Resolve issues identified while investigating #21 (#22)

* Use C++ std WaitSets by default Signed-off-by: Andrea Sorbini <[email protected]> * Use Rolling in README's Quick Start Signed-off-by: Andrea Sorbini <[email protected]> * Improved implementation of client::is_service_available for Connext Pro Signed-off-by: Andrea Sorbini <[email protected]> * Only add request header to typecode with Basic req/rep profile Signed-off-by: Andrea Sorbini <[email protected]> * Remove commented/unused code Signed-off-by: Andrea Sorbini <[email protected]> * Avoid topic name validation in get_info functions Signed-off-by: Andrea Sorbini <[email protected]> * Reduce shutdown period to 10ms Signed-off-by: Andrea Sorbini <[email protected]> * Pass HistoryQosPolicy to graph cache * Reset error string after looking up type support Signed-off-by: Andrea Sorbini <[email protected]> * Remove DDS-based WaitSet implementation Signed-off-by: Andrea Sorbini <[email protected]>
ros2 · Apr 13, 2021 · 61c74fd · 61c74fd
1 parent 3004323
commit 61c74fd
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Showing 12 changed files with 502 additions and 385 deletions.
diff --git a/rmw_connextdds_common/CMakeLists.txt b/rmw_connextdds_common/CMakeLists.txt
@@ -81,15 +81,6 @@ function(rtirmw_add_library)
             CACHE INTERNAL "")
     endif()
 
-    if(NOT "${RMW_CONNEXT_WAITSET_MODE}" STREQUAL "")
-        string(TOUPPER "${RMW_CONNEXT_WAITSET_MODE}" rmw_connext_waitset_mode)
-        if(rmw_connext_waitset_mode STREQUAL "STD")
-          list(APPEND private_defines "RMW_CONNEXT_CPP_STD_WAITSETS=1")
-        endif()
-        set(RMW_CONNEXT_WAITSET_MODE "${RMW_CONNEXT_WAITSET_MODE}"
-            CACHE INTERNAL "")
-    endif()
-
     target_compile_definitions(${_rti_build_NAME} PRIVATE ${private_defines})
 
     # Causes the visibility macros to use dllexport rather than dllimport,
@@ -138,7 +129,6 @@ set(RMW_CONNEXT_COMMON_SOURCE_CPP
     src/common/rmw_graph.cpp
     src/common/rmw_event.cpp
     src/common/rmw_impl.cpp
-    src/common/rmw_impl_waitset_dds.cpp
     src/common/rmw_impl_waitset_std.cpp
     src/common/rmw_info.cpp
     src/common/rmw_node.cpp
@@ -162,7 +152,6 @@ set(RMW_CONNEXT_COMMON_SOURCE_HPP
     include/rmw_connextdds/resource_limits.hpp
     include/rmw_connextdds/rmw_impl.hpp
     include/rmw_connextdds/rmw_api_impl.hpp
-    include/rmw_connextdds/rmw_waitset_dds.hpp
     include/rmw_connextdds/rmw_waitset_std.hpp
     include/rmw_connextdds/scope_exit.hpp
     include/rmw_connextdds/static_config.hpp

diff --git a/rmw_connextdds_common/include/rmw_connextdds/dds_api_ndds.hpp b/rmw_connextdds_common/include/rmw_connextdds/dds_api_ndds.hpp
@@ -41,4 +41,8 @@ typedef RMW_Connext_Uint8ArrayPtrSeq RMW_Connext_UntypedSampleSeq;
 // the guid with 0's.
 #define DDS_SampleIdentity_UNKNOWN      DDS_SAMPLEIDENTITY_DEFAULT
 
+// Convenience function to compare the first 12 bytes of the handle
+#define DDS_InstanceHandle_compare_prefix(ih_a_, ih_b_) \
+  memcmp((ih_a_)->keyHash.value, (ih_b_)->keyHash.value, 12)
+
 #endif  // RMW_CONNEXTDDS__DDS_API_NDDS_HPP_
diff --git a/rmw_connextdds_common/include/rmw_connextdds/dds_api_rtime.hpp b/rmw_connextdds_common/include/rmw_connextdds/dds_api_rtime.hpp
@@ -66,4 +66,8 @@ struct DDS_LifespanQosPolicy;
 // the guid with 0's.
 #define DDS_SampleIdentity_UNKNOWN      DDS_SAMPLE_IDENTITY_UNKNOWN
 
+// Convenience function to compare the first 12 bytes of the handle
+#define DDS_InstanceHandle_compare_prefix(ih_a_, ih_b_) \
+  memcmp((ih_a_)->octet, (ih_b_)->octet, 12)
+
 #endif  // RMW_CONNEXTDDS__DDS_API_RTIME_HPP_
diff --git a/rmw_connextdds_common/include/rmw_connextdds/rmw_impl.hpp b/rmw_connextdds_common/include/rmw_connextdds/rmw_impl.hpp
@@ -114,7 +114,6 @@ class RMW_Connext_Subscriber;
 class RMW_Connext_Client;
 class RMW_Connext_Service;
 
-#include "rmw_connextdds/rmw_waitset_dds.hpp"
 #include "rmw_connextdds/rmw_waitset_std.hpp"
 
 /******************************************************************************
@@ -410,13 +409,13 @@ class RMW_Connext_Subscriber
   qos(rmw_qos_profile_t * const qos);
 
   rmw_ret_t
-  loan_messages();
+  loan_messages(const bool update_condition = true);
 
   rmw_ret_t
   return_messages();
 
   rmw_ret_t
-  loan_messages_if_needed()
+  loan_messages_if_needed(const bool update_condition = true)
   {
     rmw_ret_t rc = RMW_RET_OK;
 
@@ -431,16 +430,12 @@ class RMW_Connext_Subscriber
         }
       }
       /* loan messages from reader */
-      rc = this->loan_messages();
+      rc = this->loan_messages(update_condition);
       if (RMW_RET_OK != rc) {
         return rc;
       }
     }
 
-    if (this->internal) {
-      return this->status_condition.trigger_loan_guard_condition(this->loan_len > 0);
-    }
-
     return RMW_RET_OK;
   }
 
@@ -483,7 +478,9 @@ class RMW_Connext_Subscriber
   has_data()
   {
     std::lock_guard<std::mutex> lock(this->loan_mutex);
-    if (RMW_RET_OK != this->loan_messages_if_needed()) {
+    if (RMW_RET_OK !=
+      this->loan_messages_if_needed(false /* update_condition */))
+    {
       RMW_CONNEXT_LOG_ERROR("failed to check loaned messages")
       return false;
     }