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Apply suggestions on service creation.
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Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>
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@MiguelCompany
MiguelCompany committed Mar 31, 2021
1 parent cc514ed commit 7f2c1c7
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Showing 2 changed files with 54 additions and 156 deletions.
105 changes: 27 additions & 78 deletions rmw_fastrtps_cpp/src/rmw_service.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -107,13 +107,8 @@ rmw_create_service(
static_cast<CustomParticipantInfo *>(node->context->impl->participant_info);

eprosima::fastdds::dds::DomainParticipant * domainParticipant = participant_info->participant_;
RMW_CHECK_FOR_NULL_WITH_MSG(domainParticipant, "participant handle is null", return nullptr);

eprosima::fastdds::dds::Publisher * publisher = participant_info->publisher_;
RMW_CHECK_FOR_NULL_WITH_MSG(publisher, "publisher handle is null", return nullptr);

eprosima::fastdds::dds::Subscriber * subscriber = participant_info->subscriber_;
RMW_CHECK_FOR_NULL_WITH_MSG(subscriber, "subscriber handle is null", return nullptr);

/////
// Get RMW Type Support
Expand Down Expand Up @@ -201,7 +196,15 @@ rmw_create_service(
return nullptr;
}
auto cleanup_info = rcpputils::make_scope_exit(
[info]() {
[info, domainParticipant]() {
delete info->pub_listener_;
delete info->listener_;
if (info->response_type_support_) {
domainParticipant->unregister_type(info->response_type_support_.get_type_name());
}
if (info->request_type_support_) {
domainParticipant->unregister_type(info->request_type_support_.get_type_name());
}
delete info;
});

Expand Down Expand Up @@ -236,20 +239,12 @@ rmw_create_service(
return nullptr;
}
info->request_type_support_ = request_fastdds_type;
auto cleanup_type_support_request = rcpputils::make_scope_exit(
[info, domainParticipant]() {
domainParticipant->unregister_type(info->request_type_support_.get_type_name());
});

if (ReturnCode_t::RETCODE_OK != response_fastdds_type.register_type(domainParticipant)) {
RMW_SET_ERROR_MSG("create_service() failed to register response type");
return nullptr;
}
info->response_type_support_ = response_fastdds_type;
auto cleanup_type_support_response = rcpputils::make_scope_exit(
[info, domainParticipant]() {
domainParticipant->unregister_type(info->response_type_support_.get_type_name());
});

/////
// Create Listeners
Expand All @@ -259,22 +254,12 @@ rmw_create_service(
return nullptr;
}

auto cleanup_listener = rcpputils::make_scope_exit(
[info]() {
delete info->listener_;
});

info->pub_listener_ = new (std::nothrow) ServicePubListener(info);
if (!info->pub_listener_) {
RMW_SET_ERROR_MSG("create_service() failed to create response publisher listener");
return nullptr;
}

auto cleanup_pub_listener = rcpputils::make_scope_exit(
[info]() {
delete info->pub_listener_;
});

/////
// Create and register Topics
// Same default topic QoS for both topics
Expand All @@ -285,59 +270,27 @@ rmw_create_service(
}

// Create request topic
eprosima::fastdds::dds::Topic * request_topic = nullptr;
if (!request_topic_desc) {
request_topic = domainParticipant->create_topic(
request_topic_name,
request_type_name,
topicQos);

if (!request_topic) {
RMW_SET_ERROR_MSG("create_service() failed to create request topic");
return nullptr;
}

request_topic_desc = request_topic;
rmw_fastrtps_shared_cpp::TopicHolder request_topic;
if (!rmw_fastrtps_shared_cpp::cast_or_create_topic(
domainParticipant, response_topic_desc,
response_topic_name, response_type_name, topicQos, false, &request_topic))
{
RMW_SET_ERROR_MSG("create_service() failed to create request topic");
return nullptr;
}

auto cleanup_request_topic = rcpputils::make_scope_exit(
[domainParticipant, request_topic]() {
if (request_topic) {
domainParticipant->delete_topic(request_topic);
}
});
request_topic_desc = request_topic.desc;

