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Properly initialize CDR stream before using it for filtering #81

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merged 1 commit into from
Apr 7, 2022
Merged

Properly initialize CDR stream before using it for filtering #81

merged 1 commit into from
Apr 7, 2022

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asorbini
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@asorbini asorbini commented Apr 6, 2022

This PR fixes a test failure which occurs when the "alternative" implementation of content-filtered topic support is used (e.g. on Windows).

The failure was caused by an improper initialization of the CDR stream object passed to the built-in evaluate functions.

@asorbini asorbini mentioned this pull request Apr 6, 2022
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asorbini commented Apr 6, 2022

I'm not sure if the PR can be merged because of the code freeze. If we decided to merge it, then I would hope that #79 can also be merged, because at the moment the build of rmw_connextddsmicro is broken in master.

This was referenced Apr 7, 2022
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I'm not sure if the PR can be merged because of the code freeze. If we decided to merge it, then I would hope that #79 can also be merged, because at the moment the build of rmw_connextddsmicro is broken in master.

We can still merge fixes right now. Both this one and #79 look like fixes, so they both are candidates. I'll review both of them.

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clalancette approved these changes Apr 7, 2022
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Looks reasonable to me. I'll run CI on it next.

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CI:

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Windows Build Status

@clalancette clalancette merged commit ca23cc5 into master Apr 7, 2022
@delete-merged-branch delete-merged-branch bot deleted the asorbini/cdr-stream-init branch April 7, 2022 17:50
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This change breaks support for Connext 5.3.1. I get the following build error:

--- stderr: rmw_connextdds_common                                                                                         
In file included from /opt/rti.com/rti_connext_dds-5.3.1/include/ndds/cdr/cdr_stream.h:1560,
                 from /opt/rti.com/rti_connext_dds-5.3.1/include/ndds/dds_c/dds_c_common.h:24,
                 from /opt/rti.com/rti_connext_dds-5.3.1/include/ndds/ndds_c.h:68,
                 from /home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/include/rmw_connextdds/dds_api_ndds.hpp:18,
                 from /home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/include/rmw_connextdds/dds_api.hpp:24,
                 from /home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/include/rmw_connextdds/custom_sql_filter.hpp:17,
                 from /home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp:21:
/home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp: In function ‘DDS_CookieSeq* RTI_CustomSqlFilter_writer_evaluate(void*, void*, const void*, const DDS_FilterSampleInfo*)’:
/home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp:544:10: error: base operand of ‘->’ has non-pointer type ‘RTICdrStream’
  544 |     if (!RTICdrStream_deserializeCdrEncapsulationAndSetDefault(&cdr_stream)) {
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp:544:10: error: base operand of ‘->’ has non-pointer type ‘RTICdrStream’
  544 |     if (!RTICdrStream_deserializeCdrEncapsulationAndSetDefault(&cdr_stream)) {
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp:544:10: error: base operand of ‘->’ has non-pointer type ‘RTICdrStream’
  544 |     if (!RTICdrStream_deserializeCdrEncapsulationAndSetDefault(&cdr_stream)) {
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp:544:10: error: base operand of ‘->’ has non-pointer type ‘RTICdrStream’
  544 |     if (!RTICdrStream_deserializeCdrEncapsulationAndSetDefault(&cdr_stream)) {
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp:544:10: error: base operand of ‘->’ has non-pointer type ‘RTICdrStream’
  544 |     if (!RTICdrStream_deserializeCdrEncapsulationAndSetDefault(&cdr_stream)) {
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp:544:10: error: base operand of ‘->’ has non-pointer type ‘RTICdrStream’
  544 |     if (!RTICdrStream_deserializeCdrEncapsulationAndSetDefault(&cdr_stream)) {
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp:544:10: error: base operand of ‘->’ has non-pointer type ‘RTICdrStream’
  544 |     if (!RTICdrStream_deserializeCdrEncapsulationAndSetDefault(&cdr_stream)) {
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp:544:10: error: base operand of ‘->’ has non-pointer type ‘RTICdrStream’
  544 |     if (!RTICdrStream_deserializeCdrEncapsulationAndSetDefault(&cdr_stream)) {
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp: In function ‘DDS_Boolean RTI_CustomSqlFilter_evaluate(void*, void*, const void*, const DDS_FilterSampleInfo*)’:
/home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp:717:8: error: base operand of ‘->’ has non-pointer type ‘RTICdrStream’
  717 |   if (!RTICdrStream_deserializeCdrEncapsulationAndSetDefault(&cdr_stream)) {
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp:717:8: error: base operand of ‘->’ has non-pointer type ‘RTICdrStream’
  717 |   if (!RTICdrStream_deserializeCdrEncapsulationAndSetDefault(&cdr_stream)) {
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp:717:8: error: base operand of ‘->’ has non-pointer type ‘RTICdrStream’
  717 |   if (!RTICdrStream_deserializeCdrEncapsulationAndSetDefault(&cdr_stream)) {
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp:717:8: error: base operand of ‘->’ has non-pointer type ‘RTICdrStream’
  717 |   if (!RTICdrStream_deserializeCdrEncapsulationAndSetDefault(&cdr_stream)) {
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp:717:8: error: base operand of ‘->’ has non-pointer type ‘RTICdrStream’
  717 |   if (!RTICdrStream_deserializeCdrEncapsulationAndSetDefault(&cdr_stream)) {
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp:717:8: error: base operand of ‘->’ has non-pointer type ‘RTICdrStream’
  717 |   if (!RTICdrStream_deserializeCdrEncapsulationAndSetDefault(&cdr_stream)) {
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp:717:8: error: base operand of ‘->’ has non-pointer type ‘RTICdrStream’
  717 |   if (!RTICdrStream_deserializeCdrEncapsulationAndSetDefault(&cdr_stream)) {
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jacob/ws/latest/src/ros2/rmw_connextdds/rmw_connextdds_common/src/ndds/custom_sql_filter.cpp:717:8: error: base operand of ‘->’ has non-pointer type ‘RTICdrStream’
  717 |   if (!RTICdrStream_deserializeCdrEncapsulationAndSetDefault(&cdr_stream)) {
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/rmw_connextdds_common_pro.dir/build.make:349: CMakeFiles/rmw_connextdds_common_pro.dir/src/ndds/custom_sql_filter.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:78: CMakeFiles/rmw_connextdds_common_pro.dir/all] Error 2
make: *** [Makefile:141: all] Error 2

