Release v2.2.0

eProsima · Jun 28, 2022 · 6f4edd2 · 6f4edd2
2 parents 2195d43 + c2b41c7
commit 6f4edd2
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Showing 13 changed files with 373 additions and 76 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -70,6 +70,9 @@ option(UCLIENT_PROFILE_MATCHING "Enable QoS matching support." OFF)
 set(UCLIENT_SHARED_MEMORY_MAX_ENTITIES 4 CACHE STRING "Max number of entities involved in shared memory.")
 set(UCLIENT_SHARED_MEMORY_STATIC_MEM_SIZE 10 CACHE STRING "Max number data buffers stored in shared memory")
 
+option(UCLIENT_HARD_LIVELINESS_CHECK "Enable hard liveliness check." OFF)
+set(UCLIENT_HARD_LIVELINESS_CHECK_TIMEOUT 10000 CACHE STRING "Set the hard liveliness check interval in milliseconds.")
+
 # Off-standard features and tweaks
 option(UCLIENT_TWEAK_XRCE_WRITE_LIMIT "This feature uses a tweak to allow XRCE WRITE DATA submessages grater than 64 kB." ON)
 
@@ -87,7 +90,7 @@ list(APPEND _deps "microcdr\;${_microcdr_version}")
 ###############################################################################
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules)
 if(NOT UCLIENT_SUPERBUILD)
-    project(microxrcedds_client VERSION "2.1.1" LANGUAGES C)
+    project(microxrcedds_client VERSION "2.2.0" LANGUAGES C)
 else()
     project(uclient_superbuild NONE)
     include(${PROJECT_SOURCE_DIR}/cmake/SuperBuild.cmake)
@@ -181,6 +184,8 @@ if(UCLIENT_PROFILE_TCP)
     list(APPEND _transport_src src/c/profile/transport/ip/tcp/tcp_transport.c)
     if(UCLIENT_PLATFORM_POSIX)
         list(APPEND _transport_src src/c/profile/transport/ip/tcp/tcp_transport_posix.c)
+    elseif(UCLIENT_PLATFORM_POSIX_NOPOLL)
+        list(APPEND _transport_src src/c/profile/transport/ip/tcp/tcp_transport_posix_nopoll.c)
     elseif(UCLIENT_PLATFORM_WINDOWS)
         list(APPEND _transport_src src/c/profile/transport/ip/tcp/tcp_transport_windows.c)
     elseif(UCLIENT_PLATFORM_FREERTOS_PLUS_TCP)

diff --git a/cmake/SuperBuild.cmake b/cmake/SuperBuild.cmake
@@ -44,6 +44,9 @@ if(NOT microcdr_FOUND)
             -DCMAKE_INSTALL_PREFIX=<INSTALL_DIR>
             -DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}
             -DCMAKE_SYSROOT:PATH=${CMAKE_SYSROOT}
+            -DCMAKE_C_FLAGS:STRING=${CMAKE_C_FLAGS}
+            -DCMAKE_CXX_FLAGS:STRING=${CMAKE_CXX_FLAGS}
+            -DCMAKE_EXE_LINKER_FLAGS:STRING=${CMAKE_EXE_LINKER_FLAGS}
             -DCMAKE_BUILD_TYPE:STRING=${CMAKE_BUILD_TYPE}
             -DCONFIG_BIG_ENDIANNESS=${UCLIENT_BIG_ENDIANNESS}
             -DUCDR_PIC=${UCLIENT_PIC}

