence__fini(sequence) rosidl_generator_c__int16__Sequence__fini(sequence)
+#define rosidl_runtime_c__int16__Sequence__init(sequence, size) rosidl_generator_c__int16__Sequence__init(sequence, size)
+
+#define rosidl_runtime_c__uint32__Sequence__fini(sequence) rosidl_generator_c__uint32__Sequence__fini(sequence)
+#define rosidl_runtime_c__uint32__Sequence__init(sequence, size) rosidl_generator_c__uint32__Sequence__init(sequence, size)
+
+#define rosidl_runtime_c__int32__Sequence__fini(sequence) rosidl_generator_c__int32__Sequence__fini(sequence)
+#define rosidl_runtime_c__int32__Sequence__init(sequence, size) rosidl_generator_c__int32__Sequence__init(sequence, size)
+
+#define rosidl_runtime_c__uint64__Sequence__fini(sequence) rosidl_generator_c__uint64__Sequence__fini(sequence)
+#define rosidl_runtime_c__uint64__Sequence__init(sequence, size) rosidl_generator_c__uint64__Sequence__init(sequence, size)
+
+#define rosidl_runtime_c__int64__Sequence__fini(sequence) rosidl_generator_c__int64__Sequence__fini(sequence)
+#define rosidl_runtime_c__int64__Sequence__init(sequence, size) rosidl_generator_c__int64__Sequence__init(sequence, size)
+
+#define rosidl_runtime_c__bool__Sequence__init(sequence, size) rosidl_generator_c__bool__Sequence__init(sequence, size)
+#define rosidl_runtime_c__bool__Sequence__fini(sequence) rosidl_generator_c__bool__Sequence__init(sequence)
+
+#define rosidl_runtime_c__byte__Sequence__init(sequence, size) rosidl_generator_c__byte__Sequence__init(sequence, size)
+#define rosidl_runtime_c__byte__Sequence__fini(sequence) rosidl_generator_c__byte__Sequence__fini(sequence)
+
+#define rosidl_runtime_c__float32__Sequence__init(sequence, size) rosidl_generator_c__float32__Sequence__init(sequence, size)
+#define rosidl_runtime_c__float32__Sequence__fini(sequence) rosidl_generator_c__float32__Sequence__fini(sequence)
+
+#define rosidl_runtime_c__float64__Sequence__init(sequence, size) rosidl_generator_c__float64__Sequence__init(sequence, size)
+#define rosidl_runtime_c__float64__Sequence__fini(sequence) rosidl_generator_c__float64__Sequence__fini(sequence)
+
+#define rosidl_runtime_c__String__init(str) rosidl_generator_c__String__init(str)
+#define rosidl_runtime_c__String__fini(str) rosidl_generator_c__String__fini(str)
+#define rosidl_runtime_c__String__assignn(str, value, n) rosidl_generator_c__String__assignn(str, value, n)
+#define rosidl_runtime_c__String__assign(str, value) rosidl_generator_c__String__assign(str, value)
+#define rosidl_runtime_c__String__Sequence__init(sequence, size) rosidl_generator_c__String__Sequence__init(sequence, size)
+#define rosidl_runtime_c__String__Sequence__fini(sequence) rosidl_generator_c__String__Sequence__fini(sequence)
+#define rosidl_runtime_c__String__Sequence__create(size) rosidl_generator_c__String__Sequence__create(size)
+#define rosidl_runtime_c__String__Sequence__destroy(sequence) rosidl_generator_c__String__Sequence__destroy(sequence)
+
+#endif

rmw_ecal_dynamic_cpp/src/internal/serialization.hpp

@@ -19,7 +19,6 @@
 
 #pragma once
 
-#include <rosidl_generator_c/message_type_support_struct.h>
 #include <rosidl_typesupport_introspection_cpp/message_introspection.hpp>
 #include <rosidl_typesupport_introspection_c/message_introspection.h>
 

rmw_ecal_dynamic_cpp/src/internal/serialization/custom/deserializer_c.cpp

@@ -23,13 +23,10 @@
 #include <algorithm>
 #include <stdexcept>
 
-#include <rosidl_generator_c/primitives_sequence.h>
-#include <rosidl_generator_c/primitives_sequence_functions.h>
-#include <rosidl_generator_c/string.h>
-#include <rosidl_generator_c/string_functions.h>
 #include <rosidl_typesupport_introspection_c/field_types.h>
 
