Add Binary entity creation mode (#123)

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Co-authored-by: GitHub Actions Bot <>

Author: pablogs9

rmw_microxrcedds_c/CMakeLists.txt

@@ -54,7 +54,6 @@ option(RMW_UXRCE_ALLOW_DYNAMIC_ALLOCATIONS "Enables increasing static pools with
 set(RMW_UXRCE_NODE_NAME_MAX_LENGTH "128" CACHE STRING "This value sets the maximum number of characters for a node name.")
 set(RMW_UXRCE_TOPIC_NAME_MAX_LENGTH "100" CACHE STRING "This value sets the maximum number of characters for a topic name.")
 set(RMW_UXRCE_TYPE_NAME_MAX_LENGTH "128" CACHE STRING "This value sets the maximum number of characters for a type name.")
-set(RMW_UXRCE_XML_BUFFER_LENGTH "600" CACHE STRING "This value sets the maximum number of characters for a XML buffer.")
 set(RMW_UXRCE_REF_BUFFER_LENGTH "100" CACHE STRING "This value sets the maximum number of characters for a reference buffer.")
 set(RMW_UXRCE_ENTITY_CREATION_DESTROY_TIMEOUT "1000" CACHE STRING "This value sets the maximum time to wait for an XRCE entity creation and destroy in milliseconds. If set to 0 best effort is used.")
 set(RMW_UXRCE_PUBLISH_RELIABLE_TIMEOUT "1000" CACHE STRING "This value sets the maximum time to wait for a publication in a reliable mode in milliseconds.")
@@ -97,13 +96,8 @@ endif()
 
 # Create entities type define macros.
 set(RMW_UXRCE_USE_REFS OFF)
-set(RMW_UXRCE_USE_XML OFF)
 if(${RMW_UXRCE_CREATION_MODE} STREQUAL "refs")
   set(RMW_UXRCE_USE_REFS ON)
-elseif(${RMW_UXRCE_CREATION_MODE} STREQUAL "xml")
-  set(RMW_UXRCE_USE_XML ON)
-else()
-  message(FATAL_ERROR "Creation mode not supported. Use \"refs\" or \"xml\"")
 endif()
 
 # Create source files with the define

rmw_microxrcedds_c/src/config.h.in

@@ -9,7 +9,6 @@
 #cmakedefine RMW_UXRCE_TRANSPORT_IPV4
 #cmakedefine RMW_UXRCE_TRANSPORT_IPV6
 #cmakedefine RMW_UXRCE_USE_REFS
-#cmakedefine RMW_UXRCE_USE_XML
 #cmakedefine RMW_UXRCE_ALLOW_DYNAMIC_ALLOCATIONS
 #cmakedefine RMW_UXRCE_GRAPH
 
@@ -61,10 +60,6 @@
 #define RMW_UXRCE_TOPIC_NAME_MAX_LENGTH @RMW_UXRCE_TOPIC_NAME_MAX_LENGTH@
 #define RMW_UXRCE_TYPE_NAME_MAX_LENGTH @RMW_UXRCE_TYPE_NAME_MAX_LENGTH@
 
-#if defined(RMW_UXRCE_USE_XML)
-#define RMW_UXRCE_ENTITY_NAMING_BUFFER_LENGTH @RMW_UXRCE_XML_BUFFER_LENGTH@
-#elif defined(RMW_UXRCE_USE_REFS)
 #define RMW_UXRCE_ENTITY_NAMING_BUFFER_LENGTH @RMW_UXRCE_REF_BUFFER_LENGTH@
-#endif
 
 #endif // RMW_MICROXRCEDDS_CONFIG_H

rmw_microxrcedds_c/src/rmw_client.c

@@ -83,10 +83,7 @@ rmw_create_client(
 
         rmw_uxrce_client_t* custom_client = (rmw_uxrce_client_t*)memory_node->data;
         custom_client->rmw_handle = rmw_client;
-
         custom_client->owner_node = custom_node;
-        custom_client->client_gid.implementation_identifier =
-                rmw_get_implementation_identifier();
 
         const rosidl_service_type_support_t* type_support_xrce = NULL;
 #ifdef ROSIDL_TYPESUPPORT_MICROXRCEDDS_C__IDENTIFIER_VALUE
@@ -114,24 +111,17 @@ rmw_create_client(
             RMW_SET_ERROR_MSG("type support data is NULL");
             goto fail;
         }
-        else if (sizeof(uxrObjectId) > RMW_GID_STORAGE_SIZE)
-        {
-            RMW_SET_ERROR_MSG("Not enough memory for impl ids");
-            goto fail;
-        }
-
 
         custom_client->client_id =
                 uxr_object_id(custom_node->context->id_requester++, UXR_REQUESTER_ID);
 
-        memset(custom_client->client_gid.data, 0, RMW_GID_STORAGE_SIZE);
-        memcpy(
-            custom_client->client_gid.data, &custom_client->client_id,
-            sizeof(uxrObjectId));
-
         uint16_t client_req = UXR_INVALID_REQUEST_ID;
 
