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Changes to build against Fast DDS 3.0 #776

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Changes to build against Fast DDS 3.0 #776

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ad65e83
Support for `Fast DDS 3.0`
Mario-DL Sep 5, 2024
79d608f
Do not require cmake modules.
MiguelCompany Sep 5, 2024
1f6b997
Remove dependency on fastrtps_cmake_module.
MiguelCompany Sep 5, 2024
86f1fa9
Correctly check returned values from writer loans APIs.
Mario-DL Sep 6, 2024
dca4c5f
Fix dll linkage.
MiguelCompany Sep 6, 2024
81e7f50
Fix type_name between c and c++ type support
richiware Sep 23, 2024
70b96ad
Remove warnings on windows
richiware Sep 24, 2024
4b8dd4b
Improve readability using alias for xtypes namespace.
MiguelCompany Nov 20, 2024
ea8ceae
Improve readability with local variable for type_object_registry.
MiguelCompany Nov 20, 2024
bac590e
Fix type object registration for arrays and sequences.
MiguelCompany Nov 20, 2024
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10 changes: 4 additions & 6 deletions rmw_fastrtps_cpp/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -38,10 +38,8 @@ find_package(rmw_dds_common REQUIRED)
find_package(rmw_fastrtps_shared_cpp REQUIRED)
find_package(tracetools REQUIRED)

find_package(fastrtps_cmake_module REQUIRED)
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Do we need to keep fastrtps_cmake_module around at all, or should we look at removing that package entirely?

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This might be removed.

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See ros2/rosidl_typesupport_fastrtps#120 for this

find_package(fastcdr 2 REQUIRED CONFIG)
find_package(fastrtps 2.13 REQUIRED CONFIG)
find_package(FastRTPS 2.13 REQUIRED MODULE)
find_package(fastcdr 2 REQUIRED)
find_package(fastdds 3 REQUIRED)

find_package(rmw REQUIRED)
find_package(rosidl_dynamic_typesupport REQUIRED)
Expand Down Expand Up @@ -100,7 +98,7 @@ add_library(rmw_fastrtps_cpp
)
target_link_libraries(rmw_fastrtps_cpp PUBLIC
fastcdr
fastrtps
fastdds
rmw::rmw
rmw_fastrtps_shared_cpp::rmw_fastrtps_shared_cpp
rosidl_runtime_c::rosidl_runtime_c
Expand Down Expand Up @@ -153,7 +151,7 @@ if(BUILD_TESTING)

ament_add_gtest(test_logging test/test_logging.cpp)
target_link_libraries(test_logging
fastrtps
fastdds
rmw::rmw
rmw_fastrtps_cpp
)
Expand Down
4 changes: 3 additions & 1 deletion rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/MessageTypeSupport.hpp
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Expand Up @@ -25,7 +25,9 @@ namespace rmw_fastrtps_cpp
class MessageTypeSupport : public TypeSupport
{
public:
explicit MessageTypeSupport(const message_type_support_callbacks_t * members);
explicit MessageTypeSupport(
const message_type_support_callbacks_t * members,
const rosidl_message_type_support_t * type_supports);
};

} // namespace rmw_fastrtps_cpp
Expand Down
10 changes: 7 additions & 3 deletions rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/ServiceTypeSupport.hpp
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Expand Up @@ -31,19 +31,23 @@ namespace rmw_fastrtps_cpp
class ServiceTypeSupport : public TypeSupport
{
protected:
ServiceTypeSupport();
explicit ServiceTypeSupport(const rosidl_message_type_support_t * type_supports);
};

class RequestTypeSupport : public ServiceTypeSupport
{
public:
explicit RequestTypeSupport(const service_type_support_callbacks_t * members);
explicit RequestTypeSupport(
const service_type_support_callbacks_t * members,
const rosidl_message_type_support_t * type_supports);
};

class ResponseTypeSupport : public ServiceTypeSupport
{
public:
explicit ResponseTypeSupport(const service_type_support_callbacks_t * members);
explicit ResponseTypeSupport(
const service_type_support_callbacks_t * members,
const rosidl_message_type_support_t * type_supports);
};

