Iox #65 initial implementation cyclonedds to iox gateway

iceoryx_dds_gateway/CMakeLists.txt → iceoryx_dds/CMakeLists.txt

@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.7)
 
-set(iceoryx_dds_gateway_VERSION 0.1.0)
-project(iceoryx_dds_gateway VERSION ${iceoryx_dds_gateway_VERSION})
+file (STRINGS "../VERSION" iceoryx_dds_VERSION)
+project(iceoryx_dds VERSION ${iceoryx_dds_VERSION})
 
 option(BUILD_TESTS "build test binaries")
 
@@ -15,7 +15,7 @@ include(IceoryxPackageHelper)
 #
 setup_package_name_and_create_files(
     NAME ${PROJECT_NAME}
-    NAMESPACE iceoryx_dds_gateway
+    NAMESPACE iceoryx_dds
     PROJECT_PREFIX ${PREFIX}
 )
 
@@ -34,33 +34,34 @@ endif()
 #
 ########## build building-block library ##########
 #
-add_library(ioxdds
+add_library(iceoryx_dds
     STATIC
-    source/ioxdds/log/logging.cpp
+    source/iceoryx_dds/log/logging.cpp
 )
-add_library(${PROJECT_NAMESPACE}::ioxdds ALIAS ioxdds)
+add_library(${PROJECT_NAMESPACE}::iceoryx_dds ALIAS iceoryx_dds)
 
-target_compile_options(ioxdds PUBLIC -std=c++11)
+target_compile_options(iceoryx_dds PUBLIC -std=c++11)
 
-target_include_directories(ioxdds
+target_include_directories(iceoryx_dds
     PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:include/${PREFIX}>
 )
-target_link_libraries(ioxdds
+target_link_libraries(iceoryx_dds
     PRIVATE
     iceoryx_posh::iceoryx_posh
     iceoryx_utils::iceoryx_utils
 )
 
 if(USE_CYCLONE_DDS)
-    target_sources(ioxdds
+    target_sources(iceoryx_dds
         PRIVATE
-        source/ioxdds/dds/cyclone_data_writer.cpp
+        source/iceoryx_dds/dds/cyclone_data_reader.cpp
+        source/iceoryx_dds/dds/cyclone_data_writer.cpp
     )
-    target_compile_definitions(ioxdds PUBLIC -DUSE_CYCLONE_DDS)
+    target_compile_definitions(iceoryx_dds PUBLIC -DUSE_CYCLONE_DDS)
     idl_ddscxx_generate(mempoolMessages_lib "msg/Mempool.idl")
-    target_link_libraries(ioxdds
+    target_link_libraries(iceoryx_dds
         PUBLIC
         CycloneDDS_CXX_API::ddscxx
         mempoolMessages_lib
@@ -70,12 +71,20 @@ endif()
 #
 ########## build gateway apps ##########
 #
-add_executable(gateway_iox2dds
-    source/iox2dds_app/main.cpp
+add_executable(gateway_iceoryx2dds
+    source/iceoryx2dds_app/main.cpp
 )
-target_link_libraries(gateway_iox2dds
+target_link_libraries(gateway_iceoryx2dds
     iceoryx_posh::iceoryx_posh
-    ${PROJECT_NAMESPACE}::ioxdds
+    ${PROJECT_NAMESPACE}::iceoryx_dds
+)
+
+add_executable(gateway_dds2iceoryx
+    source/dds2iceoryx_app/main.cpp
+)
+target_link_libraries(gateway_dds2iceoryx
+    iceoryx_posh::iceoryx_posh
+    ${PROJECT_NAMESPACE}::iceoryx_dds
 )
 
 #
@@ -89,7 +98,7 @@ endif(BUILD_TESTS)
 ########## export library ##########
 #
 setup_install_directories_and_export_package(
-    TARGETS gateway_iox2dds
+    TARGETS gateway_iceoryx2dds gateway_dds2iceoryx
     INCLUDE_DIRECTORY include/
 )
 

iceoryx_dds/include/iceoryx_dds/dds/cyclone_data_reader.hpp

@@ -0,0 +1,35 @@
+// Copyright (c) 2020 by Robert Bosch GmbH. 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.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef IOX_DDS_DDS_CYCLONE_DATA_READER_HPP
+#define IOX_DDS_DDS_CYCLONE_DATA_READER_HPP
+
+#include "iceoryx_dds/dds/data_reader.hpp"
+
+namespace iox
+{
+namespace dds
+{
+
+/// @note Implementation coming soon.
+class CycloneDataReader : DataReader<CycloneDataReader>
+{
+  public:
+    CycloneDataReader(IdString serviceId, IdString instanceId, IdString eventId) noexcept;
+};
+
+} // namespace dds
+} // namespace iox
+
+#endif // IOX_DDS_DDS_CYCLONE_DATA_READER_HPP

iceoryx_dds_gateway/include/ioxdds/dds/cyclone_data_writer.hpp → iceoryx_dds/include/iceoryx_dds/dds/cyclone_data_writer.hpp

