Merge remote-tracking branch 'github/master' into node_graph_impl

* Merge + uncrustify
ros2 · Dec 6, 2018 · 6bd4fe8 · 6bd4fe8
2 parents 9ea473a + 0c39c9e
commit 6bd4fe8
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Showing 21 changed files with 280 additions and 378 deletions.
diff --git a/rmw_fastrtps_cpp/CMakeLists.txt b/rmw_fastrtps_cpp/CMakeLists.txt
@@ -25,6 +25,10 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+if(SECURITY)
+  find_package(OpenSSL REQUIRED)
+endif()
+
 find_package(ament_cmake_ros REQUIRED)
 
 find_package(rcutils REQUIRED)

diff --git a/rmw_fastrtps_cpp/src/rmw_client.cpp b/rmw_fastrtps_cpp/src/rmw_client.cpp
@@ -120,22 +120,28 @@ rmw_create_client(
     _register_type(participant, info->response_type_support_);
   }
 
+  if (!impl->leave_middleware_default_qos) {
+    subscriberParam.historyMemoryPolicy =
+      eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  }
+
   subscriberParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   subscriberParam.topic.topicDataType = response_type_name;
-  subscriberParam.historyMemoryPolicy =
-    eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
   if (!qos_policies->avoid_ros_namespace_conventions) {
     subscriberParam.topic.topicName = std::string(ros_service_response_prefix) + service_name;
   } else {
     subscriberParam.topic.topicName = service_name;
   }
   subscriberParam.topic.topicName += "Reply";
 
+  if (!impl->leave_middleware_default_qos) {
+    publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
+    publisherParam.historyMemoryPolicy =
+      eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  }
+
   publisherParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   publisherParam.topic.topicDataType = request_type_name;
-  publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
-  publisherParam.historyMemoryPolicy =
-    eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
   if (!qos_policies->avoid_ros_namespace_conventions) {
     publisherParam.topic.topicName = std::string(ros_service_requester_prefix) + service_name;
   } else {

diff --git a/rmw_fastrtps_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_cpp/src/rmw_publisher.cpp
@@ -113,9 +113,12 @@ rmw_create_publisher(
     _register_type(participant, info->type_support_);
   }
 
-  publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
-  publisherParam.historyMemoryPolicy =
-    eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  if (!impl->leave_middleware_default_qos) {
+    publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
+    publisherParam.historyMemoryPolicy =
+      eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  }
+
   publisherParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   publisherParam.topic.topicDataType = type_name;
   if (!qos_policies->avoid_ros_namespace_conventions) {

diff --git a/rmw_fastrtps_cpp/src/rmw_service.cpp b/rmw_fastrtps_cpp/src/rmw_service.cpp
@@ -132,9 +132,12 @@ rmw_create_service(
     _register_type(participant, info->response_type_support_);
   }
 
+  if (!impl->leave_middleware_default_qos) {
+    subscriberParam.historyMemoryPolicy =
+      eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  }
+
   subscriberParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
-  subscriberParam.historyMemoryPolicy =
-    eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
   subscriberParam.topic.topicDataType = request_type_name;
   if (!qos_policies->avoid_ros_namespace_conventions) {
     subscriberParam.topic.topicName = std::string(ros_service_requester_prefix) + service_name;
@@ -143,11 +146,14 @@ rmw_create_service(
   }
   subscriberParam.topic.topicName += "Request";
 
+  if (!impl->leave_middleware_default_qos) {
+    publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
+    publisherParam.historyMemoryPolicy =
+      eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  }
+
   publisherParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   publisherParam.topic.topicDataType = response_type_name;
-  publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
-  publisherParam.historyMemoryPolicy =
-    eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
   if (!qos_policies->avoid_ros_namespace_conventions) {
     publisherParam.topic.topicName = std::string(ros_service_response_prefix) + service_name;
   } else {

diff --git a/rmw_fastrtps_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_cpp/src/rmw_subscription.cpp
@@ -116,8 +116,11 @@ rmw_create_subscription(
     _register_type(participant, info->type_support_);
   }
 
-  subscriberParam.historyMemoryPolicy =
-    eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  if (!impl->leave_middleware_default_qos) {
+    subscriberParam.historyMemoryPolicy =
+      eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  }
+
   subscriberParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   subscriberParam.topic.topicDataType = type_name;
   if (!qos_policies->avoid_ros_namespace_conventions) {

diff --git a/rmw_fastrtps_dynamic_cpp/CMakeLists.txt b/rmw_fastrtps_dynamic_cpp/CMakeLists.txt
@@ -25,6 +25,10 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+if(SECURITY)
+  find_package(OpenSSL REQUIRED)
+endif()
+
 find_package(ament_cmake_ros REQUIRED)
 
 find_package(rcutils REQUIRED)

diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp
@@ -125,22 +125,28 @@ rmw_create_client(
     _register_type(participant, info->response_type_support_);
   }
 
+  if (!impl->leave_middleware_default_qos) {
+    subscriberParam.historyMemoryPolicy =
+      eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  }
+
   subscriberParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   subscriberParam.topic.topicDataType = response_type_name;
-  subscriberParam.historyMemoryPolicy =
-    eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
   if (!qos_policies->avoid_ros_namespace_conventions) {
     subscriberParam.topic.topicName = std::string(ros_service_response_prefix) + service_name;
   } else {
     subscriberParam.topic.topicName = service_name;
   }
   subscriberParam.topic.topicName += "Reply";
 
