rmw_node_t *
create_node(const char * implementation_identifier, const char * name, size_t domain_id)
{
DDSDomainParticipantFactory * dpf_ = DDSDomainParticipantFactory::get_instance();
if (!dpf_) {
RMW_SET_ERROR_MSG("failed to get participant factory");
return NULL;
}
// use loopback interface to enable cross vendor communication
DDS_DomainParticipantQos participant_qos;
DDS_ReturnCode_t status = dpf_->get_default_participant_qos(participant_qos);
if (status != DDS_RETCODE_OK) {
RMW_SET_ERROR_MSG("failed to get default participant qos");
return NULL;
}
// forces local traffic to be sent over loopback,
// even if a more efficient transport (such as shared memory) is installed
// (in which case traffic will be sent over both transports)
status = DDSPropertyQosPolicyHelper::add_property(
participant_qos.property,
"dds.transport.UDPv4.builtin.ignore_loopback_interface",
"0",
DDS_BOOLEAN_FALSE);
if (status != DDS_RETCODE_OK) {
RMW_SET_ERROR_MSG("failed to add qos property");
return NULL;
}
status = DDSPropertyQosPolicyHelper::add_property(
participant_qos.property,
"dds.transport.use_510_compatible_locator_kinds",
"1",
DDS_BOOLEAN_FALSE);
if (status != DDS_RETCODE_OK) {
RMW_SET_ERROR_MSG("failed to add qos property");
return NULL;
}
DDS_DomainId_t domain = static_cast<DDS_DomainId_t>(domain_id);
DDSDomainParticipant * participant = dpf_->create_participant(
domain, participant_qos, NULL,
DDS_STATUS_MASK_NONE);
if (!participant) {
RMW_SET_ERROR_MSG("failed to create participant");
return NULL;
}
rmw_node_t * node_handle = nullptr;
ConnextNodeInfo * node_info = nullptr;
rmw_guard_condition_t * graph_guard_condition = nullptr;
CustomPublisherListener * publisher_listener = nullptr;
CustomSubscriberListener * subscriber_listener = nullptr;
void * buf = nullptr;
DDSDataReader * data_reader = nullptr;
DDSPublicationBuiltinTopicDataDataReader * builtin_publication_datareader = nullptr;
DDSSubscriptionBuiltinTopicDataDataReader * builtin_subscription_datareader = nullptr;
DDSSubscriber * builtin_subscriber = participant->get_builtin_subscriber();
if (!builtin_subscriber) {
RMW_SET_ERROR_MSG("builtin subscriber handle is null");
goto fail;
}
// setup publisher listener
data_reader = builtin_subscriber->lookup_datareader(DDS_PUBLICATION_TOPIC_NAME);
builtin_publication_datareader =
static_cast<DDSPublicationBuiltinTopicDataDataReader *>(data_reader);
if (!builtin_publication_datareader) {
RMW_SET_ERROR_MSG("builtin publication datareader handle is null");
goto fail;
}
graph_guard_condition = create_guard_condition(implementation_identifier);
if (!graph_guard_condition) {
RMW_SET_ERROR_MSG("failed to create graph guard condition");
goto fail;
}
buf = rmw_allocate(sizeof(CustomPublisherListener));
if (!buf) {
RMW_SET_ERROR_MSG("failed to allocate memory");
goto fail;
}
RMW_TRY_PLACEMENT_NEW(
publisher_listener, buf, goto fail, CustomPublisherListener,
implementation_identifier, graph_guard_condition)
buf = nullptr;
builtin_publication_datareader->set_listener(publisher_listener, DDS_DATA_AVAILABLE_STATUS);
data_reader = builtin_subscriber->lookup_datareader(DDS_SUBSCRIPTION_TOPIC_NAME);
builtin_subscription_datareader =
static_cast<DDSSubscriptionBuiltinTopicDataDataReader *>(data_reader);
if (!builtin_subscription_datareader) {
RMW_SET_ERROR_MSG("builtin subscription datareader handle is null");
goto fail;
}
// setup subscriber listener
buf = rmw_allocate(sizeof(CustomSubscriberListener));
if (!buf) {
RMW_SET_ERROR_MSG("failed to allocate memory");
goto fail;
}
RMW_TRY_PLACEMENT_NEW(
subscriber_listener, buf, goto fail, CustomSubscriberListener,
implementation_identifier, graph_guard_condition)
buf = nullptr;
builtin_subscription_datareader->set_listener(subscriber_listener, DDS_DATA_AVAILABLE_STATUS);
node_handle = rmw_node_allocate();
if (!node_handle) {
RMW_SET_ERROR_MSG("failed to allocate memory for node handle");
goto fail;
}
node_handle->implementation_identifier = implementation_identifier;
node_handle->data = participant;
node_handle->name =
