Foxy RMW interface (#27)

* adapt to foxy api

Signed-off-by: Knese Karsten <karsten.knese@us.bosch.com>

* remove poco

Signed-off-by: Knese Karsten <karsten.knese@us.bosch.com>

iceoryx_ros2_bridge/CMakeLists.txt

@@ -20,9 +20,8 @@ find_package(ament_cmake REQUIRED)
 find_package(ament_index_cpp REQUIRED)
 find_package(iceoryx_posh REQUIRED)
 find_package(iceoryx_utils REQUIRED)
-find_package(poco_vendor)
-find_package(Poco COMPONENTS Foundation)
 find_package(rclcpp REQUIRED)
+find_package(rcpputils REQUIRED)
 find_package(rmw_iceoryx_cpp REQUIRED)
 find_package(rosidl_generator_cpp REQUIRED)
 find_package(rosidl_typesupport_cpp REQUIRED)
@@ -33,8 +32,8 @@ add_library(iceoryx_typesupport_helpers
 )
 ament_target_dependencies(iceoryx_typesupport_helpers
   ament_index_cpp
-  Poco
   rclcpp
+  rcpputils
   rosidl_generator_cpp
   rosidl_typesupport_introspection_cpp
   rosidl_typesupport_cpp

iceoryx_ros2_bridge/package.xml

@@ -12,8 +12,8 @@
   <depend>ament_index_cpp</depend>
   <depend>iceoryx_posh</depend>
   <depend>iceoryx_utils</depend>
-  <depend>poco_vendor</depend>
   <depend>rclcpp</depend>
+  <depend>rcpputils</depend>
   <depend>rmw_iceoryx_cpp</depend>
   <depend>rosidl_generator_cpp</depend>
   <depend>rosidl_typesupport_cpp</depend>

iceoryx_ros2_bridge/src/generic_publisher.cpp

@@ -17,14 +17,18 @@
 #include <memory>
 #include <string>
 
+#include "rcpputils/shared_library.hpp"
+
 namespace iceoryx_ros2_bridge
 {
 
 GenericPublisher::GenericPublisher(
   rclcpp::node_interfaces::NodeBaseInterface * node_base,
   const std::string & topic,
-  const rosidl_message_type_support_t & type_support)
-: rclcpp::PublisherBase(node_base, topic, type_support, rcl_publisher_get_default_options())
+  const rosidl_message_type_support_t & type_support,
+  std::shared_ptr<rcpputils::SharedLibrary> library_handle)
+: rclcpp::PublisherBase(node_base, topic, type_support, rcl_publisher_get_default_options()),
+  ts_library_handle_(library_handle)
 {}
 
 void GenericPublisher::publish(std::shared_ptr<rmw_serialized_message_t> message)

iceoryx_ros2_bridge/src/generic_publisher.hpp

@@ -20,6 +20,11 @@
 
 #include "rclcpp/rclcpp.hpp"
 
+namespace rcpputils
+{
+class SharedLibrary;
+}  // namespace rcpputils
+
 namespace iceoryx_ros2_bridge
 {
 
@@ -29,13 +34,17 @@ class GenericPublisher : public rclcpp::PublisherBase
   GenericPublisher(
     rclcpp::node_interfaces::NodeBaseInterface * node_base,
     const std::string & topic,
-    const rosidl_message_type_support_t & type_support);
+    const rosidl_message_type_support_t & type_support,
+    std::shared_ptr<rcpputils::SharedLibrary> library_handle);
 
   ~GenericPublisher() override = default;
 
   void publish(std::shared_ptr<rmw_serialized_message_t> message);
 
   void publish(const rmw_serialized_message_t * message);
+
+private:
+  std::shared_ptr<rcpputils::SharedLibrary> ts_library_handle_;
 };
 
 }  // namespace iceoryx_ros2_bridge

iceoryx_ros2_bridge/src/generic_subscription.cpp

@@ -28,7 +28,7 @@ GenericSubscription::GenericSubscription(
   rclcpp::node_interfaces::NodeBaseInterface * node_base,
   const rosidl_message_type_support_t & ts,
   const std::string & topic_name,
-  std::function<void(std::shared_ptr<rmw_serialized_message_t>)> callback)
+  std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback)
 : SubscriptionBase(
     node_base,
     ts,
@@ -53,7 +53,7 @@ GenericSubscription::GenericSubscription(
 {}
 
 void GenericSubscription::set_callback(
-  std::function<void(std::shared_ptr<rmw_serialized_message_t>)> callback)
+  std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback)
 {
   callback_ = callback;
 }
@@ -63,7 +63,7 @@ std::shared_ptr<void> GenericSubscription::create_message()
   return create_serialized_message();
 }
 
