Static operation (backport #184) (#190)

* Static operation (#184)

* Static RMW operation

* Uncrustify

* Remove rmw_handle

* Update tests

* Update size calculator

* Update

* Add guard_condition init

* Add define for rmw_options size

* Update custom_guard_condition init

* Fix func name

Co-authored-by: Antonio Cuadros <acuadros1995@gmail.com>
Co-authored-by: Antonio Cuadros <49162117+Acuadros95@users.noreply.github.com>
(cherry picked from commit cb4f522)

# Conflicts:
#	README.md
#	rmw_microxrcedds_c/CMakeLists.txt

* Fix conflicts

Co-authored-by: Pablo Garrido <pablogs9@gmail.com>

Author: mergify[bot]

rmw_microxrcedds_c/CMakeLists.txt

@@ -51,11 +51,15 @@ set(RMW_UXRCE_MAX_PUBLISHERS "4" CACHE STRING "This value sets the maximum numbe
 set(RMW_UXRCE_MAX_SUBSCRIPTIONS "4" CACHE STRING "This value sets the maximum number of subscriptions for an application.")
 set(RMW_UXRCE_MAX_SERVICES "4" CACHE STRING "This value sets the maximum number of services for an application.")
 set(RMW_UXRCE_MAX_CLIENTS "4" CACHE STRING "This value sets the maximum number of clients for an application.")
-set(RMW_UXRCE_MAX_TOPICS "-1" CACHE STRING "This value sets the maximum number of topics for an application. If set to -1 RMW_UXRCE_MAX_TOPICS = RMW_UXRCE_MAX_PUBLISHERS + RMW_UXRCE_MAX_SUBSCRIPTIONS + RMW_UXRCE_MAX_NODES.")
+set(RMW_UXRCE_MAX_WAIT_SETS "4" CACHE STRING "This value sets the maximum number of wait sets for an application.")
+set(RMW_UXRCE_MAX_GUARD_CONDITION "4" CACHE STRING "This value sets the maximum number of guard conditions for an application.")
+set(RMW_UXRCE_MAX_TOPICS "-1" CACHE STRING
+  "This value sets the maximum number of topics for an application.
+  If set to -1 RMW_UXRCE_MAX_TOPICS = RMW_UXRCE_MAX_PUBLISHERS + RMW_UXRCE_MAX_SUBSCRIPTIONS + RMW_UXRCE_MAX_NODES.")
 option(RMW_UXRCE_ALLOW_DYNAMIC_ALLOCATIONS "Enables increasing static pools with dynamic allocation when needed." OFF)
-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_NODE_NAME_MAX_LENGTH "60" CACHE STRING "This value sets the maximum number of characters for a node name.")
+set(RMW_UXRCE_TOPIC_NAME_MAX_LENGTH "60" CACHE STRING "This value sets the maximum number of characters for a topic name.")
+set(RMW_UXRCE_TYPE_NAME_MAX_LENGTH "100" CACHE STRING "This value sets the maximum number of characters for a type name.")
 set(RMW_UXRCE_REF_BUFFER_LENGTH "100" CACHE STRING "This value sets the maximum number of characters for a reference buffer.")
 set(RMW_UXRCE_PUBLISH_RELIABLE_TIMEOUT "1000" CACHE STRING
   "This value sets the default time to wait for a publication in a reliable mode in milliseconds.")

rmw_microxrcedds_c/src/config.h.in

@@ -50,12 +50,15 @@
 #define RMW_UXRCE_MAX_OUTPUT_BUFFER_SIZE (RMW_UXRCE_MAX_TRANSPORT_MTU * RMW_UXRCE_STREAM_HISTORY_OUTPUT)
 
