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API changes to sync with one Participant per Context change in rmw_fa…
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…strtps (#106)

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
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@ivanpauno
ivanpauno authored Apr 3, 2020
1 parent 3b8d2e8 commit 216211e
Showing 1 changed file with 137 additions and 23 deletions.
160 changes: 137 additions & 23 deletions rmw_cyclonedds_cpp/src/rmw_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@
#include <memory>
#include <vector>
#include <string>
#include <tuple>
#include <utility>
#include <regex>

Expand Down Expand Up @@ -358,6 +359,12 @@ extern "C" rmw_ret_t rmw_init_options_init(
init_options->implementation_identifier = eclipse_cyclonedds_identifier;
init_options->allocator = allocator;
init_options->impl = nullptr;
#if RMW_VERSION_GTE(0, 8, 2)
init_options->localhost_only = RMW_LOCALHOST_ONLY_DEFAULT;
init_options->domain_id = RMW_DEFAULT_DOMAIN_ID;
init_options->security_context = NULL;
init_options->security_options = rmw_get_zero_initialized_security_options();
#endif
return RMW_RET_OK;
}

Expand All @@ -374,19 +381,44 @@ extern "C" rmw_ret_t rmw_init_options_copy(const rmw_init_options_t * src, rmw_i
RMW_SET_ERROR_MSG("expected zero-initialized dst");
return RMW_RET_INVALID_ARGUMENT;
}
#if RMW_VERSION_GTE(0, 8, 2)
const rcutils_allocator_t * allocator = &src->allocator;
rmw_ret_t ret = RMW_RET_OK;

allocator->deallocate(dst->security_context, allocator->state);
*dst = *src;
dst->security_context = NULL;
dst->security_options = rmw_get_zero_initialized_security_options();

dst->security_context = rcutils_strdup(src->security_context, *allocator);
if (src->security_context && !dst->security_context) {
ret = RMW_RET_BAD_ALLOC;
goto fail;
}
return rmw_security_options_copy(&src->security_options, allocator, &dst->security_options);
fail:
allocator->deallocate(dst->security_context, allocator->state);
return ret;
#else
*dst = *src;
return RMW_RET_OK;
#endif
}

extern "C" rmw_ret_t rmw_init_options_fini(rmw_init_options_t * init_options)
{
RMW_CHECK_ARGUMENT_FOR_NULL(init_options, RMW_RET_INVALID_ARGUMENT);
RCUTILS_CHECK_ALLOCATOR(&init_options->allocator, return RMW_RET_INVALID_ARGUMENT);
rcutils_allocator_t & allocator = init_options->allocator;
RCUTILS_CHECK_ALLOCATOR(&allocator, return RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
init_options,
init_options->implementation_identifier,
eclipse_cyclonedds_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
#if RMW_VERSION_GTE(0, 8, 2)
allocator.deallocate(init_options->security_context, allocator.state);
rmw_security_options_fini(&init_options->security_options, &allocator);
#endif
*init_options = rmw_get_zero_initialized_init_options();
return RMW_RET_OK;
}
Expand All @@ -405,7 +437,11 @@ extern "C" rmw_ret_t rmw_init(const rmw_init_options_t * options, rmw_context_t
context->instance_id = options->instance_id;
context->implementation_identifier = eclipse_cyclonedds_identifier;
context->impl = nullptr;
#if RMW_VERSION_GTE(0, 8, 2)
return rmw_init_options_copy(options, &context->options);
#else
return RMW_RET_OK;
#endif
}

extern "C" rmw_ret_t rmw_node_assert_liveliness(const rmw_node_t * node)
Expand Down Expand Up @@ -636,23 +672,39 @@ static void node_gone_from_domain_locked(dds_domainid_t did)
}
#endif

static std::string get_node_user_data(const char * node_name, const char * node_namespace)
static std::string get_node_user_data_name_ns(const char * node_name, const char * node_namespace)
{
return std::string("name=") + std::string(node_name) +
std::string(";namespace=") + std::string(node_namespace) +
std::string(";");
}