-std::shared_ptr<rmw_serialized_message_t> GenericSubscription::create_serialized_message()
+std::shared_ptr<rclcpp::SerializedMessage> GenericSubscription::create_serialized_message()
 {
   return borrow_serialized_message(0);
 }
@@ -72,18 +72,18 @@ void GenericSubscription::handle_message(
   std::shared_ptr<void> & message, const rclcpp::MessageInfo & message_info)
 {
   (void) message_info;
-  auto typed_message = std::static_pointer_cast<rmw_serialized_message_t>(message);
+  auto typed_message = std::static_pointer_cast<rclcpp::SerializedMessage>(message);
   callback_(typed_message);
 }
 
 void GenericSubscription::return_message(std::shared_ptr<void> & message)
 {
-  auto typed_message = std::static_pointer_cast<rmw_serialized_message_t>(message);
+  auto typed_message = std::static_pointer_cast<rclcpp::SerializedMessage>(message);
   return_serialized_message(typed_message);
 }
 
 void GenericSubscription::return_serialized_message(
-  std::shared_ptr<rmw_serialized_message_t> & message)
+  std::shared_ptr<rclcpp::SerializedMessage> & message)
 {
   message.reset();
 }
@@ -96,29 +96,10 @@ void GenericSubscription::handle_loaned_message(
   (void) message_info;
 }
 
-std::shared_ptr<rmw_serialized_message_t>
+std::shared_ptr<rclcpp::SerializedMessage>
 GenericSubscription::borrow_serialized_message(size_t capacity)
 {
-  auto message = new rmw_serialized_message_t;
-  *message = rmw_get_zero_initialized_serialized_message();
-  auto init_return = rmw_serialized_message_init(message, capacity, &default_allocator_);
-  if (init_return != RCL_RET_OK) {
-    rclcpp::exceptions::throw_from_rcl_error(init_return);
-  }
-
-  auto serialized_msg = std::shared_ptr<rmw_serialized_message_t>(
-    message,
-    [](rmw_serialized_message_t * msg) {
-      auto fini_return = rmw_serialized_message_fini(msg);
-      delete msg;
-      if (fini_return != RCL_RET_OK) {
-        RCLCPP_ERROR_STREAM(
-          rclcpp::get_logger("iceoryx_ros2_bridge"),
-          "Failed to destroy serialized message: " << rcl_get_error_string().str);
-      }
-    });
-
-  return serialized_msg;
+  return std::make_shared<rclcpp::SerializedMessage>(capacity);
 }
 
 }  // namespace iceoryx_ros2_bridge

iceoryx_ros2_bridge/src/generic_subscription.hpp

@@ -49,7 +49,7 @@ class GenericSubscription : public rclcpp::SubscriptionBase
     rclcpp::node_interfaces::NodeBaseInterface * node_base,
     const rosidl_message_type_support_t & ts,
     const std::string & topic_name,
-    std::function<void(std::shared_ptr<rmw_serialized_message_t>)> callback);
+    std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback);
 
   /**
    * Constructor. In order to properly subscribe to a topic, this subscription needs to be added to
@@ -64,30 +64,30 @@ class GenericSubscription : public rclcpp::SubscriptionBase
     const rosidl_message_type_support_t & ts,
     const std::string & topic_name);
 
-  void set_callback(std::function<void(std::shared_ptr<rmw_serialized_message_t>)> callback);
+  void set_callback(std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback);
 
   // Same as create_serialized_message() as the subscription is to serialized_messages only
   std::shared_ptr<void> create_message() override;
 
-  std::shared_ptr<rmw_serialized_message_t> create_serialized_message() override;
+  std::shared_ptr<rclcpp::SerializedMessage> create_serialized_message() override;
 
   void handle_message(
     std::shared_ptr<void> & message, const rclcpp::MessageInfo & message_info) override;
 
   // Same as return_serialized_message() as the subscription is to serialized_messages only
   void return_message(std::shared_ptr<void> & message) override;
 
-  void return_serialized_message(std::shared_ptr<rmw_serialized_message_t> & message) override;
+  void return_serialized_message(std::shared_ptr<rclcpp::SerializedMessage> & message) override;
 
   void handle_loaned_message(
     void * loaned_message, const rclcpp::MessageInfo & message_info) override;
 
 private:
   RCLCPP_DISABLE_COPY(GenericSubscription)
 
-  std::shared_ptr<rmw_serialized_message_t> borrow_serialized_message(size_t capacity);
+  std::shared_ptr<rclcpp::SerializedMessage> borrow_serialized_message(size_t capacity);
   rcutils_allocator_t default_allocator_;
-  std::function<void(std::shared_ptr<rmw_serialized_message_t>)> callback_;
+  std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback_;
 };
 
 }  // namespace iceoryx_ros2_bridge