+  if (!impl->leave_middleware_default_qos) {
+    publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
+    publisherParam.historyMemoryPolicy =
+      eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  }
+
   publisherParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   publisherParam.topic.topicDataType = request_type_name;
-  publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
-  publisherParam.historyMemoryPolicy =
-    eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
   if (!qos_policies->avoid_ros_namespace_conventions) {
     publisherParam.topic.topicName = std::string(ros_service_requester_prefix) + service_name;
   } else {

diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
@@ -108,9 +108,12 @@ rmw_create_publisher(
     _register_type(participant, info->type_support_);
   }
 
-  publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
-  publisherParam.historyMemoryPolicy =
-    eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  if (!impl->leave_middleware_default_qos) {
+    publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
+    publisherParam.historyMemoryPolicy =
+      eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  }
+
   publisherParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   publisherParam.topic.topicDataType = type_name;
   if (!qos_policies->avoid_ros_namespace_conventions) {

diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp
@@ -137,9 +137,12 @@ rmw_create_service(
     _register_type(participant, info->response_type_support_);
   }
 
+  if (!impl->leave_middleware_default_qos) {
+    subscriberParam.historyMemoryPolicy =
+      eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  }
+
   subscriberParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
-  subscriberParam.historyMemoryPolicy =
-    eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
   subscriberParam.topic.topicDataType = request_type_name;
   if (!qos_policies->avoid_ros_namespace_conventions) {
     subscriberParam.topic.topicName = std::string(ros_service_requester_prefix) + service_name;
@@ -148,11 +151,14 @@ rmw_create_service(
   }
   subscriberParam.topic.topicName += "Request";
 
+  if (!impl->leave_middleware_default_qos) {
+    publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
+    publisherParam.historyMemoryPolicy =
+      eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  }
+
   publisherParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   publisherParam.topic.topicDataType = response_type_name;
-  publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
-  publisherParam.historyMemoryPolicy =
-    eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
   if (!qos_policies->avoid_ros_namespace_conventions) {
     publisherParam.topic.topicName = std::string(ros_service_response_prefix) + service_name;
   } else {

diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
@@ -112,8 +112,11 @@ rmw_create_subscription(
     _register_type(participant, info->type_support_);
   }
 
-  subscriberParam.historyMemoryPolicy =
-    eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  if (!impl->leave_middleware_default_qos) {
+    subscriberParam.historyMemoryPolicy =
+      eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  }
+
   subscriberParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   subscriberParam.topic.topicDataType = type_name;
   if (!qos_policies->avoid_ros_namespace_conventions) {

diff --git a/rmw_fastrtps_shared_cpp/CMakeLists.txt b/rmw_fastrtps_shared_cpp/CMakeLists.txt
@@ -25,6 +25,10 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+if(SECURITY)
+  find_package(OpenSSL REQUIRED)
+endif()
+
 find_package(ament_cmake_ros REQUIRED)
 
 find_package(rcutils REQUIRED)
@@ -63,10 +67,12 @@ add_library(rmw_fastrtps_shared_cpp
   src/rmw_trigger_guard_condition.cpp
   src/rmw_wait.cpp
   src/rmw_wait_set.cpp
-  src/TypeSupport_impl.cpp)
+  src/TypeSupport_impl.cpp
+)
 
 target_link_libraries(rmw_fastrtps_shared_cpp
-  fastcdr fastrtps)
+  fastcdr fastrtps
+)
 
 # specific order: dependents before dependencies
 ament_target_dependencies(rmw_fastrtps_shared_cpp

diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/TypeSupport.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/TypeSupport.hpp
@@ -47,19 +47,29 @@ class TypeSupport : public eprosima::fastrtps::TopicDataType
   virtual bool deserializeROSmessage(eprosima::fastcdr::Cdr & deser, void * ros_message) = 0;
 
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
-  bool serialize(void * data, eprosima::fastrtps::rtps::SerializedPayload_t * payload);
+  bool getKey(
+    void * data,
+    eprosima::fastrtps::rtps::InstanceHandle_t * ihandle,
+    bool force_md5 = false) override
+  {
+    (void)data; (void)ihandle; (void)force_md5;
+    return false;
+  }
+
+  RMW_FASTRTPS_SHARED_CPP_PUBLIC
+  bool serialize(void * data, eprosima::fastrtps::rtps::SerializedPayload_t * payload) override;
 
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
-  bool deserialize(eprosima::fastrtps::rtps::SerializedPayload_t * payload, void * data);
+  bool deserialize(eprosima::fastrtps::rtps::SerializedPayload_t * payload, void * data) override;
 
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
-  std::function<uint32_t()> getSerializedSizeProvider(void * data);
+  std::function<uint32_t()> getSerializedSizeProvider(void * data) override;
 
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
-  void * createData();
+  void * createData() override;
 
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
-  void deleteData(void * data);
+  void deleteData(void * data) override;
 
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   virtual ~TypeSupport() {}