Add fastrtps (Fast-DDS) as supported dds middleware #148
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,33 @@ | ||
| """ Builds FastCDR. | ||
| """ | ||
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| load("@rules_foreign_cc//foreign_cc:defs.bzl", "cmake") | ||
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| filegroup( | ||
| name = "all_srcs", | ||
| srcs = glob(["**"]), | ||
| ) | ||
|
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| cache_entries = { | ||
| "CMAKE_POSITION_INDEPENDENT_CODE": "ON", # Must be set! | ||
| "BUILD_SHARED_LIBS": "OFF", | ||
| # FastCDR specific options. | ||
| "APPEND_PROJECT_NAME_TO_INCLUDEDIR": "OFF", | ||
| "BUILD_DOCUMENTATION": "OFF", | ||
| "CHECK_DOCUMENTATION": "OFF", | ||
| "EPROSIMA_BUILD": "OFF", | ||
| "EPROSIMA_BUILD_TESTS": "OFF", | ||
| "EPROSIMA_INSTALLER": "OFF", | ||
| } | ||
|
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| cmake( | ||
| name = "fastcdr", | ||
| build_args = [ | ||
| "--", | ||
| "-j4", | ||
| ], | ||
| cache_entries = cache_entries, | ||
| lib_source = ":all_srcs", | ||
| out_static_libs = ["libfastcdr.a"], | ||
| visibility = ["//visibility:public"], | ||
| ) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,134 @@ | ||
| """ Builds FastDDS. | ||
| """ | ||
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| load("@bazel_skylib//lib:dicts.bzl", "dicts") | ||
| load("@bazel_skylib//lib:selects.bzl", "selects") | ||
| load("@bazel_skylib//rules:common_settings.bzl", "bool_flag") | ||
| load("@rules_foreign_cc//foreign_cc:defs.bzl", "cmake") | ||
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| bool_flag( | ||
| name = "enable_shm", | ||
| build_setting_default = False, | ||
| ) | ||
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| config_setting( | ||
| name = "enable_shm_on", | ||
| flag_values = {":enable_shm": "True"}, | ||
| visibility = ["//visibility:public"], | ||
| ) | ||
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| config_setting( | ||
| name = "enable_shm_off", | ||
| flag_values = {":enable_shm": "False"}, | ||
| visibility = ["//visibility:public"], | ||
| ) | ||
|
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| selects.config_setting_group( | ||
| name = "linux_or_macos", | ||
| match_any = [ | ||
| "@platforms//os:linux", | ||
| "@platforms//os:macos", | ||
| ], | ||
| ) | ||
|
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| selects.config_setting_group( | ||
| name = "linux_or_macos_with_shm", | ||
| match_all = [ | ||
| ":linux_or_macos", | ||
| ":enable_shm_on", | ||
| ], | ||
| ) | ||
|
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| selects.config_setting_group( | ||
| name = "qnx_with_shm", | ||
| match_all = [ | ||
| "@platforms//os:qnx", | ||
| ":enable_shm_on", | ||
| ], | ||
| ) | ||
|
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| selects.config_setting_group( | ||
| name = "linux_or_macos_without_shm", | ||
| match_all = [ | ||
| ":linux_or_macos", | ||
| ":enable_shm_off", | ||
| ], | ||
| ) | ||
|
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| selects.config_setting_group( | ||
| name = "qnx_without_shm", | ||
| match_all = [ | ||
| "@platforms//os:qnx", | ||
| ":enable_shm_off", | ||
| ], | ||
| ) | ||
|
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| filegroup( | ||
| name = "all_srcs", | ||
| srcs = glob(["**"]), | ||
| ) | ||
|
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| cache_entries = { | ||
| "CMAKE_POSITION_INDEPENDENT_CODE": "ON", # Must be set! | ||
| "BUILD_SHARED_LIBS": "OFF", | ||
| # FastDDS specific options. | ||
| "BUILD_DOCUMENTATION": "OFF", | ||
| "CHECK_DOCUMENTATION": "OFF", | ||
| "COMPILE_EXAMPLES": "OFF", | ||
| "COMPILE_TOOLS": "OFF", | ||
| "FASTDDS_STATISTICS": "OFF", | ||
| "INSTALL_EXAMPLES": "OFF", | ||
| "INSTALL_TOOLS": "OFF", | ||
| "NO_TLS": "ON", | ||