diff --git a/cmake/common/check_configuration.cmake b/cmake/common/check_configuration.cmake
@@ -120,15 +120,11 @@ function(set_common_compile_options target)
         target_compile_options(${target} PRIVATE -Wall
             -Wextra
             -Wshadow
-            $<$<COMPILE_LANGUAGE:CXX>:-Wnon-virtual-dtor>
             -pedantic
             -Wcast-align
             -Wunused
-            $<$<COMPILE_LANGUAGE:CXX>:-Woverloaded-virtual>
             -Wconversion
             $<$<CXX_COMPILER_ID:GNU>:-Wlogical-op>
-            $<$<AND:$<CXX_COMPILER_ID:GNU>,$<COMPILE_LANGUAGE:CXX>>:-Wuseless-cast>
-            $<$<COMPILE_LANGUAGE:CXX>:-Wold-style-cast>
             $<$<OR:$<AND:$<CXX_COMPILER_ID:GNU>,$<NOT:$<VERSION_LESS:$<CXX_COMPILER_VERSION>,6.0.0>>>,$<AND:$<C_COMPILER_ID:GNU>,$<NOT:$<VERSION_LESS:$<C_COMPILER_VERSION>,6.0.0>>>>:-Wnull-dereference>
             $<$<OR:$<AND:$<CXX_COMPILER_ID:GNU>,$<NOT:$<VERSION_LESS:$<CXX_COMPILER_VERSION>,7.0.0>>>,$<AND:$<C_COMPILER_ID:GNU>,$<NOT:$<VERSION_LESS:$<C_COMPILER_VERSION>,7.0.0>>>>:-Wduplicated-branches>
             $<$<OR:$<AND:$<CXX_COMPILER_ID:GNU>,$<NOT:$<VERSION_LESS:$<CXX_COMPILER_VERSION>,6.0.0>>>,$<AND:$<C_COMPILER_ID:GNU>,$<NOT:$<VERSION_LESS:$<C_COMPILER_VERSION>,6.0.0>>>>:-Wduplicated-cond>

diff --git a/include/uxr/client/config.h.in b/include/uxr/client/config.h.in
@@ -67,5 +67,18 @@
 
 #cmakedefine UCLIENT_TWEAK_XRCE_WRITE_LIMIT
 
+#cmakedefine UCLIENT_HARD_LIVELINESS_CHECK
+
+#ifdef UCLIENT_HARD_LIVELINESS_CHECK
+#define UXR_CONFIG_HARD_LIVELINESS_CHECK_TIMEOUT_STR     "@UCLIENT_HARD_LIVELINESS_CHECK_TIMEOUT@"
+#endif
+
+
+// Version checks
+#if UXR_CLIENT_VERSION_MAJOR >= 3
+#error UCLIENT_HARD_LIVELINESS_CHECK shall be included in session API
+#error MTU must be included in CREATE_CLIENT_Payload properties
+#error Reorder ObjectInfo https://github.com/eProsima/Micro-XRCE-DDS/issues/137
+#endif
 
 #endif // _UXR_CLIENT_CONFIG_H_
diff --git a/include/uxr/client/core/type/xrce_types.h b/include/uxr/client/core/type/xrce_types.h
@@ -24,6 +24,7 @@ extern "C"
 #endif // ifdef __cplusplus
 
 #include <uxr/client/defines.h>
+#include <uxr/client/config.h>
 
 #include <ucdr/microcdr.h>
 #include <stdint.h>
@@ -40,7 +41,24 @@ extern "C"
 #define UXR_SAMPLE_DELTA_SEQUENCE_MAX      8
 #define UXR_PACKED_SAMPLES_SEQUENCE_MAX    8
 #define UXR_TRANSPORT_LOCATOR_SEQUENCE_MAX 4
+
+#ifdef UCLIENT_PROFILE_SHARED_MEMORY
+#define PROFILE_SHARED_MEMORY_SEQ_COUNT 1
+#else
+#define PROFILE_SHARED_MEMORY_SEQ_COUNT 0
+#endif // ifdef UCLIENT_PROFILE_SHARED_MEMORY
+
+#ifdef UCLIENT_HARD_LIVELINESS_CHECK
+#define HARD_LIVELINESS_CHECK_SEQ_COUNT 1
+#else
+#define HARD_LIVELINESS_CHECK_SEQ_COUNT 0
+#endif // ifdef UCLIENT_HARD_LIVELINESS_CHECK
+
+#if  (PROFILE_SHARED_MEMORY_SEQ_COUNT + HARD_LIVELINESS_CHECK_SEQ_COUNT) == 0
 #define UXR_PROPERTY_SEQUENCE_MAX          1
+#else
+#define UXR_PROPERTY_SEQUENCE_MAX          PROFILE_SHARED_MEMORY_SEQ_COUNT + HARD_LIVELINESS_CHECK_SEQ_COUNT
+#endif // if  (PROFILE_SHARED_MEMORY_SEQ_COUNT + HARD_LIVELINESS_CHECK_SEQ_COUNT) == 0
 