If I revert this PR, I am able to build again.

@asorbini asorbini mentioned this pull request Apr 14, 2022
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@jacobperron Thank you for catching this error. It seems like the macro definition changed slightly between versions. The issue should be fixed with #82.

cwecht pushed a commit to cwecht/rmw_connextdds that referenced this pull request Mar 16, 2023
@asorbini @cwecht
Properly initialize CDR stream before using it for filtering (ros2#81)
be74aa2 
Signed-off-by: Andrea Sorbini <[email protected]>
asorbini added a commit that referenced this pull request Mar 30, 2023
@cwecht @ivanpauno
@asorbini @mauropasse @jacobperron @paudrow @nuclearsandwich @alsora @clalancette @fujitatomoya
Event listeners distinct (#109)
3a88dad 
* Add sequence numbers to message info structure (#74)

* Fill reception_sequence_number/publication_sequence_number in all rmw_take_*_with_info() functions

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

* Add rmw_feature_supported()

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

* add stub for content filtered topic (#77)

* add stub for content filtered topic

Signed-off-by: Chen Lihui <[email protected]>

* Add support for user-specified content filters (#68)

* Add support for user-specified content filters.

Signed-off-by: Andrea Sorbini <[email protected]>

* - Resolve memory leak of custom content-filter resources
- Add missing package dependencies for rti_connext_dds_custom_sql_filter
- Clean up all participants upon factory finalization
- Reset context state upon finalization (rmw_connextddsmicro)
Signed-off-by: Andrea Sorbini <[email protected]>

* Assume non-null options argument
Signed-off-by: Andrea Sorbini <[email protected]>

* - Return error when retrieving content-filter from a subscription that doesn't have one.
- Rename internal functions related to content-filters
Signed-off-by: Andrea Sorbini <[email protected]>

* Fix compilation error, oops.
Signed-off-by: Andrea Sorbini <[email protected]>

* - Define RMW_CONNEXT_DEBUG when building Debug libraries.
- Make sure participant is enabled before deleting contained entities when using Connext debug libraries.
Signed-off-by: Andrea Sorbini <[email protected]>

* Resolve memory leak for finalization on error.
Signed-off-by: Andrea Sorbini <[email protected]>

* Rename content filter public API.
Signed-off-by: Andrea Sorbini <[email protected]>

* Add client/service QoS getters (#67)

Signed-off-by: Mauro Passerino <[email protected]>

* Changelogs

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

* 0.8.1

* Fix cpplint errors (#69)

* Use static_cast instead of C-style cast

Fixes cpplint error.

Signed-off-by: Jacob Perron <[email protected]>

* Update NOLINT category

Relates to ament/ament_lint#324

Signed-off-by: Jacob Perron <[email protected]>

* 0.8.2

Signed-off-by: Audrow Nash <[email protected]>

* Update rti-connext-dds dependency to 6.0.1. (#71)

Now that this package is available in the ROS bootstrap repository for Ubuntu Focal and Jammy we can bump the expected dependency version.

