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Ensure compliant subscription API. #419

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merged 4 commits into from
Aug 6, 2020
Merged

Ensure compliant subscription API. #419

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bff09f9
Ensure compliant subscription API.
hidmic Jul 30, 2020
127bb3c
Prioritize primary finalization error.
hidmic Aug 3, 2020
c2ef816
Cleanup susbcription API implementation further.
hidmic Aug 3, 2020
791a330
Address peer review comments.
hidmic Aug 5, 2020
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51 changes: 39 additions & 12 deletions rmw_fastrtps_cpp/src/rmw_subscription.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -61,15 +61,12 @@ rmw_create_subscription(
const rmw_qos_profile_t * qos_policies,
const rmw_subscription_options_t * subscription_options)
{
if (!node) {
RMW_SET_ERROR_MSG("node handle is null");
return nullptr;
}

if (node->implementation_identifier != eprosima_fastrtps_identifier) {
RMW_SET_ERROR_MSG("node handle not from this implementation");
return nullptr;
}
RMW_CHECK_ARGUMENT_FOR_NULL(node, nullptr);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
node,
node->implementation_identifier,
eprosima_fastrtps_identifier,
return nullptr);

auto participant_info =
static_cast<CustomParticipantInfo *>(node->context->impl->participant_info);
Expand Down Expand Up @@ -99,8 +96,18 @@ rmw_create_subscription(
static_cast<void *>(&msg),
nullptr);
if (RMW_RET_OK != rmw_ret) {
rmw_fastrtps_shared_cpp::__rmw_destroy_subscription(
rmw_error_state_t error_state = *rmw_get_error_state();
rmw_reset_error();
static_cast<void>(common_context->graph_cache.dissociate_writer(
info->subscription_gid_, common_context->gid, node->name, node->namespace_));
rmw_ret = rmw_fastrtps_shared_cpp::__rmw_destroy_subscription(
eprosima_fastrtps_identifier, node, subscription);
if (RMW_RET_OK != rmw_ret) {
RMW_SAFE_FWRITE_TO_STDERR(rmw_get_error_string().str);
RMW_SAFE_FWRITE_TO_STDERR(" during '" RCUTILS_STRINGIFY(__function__) "' cleanup\n");
rmw_reset_error();
}
rmw_set_error_state(error_state.message, error_state.file, error_state.line_number);
return nullptr;
}
}
Expand All @@ -121,13 +128,33 @@ rmw_subscription_get_actual_qos(
const rmw_subscription_t * subscription,
rmw_qos_profile_t * qos)
{
return rmw_fastrtps_shared_cpp::__rmw_subscription_get_actual_qos(
subscription, qos);
RMW_CHECK_ARGUMENT_FOR_NULL(subscription, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
subscription,
subscription->implementation_identifier,
eprosima_fastrtps_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
RMW_CHECK_ARGUMENT_FOR_NULL(qos, RMW_RET_INVALID_ARGUMENT);

return rmw_fastrtps_shared_cpp::__rmw_subscription_get_actual_qos(subscription, qos);
}

rmw_ret_t
rmw_destroy_subscription(rmw_node_t * node, rmw_subscription_t * subscription)
{
RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(subscription, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
node,
node->implementation_identifier,
eprosima_fastrtps_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
subscription,
subscription->implementation_identifier,
eprosima_fastrtps_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);

return rmw_fastrtps_shared_cpp::__rmw_destroy_subscription(
eprosima_fastrtps_identifier, node, subscription);
}
Expand Down
105 changes: 64 additions & 41 deletions rmw_fastrtps_cpp/src/subscription.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,9 @@
#include "rmw/allocators.h"
#include "rmw/error_handling.h"
#include "rmw/rmw.h"
#include "rmw/validate_full_topic_name.h"

#include "rcpputils/scope_exit.hpp"