 typedef struct Time_t
 {

diff --git a/include/uxr/client/profile/transport/ip/tcp/tcp_transport_posix_nopoll.h b/include/uxr/client/profile/transport/ip/tcp/tcp_transport_posix_nopoll.h
@@ -0,0 +1,32 @@
+// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// 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 UXR_CLIENT_PROFILE_TRANSPORT_IP_TCP_TCPTRANSPORTPOSIXNOPOLL_H_
+#define UXR_CLIENT_PROFILE_TRANSPORT_IP_TCP_TCPTRANSPORTPOSIXNOPOLL_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif // ifdef __cplusplus
+
+typedef struct uxrTCPPlatform
+{
+    int fd;
+} uxrTCPPlatform;
+
+#ifdef __cplusplus
+}
+#endif // ifdef __cplusplus
+
+#endif // UXR_CLIENT_PROFILE_TRANSPORT_IP_TCP_TCPTRANSPORTPOSIXNOPOLL_H_
diff --git a/include/uxr/client/transport.h b/include/uxr/client/transport.h
@@ -33,7 +33,9 @@
 #endif //UCLIENT_PROFILE_UDP
 
 #ifdef UCLIENT_PROFILE_TCP
-#if defined(UCLIENT_PLATFORM_POSIX)
+#if defined(UCLIENT_PLATFORM_POSIX_NOPOLL)
+#include <uxr/client/profile/transport/ip/tcp/tcp_transport_posix_nopoll.h>
+#elif defined(UCLIENT_PLATFORM_POSIX)
 #include <uxr/client/profile/transport/ip/tcp/tcp_transport_posix.h>
 #elif defined(UCLIENT_PLATFORM_WINDOWS)
 #include <uxr/client/profile/transport/ip/tcp/tcp_transport_windows.h>

diff --git a/include/uxr/client/util/ping.h b/include/uxr/client/util/ping.h
@@ -33,7 +33,7 @@ extern "C"
 #define UXR_PING_BUF 16 // 4 (HEADER SIZE) + 4 (SUBHEADER_SIZE) + 8 (GET_Info payload)
 
 #define GET_INFO_MSG_SIZE   8
-#define GET_INFO_REQUEST_ID 9
+#define GET_INFO_REQUEST_PING_ID 10
 
 struct uxrSession;
 

diff --git a/src/c/core/session/session.c b/src/c/core/session/session.c
@@ -21,13 +21,23 @@
 #include "../../profile/shared_memory/shared_memory_internal.h"
 
 #ifdef UCLIENT_PROFILE_SHARED_MEMORY
-#define CREATE_SESSION_PROPERTIES_MAX_SIZE 21
-#define CREATE_SESSION_MAX_MSG_SIZE (MAX_HEADER_SIZE + SUBHEADER_SIZE + CREATE_CLIENT_PAYLOAD_SIZE + \
-    CREATE_SESSION_PROPERTIES_MAX_SIZE)
+#define PROFILE_SHARED_MEMORY_ADD_SIZE 21
 #else
-#define CREATE_SESSION_MAX_MSG_SIZE (MAX_HEADER_SIZE + SUBHEADER_SIZE + CREATE_CLIENT_PAYLOAD_SIZE)
+#define PROFILE_SHARED_MEMORY_ADD_SIZE 0
 #endif /* ifdef UCLIENT_PROFILE_SHARED_MEMORY */
 
