Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Properly initialize CDR stream before using it for filtering #81

Merged
merged 1 commit into from
Apr 7, 2022
Merged

Properly initialize CDR stream before using it for filtering #81

merged 1 commit into from
Apr 7, 2022

Conversation

asorbini
Copy link
Collaborator

@asorbini asorbini commented Apr 6, 2022

This PR fixes a test failure which occurs when the "alternative" implementation of content-filtered topic support is used (e.g. on Windows).

The failure was caused by an improper initialization of the CDR stream object passed to the built-in evaluate functions.

@asorbini
Properly initialize CDR stream before using it for filtering
6206400 
Signed-off-by: Andrea Sorbini <asorbini@rti.com>
@asorbini asorbini mentioned this pull request Apr 6, 2022
Closed
@asorbini
Copy link
Collaborator Author

asorbini commented Apr 6, 2022

I'm not sure if the PR can be merged because of the code freeze. If we decided to merge it, then I would hope that #79 can also be merged, because at the moment the build of rmw_connextddsmicro is broken in master.

This was referenced Apr 7, 2022
Closed
Merged
@clalancette
Copy link
Contributor

I'm not sure if the PR can be merged because of the code freeze. If we decided to merge it, then I would hope that #79 can also be merged, because at the moment the build of rmw_connextddsmicro is broken in master.

We can still merge fixes right now. Both this one and #79 look like fixes, so they both are candidates. I'll review both of them.

clalancette
clalancette approved these changes Apr 7, 2022
View reviewed changes
Copy link
Contributor

@clalancette clalancette left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Looks reasonable to me. I'll run CI on it next.

@clalancette
Copy link
Contributor

CI:

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Windows Build Status

@clalancette clalancette merged commit ca23cc5 into master Apr 7, 2022
@delete-merged-branch delete-merged-branch bot deleted the asorbini/cdr-stream-init branch April 7, 2022 17:50
@jacobperron
Copy link
Member

This change breaks support for Connext 5.3.1. I get the following build error:

--- stderr: rmw_connextdds_common                                                                                         
In file included from /opt/rti.com/rti_connext_dds-5.3.1/include/ndds/cdr/cdr_stream.h:1560,
                 from /opt/rti.com/rti_connext_dds-5.3.1/include/ndds/dds_c/dds_c_common.h:24,
                 from /opt/rti.com/rti_connext_dds-5.3.1/include/ndds/ndds_c.h:68,
                 from /home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/include/rmw_connextdds/dds_api_ndds.hpp:18,
                 from /home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/include/rmw_connextdds/dds_api.hpp:24,
                 from /home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/include/rmw_connextdds/custom_sql_filter.hpp:17,
                 from /home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp:21:
/home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp: In function ‘DDS_CookieSeq* RTI_CustomSqlFilter_writer_evaluate(void*, void*, const void*, const DDS_FilterSampleInfo*)’:
/home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp:544:10: error: base operand of ‘->’ has non-pointer type ‘RTICdrStream’
  544 |     if (!RTICdrStream_deserializeCdrEncapsulationAndSetDefault(&cdr_stream)) {
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp:544:10: error: base operand of ‘->’ has non-pointer type ‘RTICdrStream’
  544 |     if (!RTICdrStream_deserializeCdrEncapsulationAndSetDefault(&cdr_stream)) {
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp:544:10: error: base operand of ‘->’ has non-pointer type ‘RTICdrStream’
  544 |     if (!RTICdrStream_deserializeCdrEncapsulationAndSetDefault(&cdr_stream)) {
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp:544:10: error: base operand of ‘->’ has non-pointer type ‘RTICdrStream’
  544 |     if (!RTICdrStream_deserializeCdrEncapsulationAndSetDefault(&cdr_stream)) {
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp:544:10: error: base operand of ‘->’ has non-pointer type ‘RTICdrStream’
  544 |     if (!RTICdrStream_deserializeCdrEncapsulationAndSetDefault(&cdr_stream)) {
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp:544:10: error: base operand of ‘->’ has non-pointer type ‘RTICdrStream’
  544 |     if (!RTICdrStream_deserializeCdrEncapsulationAndSetDefault(&cdr_stream)) {
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp:544:10: error: base operand of ‘->’ has non-pointer type ‘RTICdrStream’
  544 |     if (!RTICdrStream_deserializeCdrEncapsulationAndSetDefault(&cdr_stream)) {
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp:544:10: error: base operand of ‘->’ has non-pointer type ‘RTICdrStream’
  544 |     if (!RTICdrStream_deserializeCdrEncapsulationAndSetDefault(&cdr_stream)) {
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp: In function ‘DDS_Boolean RTI_CustomSqlFilter_evaluate(void*, void*, const void*, const DDS_FilterSampleInfo*)’:
/home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp:717:8: error: base operand of ‘->’ has non-pointer type ‘RTICdrStream’
  717 |   if (!RTICdrStream_deserializeCdrEncapsulationAndSetDefault(&cdr_stream)) {
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp:717:8: error: base operand of ‘->’ has non-pointer type ‘RTICdrStream’
  717 |   if (!RTICdrStream_deserializeCdrEncapsulationAndSetDefault(&cdr_stream)) {
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp:717:8: error: base operand of ‘->’ has non-pointer type ‘RTICdrStream’
  717 |   if (!RTICdrStream_deserializeCdrEncapsulationAndSetDefault(&cdr_stream)) {
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp:717:8: error: base operand of ‘->’ has non-pointer type ‘RTICdrStream’
  717 |   if (!RTICdrStream_deserializeCdrEncapsulationAndSetDefault(&cdr_stream)) {
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp:717:8: error: base operand of ‘->’ has non-pointer type ‘RTICdrStream’
  717 |   if (!RTICdrStream_deserializeCdrEncapsulationAndSetDefault(&cdr_stream)) {
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp:717:8: error: base operand of ‘->’ has non-pointer type ‘RTICdrStream’
  717 |   if (!RTICdrStream_deserializeCdrEncapsulationAndSetDefault(&cdr_stream)) {
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp:717:8: error: base operand of ‘->’ has non-pointer type ‘RTICdrStream’
  717 |   if (!RTICdrStream_deserializeCdrEncapsulationAndSetDefault(&cdr_stream)) {
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp:717:8: error: base operand of ‘->’ has non-pointer type ‘RTICdrStream’
  717 |   if (!RTICdrStream_deserializeCdrEncapsulationAndSetDefault(&cdr_stream)) {
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/rmw_connextdds_common_pro.dir/build.make:349: CMakeFiles/rmw_connextdds_common_pro.dir/src/ndds/custom_sql_filter.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:78: CMakeFiles/rmw_connextdds_common_pro.dir/all] Error 2
make: *** [Makefile:141: all] Error 2

