Switch to one Participant per Context

rmw_fastrtps_cpp/CMakeLists.txt

@@ -32,6 +32,7 @@ endif()
 find_package(ament_cmake_ros REQUIRED)
 
 find_package(rcutils REQUIRED)
+find_package(rmw_dds_common REQUIRED)
 find_package(rmw_fastrtps_shared_cpp REQUIRED)
 
 find_package(fastrtps_cmake_module REQUIRED)
@@ -53,6 +54,8 @@ add_library(rmw_fastrtps_cpp
   src/get_service.cpp
   src/get_subscriber.cpp
   src/identifier.cpp
+  src/init_rmw_context_impl.cpp
+  src/publisher.cpp
   src/rmw_logging.cpp
   src/rmw_client.cpp
   src/rmw_compare_gids_equal.cpp
@@ -82,7 +85,11 @@ add_library(rmw_fastrtps_cpp
   src/rmw_wait.cpp
   src/rmw_wait_set.cpp
   src/serialization_format.cpp
+  src/subscription.cpp
   src/type_support_common.cpp
+  src/gid__type_support.cpp
+  src/node_entities_info__type_support.cpp
+  src/participant_entities_info__type_support.cpp
 )
 target_link_libraries(rmw_fastrtps_cpp
   fastcdr fastrtps)
@@ -92,6 +99,7 @@ ament_target_dependencies(rmw_fastrtps_cpp
   "rcutils"
   "rosidl_typesupport_fastrtps_c"
   "rosidl_typesupport_fastrtps_cpp"
+  "rmw_dds_common"
   "rmw_fastrtps_shared_cpp"
   "rmw"
   "rosidl_generator_c"
@@ -122,6 +130,11 @@ register_rmw_implementation(
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
+
+  ament_add_gtest(test_gid_message test/test_gid_message.cpp)
+  if(TARGET test_gid_message)
+    target_link_libraries(test_gid_message ${PROJECT_NAME})
+  endif()
 endif()
 
 ament_package(

rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/init_rmw_context_impl.hpp

@@ -0,0 +1,33 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RMW_FASTRTPS_CPP__INIT_RMW_CONTEXT_IMPL_HPP_
+#define RMW_FASTRTPS_CPP__INIT_RMW_CONTEXT_IMPL_HPP_
+
+#include "rmw/init.h"
+#include "rmw/types.h"
+
+namespace rmw_fastrtps_cpp
+{
+
+/// Increment `rmw_context_impl_t` reference count, initializing it if necessary.
+/**
+ * Should be called when creating a node, and before using `context->impl`.
+ */
+rmw_ret_t
+increment_context_impl_ref_count(rmw_context_t * context);
+
+}  // namespace rmw_fastrtps_cpp
+
+#endif  // RMW_FASTRTPS_CPP__INIT_RMW_CONTEXT_IMPL_HPP_

rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/publisher.hpp

@@ -0,0 +1,36 @@
+// Copyright 2017-2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RMW_FASTRTPS_CPP__PUBLISHER_HPP_
+#define RMW_FASTRTPS_CPP__PUBLISHER_HPP_
+
+#include "rmw/rmw.h"
+#include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
+
+namespace rmw_fastrtps_cpp
+{
+
+rmw_publisher_t *
+create_publisher(
+  const CustomParticipantInfo * participant_info,
+  const rosidl_message_type_support_t * type_supports,
+  const char * topic_name,
+  const rmw_qos_profile_t * qos_policies,
+  const rmw_publisher_options_t * publisher_options,
+  bool keyed,
+  bool create_publisher_listener);
+
+}  // namespace rmw_fastrtps_cpp
+
+#endif  // RMW_FASTRTPS_CPP__PUBLISHER_HPP_

rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/subscription.hpp

@@ -0,0 +1,38 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RMW_FASTRTPS_CPP__SUBSCRIPTION_HPP_
+#define RMW_FASTRTPS_CPP__SUBSCRIPTION_HPP_
+
+#include "rmw/rmw.h"
+#include "rmw/subscription_options.h"
+
+#include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
+
+namespace rmw_fastrtps_cpp
+{
+
+rmw_subscription_t *
+create_subscription(
+  const CustomParticipantInfo * participant_info,
+  const rosidl_message_type_support_t * type_supports,
+  const char * topic_name,
+  const rmw_qos_profile_t * qos_policies,
+  const rmw_subscription_options_t * subscription_options,
+  bool keyed,
+  bool create_subscription_listener);
+
+}  // namespace rmw_fastrtps_cpp
+
+#endif  // RMW_FASTRTPS_CPP__SUBSCRIPTION_HPP_

rmw_fastrtps_cpp/package.xml

@@ -20,6 +20,7 @@
   <build_depend>fastrtps_cmake_module</build_depend>
   <build_depend>rcutils</build_depend>
   <build_depend>rmw</build_depend>
+  <build_depend>rmw_dds_common</build_depend>
   <build_depend>rmw_fastrtps_shared_cpp</build_depend>
   <build_depend>rosidl_generator_c</build_depend>
   <build_depend>rosidl_generator_cpp</build_depend>
@@ -30,6 +31,7 @@
   <build_export_depend>fastrtps</build_export_depend>
   <build_export_depend>fastrtps_cmake_module</build_export_depend>
   <build_export_depend>rcutils</build_export_depend>
+  <build_export_depend>rmw_dds_common</build_export_depend>
   <build_export_depend>rmw_fastrtps_shared_cpp</build_export_depend>
   <build_export_depend>rmw</build_export_depend>
   <build_export_depend>rosidl_generator_c</build_export_depend>

rmw_fastrtps_cpp/src/get_participant.cpp

@@ -15,6 +15,8 @@
 #include "rmw_fastrtps_cpp/get_participant.hpp"
 
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
+#include "rmw_fastrtps_shared_cpp/rmw_context_impl.hpp"
+
 #include "rmw_fastrtps_cpp/identifier.hpp"
 
 namespace rmw_fastrtps_cpp
@@ -29,7 +31,7 @@ get_participant(rmw_node_t * node)
   if (node->implementation_identifier != eprosima_fastrtps_identifier) {
     return nullptr;
   }
-  auto impl = static_cast<CustomParticipantInfo *>(node->data);
+  auto impl = static_cast<CustomParticipantInfo *>(node->context->impl->participant_info);
   return impl->participant;
 }
 

rmw_fastrtps_cpp/src/gid__type_support.cpp

@@ -0,0 +1,56 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <cstddef>
+
+#include "rosidl_generator_c/message_type_support_struct.h"
+// rosidl_typesupport_cpp/message_type_support.hpp is installed by rosidl_generator_cpp
+#include "rosidl_typesupport_cpp/message_type_support.hpp"
+#include "rmw_dds_common/msg/gid__struct.hpp"
+#include "rmw_dds_common/msg/gid__rosidl_typesupport_fastrtps_cpp.hpp"
+#include "rmw_fastrtps_cpp/visibility_control.h"
+
+// This file is needed and can't be generated by `rosidl_typesupport_cpp`,
+// because adding a dependency to that package generates a cyclic dependency
+// (`rosidl_typesupport_cpp` exports a dependency on `rmw_implementation`).
+
+namespace rosidl_typesupport_cpp
+{
+
+template<>
+RMW_FASTRTPS_CPP_PUBLIC
+const rosidl_message_type_support_t *
+get_message_type_support_handle<rmw_dds_common::msg::Gid>()
+{
+  return ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
+    rosidl_typesupport_fastrtps_cpp, rmw_dds_common, msg, Gid)();
+}
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+RMW_FASTRTPS_CPP_PUBLIC
+const rosidl_message_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
+  rosidl_typesupport_cpp, rmw_dds_common, msg, Gid)()
+{
+  return get_message_type_support_handle<rmw_dds_common::msg::Gid>();
+}
+
+#ifdef __cplusplus
+}
+#endif
+}  // namespace rosidl_typesupport_cpp