+#ifdef UCLIENT_HARD_LIVELINESS_CHECK
+#define HARD_LIVELINESS_CHECK_ADD_SIZE 26
+#else
+#define HARD_LIVELINESS_CHECK_ADD_SIZE 0
+#endif /* ifdef UCLIENT_HARD_LIVELINESS_CHECK */
+
+#define CREATE_SESSION_PROPERTIES_MAX_SIZE PROFILE_SHARED_MEMORY_ADD_SIZE + HARD_LIVELINESS_CHECK_ADD_SIZE
+
+
+#define CREATE_SESSION_MAX_MSG_SIZE (MAX_HEADER_SIZE + SUBHEADER_SIZE + CREATE_CLIENT_PAYLOAD_SIZE + \
+    CREATE_SESSION_PROPERTIES_MAX_SIZE)
+
 #define DELETE_SESSION_MAX_MSG_SIZE (MAX_HEADER_SIZE + SUBHEADER_SIZE + DELETE_CLIENT_PAYLOAD_SIZE)
 #define HEARTBEAT_MAX_MSG_SIZE      (MAX_HEADER_SIZE + SUBHEADER_SIZE + HEARTBEAT_PAYLOAD_SIZE)
 #define ACKNACK_MAX_MSG_SIZE        (MAX_HEADER_SIZE + SUBHEADER_SIZE + ACKNACK_PAYLOAD_SIZE)
@@ -102,6 +112,12 @@ static void read_submessage_acknack(
 static void read_submessage_timestamp_reply(
         uxrSession* session,
         ucdrBuffer* submessage);
+static void read_submessage_get_info(
+        uxrSession* session,
+        ucdrBuffer* submessage);
+void read_submessage_info(
+        uxrSession* session,
+        ucdrBuffer* submessage);
 #ifdef PERFORMANCE_TESTING
 static void read_submessage_performance(
         uxrSession* session,
@@ -125,9 +141,6 @@ static bool run_session_until_sync(
         uxrSession* session,
         int timeout);
 
-pong_status_t uxr_acknack_pong(
-        ucdrBuffer* buffer);
-
 //==================================================================
 //                             PUBLIC
 //==================================================================
@@ -626,52 +639,6 @@ void uxr_flash_output_streams(
 //==================================================================
 //                             PRIVATE
 //==================================================================
-pong_status_t uxr_acknack_pong(
-        ucdrBuffer* buffer)
-{
-    bool success = false;
-    bool ret = false;
-    bool active_session = false;
-
-    if (ucdr_buffer_remaining(buffer) > SUBHEADER_SIZE)
-    {
-        uint8_t id = 0;
-        uint8_t flags = 0;
-        uint16_t length = 0;
-        uxr_deserialize_submessage_header(buffer, &id, &flags, &length);
-        success = ucdr_buffer_remaining(buffer) >= length;
-
-        if (success && id == SUBMESSAGE_ID_INFO)
-        {
-            INFO_Payload info_payload;
-
-            success &= uxr_deserialize_BaseObjectReply(buffer, &info_payload.base);
-            active_session = info_payload.base.result.implementation_status;
-
-            success &= ucdr_deserialize_bool(buffer, &info_payload.object_info.optional_config);
-
-            if (info_payload.object_info.optional_config)
-            {
-                success &= uxr_deserialize_ObjectVariant(buffer, &info_payload.object_info.config);
-            }
-
-            success &= ucdr_deserialize_bool(buffer, &info_payload.object_info.optional_activity);
-            if (info_payload.object_info.optional_activity)
-            {
-                success &= ucdr_deserialize_uint8_t(buffer, &info_payload.object_info.activity.kind);
-                if (success && DDS_XRCE_OBJK_AGENT == info_payload.object_info.activity.kind)
-                {
-                    success &= ucdr_deserialize_int16_t(buffer,
-                                    &info_payload.object_info.activity._.agent.availability);
-                    ret = success && (info_payload.object_info.activity._.agent.availability > 0);
-                }
-            }
-        }
-    }
-
-    return ret ? (active_session ? PONG_IN_SESSION_STATUS : PONG_NO_SESSION_STATUS) : NO_PONG_STATUS;
-}
-
 bool uxr_run_session_until_pong(
         uxrSession* session,
         int timeout_ms)
@@ -781,7 +748,15 @@ bool wait_session_status(
     for (size_t i = 0; i < attempts && session->info.last_requested_status == UXR_STATUS_NONE; ++i)
     {
         send_message(session, buffer, length);
-        listen_message(session, UXR_CONFIG_MIN_SESSION_CONNECTION_INTERVAL);
+
+        int64_t start_timestamp = uxr_millis();
+        int remaining_time = UXR_CONFIG_MIN_SESSION_CONNECTION_INTERVAL;
+
+        do
+        {
+            listen_message(session, remaining_time);
+            remaining_time = UXR_CONFIG_MIN_SESSION_CONNECTION_INTERVAL - (int)(uxr_millis() - start_timestamp);
+        } while (remaining_time > 0 && session->info.last_requested_status == UXR_STATUS_NONE);
     }
 