// Create response topic
eprosima::fastdds::dds::Topic * response_topic = nullptr;
bool response_topic_created = false;
if (!response_topic_desc) {
response_topic = domainParticipant->create_topic(
response_topic_name,
response_type_name,
topicQos);

if (!response_topic) {
RMW_SET_ERROR_MSG("create_service() failed to create response topic");
return nullptr;
}

response_topic_desc = response_topic;
response_topic_created = true;
} else {
response_topic = dynamic_cast<eprosima::fastdds::dds::Topic *>(response_topic_desc);
if (!response_topic) {
RMW_SET_ERROR_MSG("create_service() called with response topic not of class Topic");
return nullptr;
}
rmw_fastrtps_shared_cpp::TopicHolder response_topic;
if (!rmw_fastrtps_shared_cpp::cast_or_create_topic(
domainParticipant, response_topic_desc,
response_topic_name, response_type_name, topicQos, true, &response_topic))
{
RMW_SET_ERROR_MSG("create_service() failed to create response topic");
return nullptr;
}

auto cleanup_response_topic = rcpputils::make_scope_exit(
[domainParticipant, response_topic, response_topic_created]() {
if (response_topic_created) {
domainParticipant->delete_topic(response_topic);
}
});

// Keyword to find DataWrtier and DataReader QoS
std::string topic_name_fallback = "service";

Expand Down Expand Up @@ -422,7 +375,7 @@ rmw_create_service(

// Creates DataWriter
info->response_writer_ = publisher->create_datawriter(
response_topic,
response_topic.topic,
dataWriterQos,
info->pub_listener_);

Expand Down Expand Up @@ -511,15 +464,11 @@ rmw_create_service(
}
}

request_topic.should_be_deleted = false;
response_topic.should_be_deleted = false;
cleanup_rmw_service.cancel();
cleanup_datawriter.cancel();
cleanup_datareader.cancel();
cleanup_response_topic.cancel();
cleanup_request_topic.cancel();
cleanup_pub_listener.cancel();
cleanup_listener.cancel();
cleanup_type_support_response.cancel();
cleanup_type_support_request.cancel();
cleanup_info.cancel();
return rmw_service;
}
Expand Down
105 changes: 27 additions & 78 deletions rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -113,13 +113,8 @@ rmw_create_service(
static_cast<CustomParticipantInfo *>(node->context->impl->participant_info);

eprosima::fastdds::dds::DomainParticipant * domainParticipant = participant_info->participant_;
RMW_CHECK_FOR_NULL_WITH_MSG(domainParticipant, "participant handle is null", return nullptr);

eprosima::fastdds::dds::Publisher * publisher = participant_info->publisher_;
RMW_CHECK_FOR_NULL_WITH_MSG(publisher, "publisher handle is null", return nullptr);

eprosima::fastdds::dds::Subscriber * subscriber = participant_info->subscriber_;
RMW_CHECK_FOR_NULL_WITH_MSG(subscriber, "subscriber handle is null", return nullptr);

/////
// Get RMW Type Support
Expand Down Expand Up @@ -207,7 +202,15 @@ rmw_create_service(
return nullptr;
}
auto cleanup_info = rcpputils::make_scope_exit(
[info]() {
[info, domainParticipant]() {
delete info->pub_listener_;
delete info->listener_;
if (info->response_type_support_) {
domainParticipant->unregister_type(info->response_type_support_.get_type_name());
}
if (info->request_type_support_) {
domainParticipant->unregister_type(info->request_type_support_.get_type_name());
}
delete info;
});

Expand Down Expand Up @@ -266,20 +269,12 @@ rmw_create_service(
return nullptr;
}
info->request_type_support_ = request_fastdds_type;
auto cleanup_type_support_request = rcpputils::make_scope_exit(
[info, domainParticipant]() {
domainParticipant->unregister_type(info->request_type_support_.get_type_name());
});

if (ReturnCode_t::RETCODE_OK != response_fastdds_type.register_type(domainParticipant)) {
RMW_SET_ERROR_MSG("create_service() failed to register response type");
return nullptr;
}
info->response_type_support_ = response_fastdds_type;
auto cleanup_type_support_response = rcpputils::make_scope_exit(
[info, domainParticipant]() {
domainParticipant->unregister_type(info->response_type_support_.get_type_name());
});

