Merge pull request eclipse-iceoryx#901 from ApexAI/iox-#900-multipubl…

…isher-support-gateways iox-eclipse-iceoryx#900 Gateway creates services with correct interface
ApexAI · Aug 30, 2021 · d193464 · d193464
2 parents 816270e + 3d73e63
commit d193464
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -7,6 +7,8 @@
 **Features:**
 
 - Enhance MacOS performance with timed{send,receive} functionality in unix domain socket[\#903](https://github.com/eclipse-iceoryx/iceoryx/issues/903)
+- Multi-Publisher support for DDS gateway and generic gateway class [\#900](https://github.com/eclipse-iceoryx/iceoryx/issues/900)
+- Replace `iox-gw-iceoryx2dds` and `iox-gw-dds2iceoryx` gateways with `iox-dds-gateway` [\#900](https://github.com/eclipse-iceoryx/iceoryx/issues/900)
 - Enhance posixCall[\#805](https://github.com/eclipse-iceoryx/iceoryx/issues/805)
 - New chunk available callback for the new C++[\#391](https://github.com/eclipse-iceoryx/iceoryx/issues/391)
 - Git Hooks on iceoryx[\#486](https://github.com/eclipse-iceoryx/iceoryx/issues/486)

diff --git a/cmake/cyclonedds/CMakeLists.txt b/cmake/cyclonedds/CMakeLists.txt
@@ -28,12 +28,6 @@ if(NOT N EQUAL 0)
     endif()
 endif()
 
-if(WIN32)
-    set(CREATE_PATH_COMMAND mkdir)
-else()
-    set(CREATE_PATH_COMMAND mkdir -p)
-endif(WIN32)
-
 if(DEFINED CMAKE_TOOLCHAIN_FILE)
     set(TOOLCHAIN_FILE "-DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}")
 endif()
@@ -67,12 +61,7 @@ function(fetch_and_install name)
     endif()
 
     # Build
-    execute_process(COMMAND ${CREATE_PATH_COMMAND} "${BUILD_DIR}"
-        RESULT_VARIABLE result
-        WORKING_DIRECTORY ${CMAKE_BINARY_DIR} )
-    if(result)
-        message(FATAL_ERROR "CMake step [create build dir] for ${name} failed: ${result}")
-    endif()
+    file(MAKE_DIRECTORY "${BUILD_DIR}")
 
     # Parse additional CMake flags
     set(ADDITIONAL_CMAKE_FLAGS "")

diff --git a/iceoryx_binding_c/CMakeLists.txt b/iceoryx_binding_c/CMakeLists.txt
@@ -14,7 +14,7 @@
 # limitations under the License.
 #
 # SPDX-License-Identifier: Apache-2.0
-cmake_minimum_required(VERSION 3.7)
+cmake_minimum_required(VERSION 3.5)
 
 set(IOX_VERSION_STRING "1.90.0")
 

diff --git a/iceoryx_dds/CMakeLists.txt b/iceoryx_dds/CMakeLists.txt
@@ -124,33 +124,21 @@ endif()
 target_compile_options(iceoryx_dds PRIVATE ${ICEORYX_WARNINGS} ${ICEORYX_SANITIZER_FLAGS})
 
 #
-########## build gateway apps ##########
+########## build gateway app ##########
 #
-add_executable(iox-gw-iceoryx2dds
-    source/iceoryx2dds_app/main.cpp
+add_executable(iox-dds-gateway
+    source/gateway/main.cpp
 )
-target_link_libraries(iox-gw-iceoryx2dds
+target_link_libraries(iox-dds-gateway
     iceoryx_posh::iceoryx_posh
     iceoryx_posh::iceoryx_posh_gateway
     iceoryx_posh::iceoryx_posh_config
     ${PROJECT_NAMESPACE}::iceoryx_dds
 )
 
