rmw_init.cpp

// Copyright 2020 Open Source Robotics Foundation, Inc.
// Copyright 2016-2018 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.

#include <cassert>
#include <cstring>
#include <memory>

#include "rcutils/strdup.h"
#include "rcutils/types.h"

#include "rmw/error_handling.h"
#include "rmw/init.h"
#include "rmw/impl/cpp/macros.hpp"
#include "rmw/init_options.h"
#include "rmw/publisher_options.h"
#include "rmw/rmw.h"

#include "rcpputils/scope_exit.hpp"

#include "rmw_dds_common/context.hpp"
#include "rmw_dds_common/msg/participant_entities_info.hpp"

#include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
#include "rmw_fastrtps_shared_cpp/participant.hpp"
#include "rmw_fastrtps_shared_cpp/publisher.hpp"
#include "rmw_fastrtps_shared_cpp/rmw_context_impl.hpp"
#include "rmw_fastrtps_shared_cpp/rmw_init.hpp"
#include "rmw_fastrtps_shared_cpp/subscription.hpp"

#include "rosidl_typesupport_cpp/message_type_support.hpp"

#include "rmw_fastrtps_cpp/identifier.hpp"
#include "rmw_fastrtps_cpp/publisher.hpp"
#include "rmw_fastrtps_cpp/subscription.hpp"

extern "C"
{
rmw_ret_t
rmw_init_options_init(rmw_init_options_t * init_options, rcutils_allocator_t allocator)
{
  return rmw_fastrtps_shared_cpp::rmw_init_options_init(
    eprosima_fastrtps_identifier, init_options, allocator);
}

rmw_ret_t
rmw_init_options_copy(const rmw_init_options_t * src, rmw_init_options_t * dst)
{
  return rmw_fastrtps_shared_cpp::rmw_init_options_copy(
    eprosima_fastrtps_identifier, src, dst);
}

rmw_ret_t
rmw_init_options_fini(rmw_init_options_t * init_options)
{
  return rmw_fastrtps_shared_cpp::rmw_init_options_fini(
    eprosima_fastrtps_identifier, init_options);
}

using rmw_dds_common::msg::ParticipantEntitiesInfo;

rmw_ret_t
rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
{
  RMW_CHECK_ARGUMENT_FOR_NULL(options, RMW_RET_INVALID_ARGUMENT);
  RMW_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
  RMW_CHECK_FOR_NULL_WITH_MSG(
    options->implementation_identifier,
    "expected initialized init options",
    return RMW_RET_INVALID_ARGUMENT);
  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
    options,
    options->implementation_identifier,
    eprosima_fastrtps_identifier,
    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
  RMW_CHECK_FOR_NULL_WITH_MSG(
    options->enclave,
    "expected non-null enclave",
    return RMW_RET_INVALID_ARGUMENT);
  if (NULL != context->implementation_identifier) {
    RMW_SET_ERROR_MSG("expected a zero-initialized context");
    return RMW_RET_INVALID_ARGUMENT;
  }

  auto restore_context = rcpputils::make_scope_exit(
    [context]() {*context = rmw_get_zero_initialized_context();});

  context->instance_id = options->instance_id;
  context->implementation_identifier = eprosima_fastrtps_identifier;
  context->actual_domain_id =
    RMW_DEFAULT_DOMAIN_ID == options->domain_id ? 0uL : options->domain_id;

  context->impl = new (std::nothrow) rmw_context_impl_t();
  if (nullptr == context->impl) {
    RMW_SET_ERROR_MSG("failed to allocate context impl");
    return RMW_RET_BAD_ALLOC;
  }
  auto cleanup_impl = rcpputils::make_scope_exit(
    [context]() {delete context->impl;});

  context->impl->is_shutdown = false;
  context->options = rmw_get_zero_initialized_init_options();
  rmw_ret_t ret = rmw_init_options_copy(options, &context->options);
  if (RMW_RET_OK != ret) {
    return ret;
  }

  cleanup_impl.cancel();
  restore_context.cancel();
  return RMW_RET_OK;
}

rmw_ret_t
rmw_shutdown(rmw_context_t * context)
{
  RMW_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
  RMW_CHECK_FOR_NULL_WITH_MSG(
    context->impl,
    "expected initialized context",
    return RMW_RET_INVALID_ARGUMENT);
  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
    context,
    context->implementation_identifier,
    eprosima_fastrtps_identifier,
    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
  context->impl->is_shutdown = true;
  return RMW_RET_OK;
}

rmw_ret_t
rmw_context_fini(rmw_context_t * context)
{
  RMW_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
  RMW_CHECK_FOR_NULL_WITH_MSG(
    context->impl,
    "expected initialized context",
    return RMW_RET_INVALID_ARGUMENT);
  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
    context,
    context->implementation_identifier,
    eprosima_fastrtps_identifier,
    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
  if (!context->impl->is_shutdown) {
    RCUTILS_SET_ERROR_MSG("context has not been shutdown");
    return RMW_RET_INVALID_ARGUMENT;
  }
  if (context->impl->count > 0) {
    RMW_SET_ERROR_MSG("Finalizing a context with active nodes");
    return RMW_RET_ERROR;
  }
  rmw_ret_t ret = rmw_init_options_fini(&context->options);
  delete context->impl;
  *context = rmw_get_zero_initialized_context();
  return ret;
}
}  // extern "C"