#include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
#include "rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp"
Expand Down Expand Up @@ -55,27 +58,30 @@ create_subscription(
bool keyed,
bool create_subscription_listener)
{
if (!topic_name || strlen(topic_name) == 0) {
RMW_SET_ERROR_MSG("subscription topic is null or empty string");
return nullptr;
}
if (!qos_policies) {
RMW_SET_ERROR_MSG("qos_policies is null");
return nullptr;
}
if (!subscription_options) {
RMW_SET_ERROR_MSG("subscription_options is null");
RMW_CHECK_ARGUMENT_FOR_NULL(participant_info, nullptr);
RMW_CHECK_ARGUMENT_FOR_NULL(type_supports, nullptr);
RMW_CHECK_ARGUMENT_FOR_NULL(topic_name, nullptr);
if (0 == strlen(topic_name)) {
RMW_SET_ERROR_MSG("topic_name argument is an empty string");
return nullptr;
}
if (!participant_info) {
RMW_SET_ERROR_MSG("participant_info is null");
return nullptr;
RMW_CHECK_ARGUMENT_FOR_NULL(qos_policies, nullptr);
if (!qos_policies->avoid_ros_namespace_conventions) {
int validation_result = RMW_TOPIC_VALID;
rmw_ret_t ret = rmw_validate_full_topic_name(topic_name, &validation_result, nullptr);
if (RMW_RET_OK != ret) {
return nullptr;
}
if (RMW_TOPIC_VALID != validation_result) {
const char * reason = rmw_full_topic_name_validation_result_string(validation_result);
RMW_SET_ERROR_MSG_WITH_FORMAT_STRING("invalid topic_name argument: %s", reason);
return nullptr;
}
}
RMW_CHECK_ARGUMENT_FOR_NULL(subscription_options, nullptr);
Participant * participant = participant_info->participant;
if (!participant) {
RMW_SET_ERROR_MSG("participant handle is null");
return nullptr;
}
RMW_CHECK_FOR_NULL_WITH_MSG(participant, "participant handle is null", return nullptr);

const rosidl_message_type_support_t * type_support = get_message_typesupport_handle(
type_supports, RMW_FASTRTPS_CPP_TYPESUPPORT_C);
if (!type_support) {
Expand All @@ -89,17 +95,31 @@ create_subscription(
if (!is_valid_qos(*qos_policies)) {
return nullptr;
}
CustomSubscriberInfo * info = nullptr;
rmw_subscription_t * rmw_subscription = nullptr;
eprosima::fastrtps::SubscriberAttributes subscriberParam;

// Load default XML profile.
eprosima::fastrtps::SubscriberAttributes subscriberParam;
Domain::getDefaultSubscriberAttributes(subscriberParam);
info = new (std::nothrow) CustomSubscriberInfo();

CustomSubscriberInfo * info = new (std::nothrow) CustomSubscriberInfo();
if (!info) {
RMW_SET_ERROR_MSG("failed to allocate CustomSubscriberInfo");
return nullptr;
}
auto cleanup_info = rcpputils::make_scope_exit(
[info, participant]() {
if (info->type_support_) {
_unregister_type(participant, info->type_support_);
}
if (info->subscriber_) {
if (!Domain::removeSubscriber(info->subscriber_)) {
RMW_SAFE_FWRITE_TO_STDERR(
"Failed to remove subscriber after '"
RCUTILS_STRINGIFY(__function__) "' failed.\n");
}
}
delete info->listener_;
delete info;
});
info->typesupport_identifier_ = type_support->typesupport_identifier;
info->type_support_impl_ = type_support->data;

Expand All @@ -113,7 +133,7 @@ create_subscription(
info->type_support_ = new (std::nothrow) MessageTypeSupport_cpp(callbacks);
if (!info->type_support_) {
RMW_SET_ERROR_MSG("failed to allocate MessageTypeSupport_cpp");
goto fail;
return nullptr;
}
_register_type(participant, info->type_support_);
}
Expand All @@ -128,47 +148,50 @@ create_subscription(
subscriberParam.topic.topicName = _create_topic_name(qos_policies, ros_topic_prefix, topic_name);

if (!get_datareader_qos(*qos_policies, subscriberParam)) {
RMW_SET_ERROR_MSG("failed to get datareader qos");
goto fail;
return nullptr;
}
info->listener_ = nullptr;

if (create_subscription_listener) {
info->listener_ = new (std::nothrow) SubListener(info);
if (!info->listener_) {
RMW_SET_ERROR_MSG("create_subscriber() could not create subscriber listener");
goto fail;
return nullptr;
}
}

info->subscriber_ = Domain::createSubscriber(participant, subscriberParam, info->listener_);
if (!info->subscriber_) {
RMW_SET_ERROR_MSG("create_subscriber() could not create subscriber");
goto fail;
return nullptr;
}
info->subscription_gid_ = rmw_fastrtps_shared_cpp::create_rmw_gid(
eprosima_fastrtps_identifier, info->subscriber_->getGuid());
rmw_subscription = rmw_subscription_allocate();

rmw_subscription_t * rmw_subscription = rmw_subscription_allocate();
if (!rmw_subscription) {
RMW_SET_ERROR_MSG("failed to allocate subscription");
goto fail;
return nullptr;
}
auto cleanup_subscription = rcpputils::make_scope_exit(
[rmw_subscription]() {
rmw_free(const_cast<char *>(rmw_subscription->topic_name));
rmw_subscription_free(rmw_subscription);
});