* 0.8.3

* Add rmw listener apis (#44)

* Add stubs for setting listener callbacks

Signed-off-by: Mauro Passerino <[email protected]>

* Address PR suggestions

Signed-off-by: Mauro Passerino <[email protected]>

* Fix linter issues

Signed-off-by: Mauro Passerino <[email protected]>

Co-authored-by: Mauro Passerino <[email protected]>
Co-authored-by: Alberto Soragna <[email protected]>

* Changelog. (#73)

Signed-off-by: Chris Lalancette <[email protected]>

* 0.9.0

* add stub for content filtered topic

Signed-off-by: Chen Lihui <[email protected]>

* * Rebased branch asorbini/cft on top of 0.9.0.
* Resolved CFT finalization issues on error.
* Verified and cleaned up build for rmw_connextddsmicro.
Signed-off-by: Andrea Sorbini <[email protected]>

* Move custom SQL filter to rmw_connextdds_common
Signed-off-by: Andrea Sorbini <[email protected]>

* Try to resolve linking error on Windows.
Signed-off-by: Andrea Sorbini <[email protected]>

* Optionally disable writer-side CFT optimizations to support Windows.
Signed-off-by: Andrea Sorbini <[email protected]>

* No need to declare private CFT function on Windows.
Signed-off-by: Andrea Sorbini <[email protected]>

* remove stub implementation for ContentFilteredTopic.

Signed-off-by: Tomoya Fujita <[email protected]>

* address cpplint error.

Signed-off-by: Tomoya Fujita <[email protected]>

* Avoid conversion warnings on Windows.
Signed-off-by: Andrea Sorbini <[email protected]>

* Use strtol instead of sscanf to avoid warnings on Windows.
Signed-off-by: Andrea Sorbini <[email protected]>

* Avoid finalizing participants if factory is not available.
Signed-off-by: Andrea Sorbini <[email protected]>

Co-authored-by: mauropasse <[email protected]>
Co-authored-by: Ivan Santiago Paunovic <[email protected]>
Co-authored-by: Jacob Perron <[email protected]>
Co-authored-by: Audrow Nash <[email protected]>
Co-authored-by: Steven! Ragnarök <[email protected]>
Co-authored-by: Steven! Ragnarök <[email protected]>
Co-authored-by: iRobot ROS <[email protected]>
Co-authored-by: Mauro Passerino <[email protected]>
Co-authored-by: Alberto Soragna <[email protected]>
Co-authored-by: Chris Lalancette <[email protected]>
Co-authored-by: Chen Lihui <[email protected]>
Co-authored-by: Tomoya Fujita <[email protected]>

* 0.10.0

Signed-off-by: Audrow Nash <[email protected]>

* Update launch_testing_ros output filter prefixes for Connext6 (#80)

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

* Properly initialize CDR stream before using it for filtering (#81)

Signed-off-by: Andrea Sorbini <[email protected]>

* Exclude missing sample info fields when building rmw_connextddsmicro (#79)

* Exclude missing sample info fields when building micro.
* Report features individually for each RMW implementation.
* Return special value for unsupported sequence numbers.

Signed-off-by: Andrea Sorbini <[email protected]>
Co-authored-by: Chris Lalancette <[email protected]>

* 0.11.0

Signed-off-by: Audrow Nash <[email protected]>

* Resolve build error with RTI Connext DDS 5.3.1 (#82)

Signed-off-by: Andrea Sorbini <[email protected]>

* Changelog.

Signed-off-by: Chris Lalancette <[email protected]>

* 0.11.1

* Use destinct callbacks for each event type

---------

Signed-off-by: Ivan Santiago Paunovic <[email protected]>
Signed-off-by: Chen Lihui <[email protected]>
Signed-off-by: Audrow Nash <[email protected]>
Signed-off-by: Andrea Sorbini <[email protected]>
Signed-off-by: Chris Lalancette <[email protected]>
Co-authored-by: Ivan Santiago Paunovic <[email protected]>
Co-authored-by: Chen Lihui <[email protected]>
Co-authored-by: Andrea Sorbini <[email protected]>
Co-authored-by: mauropasse <[email protected]>
Co-authored-by: Jacob Perron <[email protected]>
Co-authored-by: Audrow Nash <[email protected]>
Co-authored-by: Steven! Ragnarök <[email protected]>
Co-authored-by: Steven! Ragnarök <[email protected]>
Co-authored-by: iRobot ROS <[email protected]>
Co-authored-by: Mauro Passerino <[email protected]>
Co-authored-by: Alberto Soragna <[email protected]>
Co-authored-by: Chris Lalancette <[email protected]>
Co-authored-by: Tomoya Fujita <[email protected]>
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