Program Listing for File type_support.hpp

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// Copyright 2020 Real-Time Innovations, Inc. (RTI)
//
// 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_CONNEXTDDS__TYPE_SUPPORT_HPP_
#define RMW_CONNEXTDDS__TYPE_SUPPORT_HPP_

#include <string>
#include <stdexcept>

#include "rmw_connextdds/context.hpp"

#include "rosidl_typesupport_fastrtps_c/identifier.h"
#include "rosidl_typesupport_fastrtps_cpp/identifier.hpp"
#include "rosidl_typesupport_fastrtps_cpp/message_type_support.h"
#include "rosidl_typesupport_fastrtps_cpp/service_type_support.h"
#define RMW_FASTRTPS_CPP_TYPESUPPORT_C rosidl_typesupport_fastrtps_c__identifier
#define RMW_FASTRTPS_CPP_TYPESUPPORT_CPP rosidl_typesupport_fastrtps_cpp::typesupport_identifier

#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
#include "rosidl_typesupport_introspection_cpp/service_introspection.hpp"
#include "rosidl_typesupport_introspection_cpp/visibility_control.h"

#include "rosidl_typesupport_introspection_c/field_types.h"
#include "rosidl_typesupport_introspection_c/identifier.h"
#include "rosidl_typesupport_introspection_c/message_introspection.h"
#include "rosidl_typesupport_introspection_c/service_introspection.h"
#include "rosidl_typesupport_introspection_c/visibility_control.h"

struct RMW_Connext_RequestReplyMessage
{
  bool request;
  rmw_gid_t gid;
  int64_t sn;
  void * payload;
};

class RMW_Connext_MessageTypeSupport
{
  const rosidl_message_type_support_t * _type_support_fastrtps;
  bool _unbounded;
  bool _empty;
  uint32_t _serialized_size_max;
  std::string _type_name;
  RMW_Connext_MessageType _message_type;
  rmw_context_impl_t * const _ctx;

public:
  static const uint32_t ENCAPSULATION_HEADER_SIZE = 4;

  RMW_Connext_MessageTypeSupport(
    const RMW_Connext_MessageType message_type,
    const rosidl_message_type_support_t * const type_supports,
    const char * const type_name,
    rmw_context_impl_t * const ctx);

  const message_type_support_callbacks_t * callbacks_fastrtps()
  {
    return static_cast<const message_type_support_callbacks_t *>(
      this->_type_support_fastrtps->data);
  }

  rmw_context_impl_t * ctx() const
  {
    return this->_ctx;
  }

  const char * type_name() const
  {
    return this->_type_name.c_str();
  }

  uint32_t type_serialized_size_max() const
  {
    return this->_serialized_size_max;
  }

  bool unbounded() const
  {
    return this->_unbounded;
  }

  bool empty() const
  {
    return this->_empty;
  }

  RMW_Connext_MessageType message_type() const
  {
    return this->_message_type;
  }

  bool type_requestreply() const
  {
    return this->_message_type == RMW_CONNEXT_MESSAGE_REQUEST ||
           this->_message_type == RMW_CONNEXT_MESSAGE_REPLY;
  }

  bool type_userdata() const
  {
    return this->_message_type == RMW_CONNEXT_MESSAGE_USERDATA;
  }

#if RMW_CONNEXT_DEFAULT_LARGE_DATA_OPTIMIZATIONS
  bool large_data() const
  {
    const uint32_t large_data_threshold = RMW_CONNEXT_LARGE_DATA_MIN_SERIALIZED_SIZE;
    return this->_serialized_size_max >= large_data_threshold;
  }
#endif /* RMW_CONNEXT_DEFAULT_LARGE_DATA_OPTIMIZATIONS */

  uint32_t serialized_size_max(
    const void * const ros_msg,
    const bool include_encapsulation = true);

  rmw_ret_t serialize(
    const void * const ros_msg,
    rcutils_uint8_array_t * const to_buffer);

  rmw_ret_t deserialize(
    void * const ros_msg,
    const rcutils_uint8_array_t * const from_buffer,
    size_t & size_out,
    const bool header_only = false);

  static
  RMW_Connext_MessageTypeSupport *
  register_type_support(
    rmw_context_impl_t * const ctx,
    const rosidl_message_type_support_t * const type_supports,
    DDS_DomainParticipant * const participant,
    const RMW_Connext_MessageType message_type,
    const void * const intro_members,
    const bool intro_members_cpp,
    std::string * const type_name);

  static rmw_ret_t unregister_type_support(
    rmw_context_impl_t * const ctx,
    DDS_DomainParticipant * const participant,
    const char * const type_name);

  static const rosidl_message_type_support_t * get_type_support_fastrtps(
    const rosidl_message_type_support_t * const type_supports);

  static const rosidl_message_type_support_t * get_type_support_intro(
    const rosidl_message_type_support_t * const type_supports,
    bool & cpp_version);

  static void type_info(
    const rosidl_message_type_support_t * const type_support,
    uint32_t & serialized_size_max,
    bool & unbounded,
    bool & empty);
};