@@ -11,13 +11,15 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef IOX_DDS_GATEWAY_DDS_CYCLONE_DATA_WRITER_HPP
-#define IOX_DDS_GATEWAY_DDS_CYCLONE_DATA_WRITER_HPP
 
-#include <Mempool_DCPS.hpp>
+#ifndef IOX_DDS_DDS_CYCLONE_DATA_WRITER_HPP
+#define IOX_DDS_DDS_CYCLONE_DATA_WRITER_HPP
+
+#include "iceoryx_dds/dds/data_writer.hpp"
+
 #include <dds/dds.hpp>
+#include <Mempool_DCPS.hpp>
 
-#include "ioxdds/dds/data_writer.hpp"
 
 namespace iox
 {
@@ -61,4 +63,4 @@ class CycloneDataWriter : public iox::dds::DataWriter<CycloneDataWriter>
 } // namespace dds
 } // namespace iox
 
-#endif // IOX_DDS_GATEWAY_DDS_CYCLONE_DATA_WRITER_HPP
+#endif // IOX_DDS_DDS_CYCLONE_DATA_WRITER_HPP

iceoryx_dds/include/iceoryx_dds/dds/data_reader.hpp

@@ -0,0 +1,34 @@
+// Copyright (c) 2020 by Robert Bosch GmbH. 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.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef IOX_DDS_DDS_DATA_READER_HPP
+#define IOX_DDS_DDS_DATA_READER_HPP
+
+#include "iceoryx_utils/cxx/string.hpp"
+
+namespace iox
+{
+namespace dds
+{
+using IdString = iox::cxx::string<100u>;
+
+/// @note Implementation coming soon.
+template <typename Impl>
+class DataReader
+{
+};
+}
+}
+
+#endif // IOX_DDS_DDS_DATA_READER_HPP

iceoryx_dds_gateway/include/ioxdds/dds/data_writer.hpp → iceoryx_dds/include/iceoryx_dds/dds/data_writer.hpp

@@ -11,12 +11,13 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef IOX_DDS_GATEWAY_DDS_DATA_WRITER_HPP
-#define IOX_DDS_GATEWAY_DDS_DATA_WRITER_HPP
 
-#include <cstdint>
+#ifndef IOX_DDS_DDS_DATA_WRITER_HPP
+#define IOX_DDS_DDS_DATA_WRITER_HPP
+
+#include "iceoryx_utils/cxx/string.hpp"
 
-#include <iceoryx_utils/cxx/string.hpp>
+#include <cstdint>
 
 namespace iox
 {
@@ -72,6 +73,6 @@ class DataWriter
 } // namespace dds
 } // namespace iox
 
-#include "ioxdds/internal/dds/data_writer.inl"
+#include "iceoryx_dds/internal/dds/data_writer.inl"
 
-#endif // IOX_DDS_GATEWAY_DDS_DATA_WRITER_HPP
+#endif // IOX_DDS_DDS_DATA_WRITER_HPP

iceoryx_dds/include/iceoryx_dds/dds/dds_config.hpp

@@ -0,0 +1,32 @@
+// Copyright (c) 2020 by Robert Bosch GmbH. 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.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef IOX_DDS_DDS_CONFIG_HPP
+#define IOX_DDS_DDS_CONFIG_HPP
+
+#include "iceoryx_posh/iceoryx_posh_types.hpp"
+
+namespace iox
+{
+namespace dds
+{
+static constexpr units::Duration DISCOVERY_PERIOD = 1000_ms;
+static constexpr units::Duration FORWARDING_PERIOD = 50_ms;
+static constexpr uint32_t SUBSCRIBER_CACHE_SIZE = 128u;
+static constexpr uint32_t MAX_CHANNEL_NUMBER = iox::MAX_PORT_NUMBER;
+
+} // namespace dds
+} // namespace iox
+
+#endif // IOX_DDS_DDS_CONFIG_HPP

iceoryx_dds_gateway/include/ioxdds/dds/dds_types.hpp → iceoryx_dds/include/iceoryx_dds/dds/dds_types.hpp

@@ -11,13 +11,13 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef IOX_DDS_GATEWAY_DDS_DDS_TYPES_HPP
-#define IOX_DDS_GATEWAY_DDS_DDS_TYPES_HPP
 