} // namespace rmw_fastrtps_cpp
Expand Down
2 changes: 1 addition & 1 deletion rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/TypeSupport.hpp
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Expand Up @@ -42,7 +42,7 @@ class TypeSupport : public rmw_fastrtps_shared_cpp::TypeSupport
bool deserializeROSmessage(
eprosima::fastcdr::Cdr & deser, void * ros_message, const void * impl) const override;

TypeSupport();
explicit TypeSupport(const rosidl_message_type_support_t * type_supports);

protected:
void set_members(const message_type_support_callbacks_t * members);
Expand Down
7 changes: 2 additions & 5 deletions rmw_fastrtps_cpp/package.xml
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Expand Up @@ -16,13 +16,11 @@
<author>Ricardo González</author>

<buildtool_depend>ament_cmake_ros</buildtool_depend>
<buildtool_depend>fastrtps_cmake_module</buildtool_depend>

<buildtool_export_depend>ament_cmake</buildtool_export_depend>

<build_depend>fastcdr</build_depend>
<build_depend>fastrtps</build_depend>
<build_depend>fastrtps_cmake_module</build_depend>
<build_depend>fastdds</build_depend>
<build_depend>rcpputils</build_depend>
<build_depend>rcutils</build_depend>
<build_depend>rmw</build_depend>
Expand All @@ -37,8 +35,7 @@
<build_depend>tracetools</build_depend>

<build_export_depend>fastcdr</build_export_depend>
<build_export_depend>fastrtps</build_export_depend>
<build_export_depend>fastrtps_cmake_module</build_export_depend>
<build_export_depend>fastdds</build_export_depend>
<build_export_depend>rcutils</build_export_depend>
<build_export_depend>rmw_dds_common</build_export_depend>
<build_export_depend>rmw_fastrtps_shared_cpp</build_export_depend>
Expand Down
10 changes: 4 additions & 6 deletions rmw_fastrtps_cpp/rmw_fastrtps_cpp-extras.cmake
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Expand Up @@ -14,11 +14,9 @@

# copied from rmw_fastrtps_cpp/rmw_fastrtps_cpp-extras.cmake

find_package(fastrtps_cmake_module REQUIRED)
find_package(fastcdr 2 REQUIRED CONFIG)
find_package(fastrtps 2.13 REQUIRED CONFIG)
find_package(FastRTPS 2.13 REQUIRED MODULE)
find_package(fastcdr 2 REQUIRED)
find_package(fastdds 3 REQUIRED)

list(APPEND rmw_fastrtps_cpp_INCLUDE_DIRS ${FastRTPS_INCLUDE_DIR})
list(APPEND rmw_fastrtps_cpp_INCLUDE_DIRS ${FAST_INCLUDE_DIR})
# specific order: dependents before dependencies
list(APPEND rmw_fastrtps_cpp_LIBRARIES fastrtps fastcdr)
list(APPEND rmw_fastrtps_cpp_LIBRARIES fastdds fastcdr)
23 changes: 10 additions & 13 deletions rmw_fastrtps_cpp/src/publisher.cpp
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Expand Up @@ -23,7 +23,7 @@
#include "fastdds/dds/topic/Topic.hpp"
#include "fastdds/dds/topic/TopicDescription.hpp"
#include "fastdds/dds/topic/qos/TopicQos.hpp"
#include "fastdds/rtps/resources/ResourceManagement.h"
#include "fastdds/rtps/attributes/ResourceManagement.hpp"