reinterpret_cast<const char *>(rmw_allocate(sizeof(char) * strlen(name) + 1));
if (!node_handle->name) {
RMW_SET_ERROR_MSG("failed to allocate memory for node name");
goto fail;
}
memcpy(const_cast<char *>(node_handle->name), name, strlen(name) + 1);
buf = rmw_allocate(sizeof(ConnextNodeInfo));
if (!buf) {
RMW_SET_ERROR_MSG("failed to allocate memory");
goto fail;
}
RMW_TRY_PLACEMENT_NEW(node_info, buf, goto fail, ConnextNodeInfo)
buf = nullptr;
node_info->participant = participant;
node_info->publisher_listener = publisher_listener;
node_info->subscriber_listener = subscriber_listener;
node_info->graph_guard_condition = graph_guard_condition;
node_handle->implementation_identifier = implementation_identifier;
node_handle->data = node_info;
return node_handle;
fail:
status = dpf_->delete_participant(participant);
if (status != DDS_RETCODE_OK) {
std::stringstream ss;
ss << "leaking participant while handling failure at " <<
__FILE__ << ":" << __LINE__;
(std::cerr << ss.str()).flush();
}
if (graph_guard_condition) {
rmw_ret_t ret = destroy_guard_condition(implementation_identifier, graph_guard_condition);
if (ret != RMW_RET_OK) {
std::stringstream ss;
ss << "failed to destroy guard condition while handling failure at " <<
__FILE__ << ":" << __LINE__;
(std::cerr << ss.str()).flush();
}
}
if (publisher_listener) {
RMW_TRY_DESTRUCTOR_FROM_WITHIN_FAILURE(
publisher_listener->~CustomPublisherListener(), CustomPublisherListener)
rmw_free(publisher_listener);
}
if (subscriber_listener) {
RMW_TRY_DESTRUCTOR_FROM_WITHIN_FAILURE(
subscriber_listener->~CustomSubscriberListener(), CustomSubscriberListener)
rmw_free(subscriber_listener);
}
if (node_handle) {
if (node_handle->name) {
rmw_free(const_cast<char *>(node_handle->name));
}
rmw_free(node_handle);
}
if (node_info) {
RMW_TRY_DESTRUCTOR_FROM_WITHIN_FAILURE(
node_info->~ConnextNodeInfo(), ConnextNodeInfo)
rmw_free(node_info);
}
if (buf) {
rmw_free(buf);
}
return NULL;
}
rmw_node_t *
rmw_create_node(const char * name, size_t domain_id)
{
if (!name) {
RMW_SET_ERROR_MSG("name is null");
return nullptr;
}
DDS::DomainParticipantFactory_var dp_factory = DDS::DomainParticipantFactory::get_instance();
if (!dp_factory) {
RMW_SET_ERROR_MSG("failed to get domain participant factory");
return nullptr;
}
DDS::DomainId_t domain = static_cast<DDS::DomainId_t>(domain_id);
DDS::DomainParticipant * participant = nullptr;
// Make sure that the OSPL_URI is set, otherwise node creation will fail.
char * ospl_uri = nullptr;
const char * ospl_uri_env = "OSPL_URI";
#ifndef _WIN32
ospl_uri = getenv(ospl_uri_env);
#else
size_t ospl_uri_size;
_dupenv_s(&ospl_uri, &ospl_uri_size, ospl_uri_env);
#endif
if (!ospl_uri) {
RMW_SET_ERROR_MSG("OSPL_URI not set");
return nullptr;
} else {
#ifdef _WIN32
free(ospl_uri);
#endif
}
// Ensure the ROS_DOMAIN_ID env variable is set, otherwise parsing of the config may fail.
// Also make sure the it is set to the domain_id passed in, otherwise it will fail.
// But first backup the current ROS_DOMAIN_ID.
char * ros_domain_id = nullptr;
const char * env_var = "ROS_DOMAIN_ID";
#ifndef _WIN32
ros_domain_id = getenv(env_var);
#else
size_t ros_domain_id_size;
_dupenv_s(&ros_domain_id, &ros_domain_id_size, env_var);
#endif
// On Windows, setting the ROS_DOMAIN_ID does not fix the problem, so error early.
#ifdef _WIN32
if (!ros_domain_id) {
RMW_SET_ERROR_MSG("environment variable ROS_DOMAIN_ID is not set");
fprintf(stderr, "[rmw_opensplice_cpp]: error: %s\n", rmw_get_error_string_safe());
return nullptr;
}
#endif
// Set the ROS_DOMAIN_ID explicitly (if not Windows).
#ifndef _WIN32
auto domain_id_as_string = std::to_string(domain_id);
int ret = 0;
ret = setenv(env_var, domain_id_as_string.c_str(), 1);
if (0 != ret) {
RMW_SET_ERROR_MSG("failed to set the ROS_DOMAIN_ID");
return nullptr;
}
#endif
participant = dp_factory->create_participant(
domain, PARTICIPANT_QOS_DEFAULT, NULL, DDS::STATUS_MASK_NONE);
if (!participant) {
RMW_SET_ERROR_MSG("failed to create domain participant");
return NULL;
}
// Restore the ROS_DOMAIN_ID if necessary (and not Windows).