| "SECURITY": "OFF", | ||
| } | ||
|
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| cache_entries_with_shm = { | ||
| "SHM_TRANSPORT_DEFAULT": "ON", | ||
| } | ||
|
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| cache_entries_without_shm = { | ||
| "SHM_TRANSPORT_DEFAULT": "OFF", | ||
| } | ||
|
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| cmake( | ||
| name = "fastrtps", | ||
| build_args = [ | ||
| "--", | ||
| "-j4", | ||
| ], | ||
| cache_entries = select( | ||
| { | ||
| ":enable_shm_on": dicts.add( | ||
| cache_entries, | ||
| cache_entries_with_shm, | ||
| ), | ||
| ":enable_shm_off": dicts.add( | ||
| cache_entries, | ||
| cache_entries_without_shm, | ||
| ), | ||
| }, | ||
| no_match_error = "Unsupported build configuration", | ||
| ), | ||
| lib_source = ":all_srcs", | ||
| linkopts = select( | ||
| { | ||
| ":linux_or_macos_with_shm": [ | ||
| "-lpthread", | ||
| "-lrt", | ||
| ], | ||
| ":qnx_with_shm": ["-lrt"], | ||
| ":linux_or_macos_without_shm": ["-lpthread"], | ||
| ":qnx_without_shm": [], | ||
| }, | ||
| no_match_error = "Only Linux, macOS and QNX are supported!", | ||
| ), | ||
| out_static_libs = ["libfastrtps.a"], | ||
| visibility = ["//visibility:public"], | ||
| deps = [ | ||
| "@asio", | ||
| "@fastcdr", | ||
| "@foonathan_memory", | ||
| "@tinyxml2", | ||
| ], | ||
| ) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,29 @@ | ||
| """ Builds foonathan_memory. | ||
| """ | ||
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| load("@rules_foreign_cc//foreign_cc:defs.bzl", "cmake") | ||
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| filegroup( | ||
| name = "all_srcs", | ||
| srcs = glob(["**"]), | ||
| ) | ||
|
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| cache_entries = { | ||
| "CMAKE_POSITION_INDEPENDENT_CODE": "ON", # Must be set! | ||
| "BUILD_SHARED_LIBS": "OFF", | ||
| # foonathan_memory specific options. | ||
| "FOONATHAN_MEMORY_BUILD_EXAMPLES": "OFF", | ||
| "FOONATHAN_MEMORY_BUILD_TESTS": "OFF", | ||
| } | ||
|
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| cmake( | ||
| name = "foonathan_memory", | ||
| build_args = [ | ||
| "--", | ||
| "-j4", | ||
| ], | ||
| cache_entries = cache_entries, | ||
| lib_source = ":all_srcs", | ||
| out_static_libs = ["libfoonathan_memory-0.7.3.a"], | ||
| visibility = ["//visibility:public"], | ||
| ) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,14 @@ | ||
| diff --git a/CMakeLists.txt b/CMakeLists.txt | ||
| index 0b82f0b..50c1bb9 100644 | ||
| --- a/CMakeLists.txt | ||
| +++ b/CMakeLists.txt | ||
| @@ -13,9 +13,6 @@ set(FOONATHAN_MEMORY_VERSION "${FOONATHAN_MEMORY_VERSION_MAJOR}.${FOONATHAN_MEMO | ||
| CACHE STRING "version of memory" FORCE) | ||
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| -# set a debug postfix | ||
| -set(CMAKE_DEBUG_POSTFIX "-dbg") | ||
| - | ||
| # installation destinations | ||
| if(UNIX OR VXWORKS) | ||
| include(GNUInstallDirs) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,21 @@ | ||
| diff --git a/rmw_fastrtps_dynamic_cpp/src/type_support_common.cpp b/rmw_fastrtps_dynamic_cpp/src/type_support_common.cpp | ||
| index d602069..62e4362 100644 | ||
| --- a/rmw_fastrtps_dynamic_cpp/src/type_support_common.cpp | ||
| +++ b/rmw_fastrtps_dynamic_cpp/src/type_support_common.cpp | ||
| @@ -25,12 +25,13 @@ | ||
| bool | ||
| using_introspection_c_typesupport(const char * typesupport_identifier) | ||
| { | ||
| - return typesupport_identifier == rosidl_typesupport_introspection_c__identifier; | ||
| + return !std::string(typesupport_identifier) | ||
| + .compare(rosidl_typesupport_introspection_c__identifier); | ||
| } | ||
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| bool | ||
| using_introspection_cpp_typesupport(const char * typesupport_identifier) | ||
| { | ||
| - return typesupport_identifier == | ||
