ros2 · dirk-thomas · Oct 18, 2019 · Oct 16, 2019 · Oct 16, 2019 · Oct 16, 2019
diff --git a/rmw_connext_cpp/CMakeLists.txt b/rmw_connext_cpp/CMakeLists.txt
@@ -94,14 +94,33 @@ add_custom_command(
   VERBATIM
 )
 
+# determine major version of Connext
+find_file(connext_version_header "ndds_version.h"
+  PATHS ${Connext_INCLUDE_DIRS}
+  PATH_SUFFIXES "ndds"
+  NO_DEFAULT_PATH)
+if(NOT connext_version_header)
+  message(FATAL_ERROR "Failed to find 'ndds/ndds_version.h' in '${Connext_INCLUDE_DIRS}'")
+endif()
+file(STRINGS "${connext_version_header}" connext_define_major_version LIMIT_COUNT 1 REGEX "#define RTI_DDS_VERSION_MAJOR  [0-9]+")
+if("${connext_define_major_version}" STREQUAL "")
+  message(FATAL_ERROR "Failed to find '#define RTI_DDS_VERSION_MAJOR' in '${connext_version_header}'")
+endif()
+string(REGEX REPLACE ".* ([0-9]+)" "\\1" connext_major_version "${connext_define_major_version}")
+
 # patch the generate code for raw data
+if("${connext_major_version}" LESS 6)
+  set(patch_files_subdirectory "patch_files")
+else()
+  set(patch_files_subdirectory "patch_files_v6")
+endif()
 set(patch_files
-  ${CMAKE_CURRENT_SOURCE_DIR}/resources/patch_files/connext_static_serialized_data.cxx.patch
-  ${CMAKE_CURRENT_SOURCE_DIR}/resources/patch_files/connext_static_serialized_data.h.patch
-  ${CMAKE_CURRENT_SOURCE_DIR}/resources/patch_files/connext_static_serialized_dataPlugin.cxx.patch
-  ${CMAKE_CURRENT_SOURCE_DIR}/resources/patch_files/connext_static_serialized_dataPlugin.h.patch
-  ${CMAKE_CURRENT_SOURCE_DIR}/resources/patch_files/connext_static_serialized_dataSupport.cxx.patch
-  ${CMAKE_CURRENT_SOURCE_DIR}/resources/patch_files/connext_static_serialized_dataSupport.h.patch
+  ${CMAKE_CURRENT_SOURCE_DIR}/resources/${patch_files_subdirectory}/connext_static_serialized_data.cxx.patch
+  ${CMAKE_CURRENT_SOURCE_DIR}/resources/${patch_files_subdirectory}/connext_static_serialized_data.h.patch
+  ${CMAKE_CURRENT_SOURCE_DIR}/resources/${patch_files_subdirectory}/connext_static_serialized_dataPlugin.cxx.patch
+  ${CMAKE_CURRENT_SOURCE_DIR}/resources/${patch_files_subdirectory}/connext_static_serialized_dataPlugin.h.patch
+  ${CMAKE_CURRENT_SOURCE_DIR}/resources/${patch_files_subdirectory}/connext_static_serialized_dataSupport.cxx.patch
+  ${CMAKE_CURRENT_SOURCE_DIR}/resources/${patch_files_subdirectory}/connext_static_serialized_dataSupport.h.patch
 )
 set(patched_directory "${CMAKE_CURRENT_BINARY_DIR}/resources/patched")
 file(MAKE_DIRECTORY ${patched_directory})

diff --git a/rmw_connext_cpp/resources/patch_files_v6/connext_static_serialized_data.cxx.patch b/rmw_connext_cpp/resources/patch_files_v6/connext_static_serialized_data.cxx.patch
@@ -0,0 +1,11 @@
+--- a/rmw_connext_cpp/resources/patch_generated/connext_static_serialized_data.cxx
++++ b/rmw_connext_cpp/resources/patch_generated/connext_static_serialized_data.cxx
+@@ -11,7 +11,7 @@ or consult the RTI Connext manual.