#if RMW_VERSION_GTE(0, 8, 2)
static std::string get_node_user_data(
const char * node_name, const char * node_namespace, const char * security_context)
{
return get_node_user_data_name_ns(node_name, node_namespace) +
std::string("securitycontext=") + std::string(security_context) +
std::string(";");
}
#else
#define get_node_user_data get_node_user_data_name_ns
#endif

extern "C" rmw_node_t * rmw_create_node(
rmw_context_t * context, const char * name,
const char * namespace_, size_t domain_id,
const rmw_node_security_options_t * security_options
const char * namespace_, size_t domain_id
#if !RMW_VERSION_GTE(0, 8, 2)
, const rmw_node_security_options_t * security_options
#endif
#if RMW_VERSION_GTE(0, 8, 1)
, bool localhost_only
#endif
)
{
#if !RMW_VERSION_GTE(0, 8, 2)
static_cast<void>(context);
#endif
RET_NULL_X(name, return nullptr);
RET_NULL_X(namespace_, return nullptr);
#if MULTIDOMAIN
Expand All @@ -667,7 +719,9 @@ extern "C" rmw_node_t * rmw_create_node(
static_cast<void>(domain_id);
const dds_domainid_t did = DDS_DOMAIN_DEFAULT;
#endif
#if !RMW_VERSION_GTE(0, 8, 2)
(void) security_options;
#endif
rmw_ret_t ret;
int dummy_validation_result;
size_t dummy_invalid_index;
Expand All @@ -689,7 +743,11 @@ extern "C" rmw_node_t * rmw_create_node(
#endif

dds_qos_t * qos = dds_create_qos();
#if RMW_VERSION_GTE(0, 8, 2)
std::string user_data = get_node_user_data(name, namespace_, context->options.security_context);
#else
std::string user_data = get_node_user_data(name, namespace_);
#endif
dds_qset_userdata(qos, user_data.c_str(), user_data.size());
dds_entity_t pp = dds_create_participant(did, qos, nullptr);
dds_delete_qos(qos);
Expand Down Expand Up @@ -2983,27 +3041,31 @@ static rmw_ret_t do_for_node_user_data(
return do_for_node(node_impl, f);
}

extern "C" rmw_ret_t rmw_get_node_names(
extern "C" rmw_ret_t rmw_get_node_names_impl(
const rmw_node_t * node,
rcutils_string_array_t * node_names,
rcutils_string_array_t * node_namespaces)
rcutils_string_array_t * node_namespaces,
rcutils_string_array_t * security_contexts)
{
RET_WRONG_IMPLID(node);
auto node_impl = static_cast<CddsNode *>(node->data);
if (rmw_check_zero_rmw_string_array(node_names) != RMW_RET_OK ||
rmw_check_zero_rmw_string_array(node_namespaces) != RMW_RET_OK)
if (RMW_RET_OK != rmw_check_zero_rmw_string_array(node_names) ||
RMW_RET_OK != rmw_check_zero_rmw_string_array(node_namespaces))
{
return RMW_RET_ERROR;
}