 #define RMW_UXRCE_MAX_SESSIONS @RMW_UXRCE_MAX_SESSIONS@
+#define RMW_UXRCE_MAX_OPTIONS RMW_UXRCE_MAX_SESSIONS + 1
 #define RMW_UXRCE_MAX_NODES @RMW_UXRCE_MAX_NODES@
 #define RMW_UXRCE_MAX_PUBLISHERS @RMW_UXRCE_MAX_PUBLISHERS@
 #define RMW_UXRCE_MAX_SUBSCRIPTIONS @RMW_UXRCE_MAX_SUBSCRIPTIONS@
 #define RMW_UXRCE_MAX_SERVICES @RMW_UXRCE_MAX_SERVICES@
 #define RMW_UXRCE_MAX_CLIENTS @RMW_UXRCE_MAX_CLIENTS@
 #define RMW_UXRCE_MAX_TOPICS @RMW_UXRCE_MAX_TOPICS@
+#define RMW_UXRCE_MAX_WAIT_SETS @RMW_UXRCE_MAX_WAIT_SETS@
+#define RMW_UXRCE_MAX_GUARD_CONDITION @RMW_UXRCE_MAX_GUARD_CONDITION@
 
 #if RMW_UXRCE_MAX_TOPICS == -1
 #define RMW_UXRCE_MAX_TOPICS_INTERNAL RMW_UXRCE_MAX_PUBLISHERS + RMW_UXRCE_MAX_SUBSCRIPTIONS

rmw_microxrcedds_c/src/rmw_client.c

@@ -45,29 +45,25 @@ rmw_create_client(
   } else if (!qos_policies) {
     RMW_SET_ERROR_MSG("qos_profile is null");
   } else {
-    rmw_client = (rmw_client_t *)rmw_allocate(
-      sizeof(rmw_client_t));
-    rmw_client->data = NULL;
-    rmw_client->implementation_identifier = rmw_get_implementation_identifier();
-
-    rmw_client->service_name = (const char *)(rmw_allocate(
-        sizeof(char) * (strlen(
-          service_name) + 1)));
-    if (!rmw_client->service_name) {
-      RMW_SET_ERROR_MSG("failed to allocate memory");
-      goto fail;
-    }
-    memcpy((void *)rmw_client->service_name, service_name, strlen(service_name) + 1);
-
     rmw_uxrce_node_t * custom_node = (rmw_uxrce_node_t *)node->data;
     rmw_uxrce_mempool_item_t * memory_node = get_memory(&client_memory);
     if (!memory_node) {
       RMW_SET_ERROR_MSG("Not available memory node");
+      return NULL;
+    }
+    rmw_uxrce_client_t * custom_client = (rmw_uxrce_client_t *)memory_node->data;
+
+    rmw_client = &custom_client->rmw_client;
+    rmw_client->data = NULL;
+    rmw_client->implementation_identifier = rmw_get_implementation_identifier();
+    rmw_client->service_name = custom_client->service_name;
+    if ((strlen(service_name) + 1 ) > sizeof(custom_client->service_name)) {
+      RMW_SET_ERROR_MSG("failed to allocate string");
       goto fail;
     }
 
-    rmw_uxrce_client_t * custom_client = (rmw_uxrce_client_t *)memory_node->data;
-    custom_client->rmw_handle = rmw_client;
+    memcpy((void *)rmw_client->service_name, service_name, strlen(service_name) + 1);
+
     custom_client->owner_node = custom_node;
     custom_client->session_timeout = RMW_UXRCE_PUBLISH_RELIABLE_TIMEOUT;
     custom_client->qos = *qos_policies;

rmw_microxrcedds_c/src/rmw_guard_condition.c

@@ -23,24 +23,36 @@ rmw_create_guard_condition(
 {
   (void)context;
 