#include "rcutils/error_handling.h"
#include "rcutils/macros.h"
Expand Down Expand Up @@ -176,7 +176,7 @@ rmw_fastrtps_cpp::create_publisher(
/////
// Create the Type Support struct
if (!fastdds_type) {
auto tsupport = new (std::nothrow) MessageTypeSupport_cpp(callbacks);
auto tsupport = new (std::nothrow) MessageTypeSupport_cpp(callbacks, type_supports);
if (!tsupport) {
RMW_SET_ERROR_MSG("create_publisher() failed to allocate MessageTypeSupport");
return nullptr;
Expand All @@ -186,18 +186,13 @@ rmw_fastrtps_cpp::create_publisher(
fastdds_type.reset(tsupport);
}

if (ReturnCode_t::RETCODE_OK != fastdds_type.register_type(dds_participant)) {
if (eprosima::fastdds::dds::RETCODE_OK != fastdds_type.register_type(dds_participant)) {
RMW_SET_ERROR_MSG("create_publisher() failed to register type");
return nullptr;
}
info->type_support_ = fastdds_type;

if (!rmw_fastrtps_shared_cpp::register_type_object(type_supports, type_name)) {
RMW_SET_ERROR_MSG_WITH_FORMAT_STRING(
"failed to register type object with incompatible type %s",
type_name.c_str());
return nullptr;
}
info->type_support_->register_type_object_representation();

/////
// Create Listener
Expand Down Expand Up @@ -244,13 +239,13 @@ rmw_fastrtps_cpp::create_publisher(
// Modify specific DataWriter Qos
if (!participant_info->leave_middleware_default_qos) {
if (participant_info->publishing_mode == publishing_mode_t::ASYNCHRONOUS) {
writer_qos.publish_mode().kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
writer_qos.publish_mode().kind = eprosima::fastdds::dds::ASYNCHRONOUS_PUBLISH_MODE;
} else if (participant_info->publishing_mode == publishing_mode_t::SYNCHRONOUS) {
writer_qos.publish_mode().kind = eprosima::fastrtps::SYNCHRONOUS_PUBLISH_MODE;
writer_qos.publish_mode().kind = eprosima::fastdds::dds::SYNCHRONOUS_PUBLISH_MODE;
}

writer_qos.endpoint().history_memory_policy =
eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;

writer_qos.data_sharing().off();
}
Expand Down Expand Up @@ -304,7 +299,9 @@ rmw_fastrtps_cpp::create_publisher(
rmw_publisher_free(rmw_publisher);
});

rmw_publisher->can_loan_messages = info->type_support_->is_plain();
// The type support in the RMW implementation is always XCDR1.
rmw_publisher->can_loan_messages =
info->type_support_->is_plain(eprosima::fastdds::dds::XCDR_DATA_REPRESENTATION);
rmw_publisher->implementation_identifier = eprosima_fastrtps_identifier;
rmw_publisher->data = info;

Expand Down
20 changes: 11 additions & 9 deletions rmw_fastrtps_cpp/src/rmw_client.cpp
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Expand Up @@ -26,7 +26,7 @@
#include "fastdds/dds/topic/TypeSupport.hpp"
#include "fastdds/dds/topic/qos/TopicQos.hpp"

#include "fastdds/rtps/resources/ResourceManagement.h"
#include "fastdds/rtps/attributes/ResourceManagement.hpp"

#include "rcpputils/scope_exit.hpp"
#include "rcutils/error_handling.h"
Expand Down Expand Up @@ -213,7 +213,8 @@ rmw_create_client(
info->response_type_support_impl_ = response_members;