std::vector<std::pair<std::string, std::string>> ns;
const auto re = std::regex("^name=(.*);namespace=(.*);$", std::regex::extended);
std::regex re {
"^name=([^;]*);namespace=([^;]*);(securitycontext=([^;]*);)?",
std::regex_constants::extended
};
std::vector<std::tuple<std::string, std::string, std::string>> ns;
auto oper =
[&ns, re](const dds_builtintopic_participant_t & sample, const char * ud) -> bool {
std::cmatch cm;
static_cast<void>(sample);
if (std::regex_search(ud, cm, re)) {
ns.push_back(std::make_pair(std::string(cm[1]), std::string(cm[2])));
ns.push_back(std::make_tuple(std::string(cm[1]), std::string(cm[2]), std::string(cm[4])));
}
return true;
};
Expand All @@ -3019,16 +3081,30 @@ extern "C" rmw_ret_t rmw_get_node_names(
RMW_SET_ERROR_MSG(rcutils_get_error_string().str);
goto fail_alloc;
}
size_t i;
i = 0;
for (auto && n : ns) {
node_names->data[i] = rcutils_strdup(n.first.c_str(), allocator);
node_namespaces->data[i] = rcutils_strdup(n.second.c_str(), allocator);
if (!node_names->data[i] || !node_namespaces->data[i]) {
RMW_SET_ERROR_MSG("rmw_get_node_names for name/namespace");
goto fail_alloc;
if (security_contexts &&
rcutils_string_array_init(security_contexts, ns.size(), &allocator) != RCUTILS_RET_OK)
{
RMW_SET_ERROR_MSG(rcutils_get_error_string().str);
goto fail_alloc;
}
{
size_t i = 0;
for (auto & n : ns) {
node_names->data[i] = rcutils_strdup(std::get<0>(n).c_str(), allocator);
node_namespaces->data[i] = rcutils_strdup(std::get<1>(n).c_str(), allocator);
if (!node_names->data[i] || !node_namespaces->data[i]) {
RMW_SET_ERROR_MSG("rmw_get_node_names for name/namespace");
goto fail_alloc;
}
if (security_contexts) {
security_contexts->data[i] = rcutils_strdup(std::get<2>(n).c_str(), allocator);
if (!security_contexts->data[i]) {
RMW_SET_ERROR_MSG("rmw_get_node_names for security_context");
goto fail_alloc;
}
}
i++;
}
i++;
}
return RMW_RET_OK;

Expand All @@ -3049,9 +3125,47 @@ extern "C" rmw_ret_t rmw_get_node_names(
rcutils_reset_error();
}
}
if (security_contexts) {
if (rcutils_string_array_fini(security_contexts) != RCUTILS_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
"rmw_cyclonedds_cpp",
"failed to cleanup during error handling: %s", rcutils_get_error_string().str);
rcutils_reset_error();
}
}
return RMW_RET_BAD_ALLOC;
}

extern "C" rmw_ret_t rmw_get_node_names(
const rmw_node_t * node,
rcutils_string_array_t * node_names,
rcutils_string_array_t * node_namespaces)
{
return rmw_get_node_names_impl(
node,
node_names,
node_namespaces,
nullptr);
}

#if RMW_VERSION_GTE(0, 8, 2)
extern "C" rmw_ret_t rmw_get_node_names_with_security_contexts(
const rmw_node_t * node,
rcutils_string_array_t * node_names,
rcutils_string_array_t * node_namespaces,
rcutils_string_array_t * security_contexts)
{
if (RMW_RET_OK != rmw_check_zero_rmw_string_array(security_contexts)) {
return RMW_RET_ERROR;
}
return rmw_get_node_names_impl(
node,
node_names,
node_namespaces,
security_contexts);
}
#endif

static rmw_ret_t rmw_collect_data_for_endpoint(
CddsNode * node_impl,
dds_entity_t builtin_topic,
Expand Down Expand Up @@ -3105,7 +3219,7 @@ static void get_node_name(
{
static_cast<void>(pp_guid); // only used in assert()
bool node_found = false;
const auto re_ud = std::regex("^name=(.*);namespace=(.*);$", std::regex::extended);
const auto re_ud = std::regex("^name=([^;]*);namespace=([^;]*);", std::regex::extended);
size_t udsz;
dds_sample_info_t info;
void * msg = NULL;
Expand Down Expand Up @@ -3357,10 +3471,10 @@ static rmw_ret_t get_node_guids(
const char * node_name, const char * node_namespace,
std::set<dds_builtintopic_guid_t> & guids)
{
std::string needle = get_node_user_data(node_name, node_namespace);
std::string needle = get_node_user_data_name_ns(node_name, node_namespace);
auto oper =
[&guids, needle](const dds_builtintopic_participant_t & sample, const char * ud) -> bool {
if (std::string(ud) == needle) {
if (0u == std::string(ud).find(needle)) {
guids.insert(sample.key);
}
return true; /* do keep looking - what if there are many? */
Expand Down

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