+
+ #ifndef NDDS_STANDALONE_TYPE
+ #ifndef ndds_cpp_h
+-#include "ndds/ndds_cpp.h"
++#include "rmw_connext_shared_cpp/ndds_include.hpp"
+ #endif
+ #ifndef dds_c_log_impl_h              
+ #include "dds_c/dds_c_log_impl.h"                                
diff --git a/rmw_connext_cpp/resources/patch_files_v6/connext_static_serialized_data.h.patch b/rmw_connext_cpp/resources/patch_files_v6/connext_static_serialized_data.h.patch
@@ -0,0 +1,26 @@
+--- a/rmw_connext_cpp/resources/patch_generated/connext_static_serialized_data.h
++++ b/rmw_connext_cpp/resources/patch_generated/connext_static_serialized_data.h
+@@ -14,7 +14,7 @@ or consult the RTI Connext manual.
+
+ #ifndef NDDS_STANDALONE_TYPE
+ #ifndef ndds_cpp_h
+-#include "ndds/ndds_cpp.h"
++#include "rmw_connext_shared_cpp/ndds_include.hpp"
+ #endif
+ #include "rti/xcdr/Interpreter.hpp"
+ #else
+@@ -63,7 +63,14 @@ or consult the RTI Connext manual.
+ NDDSUSERDllExport RTIXCdrSampleAccessInfo *ConnextStaticSerializedData_get_sample_seq_access_info(void);
+ #endif
+
++#ifndef _WIN32
++# pragma GCC diagnostic push
++# pragma GCC diagnostic ignored "-Wpedantic"
++#endif
+ DDS_SEQUENCE(ConnextStaticSerializedDataSeq, ConnextStaticSerializedData);
++#ifndef _WIN32
++# pragma GCC diagnostic pop
++#endif
+
+ NDDSUSERDllExport
+ RTIBool ConnextStaticSerializedData_initialize(
diff --git a/rmw_connext_cpp/resources/patch_files_v6/connext_static_serialized_dataPlugin.cxx.patch b/rmw_connext_cpp/resources/patch_files_v6/connext_static_serialized_dataPlugin.cxx.patch
@@ -0,0 +1,45 @@
+--- a/rmw_connext_cpp/resources/patch_generated/connext_static_serialized_dataPlugin.cxx
++++ b/rmw_connext_cpp/resources/patch_generated/connext_static_serialized_dataPlugin.cxx
+@@ -11,7 +11,7 @@ or consult the RTI Connext manual.
+ #include <string.h>
+
+ #ifndef ndds_cpp_h
+-#include "ndds/ndds_cpp.h"
++#include "rmw_connext_shared_cpp/ndds_include.hpp"
+ #endif
+
+ #ifndef osapi_type_h
+@@ -655,7 +929,9 @@ Key Management functions:
+ PRESTypePluginKeyKind 
+ ConnextStaticSerializedDataPlugin_get_key_kind(void)
+ {
+-    return PRES_TYPEPLUGIN_USER_KEY;
++    // TODO(karsten1987): Whenever we introduce keys for our data types
++    // this might have to change.