if (!request_fastdds_type) {
auto tsupport = new (std::nothrow) RequestTypeSupport_cpp(service_members);
auto tsupport = new (std::nothrow) RequestTypeSupport_cpp(service_members,
type_supports->request_typesupport);
if (!tsupport) {
RMW_SET_ERROR_MSG("create_client() failed to allocate request typesupport");
return nullptr;
Expand All @@ -222,7 +223,8 @@ rmw_create_client(
request_fastdds_type.reset(tsupport);
}
if (!response_fastdds_type) {
auto tsupport = new (std::nothrow) ResponseTypeSupport_cpp(service_members);
auto tsupport = new (std::nothrow) ResponseTypeSupport_cpp(service_members,
type_supports->response_typesupport);
if (!tsupport) {
RMW_SET_ERROR_MSG("create_client() failed to allocate response typesupport");
return nullptr;
Expand All @@ -231,13 +233,13 @@ rmw_create_client(
response_fastdds_type.reset(tsupport);
}

if (ReturnCode_t::RETCODE_OK != request_fastdds_type.register_type(dds_participant)) {
if (eprosima::fastdds::dds::RETCODE_OK != request_fastdds_type.register_type(dds_participant)) {
RMW_SET_ERROR_MSG("create_client() failed to register request type");
return nullptr;
}
info->request_type_support_ = request_fastdds_type;

if (ReturnCode_t::RETCODE_OK != response_fastdds_type.register_type(dds_participant)) {
if (eprosima::fastdds::dds::RETCODE_OK != response_fastdds_type.register_type(dds_participant)) {
RMW_SET_ERROR_MSG("create_client() failed to register response type");
return nullptr;
}
Expand Down Expand Up @@ -309,7 +311,7 @@ rmw_create_client(

if (!participant_info->leave_middleware_default_qos) {
reader_qos.endpoint().history_memory_policy =
eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;

reader_qos.data_sharing().off();
}
Expand Down Expand Up @@ -361,13 +363,13 @@ rmw_create_client(
// Modify specific DataWriter Qos
if (!participant_info->leave_middleware_default_qos) {
if (participant_info->publishing_mode == publishing_mode_t::ASYNCHRONOUS) {
writer_qos.publish_mode().kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
writer_qos.publish_mode().kind = eprosima::fastdds::dds::ASYNCHRONOUS_PUBLISH_MODE;
} else if (participant_info->publishing_mode == publishing_mode_t::SYNCHRONOUS) {
writer_qos.publish_mode().kind = eprosima::fastrtps::SYNCHRONOUS_PUBLISH_MODE;
writer_qos.publish_mode().kind = eprosima::fastdds::dds::SYNCHRONOUS_PUBLISH_MODE;
}

writer_qos.endpoint().history_memory_policy =
eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;

writer_qos.data_sharing().off();
}
Expand Down
4 changes: 2 additions & 2 deletions rmw_fastrtps_cpp/src/rmw_dynamic_message_type_support.cpp
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Expand Up @@ -76,13 +76,13 @@ rmw_serialization_support_init(
rosidl_dynamic_typesupport_serialization_support_interface_t methods =
rosidl_dynamic_typesupport_get_zero_initialized_serialization_support_interface();

ret = rosidl_dynamic_typesupport_fastrtps_init_serialization_support_impl(allocator, &impl);
ret = rosidl_dynamic_typesupport_fastdds_init_serialization_support_impl(allocator, &impl);
if (ret != RCUTILS_RET_OK) {
RMW_SET_ERROR_MSG_AND_APPEND_PREV_ERROR("Could not initialize serialization support impl");
goto fail;
}

ret = rosidl_dynamic_typesupport_fastrtps_init_serialization_support_interface(
ret = rosidl_dynamic_typesupport_fastdds_init_serialization_support_interface(
allocator, &methods);
if (ret != RCUTILS_RET_OK) {
RMW_SET_ERROR_MSG_AND_APPEND_PREV_ERROR("could not initialize serialization support interface");
Expand Down
4 changes: 2 additions & 2 deletions rmw_fastrtps_cpp/src/rmw_serialize.cpp
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Expand Up @@ -40,7 +40,7 @@ rmw_serialize(
}