-  rmw_guard_condition_t * rmw_guard_condition = (rmw_guard_condition_t *)rmw_allocate(
-    sizeof(rmw_guard_condition_t));
-
-  rmw_guard_condition->context = context;
-  rmw_guard_condition->implementation_identifier = rmw_get_implementation_identifier();
-  rmw_guard_condition->data = (bool *)rmw_allocate(sizeof(bool));
-
-  bool * hasTriggered = (bool *)rmw_guard_condition->data;
-  *hasTriggered = false;
-
-  return rmw_guard_condition;
+  rmw_uxrce_mempool_item_t * memory_node = get_memory(&guard_condition_memory);
+  if (!memory_node) {
+    RMW_SET_ERROR_MSG("Not available memory node");
+    return NULL;
+  }
+  rmw_uxrce_guard_condition_t * custom_guard_condition =
+    (rmw_uxrce_guard_condition_t *)memory_node->data;
+  custom_guard_condition->hasTriggered = false;
+  custom_guard_condition->rmw_guard_condition.context = context;
+  custom_guard_condition->rmw_guard_condition.implementation_identifier =
+    rmw_get_implementation_identifier();
+
+  return &custom_guard_condition->rmw_guard_condition;
 }
 
 rmw_ret_t
 rmw_destroy_guard_condition(
   rmw_guard_condition_t * guard_condition)
 {
-  rmw_free(guard_condition);
-
-  return RMW_RET_OK;
+  rmw_uxrce_mempool_item_t * item = guard_condition_memory.allocateditems;
+
+  while (NULL != item) {
+    rmw_uxrce_guard_condition_t * custom_guard_condition =
+      (rmw_uxrce_guard_condition_t *)item->data;
+    if (&custom_guard_condition->rmw_guard_condition == guard_condition) {
+      put_memory(&guard_condition_memory, item);
+      return RMW_RET_OK;
+    }
+    item = item->next;
+  }
+
+  return RMW_RET_ERROR;
 }

rmw_microxrcedds_c/src/rmw_init.c

@@ -55,7 +55,17 @@ rmw_init_options_init(
   init_options->allocator = allocator;
   init_options->enclave = "/";
 
-  init_options->impl = allocator.allocate(sizeof(rmw_init_options_impl_t), allocator.state);
+  // This can be call before rmw_init()
+  rmw_uxrce_init_init_options_impl_memory(
+    &init_options_memory, custom_init_options,
+    RMW_UXRCE_MAX_OPTIONS);
+
+  rmw_uxrce_mempool_item_t * memory_node = get_memory(&init_options_memory);
+  if (!memory_node) {
+    RMW_SET_ERROR_MSG("Not available memory node");
+    return RMW_RET_ERROR;
+  }
+  init_options->impl = memory_node->data;
 
 #if defined(RMW_UXRCE_TRANSPORT_SERIAL)
   if (strlen(RMW_UXRCE_DEFAULT_SERIAL_DEVICE) <= MAX_SERIAL_DEVICE) {
@@ -124,8 +134,18 @@ rmw_init_options_copy(
     return RMW_RET_INVALID_ARGUMENT;
   }
   memcpy(dst, src, sizeof(rmw_init_options_t));
-  dst->impl = rmw_allocate(sizeof(rmw_init_options_impl_t));
-  memcpy(dst->impl, src->impl, sizeof(rmw_init_options_impl_t));
+
+  rmw_uxrce_mempool_item_t * memory_node = get_memory(&init_options_memory);
+  if (!memory_node) {
+    RMW_SET_ERROR_MSG("Not available memory node");
+    return RMW_RET_ERROR;
+  }
+  dst->impl = memory_node->data;
+
+  rmw_uxrce_init_options_impl_t * dst_impl = dst->impl;
+  rmw_uxrce_init_options_impl_t * src_impl = src->impl;
+
+  dst_impl->transport_params = src_impl->transport_params;
 
   return RMW_RET_OK;
 }
@@ -142,9 +162,25 @@ rmw_init_options_fini(
     eprosima_microxrcedds_identifier,
     return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
 