If I revert this PR, I am able to build again.

@asorbini asorbini mentioned this pull request Apr 14, 2022
Merged
@asorbini
Copy link
Collaborator Author

@jacobperron Thank you for catching this error. It seems like the macro definition changed slightly between versions. The issue should be fixed with #82.

cwecht pushed a commit to cwecht/rmw_connextdds that referenced this pull request Mar 16, 2023
@asorbini @cwecht
Properly initialize CDR stream before using it for filtering (ros2#81)
be74aa2 
Signed-off-by: Andrea Sorbini <asorbini@rti.com>
asorbini added a commit that referenced this pull request Mar 30, 2023
@cwecht @ivanpauno
@asorbini @mauropasse @jacobperron @paudrow @nuclearsandwich @alsora @clalancette @fujitatomoya
Event listeners distinct (#109)
3a88dad 
* Add sequence numbers to message info structure (#74)

* Fill reception_sequence_number/publication_sequence_number in all rmw_take_*_with_info() functions

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

* Add rmw_feature_supported()

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

* add stub for content filtered topic (#77)

* add stub for content filtered topic

Signed-off-by: Chen Lihui <lihui.chen@sony.com>

* Add support for user-specified content filters (#68)

* Add support for user-specified content filters.

Signed-off-by: Andrea Sorbini <asorbini@rti.com>

* - Resolve memory leak of custom content-filter resources
- Add missing package dependencies for rti_connext_dds_custom_sql_filter
- Clean up all participants upon factory finalization
- Reset context state upon finalization (rmw_connextddsmicro)
Signed-off-by: Andrea Sorbini <asorbini@rti.com>

* Assume non-null options argument
Signed-off-by: Andrea Sorbini <asorbini@rti.com>

* - Return error when retrieving content-filter from a subscription that doesn't have one.
- Rename internal functions related to content-filters
Signed-off-by: Andrea Sorbini <asorbini@rti.com>

* Fix compilation error, oops.
Signed-off-by: Andrea Sorbini <asorbini@rti.com>

* - Define RMW_CONNEXT_DEBUG when building Debug libraries.
- Make sure participant is enabled before deleting contained entities when using Connext debug libraries.
Signed-off-by: Andrea Sorbini <asorbini@rti.com>

* Resolve memory leak for finalization on error.
Signed-off-by: Andrea Sorbini <asorbini@rti.com>

* Rename content filter public API.
Signed-off-by: Andrea Sorbini <asorbini@rti.com>

* Add client/service QoS getters (#67)

Signed-off-by: Mauro Passerino <mpasserino@irobot.com>

* Changelogs

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

* 0.8.1

* Fix cpplint errors (#69)

* Use static_cast instead of C-style cast

Fixes cpplint error.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Update NOLINT category

Relates to ament/ament_lint#324

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* 0.8.2

Signed-off-by: Audrow Nash <audrow@hey.com>

* Update rti-connext-dds dependency to 6.0.1. (#71)

Now that this package is available in the ROS bootstrap repository for Ubuntu Focal and Jammy we can bump the expected dependency version.