| - rosidl_typesupport_introspection_cpp::typesupport_identifier; | ||
| + return !std::string(typesupport_identifier) | ||
| + .compare(rosidl_typesupport_introspection_cpp::typesupport_identifier); | ||
| } | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,54 @@ | ||
| """ Builds rmw_fastrtps. | ||
| """ | ||
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| load( | ||
| "@com_github_mvukov_rules_ros2//ros2:cc_defs.bzl", | ||
| "ros2_cpp_binary", | ||
| "ros2_cpp_library", | ||
| ) | ||
|
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| ros2_cpp_library( | ||
| name = "rmw_fastrtps_shared_cpp", | ||
| srcs = glob([ | ||
|
There was a problem hiding this comment. I think header files in |
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| "rmw_fastrtps_shared_cpp/src/*.cpp", | ||
| "rmw_fastrtps_shared_cpp/src/**/*.hpp", | ||
| ]), | ||
| hdrs = glob([ | ||
| "rmw_fastrtps_shared_cpp/include/**/*.h", | ||
| "rmw_fastrtps_shared_cpp/include/**/*.hpp", | ||
| ]), | ||
| includes = ["rmw_fastrtps_shared_cpp/include"], | ||
| visibility = ["//visibility:public"], | ||
| deps = [ | ||
| "@fastrtps", | ||
| "@ros2_rcpputils//:rcpputils", | ||
| "@ros2_rcutils//:rcutils", | ||
| "@ros2_rmw//:rmw", | ||
| "@ros2_rmw//:rmw_cpp", | ||
| "@ros2_rmw_dds_common//:rmw_dds_common_lib", | ||
| "@ros2_rosidl//:rosidl_runtime_c", | ||
| "@ros2_rosidl//:rosidl_typesupport_introspection_c", | ||
| "@ros2_rosidl//:rosidl_typesupport_introspection_cpp", | ||
| "@ros2_tracing//:tracetools", | ||
| ], | ||
| ) | ||
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| ros2_cpp_binary( | ||
|
There was a problem hiding this comment. So, fastdds supports two modes per https://fast-dds.docs.eprosima.com/en/latest/fastdds/ros2/ros2.html#ros-2-using-fast-dds-middleware:
This is for rclc/rclcpp part, I think. I'm not 100% sure, should be checked, which type-support rclpy expects/can work with. My take: as a first step, if it suits your needs, just integrate rmw_fastrtps_dynamic_cpp. If we want to go with rmw_fastrtps_cpp then we will also need to use dds_vendor switch in IDL code-generation, to only generate what's necessary. This might get involved -- haven't studied what generated code fastdds needs. Please let me know what you think. There was a problem hiding this comment. I will switch it to dynamic instead. I tried this before, but didn't have improving results. Let's see if I can make it work! |
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| name = "rmw_fastrtps_dynamic_cpp", | ||
| srcs = glob([ | ||
| "rmw_fastrtps_dynamic_cpp/include/**/*.h", | ||
| "rmw_fastrtps_dynamic_cpp/include/**/*.hpp", | ||
| "rmw_fastrtps_dynamic_cpp/src/*.cpp", | ||
| "rmw_fastrtps_dynamic_cpp/src/*.hpp", | ||
| ]), | ||
| copts = ["-fvisibility=hidden"], | ||
| includes = ["rmw_fastrtps_dynamic_cpp/include"], | ||
| linkopts = ["-fvisibility=hidden"], | ||
| linkshared = True, | ||
| visibility = ["//visibility:public"], | ||
| deps = [ | ||
| ":rmw_fastrtps_shared_cpp", | ||
| "@ros2_rosidl_typesupport_fastrtps//:rosidl_typesupport_fastrtps_c", | ||
| "@ros2_rosidl_typesupport_fastrtps//:rosidl_typesupport_fastrtps_cpp", | ||
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| ], | ||
| ) | ||
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Would std::strcmp work if you would cast
rosidl_typesupport_introspection_c__identifiertochar*?There was a problem hiding this comment.
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strcmp works, I just wanted to use the same method as the patch for cyclonedds to be consistent
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As pointed out in ros2/rmw_cyclonedds#320, std::strcmp is a bit of an optimization and will avoid an extra mem. alloc. (Eventually we should also refactor the rwm_cyclonedds patch, but that's for a follow-up.)