-target_compile_options(iox-gw-iceoryx2dds PRIVATE ${ICEORYX_WARNINGS} ${ICEORYX_SANITIZER_FLAGS})
+target_compile_options(iox-dds-gateway PRIVATE ${ICEORYX_WARNINGS} ${ICEORYX_SANITIZER_FLAGS})
 
-add_executable(iox-gw-dds2iceoryx
-    source/dds2iceoryx_app/main.cpp
-)
-target_link_libraries(iox-gw-dds2iceoryx
-    iceoryx_posh::iceoryx_posh
-    iceoryx_posh::iceoryx_posh_gateway
-    iceoryx_posh::iceoryx_posh_config
-    ${PROJECT_NAMESPACE}::iceoryx_dds
-)
-
-target_compile_options(iox-gw-dds2iceoryx PRIVATE ${ICEORYX_WARNINGS} ${ICEORYX_SANITIZER_FLAGS})
-
-set_target_properties(iox-gw-iceoryx2dds iox-gw-dds2iceoryx iceoryx_dds
+set_target_properties(iox-dds-gateway iceoryx_dds
   PROPERTIES
     CXX_STANDARD_REQUIRED ON
     CXX_STANDARD ${ICEORYX_CXX_STANDARD}
@@ -167,7 +155,7 @@ endif()
 ########## export library ##########
 #
 setup_install_directories_and_export_package(
-    TARGETS iceoryx_dds iox-gw-iceoryx2dds iox-gw-dds2iceoryx
+    TARGETS iceoryx_dds iox-dds-gateway
     INCLUDE_DIRECTORY include/
 )
 
diff --git a/iceoryx_dds/examples/docker/publisher_node.entrypoint b/iceoryx_dds/examples/docker/publisher_node.entrypoint
@@ -29,5 +29,5 @@ EOF
 fi
 
 /usr/bin/iox-roudi &
-/usr/bin/iox-gw-iceoryx2dds &
+/usr/bin/iox-dds-gateway &
 /usr/bin/iox-cpp-publisher-untyped
diff --git a/iceoryx_dds/examples/docker/subscriber_node.entrypoint b/iceoryx_dds/examples/docker/subscriber_node.entrypoint
@@ -29,5 +29,5 @@ EOF
 fi
 
 /usr/bin/iox-roudi &
-/usr/bin/iox-gw-dds2iceoryx &
+/usr/bin/iox-dds-gateway &
 /usr/bin/iox-cpp-subscriber-untyped
diff --git a/iceoryx_dds/source/dds2iceoryx_app/main.cpp b/iceoryx_dds/source/dds2iceoryx_app/main.cpp
diff --git a/iceoryx_dds/source/iceoryx2dds_app/main.cpp → iceoryx_dds/source/gateway/main.cpp b/iceoryx_dds/source/iceoryx2dds_app/main.cpp → iceoryx_dds/source/gateway/main.cpp
@@ -15,8 +15,7 @@
 //
 // SPDX-License-Identifier: Apache-2.0
 
-#include <atomic>
-
+#include "iceoryx_dds/gateway/dds_to_iox.hpp"
 #include "iceoryx_dds/gateway/iox_to_dds.hpp"
 #include "iceoryx_dds/internal/log/logging.hpp"
 #include "iceoryx_hoofs/cxx/helplets.hpp"
@@ -63,22 +62,26 @@ int main()
         iox::posix::registerSignalHandler(iox::posix::Signal::TERM, ShutdownManager::scheduleShutdown);
 
     // Start application
-    iox::runtime::PoshRuntime::initRuntime("iox-gw-iceoryx2dds");
+    iox::runtime::PoshRuntime::initRuntime("iox-dds-gateway");
 