* 0.8.3

* Add rmw listener apis (#44)

* Add stubs for setting listener callbacks

Signed-off-by: Mauro Passerino <mpasserino@irobot.com>

* Address PR suggestions

Signed-off-by: Mauro Passerino <mpasserino@irobot.com>

* Fix linter issues

Signed-off-by: Mauro Passerino <mpasserino@irobot.com>

Co-authored-by: Mauro Passerino <mpasserino@irobot.com>
Co-authored-by: Alberto Soragna <alberto.soragna@gmail.com>

* Changelog. (#73)

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

* 0.9.0

* add stub for content filtered topic

Signed-off-by: Chen Lihui <lihui.chen@sony.com>

* * Rebased branch asorbini/cft on top of 0.9.0.
* Resolved CFT finalization issues on error.
* Verified and cleaned up build for rmw_connextddsmicro.
Signed-off-by: Andrea Sorbini <asorbini@rti.com>

* Move custom SQL filter to rmw_connextdds_common
Signed-off-by: Andrea Sorbini <asorbini@rti.com>

* Try to resolve linking error on Windows.
Signed-off-by: Andrea Sorbini <asorbini@rti.com>

* Optionally disable writer-side CFT optimizations to support Windows.
Signed-off-by: Andrea Sorbini <asorbini@rti.com>

* No need to declare private CFT function on Windows.
Signed-off-by: Andrea Sorbini <asorbini@rti.com>

* remove stub implementation for ContentFilteredTopic.

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

* address cpplint error.

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

* Avoid conversion warnings on Windows.
Signed-off-by: Andrea Sorbini <asorbini@rti.com>

* Use strtol instead of sscanf to avoid warnings on Windows.
Signed-off-by: Andrea Sorbini <asorbini@rti.com>

* Avoid finalizing participants if factory is not available.
Signed-off-by: Andrea Sorbini <asorbini@rti.com>

Co-authored-by: mauropasse <mauropasse@hotmail.com>
Co-authored-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Co-authored-by: Jacob Perron <jacob@openrobotics.org>
Co-authored-by: Audrow Nash <audrow@hey.com>
Co-authored-by: Steven! Ragnarök <nuclearsandwich@users.noreply.github.com>
Co-authored-by: Steven! Ragnarök <steven@nuclearsandwich.com>
Co-authored-by: iRobot ROS <49500531+irobot-ros@users.noreply.github.com>
Co-authored-by: Mauro Passerino <mpasserino@irobot.com>
Co-authored-by: Alberto Soragna <alberto.soragna@gmail.com>
Co-authored-by: Chris Lalancette <clalancette@openrobotics.org>
Co-authored-by: Chen Lihui <lihui.chen@sony.com>
Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

* 0.10.0

Signed-off-by: Audrow Nash <audrow@hey.com>

* Update launch_testing_ros output filter prefixes for Connext6 (#80)

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

* Properly initialize CDR stream before using it for filtering (#81)

Signed-off-by: Andrea Sorbini <asorbini@rti.com>

* Exclude missing sample info fields when building rmw_connextddsmicro (#79)

* Exclude missing sample info fields when building micro.
* Report features individually for each RMW implementation.
* Return special value for unsupported sequence numbers.

Signed-off-by: Andrea Sorbini <asorbini@rti.com>
Co-authored-by: Chris Lalancette <clalancette@openrobotics.org>

* 0.11.0

Signed-off-by: Audrow Nash <audrow@hey.com>

* Resolve build error with RTI Connext DDS 5.3.1 (#82)

Signed-off-by: Andrea Sorbini <asorbini@rti.com>

* Changelog.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

* 0.11.1

* Use destinct callbacks for each event type

---------

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Signed-off-by: Chen Lihui <lihui.chen@sony.com>
Signed-off-by: Audrow Nash <audrow@hey.com>
Signed-off-by: Andrea Sorbini <asorbini@rti.com>
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
Co-authored-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Co-authored-by: Chen Lihui <lihui.chen@sony.com>
Co-authored-by: Andrea Sorbini <asorbini@rti.com>
Co-authored-by: mauropasse <mauropasse@hotmail.com>
Co-authored-by: Jacob Perron <jacob@openrobotics.org>
Co-authored-by: Audrow Nash <audrow@hey.com>
Co-authored-by: Steven! Ragnarök <nuclearsandwich@users.noreply.github.com>
Co-authored-by: Steven! Ragnarök <steven@nuclearsandwich.com>
Co-authored-by: iRobot ROS <49500531+irobot-ros@users.noreply.github.com>
Co-authored-by: Mauro Passerino <mpasserino@irobot.com>
Co-authored-by: Alberto Soragna <alberto.soragna@gmail.com>
Co-authored-by: Chris Lalancette <clalancette@openrobotics.org>
Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers

@clalancette clalancette clalancette approved these changes

@iuhilnehc-ynos iuhilnehc-ynos iuhilnehc-ynos approved these changes

Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.
4 participants
@asorbini @clalancette @jacobperron @iuhilnehc-ynos