struct RMW_Connext_Message
{
  const void * user_data{nullptr};
  bool serialized{false};
  RMW_Connext_MessageTypeSupport * type_support{nullptr};
  rcutils_uint8_array_t data_buffer;
};

rmw_ret_t
RMW_Connext_Message_initialize(
  RMW_Connext_Message * const self,
  RMW_Connext_MessageTypeSupport * const type_support,
  const size_t data_buffer_size);

void
RMW_Connext_Message_finalize(RMW_Connext_Message * const self);

class RMW_Connext_ServiceTypeSupportWrapper
{
public:
  static
  const rosidl_service_type_support_t *
  get_type_support_fastrtps(
    const rosidl_service_type_support_t * const type_supports);

  static
  const rosidl_service_type_support_t *
  get_type_support_intro(
    const rosidl_service_type_support_t * const type_supports,
    bool & cpp_version);

  static
  const rosidl_message_type_support_t *
  get_request_type_support(
    const rosidl_service_type_support_t * const type_supports,
    const void ** const svc_members_out,
    bool & svc_members_cpp)
  {
    const rosidl_service_type_support_t * const svc_type_support_fastrtps =
      RMW_Connext_ServiceTypeSupportWrapper::get_type_support_fastrtps(
      type_supports);
    if (nullptr == svc_type_support_fastrtps) {
      return nullptr;
    }
    auto svc_callbacks =
      static_cast<const service_type_support_callbacks_t *>(
      svc_type_support_fastrtps->data);

    const rosidl_service_type_support_t * const svc_type_support_intro =
      RMW_Connext_ServiceTypeSupportWrapper::get_type_support_intro(
      type_supports, svc_members_cpp);
    if (nullptr == svc_type_support_intro) {
      return nullptr;
    }

    if (svc_members_cpp) {
      const rosidl_typesupport_introspection_c__ServiceMembers * const svc_members =
        (const rosidl_typesupport_introspection_c__ServiceMembers *)
        svc_type_support_intro->data;

      *svc_members_out = svc_members->request_members_;
    } else {
      const rosidl_typesupport_introspection_cpp::ServiceMembers * const svc_members =
        (const rosidl_typesupport_introspection_cpp::ServiceMembers *)
        svc_type_support_intro->data;

      *svc_members_out = svc_members->request_members_;
    }

    return svc_callbacks->request_members_;
  }

  static
  const rosidl_message_type_support_t *
  get_response_type_support(
    const rosidl_service_type_support_t * const type_supports,
    const void ** const svc_members_out,
    bool & svc_members_cpp)
  {
    const rosidl_service_type_support_t * const svc_type_support_fastrtps =
      RMW_Connext_ServiceTypeSupportWrapper::get_type_support_fastrtps(
      type_supports);
    if (svc_type_support_fastrtps == NULL) {
      // RMW_CONNEXT_LOG_ERROR("failed to lookup FastRTPS type support")
      return nullptr;
    }
    auto svc_callbacks =
      static_cast<const service_type_support_callbacks_t *>(
      svc_type_support_fastrtps->data);

    const rosidl_service_type_support_t * const svc_type_support_intro =
      RMW_Connext_ServiceTypeSupportWrapper::get_type_support_intro(
      type_supports, svc_members_cpp);
    if (nullptr == svc_type_support_intro) {
      return nullptr;
    }

    if (svc_members_cpp) {
      const rosidl_typesupport_introspection_c__ServiceMembers * const svc_members =
        (const rosidl_typesupport_introspection_c__ServiceMembers *)
        svc_type_support_intro->data;

      *svc_members_out = svc_members->response_members_;
    } else {
      const rosidl_typesupport_introspection_cpp::ServiceMembers * const svc_members =
        (const rosidl_typesupport_introspection_cpp::ServiceMembers *)
        svc_type_support_intro->data;

      *svc_members_out = svc_members->response_members_;
    }

    return svc_callbacks->response_members_;
  }

  static std::string get_request_type_name(
    const rosidl_service_type_support_t * const type_supports);

  static std::string get_response_type_name(
    const rosidl_service_type_support_t * const type_supports);
};

#if RMW_CONNEXT_DDS_API == RMW_CONNEXT_DDS_API_PRO
DDS_SEQUENCE(RMW_Connext_MessagePtrSeq, RMW_Connext_Message *);

typedef RMW_Connext_MessagePtrSeq RMW_Connext_UntypedSampleSeq;

#define RMW_Connext_UntypedSampleSeq_INITIALIZER    DDS_SEQUENCE_INITIALIZER

#define DDS_UntypedSampleSeq_get_reference(seq_, i_) \
  *RMW_Connext_MessagePtrSeq_get_reference(seq_, i_)

#define DDS_UntypedSampleSeq_get_length(seq_) \
  RMW_Connext_MessagePtrSeq_get_length(seq_)

#endif  // RMW_CONNEXT_DDS_API == RMW_CONNEXT_DDS_API_PRO

#endif  // RMW_CONNEXTDDS__TYPE_SUPPORT_HPP_