-  rmw_free(init_options->impl);
+  rmw_uxrce_mempool_item_t * item = init_options_memory.allocateditems;
+
+  while (NULL != item) {
+    rmw_uxrce_init_options_impl_t * custom_init_options =
+      (rmw_uxrce_init_options_impl_t *)item->data;
+    if (custom_init_options == init_options->impl) {
+      put_memory(&init_options_memory, item);
+      break;
+    }
+    item = item->next;
+  }
+
+  if (NULL == item) {
+    return RMW_RET_ERROR;
+  }
+
 
   *init_options = rmw_get_zero_initialized_init_options();
+
   return RMW_RET_OK;
 }
 
@@ -222,6 +258,13 @@ rmw_init(
   rmw_uxrce_init_service_memory(&service_memory, custom_services, RMW_UXRCE_MAX_SERVICES);
   rmw_uxrce_init_client_memory(&client_memory, custom_clients, RMW_UXRCE_MAX_CLIENTS);
   rmw_uxrce_init_topic_memory(&topics_memory, custom_topics, RMW_UXRCE_MAX_TOPICS_INTERNAL);
+  rmw_uxrce_init_init_options_impl_memory(
+    &init_options_memory, custom_init_options,
+    RMW_UXRCE_MAX_OPTIONS);
+  rmw_uxrce_init_wait_set_memory(&wait_set_memory, custom_wait_set, RMW_UXRCE_MAX_WAIT_SETS);
+  rmw_uxrce_init_guard_condition_memory(
+    &guard_condition_memory, custom_guard_condition,
+    RMW_UXRCE_MAX_GUARD_CONDITION);
 
   // Micro-XRCE-DDS Client transport initialization
   rmw_ret_t transport_init_ret = rmw_uxrce_transport_init(
@@ -256,6 +299,8 @@ rmw_init(
 
   if (!uxr_create_session(&context_impl->session)) {
     CLOSE_TRANSPORT(&context_impl->transport);
+    put_memory(&session_memory, &context_impl->mem);
+    context->impl = NULL;
     RMW_SET_ERROR_MSG("failed to create node session on Micro ROS Agent.");
     return RMW_RET_ERROR;
   }
@@ -303,7 +348,6 @@ rmw_ret_t
 rmw_context_fini(
   rmw_context_t * context)
 {
-  // TODO(pablogs9): Should we manage not closed XRCE sessions?
   rmw_ret_t ret = RMW_RET_OK;
 
   rmw_uxrce_mempool_item_t * item = node_memory.allocateditems;
@@ -312,7 +356,7 @@ rmw_context_fini(
     rmw_uxrce_node_t * custom_node = (rmw_uxrce_node_t *)item->data;
     item = item->next;
     if (custom_node->context == context->impl) {
-      ret = rmw_destroy_node(custom_node->rmw_handle);
+      ret = rmw_destroy_node(&custom_node->rmw_node);
     }
   }
 

rmw_microxrcedds_c/src/rmw_microros/init_options.c

@@ -30,10 +30,6 @@ rmw_ret_t rmw_uros_init_options(
     return RMW_RET_INVALID_ARGUMENT;
   }
   rmw_ret_t ret = RMW_RET_OK;
-  // TODO(pablogs9): Is the impl allocated at this point?
-  // rmw_options->impl = rmw_options->allocator.allocate(
-  // sizeof(rmw_init_options_impl_t),
-  // rmw_options->allocator.state);
 #if defined(RMW_UXRCE_TRANSPORT_SERIAL)
   if (argc >= 2) {
     snprintf(rmw_options->impl->transport_params.serial_device, MAX_SERIAL_DEVICE, "%s", argv[1]);

rmw_microxrcedds_c/src/rmw_microros_internal/rmw_uxrce_transports.h

@@ -47,7 +47,7 @@
  */
 rmw_ret_t rmw_uxrce_transport_init(
   rmw_context_impl_t * context,
-  rmw_init_options_impl_t * init_options,
+  rmw_uxrce_init_options_impl_t * init_options,
   void * override_transport);
 
 /**