rmw_subscription->implementation_identifier = eprosima_fastrtps_identifier;
rmw_subscription->data = info;
rmw_subscription->topic_name = rcutils_strdup(topic_name, rcutils_get_default_allocator());
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rmw_subscription->topic_name = static_cast<char *>(rmw_allocate(strlen(topic_name) + 1));
if (!rmw_subscription->topic_name) {
RMW_SET_ERROR_MSG("failed to allocate memory for subscription topic name");
goto fail;
return nullptr;
}

memcpy(const_cast<char *>(rmw_subscription->topic_name), topic_name, strlen(topic_name) + 1);
rmw_subscription->options = *subscription_options;
return rmw_subscription;
rmw_subscription->can_loan_messages = false;

fail:
if (info != nullptr) {
delete info->type_support_;
delete info->listener_;
delete info;
}
rmw_subscription_free(rmw_subscription);
return nullptr;
cleanup_subscription.cancel();
cleanup_info.cancel();
return rmw_subscription;
}
} // namespace rmw_fastrtps_cpp
55 changes: 39 additions & 16 deletions rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -63,15 +63,12 @@ rmw_create_subscription(
const rmw_qos_profile_t * qos_policies,
const rmw_subscription_options_t * subscription_options)
{
if (!node) {
RMW_SET_ERROR_MSG("node handle is null");
return nullptr;
}

if (node->implementation_identifier != eprosima_fastrtps_identifier) {
RMW_SET_ERROR_MSG("node handle not from this implementation");
return nullptr;
}
RMW_CHECK_ARGUMENT_FOR_NULL(node, nullptr);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
node,
node->implementation_identifier,
eprosima_fastrtps_identifier,
return nullptr);

auto participant_info =
static_cast<CustomParticipantInfo *>(node->context->impl->participant_info);
Expand Down Expand Up @@ -102,8 +99,18 @@ rmw_create_subscription(
static_cast<void *>(&msg),
nullptr);
if (RMW_RET_OK != rmw_ret) {
rmw_fastrtps_shared_cpp::__rmw_destroy_subscription(
rmw_error_state_t error_state = *rmw_get_error_state();
rmw_reset_error();
static_cast<void>(common_context->graph_cache.dissociate_writer(
info->subscription_gid_, common_context->gid, node->name, node->namespace_));
rmw_ret = rmw_fastrtps_shared_cpp::__rmw_destroy_subscription(
eprosima_fastrtps_identifier, node, subscription);
if (RMW_RET_OK != rmw_ret) {
RMW_SAFE_FWRITE_TO_STDERR(rmw_get_error_string().str);
RMW_SAFE_FWRITE_TO_STDERR(" during '" RCUTILS_STRINGIFY(__function__) "' cleanup\n");
rmw_reset_error();
}
rmw_set_error_state(error_state.message, error_state.file, error_state.line_number);
return nullptr;
}
}
Expand All @@ -124,21 +131,37 @@ rmw_subscription_get_actual_qos(
const rmw_subscription_t * subscription,
rmw_qos_profile_t * qos)
{
return rmw_fastrtps_shared_cpp::__rmw_subscription_get_actual_qos(
subscription, qos);
RMW_CHECK_ARGUMENT_FOR_NULL(subscription, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
subscription,
subscription->implementation_identifier,
eprosima_fastrtps_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
RMW_CHECK_ARGUMENT_FOR_NULL(qos, RMW_RET_INVALID_ARGUMENT);

return rmw_fastrtps_shared_cpp::__rmw_subscription_get_actual_qos(subscription, qos);
}

using BaseTypeSupport = rmw_fastrtps_dynamic_cpp::BaseTypeSupport;

rmw_ret_t
rmw_destroy_subscription(rmw_node_t * node, rmw_subscription_t * subscription)
{
auto info = static_cast<CustomSubscriberInfo *>(subscription->data);
RCUTILS_CHECK_FOR_NULL_WITH_MSG(info, "subscription info pointer is null", return RMW_RET_ERROR);
RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(subscription, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
node,
node->implementation_identifier,
eprosima_fastrtps_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
subscription,
subscription->implementation_identifier,
eprosima_fastrtps_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);

auto info = static_cast<CustomSubscriberInfo *>(subscription->data);
auto impl = static_cast<const BaseTypeSupport *>(info->type_support_impl_);
RCUTILS_CHECK_FOR_NULL_WITH_MSG(impl, "publisher type support is null", return RMW_RET_ERROR);

auto ros_type_support = static_cast<const rosidl_message_type_support_t *>(
impl->ros_type_support());

Expand Down
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