#ifndef _WIN32
if (ros_domain_id) {
ret = setenv(env_var, ros_domain_id, 1);
if (0 != ret) {
RMW_SET_ERROR_MSG("failed to reset the ROS_DOMAIN_ID");
return nullptr;
}
} else {
// Otherwise unset it again.
ret = unsetenv(env_var);
if (0 != ret) {
RMW_SET_ERROR_MSG("failed to unset the ROS_DOMAIN_ID");
return nullptr;
}
}
#endif
rmw_node_t * node = nullptr;
OpenSpliceStaticNodeInfo * node_info = nullptr;
CustomPublisherListener * publisher_listener = nullptr;
CustomSubscriberListener * subscriber_listener = nullptr;
void * buf = nullptr;
DDS::DataReader * data_reader = nullptr;
DDS::PublicationBuiltinTopicDataDataReader * builtin_publication_datareader = nullptr;
DDS::SubscriptionBuiltinTopicDataDataReader * builtin_subscription_datareader = nullptr;
DDS::Subscriber * builtin_subscriber = participant->get_builtin_subscriber();
if (!builtin_subscriber) {
RMW_SET_ERROR_MSG("builtin subscriber handle is null");
goto fail;
}
// setup publisher listener
data_reader = builtin_subscriber->lookup_datareader("DCPSPublication");
builtin_publication_datareader =
DDS::PublicationBuiltinTopicDataDataReader::_narrow(data_reader);
if (!builtin_publication_datareader) {
RMW_SET_ERROR_MSG("builtin publication datareader handle is null");
goto fail;
}
buf = rmw_allocate(sizeof(CustomPublisherListener));
if (!buf) {
RMW_SET_ERROR_MSG("failed to allocate memory");
goto fail;
}
RMW_TRY_PLACEMENT_NEW(publisher_listener, buf, goto fail, CustomPublisherListener)
buf = nullptr;
builtin_publication_datareader->set_listener(publisher_listener, DDS::DATA_AVAILABLE_STATUS);
data_reader = builtin_subscriber->lookup_datareader("DCPSSubscription");
builtin_subscription_datareader =
DDS::SubscriptionBuiltinTopicDataDataReader::_narrow(data_reader);
if (!builtin_subscription_datareader) {
RMW_SET_ERROR_MSG("builtin subscription datareader handle is null");
goto fail;
}
// setup subscriber listener
buf = rmw_allocate(sizeof(CustomSubscriberListener));
if (!buf) {
RMW_SET_ERROR_MSG("failed to allocate memory");
goto fail;
}
RMW_TRY_PLACEMENT_NEW(subscriber_listener, buf, goto fail, CustomSubscriberListener)
buf = nullptr;
builtin_subscription_datareader->set_listener(subscriber_listener, DDS::DATA_AVAILABLE_STATUS);
node = rmw_node_allocate();
if (!node) {
RMW_SET_ERROR_MSG("failed to allocate rmw_node_t");
goto fail;
}
node->name = reinterpret_cast<const char *>(rmw_allocate(sizeof(char) * strlen(name) + 1));
if (!node->name) {
RMW_SET_ERROR_MSG("failed to allocate memory for node name");
goto fail;
}
memcpy(const_cast<char *>(node->name), name, strlen(name) + 1);
buf = rmw_allocate(sizeof(OpenSpliceStaticNodeInfo));
if (!buf) {
RMW_SET_ERROR_MSG("failed to allocate memory");
goto fail;
}
RMW_TRY_PLACEMENT_NEW(node_info, buf, goto fail, OpenSpliceStaticNodeInfo)
buf = nullptr;
node_info->participant = participant;
node_info->publisher_listener = publisher_listener;
node_info->subscriber_listener = subscriber_listener;
node->implementation_identifier = opensplice_cpp_identifier;
node->data = node_info;
return node;
fail:
if (participant) {
if (dp_factory->delete_participant(participant) != DDS::RETCODE_OK) {
std::stringstream ss;
ss << "leaking domain participant while handling failure at: " <<
__FILE__ << ":" << __LINE__ << '\n';
(std::cerr << ss.str()).flush();
}
}
if (publisher_listener) {
RMW_TRY_DESTRUCTOR_FROM_WITHIN_FAILURE(
publisher_listener->~CustomPublisherListener(), CustomPublisherListener)
rmw_free(publisher_listener);
}
if (subscriber_listener) {
RMW_TRY_DESTRUCTOR_FROM_WITHIN_FAILURE(
subscriber_listener->~CustomSubscriberListener(), CustomSubscriberListener)
rmw_free(subscriber_listener);
}
if (node_info) {
RMW_TRY_DESTRUCTOR_FROM_WITHIN_FAILURE(
node_info->~OpenSpliceStaticNodeInfo(), OpenSpliceStaticNodeInfo)
rmw_free(node_info);
}
if (buf) {
rmw_free(buf);
}
if (node) {
if (node->name) {
rmw_free(const_cast<char *>(node->name));
}
rmw_node_free(node);
}
return nullptr;
}