-    iox::dds::Iceoryx2DDSGateway<> gw;
+    iox::config::GatewayConfig gatewayConfig;
+    iox::dds::Iceoryx2DDSGateway<> iox2ddsGateway;
+    iox::dds::DDS2IceoryxGateway<> dds2ioxGateway;
 
     iox::config::TomlGatewayConfigParser::parse()
-        .and_then([&](auto config) { gw.loadConfiguration(config); })
+        .and_then([&](auto config) { gatewayConfig = config; })
         .or_else([&](auto err) {
             iox::dds::LogWarn() << "[Main] Failed to parse gateway config with error: "
                                 << iox::config::TOML_GATEWAY_CONFIG_FILE_PARSE_ERROR_STRINGS[err];
             iox::dds::LogWarn() << "[Main] Using default configuration.";
-            iox::config::GatewayConfig defaultConfig;
-            defaultConfig.setDefaults();
-            gw.loadConfiguration(defaultConfig);
+            gatewayConfig.setDefaults();
         });
 
-    gw.runMultithreaded();
+    iox2ddsGateway.loadConfiguration(gatewayConfig);
+    dds2ioxGateway.loadConfiguration(gatewayConfig);
+
+    iox2ddsGateway.runMultithreaded();
+    dds2ioxGateway.runMultithreaded();
 
     // Run until SIGINT or SIGTERM
     ShutdownManager::waitUntilShutdown();

diff --git a/iceoryx_dds/source/iceoryx_dds/dds/cyclone_data_reader.cpp b/iceoryx_dds/source/iceoryx_dds/dds/cyclone_data_reader.cpp
@@ -45,13 +45,25 @@ void iox::dds::CycloneDataReader::connect() noexcept
         auto subscriber = ::dds::sub::Subscriber(CycloneContext::getParticipant());
 
         auto qos = ::dds::sub::qos::DataReaderQos();
+
+        /// Is required for the Gateway. When two iceoryx publisher are publishing on the same
+        /// topic and one publisher is located on a remote iceoryx instance connected via a
+        /// bidirectional dds gateway (iceoryx2dds & dds2iceoryx) then every sample is delivered
+        /// twice to the local subscriber.
+        /// Once via the local iceoryx publisher and once via dds2iceoryx which received the
+        /// sample from the iceoryx2dds gateway. But when we ignore the local dds writer the
+        /// sample is not forwarded to the local dds gateway and delivered a second time.
+        auto* cqos = qos.delegate().ddsc_qos();
+        dds_qset_ignorelocal(cqos, DDS_IGNORELOCAL_PROCESS);
+        qos.delegate().ddsc_qos(cqos);
         qos << ::dds::core::policy::History::KeepAll();
 
         m_impl = ::dds::sub::DataReader<Mempool::Chunk>(subscriber, topic, qos);
 
         LogDebug() << "[CycloneDataReader] Connected to topic: " << topicString;
 
         m_isConnected.store(true, std::memory_order_relaxed);
+        free(cqos);
     }
 }
 

diff --git a/iceoryx_hoofs/testing/include/iceoryx_hoofs/testing/watch_dog.hpp b/iceoryx_hoofs/testing/include/iceoryx_hoofs/testing/watch_dog.hpp
@@ -30,12 +30,22 @@ using namespace iox::units::duration_literals;
 class Watchdog
 {
   public:
-    Watchdog(const iox::units::Duration& timeToWait) noexcept
+    explicit Watchdog(const iox::units::Duration& timeToWait) noexcept
         : m_timeToWait(timeToWait)
     {
     }
 
+    Watchdog(const Watchdog&) = delete;
+    Watchdog(Watchdog&&) = delete;
+    Watchdog& operator=(const Watchdog&) = delete;
+    Watchdog& operator=(Watchdog&&) = delete;
+
     ~Watchdog() noexcept
+    {
+        reset();
+    }
+
+    void reset() noexcept
     {
         if (m_watchdog.joinable())
         {
@@ -44,14 +54,25 @@ class Watchdog
         }
     }
 
