Implement converter plugin for CDR format and add converter plugins p…

…ackage (#48)

* GH-111 Add package for converter plugins

* GH-111 Add CDR converter plugin

* GH-111 Add test for more primitives types

* GH-116 Fix cdr converter after rebase on new converters interface

* GH-116 Use rmw_serialize/rmw_deserialize directly in converter and link against rmw_fastrtps_cpp

* Fix converter package.xml

* Fix clang warnings

* GH-30 Change interface to the same convention as rmw_(de)serialize

* comply to new rcutils error handling API

* use poco to load fastrtps

* Update rosbag2_converter_default_plugins/src/rosbag2_converter_default_plugins/cdr/cdr_converter.cpp

Co-Authored-By: Karsten1987 <[email protected]>

rosbag2/include/rosbag2/serialization_format_converter_interface.hpp

@@ -33,14 +33,14 @@ class SerializationFormatConverterInterface
   virtual ~SerializationFormatConverterInterface() = default;
 
   virtual void deserialize(
-    std::shared_ptr<rosbag2_ros2_message_t> ros_message,
-    std::shared_ptr<const SerializedBagMessage> serialized_message,
-    const rosidl_message_type_support_t * type_support) = 0;
+    std::shared_ptr<const rosbag2::SerializedBagMessage> serialized_message,
+    const rosidl_message_type_support_t * type_support,
+    std::shared_ptr<rosbag2_ros2_message_t> ros_message) = 0;
 
   virtual void serialize(
-    std::shared_ptr<SerializedBagMessage> serialized_message,
     std::shared_ptr<const rosbag2_ros2_message_t> ros_message,
-    const rosidl_message_type_support_t * type_support) = 0;
+    const rosidl_message_type_support_t * type_support,
+    std::shared_ptr<rosbag2::SerializedBagMessage> serialized_message) = 0;
 };
 
 }  // namespace rosbag2

rosbag2/test/rosbag2/converter_test_plugin.cpp

@@ -19,20 +19,19 @@
 #include "converter_test_plugin.hpp"
 
 void ConverterTestPlugin::deserialize(
-
-  std::shared_ptr<rosbag2_ros2_message_t> ros_message,
   const std::shared_ptr<const rosbag2::SerializedBagMessage> serialized_message,
-  const rosidl_message_type_support_t * type_support)
+  const rosidl_message_type_support_t * type_support,
+  std::shared_ptr<rosbag2_ros2_message_t> ros_message)
 {
   (void) ros_message;
   (void) serialized_message;
   (void) type_support;
 }
 
 void ConverterTestPlugin::serialize(
-  std::shared_ptr<rosbag2::SerializedBagMessage> serialized_message,
   const std::shared_ptr<const rosbag2_ros2_message_t> ros_message,
-  const rosidl_message_type_support_t * type_support)
+  const rosidl_message_type_support_t * type_support,
+  std::shared_ptr<rosbag2::SerializedBagMessage> serialized_message)
 {
   (void) serialized_message;
   (void) ros_message;

rosbag2/test/rosbag2/converter_test_plugin.hpp

@@ -25,14 +25,14 @@ class ConverterTestPlugin : public rosbag2::SerializationFormatConverterInterfac
 {
 public:
   void deserialize(
-    std::shared_ptr<rosbag2_ros2_message_t> ros_message,
     std::shared_ptr<const rosbag2::SerializedBagMessage> serialized_message,
-    const rosidl_message_type_support_t * type_support) override;
+    const rosidl_message_type_support_t * type_support,
+    std::shared_ptr<rosbag2_ros2_message_t> ros_message) override;
 
   void serialize(
-    std::shared_ptr<rosbag2::SerializedBagMessage> serialized_message,
     std::shared_ptr<const rosbag2_ros2_message_t> ros_message,
-    const rosidl_message_type_support_t * type_support) override;
+    const rosidl_message_type_support_t * type_support,
+    std::shared_ptr<rosbag2::SerializedBagMessage> serialized_message) override;
 };
 
