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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
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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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