++    return PRES_TYPEPLUGIN_NO_KEY;
+ }
+
+ RTIBool ConnextStaticSerializedDataPlugin_deserialize_key(
+@@ -895,6 +1368,11 @@ ConnextStaticSerializedDataPlugin_serialized_sample_to_keyhash(
+ * ------------------------------------------------------------------------ */
+ struct PRESTypePlugin *ConnextStaticSerializedDataPlugin_new(void) 
+ { 
++  return NULL;
++}
++
++struct PRESTypePlugin *ConnextStaticSerializedDataPlugin_new_external(struct DDS_TypeCode * external_type_code)
++{
+     struct PRESTypePlugin *plugin = NULL;
+     const struct PRESTypePluginVersion PLUGIN_VERSION = 
+     PRES_TYPE_PLUGIN_VERSION_2_0;
+@@ -990,9 +1468,7 @@ struct PRESTypePlugin *ConnextStaticSerializedDataPlugin_new(void)
+     (PRESTypePluginKeyToInstanceFunction)
+     ConnextStaticSerializedDataPlugin_key_to_instance;
+     plugin->serializedKeyToKeyHashFnc = NULL; /* Not supported yet */
+-    #ifdef NDDS_STANDALONE_TYPE
+-    plugin->typeCode = NULL; 
+-    #else
+-    plugin->typeCode =  (struct RTICdrTypeCode *)ConnextStaticSerializedData_get_typecode();
+-    #endif
++    plugin->typeCode =  (struct RTICdrTypeCode *)external_type_code;
+     plugin->languageKind = PRES_TYPEPLUGIN_CPP_LANG;
diff --git a/rmw_connext_cpp/resources/patch_files_v6/connext_static_serialized_dataPlugin.h.patch b/rmw_connext_cpp/resources/patch_files_v6/connext_static_serialized_dataPlugin.h.patch
@@ -0,0 +1,11 @@
+--- a/rmw_connext_cpp/resources/patch_generated/connext_static_serialized_dataPlugin.h
++++ b/rmw_connext_cpp/resources/patch_generated/connext_static_serialized_dataPlugin.h
+@@ -258,6 +258,9 @@ extern "C" {
+     NDDSUSERDllExport extern struct PRESTypePlugin*
+     ConnextStaticSerializedDataPlugin_new(void);
+
++    NDDSUSERDllExport extern struct PRESTypePlugin*
++    ConnextStaticSerializedDataPlugin_new_external(struct DDS_TypeCode * external_type_code);
++
+     NDDSUSERDllExport extern void
+     ConnextStaticSerializedDataPlugin_delete(struct PRESTypePlugin *);
diff --git a/rmw_connext_cpp/resources/patch_files_v6/connext_static_serialized_dataSupport.cxx.patch b/rmw_connext_cpp/resources/patch_files_v6/connext_static_serialized_dataSupport.cxx.patch
@@ -0,0 +1,66 @@
+--- a/rmw_connext_cpp/resources/patch_generated/connext_static_serialized_dataSupport.cxx
++++ b/rmw_connext_cpp/resources/patch_generated/connext_static_serialized_dataSupport.cxx
+@@ -123,3 +123,62 @@ Defines:   TTypeSupport, TData, TDataReader, TDataWriter
+ #undef TPlugin_new
+ #undef TPlugin_delete
+
++DDS_ReturnCode_t
++ConnextStaticSerializedDataSupport_register_external_type(
++  DDSDomainParticipant * participant,
++  const char * type_name,
++  struct DDS_TypeCode * type_code)
++{
++  DDSTypeSupport * dds_data_type = NULL;
++  struct PRESTypePlugin * presTypePlugin = NULL;
++  DDS_ReturnCode_t retcode = DDS_RETCODE_ERROR;
++  DDS_Boolean delete_data_type = DDS_BOOLEAN_FALSE;
++  RTIBool already_registered = RTI_FALSE;
++
++  if (type_code == NULL) {
++    goto finError;
++  }
++
++  if (participant == NULL) {
++    goto finError;
++  }
++
++  /* TODO pass the type_code */
++  presTypePlugin = ConnextStaticSerializedDataPlugin_new_external(type_code);
++  if (presTypePlugin == NULL) {