-#include "ioxdds/dds/data_writer.hpp"
+#ifndef IOX_DDS_DDS_DDS_TYPES_HPP
+#define IOX_DDS_DDS_DDS_TYPES_HPP
 
 #ifdef USE_CYCLONE_DDS
-#include "ioxdds/dds/cyclone_data_writer.hpp"
+#include "iceoryx_dds/dds/cyclone_data_reader.hpp"
+#include "iceoryx_dds/dds/cyclone_data_writer.hpp"
 #else
 #error "A DDS implementation must be provided."
 #endif
@@ -26,13 +26,17 @@ namespace iox
 {
 namespace dds
 {
+// Fixed strings
+using IdString = iox::cxx::string<100u>;
+
 // DDS implementation defined with compiler flags
 #ifdef USE_CYCLONE_DDS
+using data_reader_t = iox::dds::CycloneDataReader;
 using data_writer_t = iox::dds::CycloneDataWriter;
 #else
 #error "A DDS implementation must be set."
 #endif
 }
 }
 
-#endif // IOX_DDS_GATEWAY_DDS_DDS_TYPES_HPP
+#endif // IOX_DDS_DDS_DDS_TYPES_HPP

iceoryx_dds/include/iceoryx_dds/gateway/channel.hpp

@@ -0,0 +1,88 @@
+// Copyright (c) 2020 by Robert Bosch GmbH. 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.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef IOX_DDS_GATEWAY_CHANNEL_HPP
+#define IOX_DDS_GATEWAY_CHANNEL_HPP
+
+#include "iceoryx_dds/dds/dds_config.hpp"
+#include "iceoryx_posh/capro/service_description.hpp"
+#include "iceoryx_utils/cxx/expected.hpp"
+#include "iceoryx_utils/internal/objectpool/objectpool.hpp"
+
+#include <memory>
+
+namespace iox
+{
+namespace dds
+{
+
+enum class ChannelError : uint8_t
+{
+    OBJECT_POOL_FULL
+};
+
+///
+/// @class Channel
+/// @brief A data structure representing a channel between Iceoryx and DDS.
+///
+/// The class couples related iceoryx and dds entities that communicate with eachother to form the communication
+/// channel.
+/// For example: An Iceoryx subscriber and its corresponding DDS data writer, which communicate eachother to form
+///              an outbound communication channel.
+/// These entites are conceptualized as channel "Terminals".
+///
+/// The structure holds pointers to the instances of the terminals.
+/// The terminals can be created and managed externally, in which case the structure only serves as a means of coupling
+/// the two.
+/// This can be achieved by simply calling the constructor with pointers to them.
+///
+/// Alternatively, the class can manage the terminals internally in a static object pool, automatically
+/// cleaning them up when the channel is discarded.
+/// This can be achieved via the Channel::create method.
+///
+template <typename IceoryxTerminal, typename DDSTerminal>
+class Channel
+{
+    using IceoryxTerminalPtr = std::shared_ptr<IceoryxTerminal>;
+    using IceoryxTerminalPool = iox::cxx::ObjectPool<IceoryxTerminal, MAX_CHANNEL_NUMBER>;
+    using DDSTerminalPtr = std::shared_ptr<DDSTerminal>;
+    using DDSTerminalPool = iox::cxx::ObjectPool<DDSTerminal, MAX_CHANNEL_NUMBER>;
+
+  public:
+    Channel(const iox::capro::ServiceDescription& service,
+            const IceoryxTerminalPtr iceoryxTerminal,
+            const DDSTerminalPtr ddsTerminal) noexcept;
+    constexpr bool operator==(const Channel<IceoryxTerminal, DDSTerminal>& rhs) const noexcept;
+
+    static iox::cxx::expected<Channel, ChannelError> create(const iox::capro::ServiceDescription& service) noexcept;
+
+    iox::capro::ServiceDescription getService() const noexcept;
+    IceoryxTerminalPtr getIceoryxTerminal() const noexcept;
+    DDSTerminalPtr getDDSTerminal() const noexcept;
+
+  private:
+    static IceoryxTerminalPool s_iceoryxTerminals;
+    static DDSTerminalPool s_ddsTerminals;
+
+    iox::capro::ServiceDescription m_service;
+    IceoryxTerminalPtr m_iceoryxTerminal;
+    DDSTerminalPtr m_ddsTerminal;
+};
+
+} // namespace dds
+} // namespace iox
+
+#include "iceoryx_dds/internal/gateway/channel.inl"
+
+#endif // IOX_DDS_DDS_DDS_TYPES_HPP