 #include "internal/common.hpp"
+#include "internal/rosidl_generator_c_pkg_adapter.hpp"
 
 namespace eCAL
 {
@@ -49,9 +46,9 @@ void CDeserializer::DeserializeSingle<std::string>(char *member, const char **se
 	auto size = *reinterpret_cast<const array_size_t *>(*serialized_data);
 	*serialized_data += sizeof(array_size_t);
 
-	auto sequence = reinterpret_cast<rosidl_generator_c__String *>(member);
-	rosidl_generator_c__String__init(sequence);
-	rosidl_generator_c__String__assignn(sequence, *serialized_data, size);
+	auto sequence = reinterpret_cast<rosidl_runtime_c__String *>(member);
+	rosidl_runtime_c__String__init(sequence);
+	rosidl_runtime_c__String__assignn(sequence, *serialized_data, size);
 
 	*serialized_data += size;
 }
@@ -69,7 +66,7 @@ void CDeserializer::DeserializeArray<std::string>(char *member, size_t size, con
 	for (size_t i = 0; i < size; i++)
 	{
 		DeserializeSingle<std::string>(member, serialized_data);
-		member += sizeof(rosidl_generator_c__String__Sequence);
+		member += sizeof(rosidl_runtime_c__String__Sequence);
 	}
 }
 
@@ -92,11 +89,10 @@ void CDeserializer::DeserializeDynamicArray(char *member, const char **serialize
 	auto arr_size = *reinterpret_cast<const array_size_t *>(*serialized_data);
 	*serialized_data += sizeof(array_size_t);
 
-	auto sequence = reinterpret_cast<rosidl_generator_c__char__Sequence *>(member);
-	sequence->data = nullptr;
+	auto sequence = reinterpret_cast<rosidl_runtime_c__char__Sequence *>(member);
 	sequence->size = arr_size;
 	sequence->capacity = arr_size;
-	if(arr_size > 0)
+	if (arr_size > 0)
 	{
 		sequence->data = new signed char[arr_size * sizeof(T)];
 		DeserializeArray<T>(reinterpret_cast<char *>(sequence->data), sequence->size, serialized_data);
@@ -109,10 +105,10 @@ void CDeserializer::DeserializeDynamicArray<std::string>(char *member, const cha
 	auto arr_size = *reinterpret_cast<const array_size_t *>(*serialized_data);
 	*serialized_data += sizeof(array_size_t);
 
-	auto sequence = reinterpret_cast<rosidl_generator_c__String__Sequence *>(member);
-	rosidl_generator_c__String__Sequence__init(sequence, arr_size);
-	
-	if(arr_size > 0)
+	auto sequence = reinterpret_cast<rosidl_runtime_c__String__Sequence *>(member);
+	rosidl_runtime_c__String__Sequence__init(sequence, arr_size);
+
+	if (arr_size > 0)
 	{
 		DeserializeArray<std::string>(reinterpret_cast<char *>(sequence->data), sequence->size, serialized_data);
 	}
@@ -126,15 +122,14 @@ void CDeserializer::DeserializeDynamicArray<ros_message_t>(char *message,
 	auto arr_size = *reinterpret_cast<const array_size_t *>(*serialized_data);
 	*serialized_data += sizeof(array_size_t);
 
-	auto sequence = reinterpret_cast<rosidl_generator_c__char__Sequence *>(message);
-	sequence->data = nullptr;
+	auto sequence = reinterpret_cast<rosidl_runtime_c__char__Sequence *>(message);
 	sequence->size = arr_size;
 	sequence->capacity = arr_size;
 
-	if(arr_size > 0)
+	if (arr_size > 0)
 	{
 		auto sub_members = GetMembers(member);
-		
+
 		sequence->data = new signed char[arr_size * sub_members->size_of_];
 		auto data = sequence->data;