++    goto finError;
++  }
++
++  dds_data_type = new ConnextStaticSerializedDataTypeSupport(true);
++  if (dds_data_type == NULL) {
++    fprintf(stderr, "Error while registering external type\n");
++    goto finError;
++  }
++  delete_data_type = RTI_TRUE;
++
++  presTypePlugin->_userBuffer = (PRESWord *)dds_data_type;
++  already_registered = participant->is_type_registered(type_name);
++
++  retcode = participant->register_type(type_name, presTypePlugin, NULL, !already_registered);
++  if (retcode != DDS_RETCODE_OK) {
++    fprintf(stderr, "error while registering external type\n");
++    goto finError;
++  }
++
++  if (!already_registered) {
++    delete_data_type = DDS_BOOLEAN_FALSE;
++  }
++
++  retcode = DDS_RETCODE_OK;
++
++finError:
++  if (presTypePlugin != NULL) {
++    ConnextStaticSerializedDataPlugin_delete(presTypePlugin);
++  }
++  if (delete_data_type) {
++    delete (ConnextStaticSerializedDataTypeSupport *)dds_data_type;
++    dds_data_type = NULL;
++  }
++
++  return retcode;
++}
+
diff --git a/rmw_connext_cpp/resources/patch_files_v6/connext_static_serialized_dataSupport.h.patch b/rmw_connext_cpp/resources/patch_files_v6/connext_static_serialized_dataSupport.h.patch
@@ -0,0 +1,131 @@
+--- a/rmw_connext_cpp/resources/patch_generated/connext_static_serialized_dataSupport.h
++++ b/rmw_connext_cpp/resources/patch_generated/connext_static_serialized_dataSupport.h
+@@ -15,7 +15,7 @@ or consult the RTI Connext manual.
+ #include "connext_static_serialized_data.h"
+
+ #ifndef ndds_cpp_h
+-#include "ndds/ndds_cpp.h"
++#include "rmw_connext_shared_cpp/ndds_include.hpp"
+ #endif
+
+ #if (defined(RTI_WIN32) || defined (RTI_WINCE) || defined(RTI_INTIME)) && defined(NDDS_USER_DLL_EXPORT)
+@@ -44,13 +44,106 @@ implementing generics in C and C++.
+
+ #endif
+
+-DDS_TYPESUPPORT_CPP(
+-    ConnextStaticSerializedDataTypeSupport, 
+-    ConnextStaticSerializedData);
++class NDDSUSERDllExport DDSCPPDllExport ConnextStaticSerializedDataTypeSupport : public ::DDSTypeSupport
++{
++public:
++  ConnextStaticSerializedDataTypeSupport(bool osrf)
++  {
++    (void) osrf;
++  }
++
++  ~ConnextStaticSerializedDataTypeSupport();
++
++  static DDS_ReturnCode_t register_type(
++    DDSDomainParticipant * participant,
++    const char * type_name = "ConnextStaticSerializedData");
++
++  static DDS_ReturnCode_t unregister_type(
++    DDSDomainParticipant * participant,
++    const char * type_name = "ConnextStaticSerializedData");
++
++  static const char * get_type_name();
++
++  static ConnextStaticSerializedData * create_data_ex(DDS_Boolean allocatePointers);
++
++  static ConnextStaticSerializedData * create_data(
++    const DDS_TypeAllocationParams_t & alloc_params =
++    DDS_TYPE_ALLOCATION_PARAMS_DEFAULT);
++
++  static DDS_ReturnCode_t delete_data_ex(
++    ConnextStaticSerializedData * a_data,
++    DDS_Boolean deletePointers);
++
++  static DDS_ReturnCode_t delete_data(
++    ConnextStaticSerializedData * a_data,
++    const DDS_TypeDeallocationParams_t & dealloc_params =
++    DDS_TYPE_DEALLOCATION_PARAMS_DEFAULT);
++
++  static void print_data(const ConnextStaticSerializedData * a_data);
++
++  static DDS_ReturnCode_t copy_data(