auto callbacks = static_cast<const message_type_support_callbacks_t *>(ts->data);
auto tss = MessageTypeSupport_cpp(callbacks);
auto tss = MessageTypeSupport_cpp(callbacks, type_support);
auto data_length = tss.getEstimatedSerializedSize(ros_message, callbacks);
if (serialized_message->buffer_capacity < data_length) {
if (rmw_serialized_message_resize(serialized_message, data_length) != RMW_RET_OK) {
Expand Down Expand Up @@ -79,7 +79,7 @@ rmw_deserialize(
}

auto callbacks = static_cast<const message_type_support_callbacks_t *>(ts->data);
auto tss = MessageTypeSupport_cpp(callbacks);
auto tss = MessageTypeSupport_cpp(callbacks, type_support);
eprosima::fastcdr::FastBuffer buffer(
reinterpret_cast<char *>(serialized_message->buffer), serialized_message->buffer_length);
eprosima::fastcdr::Cdr deser(buffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
Expand Down
18 changes: 10 additions & 8 deletions rmw_fastrtps_cpp/src/rmw_service.cpp
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Expand Up @@ -215,7 +215,8 @@ rmw_create_service(
info->response_type_support_impl_ = response_members;

if (!request_fastdds_type) {
auto tsupport = new (std::nothrow) RequestTypeSupport_cpp(service_members);
auto tsupport = new (std::nothrow) RequestTypeSupport_cpp(service_members,
type_supports->request_typesupport);
if (!tsupport) {
RMW_SET_ERROR_MSG("create_service() failed to allocate request typesupport");
return nullptr;
Expand All @@ -224,7 +225,8 @@ rmw_create_service(
request_fastdds_type.reset(tsupport);
}
if (!response_fastdds_type) {
auto tsupport = new (std::nothrow) ResponseTypeSupport_cpp(service_members);
auto tsupport = new (std::nothrow) ResponseTypeSupport_cpp(service_members,
type_supports->response_typesupport);
if (!tsupport) {
RMW_SET_ERROR_MSG("create_service() failed to allocate response typesupport");
return nullptr;
Expand All @@ -233,13 +235,13 @@ rmw_create_service(
response_fastdds_type.reset(tsupport);
}

if (ReturnCode_t::RETCODE_OK != request_fastdds_type.register_type(dds_participant)) {
if (eprosima::fastdds::dds::RETCODE_OK != request_fastdds_type.register_type(dds_participant)) {
RMW_SET_ERROR_MSG("create_service() failed to register request type");
return nullptr;
}
info->request_type_support_ = request_fastdds_type;

if (ReturnCode_t::RETCODE_OK != response_fastdds_type.register_type(dds_participant)) {
if (eprosima::fastdds::dds::RETCODE_OK != response_fastdds_type.register_type(dds_participant)) {
RMW_SET_ERROR_MSG("create_service() failed to register response type");
return nullptr;
}
Expand Down Expand Up @@ -308,7 +310,7 @@ rmw_create_service(

if (!participant_info->leave_middleware_default_qos) {
reader_qos.endpoint().history_memory_policy =
eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;

reader_qos.data_sharing().off();
}
Expand Down Expand Up @@ -364,13 +366,13 @@ rmw_create_service(
// Modify specific DataWriter Qos
if (!participant_info->leave_middleware_default_qos) {
if (participant_info->publishing_mode == publishing_mode_t::ASYNCHRONOUS) {
writer_qos.publish_mode().kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
writer_qos.publish_mode().kind = eprosima::fastdds::dds::ASYNCHRONOUS_PUBLISH_MODE;
} else if (participant_info->publishing_mode == publishing_mode_t::SYNCHRONOUS) {
writer_qos.publish_mode().kind = eprosima::fastrtps::SYNCHRONOUS_PUBLISH_MODE;
writer_qos.publish_mode().kind = eprosima::fastdds::dds::SYNCHRONOUS_PUBLISH_MODE;
}

writer_qos.endpoint().history_memory_policy =
eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;

writer_qos.data_sharing().off();
}
Expand Down
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