-    void watchAndActOnFailure(std::function<void()> f) noexcept
+    void watchAndActOnFailure(const std::function<void()>& actionOnFailure = std::function<void()>()) noexcept
     {
+        reset();
+
         m_watchdog = std::thread([=] {
             m_watchdogSemaphore.timedWait(m_timeToWait)
                 .and_then([&](auto& result) {
                     if (result == iox::posix::SemaphoreWaitState::TIMEOUT)
                     {
-                        f();
+                        std::cerr << "Watchdog observed no reaction after " << m_timeToWait << ". Taking measures!"
+                                  << std::endl;
+                        if (actionOnFailure)
+                        {
+                            actionOnFailure();
+                        }
+                        else
+                        {
+                            std::terminate();
+                        }
                         EXPECT_TRUE(false);
                     }
                 })

diff --git a/iceoryx_posh/include/iceoryx_posh/gateway/gateway_base.hpp b/iceoryx_posh/include/iceoryx_posh/gateway/gateway_base.hpp
@@ -1,4 +1,5 @@
 // Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
+// Copyright (c) 2021 by Apex.AI Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -59,6 +60,7 @@ class GatewayBase
   protected:
     // Needed for unit testing
     GatewayBase() noexcept = default;
+    capro::Interfaces getInterface() const noexcept;
 
   protected:
     popo::InterfacePort m_interfaceImpl{nullptr};

diff --git a/iceoryx_posh/include/iceoryx_posh/gateway/toml_gateway_config_parser.hpp b/iceoryx_posh/include/iceoryx_posh/gateway/toml_gateway_config_parser.hpp
@@ -61,8 +61,8 @@ static constexpr const char GATEWAY_CONFIG_SERVICE_EVENT_NAME[] = "event";
 class TomlGatewayConfigParser
 {
   public:
-    static cxx::expected<GatewayConfig, TomlGatewayConfigParseError> parse();
-    static cxx::expected<GatewayConfig, TomlGatewayConfigParseError> parse(const roudi::ConfigFilePathString_t& path);
+    static cxx::expected<GatewayConfig, TomlGatewayConfigParseError>
+    parse(const roudi::ConfigFilePathString_t& path = roudi::ConfigFilePathString_t(DEFAULT_CONFIG_FILE_PATH));
 
   protected:
     static cxx::expected<TomlGatewayConfigParseError> validate(const cpptoml::table& parsedToml) noexcept;

diff --git a/iceoryx_posh/include/iceoryx_posh/internal/gateway/gateway_generic.inl b/iceoryx_posh/include/iceoryx_posh/internal/gateway/gateway_generic.inl
@@ -94,7 +94,12 @@ GatewayGeneric<channel_t, gateway_t>::addChannel(const capro::ServiceDescription
     }
     else
     {
-        auto result = channel_t::create(service, options);
+        auto result = channel_t::create({service.getServiceIDString(),
+                                         service.getInstanceIDString(),
+                                         service.getEventIDString(),
+                                         {0U, 0U, 0U, 0U},
+                                         this->getInterface()},
+                                        options);
         if (result.has_error())
         {
             return cxx::error<GatewayError>(GatewayError::UNSUCCESSFUL_CHANNEL_CREATION);

diff --git a/iceoryx_posh/source/gateway/gateway_base.cpp b/iceoryx_posh/source/gateway/gateway_base.cpp
@@ -1,4 +1,5 @@
 // Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
+// Copyright (c) 2021 by Apex.AI Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -35,6 +36,11 @@ GatewayBase::~GatewayBase() noexcept
     }
 }
 
+capro::Interfaces GatewayBase::getInterface() const noexcept
+{
+    return m_interfaceImpl.getCaProServiceDescription().getSourceInterface();
+}
+
 bool GatewayBase::getCaProMessage(CaproMessage& msg) noexcept
 {
     auto maybeCaproMessage = m_interfaceImpl.tryGetCaProMessage();
@@ -49,6 +55,5 @@ bool GatewayBase::getCaProMessage(CaproMessage& msg) noexcept
         return false;
     }
 }
-
 } // namespace gw
 } // namespace iox