++    ConnextStaticSerializedData * dst_data, const ConnextStaticSerializedData * src_data);
++
++  static DDS_ReturnCode_t initialize_data_ex(
++    ConnextStaticSerializedData * a_data,
++    DDS_Boolean allocatePointers);
++
++  static DDS_ReturnCode_t initialize_data(
++    ConnextStaticSerializedData * a_data,
++    const DDS_TypeAllocationParams_t & alloc_params =
++    DDS_TYPE_ALLOCATION_PARAMS_DEFAULT);
++
++  static DDS_ReturnCode_t finalize_data_ex(
++    ConnextStaticSerializedData * a_data,
++    DDS_Boolean deletePointers);
++
++  static DDS_ReturnCode_t finalize_data(
++    ConnextStaticSerializedData * a_data,
++    const DDS_TypeDeallocationParams_t & dealloc_params =
++    DDS_TYPE_DEALLOCATION_PARAMS_DEFAULT);
++
++  DDSDataReader * create_datareaderI(DDSDataReader * dataReader);
++
++  DDS_ReturnCode_t destroy_datareaderI(DDSDataReader * dataReader);
++
++  DDSDataWriter * create_datawriterI(DDSDataWriter * dataWriter);
++
++  DDS_ReturnCode_t destroy_datawriterI(DDSDataWriter * dataWriter);
++
++  static DDS_TypeCode * get_typecode();
++
++  static DDS_ReturnCode_t serialize_data_to_cdr_buffer(
++    char * buffer,
++    unsigned int & length,
++    const ConnextStaticSerializedData * a_data);
++
++  static DDS_ReturnCode_t serialize_data_to_cdr_buffer_ex(
++    char * buffer,
++    unsigned int & length,
++    const ConnextStaticSerializedData * a_data,
++    DDS_DataRepresentationId_t representation);
++
++  static DDS_ReturnCode_t deserialize_data_from_cdr_buffer(
++    ConnextStaticSerializedData * a_data,
++    const char * buffer,
++    unsigned int length);
++
++  static DDS_ReturnCode_t data_to_string(
++    ConnextStaticSerializedData * sample,
++    char * str,
++    DDS_UnsignedLong & str_size,
++    const DDS_PrintFormatProperty & property);
++
++  static void finalize();
++
++private:
++  ConnextStaticSerializedDataTypeSupport();
++};
+
+ #define ENABLE_TDATAWRITER_DATA_CONSTRUCTOR_METHODS
+ DDS_DATAWRITER_WITH_DATA_CONSTRUCTOR_METHODS_CPP(ConnextStaticSerializedDataDataWriter, ConnextStaticSerializedData);
+ #undef ENABLE_TDATAWRITER_DATA_CONSTRUCTOR_METHODS
+ #define ENABLE_TDATAREADER_DATA_CONSISTENCY_CHECK_METHOD
+ DDS_DATAREADER_W_DATA_CONSISTENCY_CHECK(ConnextStaticSerializedDataDataReader, ConnextStaticSerializedDataSeq, ConnextStaticSerializedData);
+ #undef ENABLE_TDATAREADER_DATA_CONSISTENCY_CHECK_METHOD
+
++NDDSUSERDllExport
++DDS_ReturnCode_t
++ConnextStaticSerializedDataSupport_register_external_type(
++  DDSDomainParticipant * participant,
++  const char * type_name,
++  struct DDS_TypeCode * type_code);
++
+ #if (defined(RTI_WIN32) || defined (RTI_WINCE) || defined(RTI_INTIME)) && defined(NDDS_USER_DLL_EXPORT)
+ /* If the code is building on Windows, stop exporting symbols.
+ */
diff --git a/rmw_connext_shared_cpp/include/rmw_connext_shared_cpp/ndds_include.hpp b/rmw_connext_shared_cpp/include/rmw_connext_shared_cpp/ndds_include.hpp
@@ -17,6 +17,7 @@
 
 #ifndef _WIN32
 # pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wpedantic"
 # pragma GCC diagnostic ignored "-Wunused-parameter"
 # ifdef __clang__
 #  pragma clang diagnostic ignored "-Wdeprecated-register"