 #endif  // ROSBAG2__CONVERTER_TEST_PLUGIN_HPP_

rosbag2_converter_default_plugins/CMakeLists.txt

@@ -0,0 +1,81 @@
+cmake_minimum_required(VERSION 3.5)
+project(rosbag2_converter_default_plugins)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(ament_index_cpp REQUIRED)
+find_package(poco_vendor REQUIRED)
+find_package(Poco COMPONENTS Foundation)
+find_package(pluginlib REQUIRED)
+find_package(rosbag2 REQUIRED)
+find_package(rosidl_generator_cpp REQUIRED)
+find_package(rcutils REQUIRED)
+find_package(rmw REQUIRED)
+
+add_library(${PROJECT_NAME} SHARED
+  src/rosbag2_converter_default_plugins/cdr/cdr_converter.cpp)
+
+ament_target_dependencies(${PROJECT_NAME}
+  ament_index_cpp
+  pluginlib
+  Poco
+  rosbag2
+  rcutils
+  rmw
+  rosidl_generator_cpp)
+
+target_include_directories(${PROJECT_NAME}
+  PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+
+pluginlib_export_plugin_description_file(rosbag2 plugin_description.xml)
+
+install(
+  TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
+
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME})
+ament_export_dependencies(rosbag2)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_gmock REQUIRED)
+  find_package(ament_lint_auto REQUIRED)
+  find_package(rcutils REQUIRED)
+  find_package(rosbag2 REQUIRED)
+  find_package(rosbag2_test_common REQUIRED)
+  find_package(test_msgs REQUIRED)
+
+  ament_lint_auto_find_test_dependencies()
+
+  ament_add_gmock(test_cdr_converter
+    test/rosbag2_converter_default_plugins/cdr/test_cdr_converter.cpp
+    src/rosbag2_converter_default_plugins/cdr/cdr_converter.cpp
+    WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
+  if(TARGET test_cdr_converter)
+    ament_target_dependencies(test_cdr_converter
+      pluginlib
+      rosbag2
+      rosbag2_test_common
+      rcutils
+      test_msgs)
+  endif()
+endif()
+
+ament_package()

rosbag2_converter_default_plugins/package.xml

@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>rosbag2_converter_default_plugins</name>
+  <version>0.0.0</version>
+  <description>Package containing default plugins for format converters</description>
+  <maintainer email="[email protected]">Karsten Knese</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>ament_index_cpp</depend>
+  <depend>pluginlib</depend>
+  <depend>poco_vendor</depend>
+  <depend>rosidl_generator_cpp</depend>
+  <depend>rcutils</depend>
+  <depend>rmw</depend>
+  <depend>rosbag2</depend>
+
+  <test_depend>ament_cmake_gmock</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <test_depend>rcutils</test_depend>
+  <test_depend>rosbag2</test_depend>
+  <test_depend>rosbag2_test_common</test_depend>
+  <test_depend>test_msgs</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

rosbag2_converter_default_plugins/plugin_description.xml

@@ -0,0 +1,9 @@
+<library path="rosbag2_converter_default_plugins">
+<class
+        name="cdr_converter"
+        type="CdrConverterPlugin"
+        base_class_type="rosbag2::FormatConverterInterface"
+>
+  <description>This is a converter plugin for cdr format.</description>
+</class>
+</library>

rosbag2_converter_default_plugins/src/rosbag2_converter_default_plugins/cdr/cdr_converter.cpp