/////
// Create Listeners
Expand All @@ -289,22 +284,12 @@ rmw_create_service(
return nullptr;
}

auto cleanup_listener = rcpputils::make_scope_exit(
[info]() {
delete info->listener_;
});

info->pub_listener_ = new (std::nothrow) ServicePubListener(info);
if (!info->pub_listener_) {
RMW_SET_ERROR_MSG("create_service() failed to create response publisher listener");
return nullptr;
}

auto cleanup_pub_listener = rcpputils::make_scope_exit(
[info]() {
delete info->pub_listener_;
});

/////
// Create and register Topics
// Same default topic QoS for both topics
Expand All @@ -315,59 +300,27 @@ rmw_create_service(
}

// Create request topic
eprosima::fastdds::dds::Topic * request_topic = nullptr;
if (!request_topic_desc) {
request_topic = domainParticipant->create_topic(
request_topic_name,
request_type_name,
topicQos);

if (!request_topic) {
RMW_SET_ERROR_MSG("create_service() failed to create request topic");
return nullptr;
}

request_topic_desc = request_topic;
rmw_fastrtps_shared_cpp::TopicHolder request_topic;
if (!rmw_fastrtps_shared_cpp::cast_or_create_topic(
domainParticipant, response_topic_desc,
response_topic_name, response_type_name, topicQos, false, &request_topic))
{
RMW_SET_ERROR_MSG("create_service() failed to create request topic");
return nullptr;
}

auto cleanup_request_topic = rcpputils::make_scope_exit(
[domainParticipant, request_topic]() {
if (request_topic) {
domainParticipant->delete_topic(request_topic);
}
});
request_topic_desc = request_topic.desc;

// Create response topic
eprosima::fastdds::dds::Topic * response_topic = nullptr;
bool response_topic_created = false;
if (!response_topic_desc) {
response_topic = domainParticipant->create_topic(
response_topic_name,
response_type_name,
topicQos);

if (!response_topic) {
RMW_SET_ERROR_MSG("create_service() failed to create response topic");
return nullptr;
}

response_topic_desc = response_topic;
response_topic_created = true;
} else {
response_topic = dynamic_cast<eprosima::fastdds::dds::Topic *>(response_topic_desc);
if (!response_topic) {
RMW_SET_ERROR_MSG("create_service() called with response topic not of class Topic");
return nullptr;
}
rmw_fastrtps_shared_cpp::TopicHolder response_topic;
if (!rmw_fastrtps_shared_cpp::cast_or_create_topic(
domainParticipant, response_topic_desc,
response_topic_name, response_type_name, topicQos, true, &response_topic))
{
RMW_SET_ERROR_MSG("create_service() failed to create response topic");
return nullptr;
}

auto cleanup_response_topic = rcpputils::make_scope_exit(
[domainParticipant, response_topic, response_topic_created]() {
if (response_topic_created) {
domainParticipant->delete_topic(response_topic);
}
});

// Keyword to find DataWrtier and DataReader QoS
std::string topic_name_fallback = "service";

Expand Down Expand Up @@ -452,7 +405,7 @@ rmw_create_service(

// Creates DataWriter
info->response_writer_ = publisher->create_datawriter(
response_topic,
response_topic.topic,
dataWriterQos,
info->pub_listener_);

Expand Down Expand Up @@ -538,15 +491,11 @@ rmw_create_service(
}
}

request_topic.should_be_deleted = false;
response_topic.should_be_deleted = false;
cleanup_rmw_service.cancel();
cleanup_datawriter.cancel();
cleanup_datareader.cancel();
cleanup_response_topic.cancel();
cleanup_request_topic.cancel();
cleanup_pub_listener.cancel();
cleanup_listener.cancel();
cleanup_type_support_response.cancel();
cleanup_type_support_request.cancel();
return_response_type_support.cancel();
return_request_type_support.cancel();
cleanup_info.cancel();
Expand Down

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