-#ifdef RMW_UXRCE_USE_XML
+#ifdef RMW_UXRCE_USE_REFS
+        // TODO(pablogs9): Use here true references
+        // client_req = uxr_buffer_create_replier_ref(&custom_node->context->session,
+        //     *custom_node->context->creation_destroy_stream, custom_service->subscriber_id,
+        //     custom_node->participant_id, "", UXR_REPLACE);
         char service_name_id[20];
         generate_name(&custom_client->client_id, service_name_id, sizeof(service_name_id));
         if (!build_service_xml(
@@ -147,11 +137,27 @@ rmw_create_client(
             *custom_node->context->creation_destroy_stream,
             custom_client->client_id,
             custom_node->participant_id, rmw_uxrce_entity_naming_buffer, UXR_REPLACE);
-#elif defined(RMW_UXRCE_USE_REFS)
-        // TODO(pablogs9): Is possible to instantiate a replier by ref?
-        // client_req = uxr_buffer_create_replier_ref(&custom_node->context->session,
-        //     *custom_node->context->creation_destroy_stream, custom_service->subscriber_id,
-        //     custom_node->participant_id, "", UXR_REPLACE);
+#else
+        char req_type_name[RMW_UXRCE_TYPE_NAME_MAX_LENGTH];
+        char res_type_name[RMW_UXRCE_TYPE_NAME_MAX_LENGTH];
+        generate_service_types(custom_client->type_support_callbacks, req_type_name, res_type_name,
+                RMW_UXRCE_TYPE_NAME_MAX_LENGTH);
+
+        char req_topic_name[RMW_UXRCE_TOPIC_NAME_MAX_LENGTH];
+        char res_topic_name[RMW_UXRCE_TOPIC_NAME_MAX_LENGTH];
+        generate_service_topics(service_name, req_topic_name, res_topic_name, RMW_UXRCE_TOPIC_NAME_MAX_LENGTH);
+
+        client_req = uxr_buffer_create_requester_bin(
+            &custom_node->context->session,
+            *custom_node->context->creation_destroy_stream,
+            custom_client->client_id,
+            custom_node->participant_id,
+            (char*) service_name,
+            req_type_name,
+            res_type_name,
+            req_topic_name,
+            res_topic_name,
+            UXR_REPLACE);
 #endif /* ifdef RMW_UXRCE_USE_XML */
 
         rmw_client->data = custom_client;

rmw_microxrcedds_c/src/rmw_get_gid_for_publisher.c

@@ -33,7 +33,19 @@ rmw_get_gid_for_publisher(
 
     // Do
     rmw_uxrce_publisher_t* custom_publisher = (rmw_uxrce_publisher_t*)publisher->data;
-    memcpy(gid, &custom_publisher->publisher_gid, sizeof(rmw_gid_t));
+
+    if (sizeof(uxrObjectId) > RMW_GID_STORAGE_SIZE)
+    {
+        RMW_SET_ERROR_MSG("Not enough memory for impl ids");
+        return RMW_RET_ERROR;
+    }
+
+    memset(gid->data, 0, RMW_GID_STORAGE_SIZE);
+    memcpy(
+        gid->data,
+        &custom_publisher->publisher_id,
+        sizeof(uxrObjectId));
+
 
     return RMW_RET_OK;
 }

rmw_microxrcedds_c/src/rmw_graph.c

@@ -51,11 +51,12 @@ rmw_ret_t rmw_graph_init(
         return RMW_RET_ERROR;
     }
 
-    uint16_t participant_req = uxr_buffer_create_participant_xml(
+    uint16_t participant_req = uxr_buffer_create_participant_bin(
         &context->session,
         *context->creation_destroy_stream,
-        graph_info->participant_id, (int16_t)microros_domain_id,
-        rmw_uxrce_entity_naming_buffer, UXR_REPLACE);
+        graph_info->participant_id,
+        (int16_t)microros_domain_id,
+        UXR_REPLACE);
 
     // Set graph subscription QoS policies
     // TODO (jamoralp): most of these QoS are not even being used.

rmw_microxrcedds_c/src/rmw_microxrcedds_topic.c

@@ -29,6 +29,8 @@ create_topic(
         const message_type_support_callbacks_t* message_type_support_callbacks,
         const rmw_qos_profile_t* qos_policies)
 {
+    (void) qos_policies;
+
     rmw_uxrce_topic_t*        custom_topic = NULL;
     rmw_uxrce_mempool_item_t* memory_node  = get_memory(&topics_memory);
 
@@ -41,7 +43,6 @@ create_topic(
     custom_topic = (rmw_uxrce_topic_t*)memory_node->data;
 
     // Init
-    custom_topic->sync_with_agent = false;
     custom_topic->owner_node      = custom_node;
 