@@ -0,0 +1,131 @@
+// Copyright 2018, Bosch Software Innovations GmbH.
+//
+// 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 "cdr_converter.hpp"
+
+#include <memory>
+#include <string>
+
+#include "ament_index_cpp/get_resources.hpp"
+#include "ament_index_cpp/get_package_prefix.hpp"
+
+#include "Poco/SharedLibrary.h"
+
+#include "rcutils/strdup.h"
+
+#include "../logging.hpp"
+
+namespace rosbag2_converter_default_plugins
+{
+
+inline
+std::string get_package_library_path(const std::string & package_name)
+{
+  const char * filename_prefix;
+  const char * filename_extension;
+  const char * dynamic_library_folder;
+#ifdef _WIN32
+  filename_prefix = "";
+  filename_extension = ".dll";
+  dynamic_library_folder = "/bin/";
+#elif __APPLE__
+  filename_prefix = "lib";
+  filename_extension = ".dylib";
+  dynamic_library_folder = "/lib/";
+#else
+  filename_prefix = "lib";
+  filename_extension = ".so";
+  dynamic_library_folder = "/lib/";
+#endif
+
+  auto package_prefix = ament_index_cpp::get_package_prefix(package_name);
+  auto library_path = package_prefix + dynamic_library_folder + filename_prefix +
+    package_name + filename_extension;
+
+  return library_path;
+}
+
+CdrConverter::CdrConverter()
+{
+  auto library_path = get_package_library_path("rmw_fastrtps_dynamic_cpp");
+  std::shared_ptr<Poco::SharedLibrary> library;
+  try {
+    library = std::make_shared<Poco::SharedLibrary>(library_path);
+  } catch (Poco::LibraryLoadException &) {
+    throw std::runtime_error(
+            std::string("poco exception: library could not be found:") + library_path);
+  }
+
+  std::string serialize_symbol = "rmw_serialize";
+  std::string deserialize_symbol = "rmw_deserialize";
+
+  if (!library->hasSymbol(serialize_symbol)) {
+    throw std::runtime_error(
+            std::string("poco exception: symbol not found: ") + serialize_symbol);
+  }
+
+  if (!library->hasSymbol(deserialize_symbol)) {
+    throw std::runtime_error(
+            std::string("poco exception: symbol not found: ") + deserialize_symbol);
+  }
+
+  serialize_fcn_ = (decltype(serialize_fcn_))library->getSymbol(serialize_symbol);
+  if (!serialize_fcn_) {
+    throw std::runtime_error(
+            std::string("poco exception: symbol of wrong type: ") + serialize_symbol);
+  }
+
+  deserialize_fcn_ = (decltype(deserialize_fcn_))library->getSymbol(deserialize_symbol);
+  if (!deserialize_fcn_) {
+    throw std::runtime_error(
+            std::string("poco exception: symbol of wrong type: ") + deserialize_symbol);
+  }
+}
+
+void CdrConverter::deserialize(
+  const std::shared_ptr<const rosbag2::SerializedBagMessage> serialized_message,
+  const rosidl_message_type_support_t * type_support,
+  std::shared_ptr<rosbag2_ros2_message_t> ros_message)
+{
+  ros_message->topic_name = serialized_message->topic_name.c_str();
+  ros_message->timestamp = serialized_message->time_stamp;
+
+  printf("this should be a call to FASTRTPS\n");
+  auto ret =
+    deserialize_fcn_(serialized_message->serialized_data.get(), type_support, ros_message->message);
+  if (ret != RMW_RET_OK) {
+    ROSBAG2_CONVERTER_DEFAULT_PLUGINS_LOG_ERROR("Failed to deserialize message.");
+  }
+}
+
+void CdrConverter::serialize(
+  const std::shared_ptr<const rosbag2_ros2_message_t> ros_message,
+  const rosidl_message_type_support_t * type_support,
+  std::shared_ptr<rosbag2::SerializedBagMessage> serialized_message)
+{
+  serialized_message->topic_name = std::string(ros_message->topic_name);
+  serialized_message->time_stamp = ros_message->timestamp;
+
+  auto ret = serialize_fcn_(
+    ros_message->message, type_support, serialized_message->serialized_data.get());
+  if (ret != RMW_RET_OK) {
+    ROSBAG2_CONVERTER_DEFAULT_PLUGINS_LOG_ERROR("Failed to serialize message.");
+  }
+}
+
+}  // namespace rosbag2_converter_default_plugins
+
+#include "pluginlib/class_list_macros.hpp"  // NOLINT
+PLUGINLIB_EXPORT_CLASS(rosbag2_converter_default_plugins::CdrConverter,
+  rosbag2::SerializationFormatConverterInterface)

rosbag2_converter_default_plugins/src/rosbag2_converter_default_plugins/cdr/cdr_converter.hpp

@@ -0,0 +1,57 @@
+// Copyright 2018, Bosch Software Innovations GmbH.
+//
+// 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 ROSBAG2_CONVERTER_DEFAULT_PLUGINS__CDR__CDR_CONVERTER_HPP_
+#define ROSBAG2_CONVERTER_DEFAULT_PLUGINS__CDR__CDR_CONVERTER_HPP_
+
+#include <memory>
+#include <string>
+
+#include "rmw/types.h"
+
+#include "rosbag2/serialization_format_converter_interface.hpp"
+
+namespace rosbag2_converter_default_plugins
+{
+
+class CdrConverter : public rosbag2::SerializationFormatConverterInterface
+{
+public:
+  CdrConverter();
+
+  void deserialize(
+    std::shared_ptr<const rosbag2::SerializedBagMessage> serialized_message,
+    const rosidl_message_type_support_t * type_support,
+    std::shared_ptr<rosbag2_ros2_message_t> ros_message) override;
+
+  void serialize(
+    std::shared_ptr<const rosbag2_ros2_message_t> ros_message,
+    const rosidl_message_type_support_t * type_support,
+    std::shared_ptr<rosbag2::SerializedBagMessage> serialized_message) override;
+
+protected:
+  rmw_ret_t (* serialize_fcn_)(
+    const void *,
+    const rosidl_message_type_support_t *,
+    rmw_serialized_message_t *) = nullptr;
+
+  rmw_ret_t (* deserialize_fcn_)(
+    const rmw_serialized_message_t *,
+    const rosidl_message_type_support_t *,
+    void *) = nullptr;
+};
+
+}  // namespace rosbag2_converter_default_plugins
+
+#endif  // ROSBAG2_CONVERTER_DEFAULT_PLUGINS__CDR__CDR_CONVERTER_HPP_