     return session->info.last_requested_status != UXR_STATUS_NONE;
@@ -877,10 +852,6 @@ void read_message(
         uxrStreamId id = uxr_stream_id_from_raw(stream_id_raw, UXR_INPUT_STREAM);
         read_stream(session, ub, id, seq_num);
     }
-    else
-    {
-        session->on_pong_flag = uxr_acknack_pong(ub);
-    }
 }
 
 void read_stream(
@@ -989,6 +960,14 @@ void read_submessage(
             read_submessage_timestamp_reply(session, submessage);
             break;
 
+        case SUBMESSAGE_ID_GET_INFO:
+            read_submessage_get_info(session, submessage);
+            break;
+
+        case SUBMESSAGE_ID_INFO:
+            read_submessage_info(session, submessage);
+            break;
+
 #ifdef PERFORMANCE_TESTING
         case SUBMESSAGE_ID_PERFORMANCE:
             read_submessage_performance(session, submessage, length);
@@ -1095,6 +1074,66 @@ void read_submessage_timestamp_reply(
     process_timestamp_reply(session, &timestamp_reply);
 }
 
+void read_submessage_get_info(
+        uxrSession* session,
+        ucdrBuffer* submessage)
+{
+    GET_INFO_Payload get_info_payload = {
+        0
+    };
+    INFO_Payload info_payload = {
+        0
+    };
+
+    uxr_deserialize_GET_INFO_Payload(submessage, &get_info_payload);
+
+    info_payload.base.related_request.request_id = get_info_payload.base.request_id;
+
+    uint8_t buffer[12];
+    ucdrBuffer ub;
+    ucdr_init_buffer_origin_offset(&ub, buffer, sizeof(buffer), 0u, uxr_session_header_offset(&session->info));
+
+    uxr_serialize_INFO_Payload(&ub, &info_payload);
+    uxr_stamp_session_header(&session->info, 0, 0, ub.init);
+
+    send_message(session, buffer, ucdr_buffer_length(&ub));
+}
+
+void read_submessage_info(
+        uxrSession* session,
+        ucdrBuffer* submessage)
+{
+    INFO_Payload info_payload;
+
+    bool success = true;
+
+    success &= uxr_deserialize_BaseObjectReply(submessage, &info_payload.base);
+    bool active_session = info_payload.base.result.implementation_status;
+
+    success &= ucdr_deserialize_bool(submessage, &info_payload.object_info.optional_config);
+
+    if (info_payload.object_info.optional_config)
+    {
+        success &= uxr_deserialize_ObjectVariant(submessage, &info_payload.object_info.config);
+    }
+
+    success &= ucdr_deserialize_bool(submessage, &info_payload.object_info.optional_activity);
+    if (info_payload.object_info.optional_activity)
+    {
+        success &= ucdr_deserialize_uint8_t(submessage, &info_payload.object_info.activity.kind);
+        if (success && DDS_XRCE_OBJK_AGENT == info_payload.object_info.activity.kind)
+        {
+            success &= ucdr_deserialize_int16_t(submessage,
+                            &info_payload.object_info.activity._.agent.availability);
+            session->on_pong_flag = (success && (info_payload.object_info.activity._.agent.availability > 0)) ?
+                    (active_session ?
+                    PONG_IN_SESSION_STATUS :
+                    PONG_NO_SESSION_STATUS) :
+                    NO_PONG_STATUS;
+        }
+    }
+}
+
 #ifdef PERFORMANCE_TESTING
 void read_submessage_performance(
         uxrSession* session,