     // Asociate to typesupport
@@ -52,22 +53,7 @@ create_topic(
 
     // Generate request
     uint16_t topic_req = 0;
-#ifdef RMW_UXRCE_USE_XML
-    if (!build_topic_xml(
-                topic_name, message_type_support_callbacks,
-                qos_policies, rmw_uxrce_entity_naming_buffer, sizeof(rmw_uxrce_entity_naming_buffer)))
-    {
-        RMW_SET_ERROR_MSG("failed to generate xml request for subscriber creation");
-        rmw_uxrce_fini_topic_memory(custom_topic);
-        custom_topic = NULL;
-        goto fail;
-    }
-
-    topic_req = uxr_buffer_create_topic_xml(
-        &custom_node->context->session,
-        *custom_node->context->creation_destroy_stream, custom_topic->topic_id,
-        custom_node->participant_id, rmw_uxrce_entity_naming_buffer, UXR_REPLACE);
-#elif defined(RMW_UXRCE_USE_REFS)
+#ifdef RMW_UXRCE_USE_REFS
     (void)qos_policies;
     if (!build_topic_profile(topic_name, rmw_uxrce_entity_naming_buffer, sizeof(rmw_uxrce_entity_naming_buffer)))
     {
@@ -81,12 +67,24 @@ create_topic(
         &custom_node->context->session,
         *custom_node->context->creation_destroy_stream, custom_topic->topic_id,
         custom_node->participant_id, rmw_uxrce_entity_naming_buffer, UXR_REPLACE);
-#endif /* ifdef RMW_UXRCE_USE_XML */
+#else
+    char full_topic_name[RMW_UXRCE_TOPIC_NAME_MAX_LENGTH];
+    char type_name[RMW_UXRCE_TYPE_NAME_MAX_LENGTH];
+
+    generate_topic_name(topic_name, full_topic_name, sizeof(full_topic_name));
+    generate_type_name(message_type_support_callbacks, type_name, sizeof(type_name));
 
-    // Send the request and wait for response
-    custom_topic->sync_with_agent = run_xrce_session(custom_node->context, topic_req);
+    topic_req = uxr_buffer_create_topic_bin(
+        &custom_node->context->session,
+        *custom_node->context->creation_destroy_stream,
+        custom_topic->topic_id,
+        custom_node->participant_id,
+        full_topic_name,
+        type_name,
+        UXR_REPLACE);
+#endif /* ifdef RMW_UXRCE_USE_XML */
 
-    if (!custom_topic->sync_with_agent)
+    if (!run_xrce_session(custom_node->context, topic_req))
     {
         rmw_uxrce_fini_topic_memory(custom_topic);
         custom_topic = NULL;

rmw_microxrcedds_c/src/rmw_node.c

@@ -84,29 +84,26 @@ rmw_node_t* create_node(
             uxr_object_id(node_info->context->id_participant++, UXR_PARTICIPANT_ID);
     uint16_t participant_req = UXR_INVALID_REQUEST_ID;
 
-#ifdef RMW_UXRCE_USE_XML
-    if (!build_participant_xml(domain_id, name, rmw_uxrce_entity_naming_buffer, sizeof(rmw_uxrce_entity_naming_buffer)))
+#ifdef RMW_UXRCE_USE_REFS
+    if (!build_participant_profile(rmw_uxrce_entity_naming_buffer, sizeof(rmw_uxrce_entity_naming_buffer)))
     {
         RMW_SET_ERROR_MSG("failed to generate xml request for node creation");
         return NULL;
     }
-    participant_req =
-            uxr_buffer_create_participant_xml(
+    participant_req = uxr_buffer_create_participant_ref(
         &node_info->context->session,
         *node_info->context->creation_destroy_stream,
-        node_info->participant_id, (uint16_t)domain_id, rmw_uxrce_entity_naming_buffer, UXR_REPLACE);
-#elif defined(RMW_UXRCE_USE_REFS)
-    if (!build_participant_profile(rmw_uxrce_entity_naming_buffer, sizeof(rmw_uxrce_entity_naming_buffer)))
-    {
-        RMW_SET_ERROR_MSG("failed to generate xml request for node creation");
-        return NULL;
-    }
-    participant_req =
-            uxr_buffer_create_participant_ref(
+        node_info->participant_id,
+        (uint16_t)domain_id,
+        rmw_uxrce_entity_naming_buffer, UXR_REPLACE);
+#else
+    participant_req = uxr_buffer_create_participant_bin(
         &node_info->context->session,
         *node_info->context->creation_destroy_stream,
-        node_info->participant_id, (uint16_t)domain_id, rmw_uxrce_entity_naming_buffer, UXR_REPLACE);
-#endif /* ifdef RMW_UXRCE_USE_XML */
+        node_info->participant_id,
+        domain_id,
+        UXR_REPLACE);
+#endif /* ifdef RMW_UXRCE_USE_REFS */
 
     if (!run_xrce_session(node_info->context, participant_req))
     {