Forward port changes from iron to master branch + Add new rmw_count_* functions

rmw_iceoryx_cpp/CMakeLists.txt

@@ -114,6 +114,7 @@ add_library(rmw_iceoryx_cpp SHARED
   src/rmw_trigger_guard_condition.cpp
   src/rmw_wait.cpp
   src/rmw_wait_set.cpp
+  src/rmw_dynamic_type_support.cpp
 )
 ament_target_dependencies(rmw_iceoryx_cpp
   "rcutils"

rmw_iceoryx_cpp/src/iceoryx_generate_gid.hpp

@@ -1,5 +1,5 @@
 // Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
-// Copyright (c) 2022 by Apex.AI Inc. All rights reserved.
+// Copyright (c) 2022 - 2023 by Apex.AI Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -19,7 +19,9 @@
 #include "rmw/types.h"
 
 #include "iceoryx_posh/popo/untyped_publisher.hpp"
+#include "iceoryx_posh/popo/untyped_client.hpp"
 
 rmw_gid_t generate_publisher_gid(iox::popo::UntypedPublisher * const publisher);
+rmw_gid_t generate_client_gid(iox::popo::UntypedClient * const client);
 
 #endif  // ICEORYX_GENERATE_GID_HPP_

rmw_iceoryx_cpp/src/internal/iceoryx_generate_gid.cpp

@@ -1,5 +1,5 @@
 // Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
-// Copyright (c) 2022 by Apex.AI Inc. All rights reserved.
+// Copyright (c) 2022 - 2023 by Apex.AI Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -18,6 +18,7 @@
 #include "rmw/impl/cpp/macros.hpp"
 
 #include "iceoryx_posh/popo/untyped_publisher.hpp"
+#include "iceoryx_posh/popo/untyped_client.hpp"
 
 rmw_gid_t generate_publisher_gid(iox::popo::UntypedPublisher * const publisher)
 {
@@ -31,7 +32,27 @@ rmw_gid_t generate_publisher_gid(iox::popo::UntypedPublisher * const publisher)
   size_t size = sizeof(uid);
 
   if (!typed_uid.isValid() || size > RMW_GID_STORAGE_SIZE) {
-    RMW_SET_ERROR_MSG("Could not generated gid");
+    RMW_SET_ERROR_MSG("Could not generated client gid");
+    return gid;
+  }
+  memcpy(gid.data, &uid, size);
+
+  return gid;
+}
+
+rmw_gid_t generate_client_gid(iox::popo::UntypedClient * const client)
+{
+  rmw_gid_t gid;
+  gid.implementation_identifier = rmw_get_implementation_identifier();
+  memset(gid.data, 0, RMW_GID_STORAGE_SIZE);
+
+  iox::popo::UniquePortId typed_uid = client->getUid();
+  iox::popo::UniquePortId::value_type uid =
+    static_cast<iox::popo::UniquePortId::value_type>(typed_uid);
+  size_t size = sizeof(uid);
+
+  if (!typed_uid.isValid() || size > RMW_GID_STORAGE_SIZE) {
+    RMW_SET_ERROR_MSG("Could not generated publisher gid");
     return gid;
   }
   memcpy(gid.data, &uid, size);

rmw_iceoryx_cpp/src/rmw_client.cpp

@@ -203,4 +203,26 @@ rmw_ret_t rmw_client_set_on_new_response_callback(
 
   return RMW_RET_UNSUPPORTED;
 }
+
+rmw_ret_t
+rmw_get_gid_for_client(const rmw_client_t * client, rmw_gid_t * gid)
+{
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(client, RMW_RET_INVALID_ARGUMENT);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(gid, RMW_RET_INVALID_ARGUMENT);
+
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    rmw_get_gid_for_client
+    : client, client->implementation_identifier,
+    rmw_get_implementation_identifier(),
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+
+  IceoryxClient * iceoryx_client_abstraction = static_cast<IceoryxClient *>(client->data);
+
+  if (!iceoryx_client_abstraction) {
+    RMW_SET_ERROR_MSG("client info handle is null");
+    return RMW_RET_INVALID_ARGUMENT;
+  }
+  *gid = iceoryx_client_abstraction->gid_;
+  return RMW_RET_OK;
+}
 }  // extern "C"

rmw_iceoryx_cpp/src/rmw_count.cpp

@@ -84,6 +84,46 @@ rmw_count_subscribers(
   return RMW_RET_OK;
 }
 
+rmw_ret_t
+rmw_count_services(
+  const rmw_node_t * node,
+  const char * service_name,
+  size_t * count)
+{
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_ERROR);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(service_name, RMW_RET_ERROR);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(count, RMW_RET_ERROR);
+
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    rmw_count_services
+    : node, node->implementation_identifier,
+    rmw_get_implementation_identifier(), return RMW_RET_ERROR);
+
+  /// @todo There is no API to find out which 'ServiceDescription' is offered by which node
+  RMW_SET_ERROR_MSG("rmw_count_services is not supported in iceoryx");
+  return RMW_RET_UNSUPPORTED;
+}
+
+rmw_ret_t
+rmw_count_clients(
+  const rmw_node_t * node,
+  const char * service_name,
+  size_t * count)
+{
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_ERROR);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(service_name, RMW_RET_ERROR);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(count, RMW_RET_ERROR);
+
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    rmw_count_clients
+    : node, node->implementation_identifier,
+    rmw_get_implementation_identifier(), return RMW_RET_ERROR);
+
+  /// @todo There is no API to find out which 'ServiceDescription' is offered by which node
+  RMW_SET_ERROR_MSG("rmw_count_clients is not supported in iceoryx");
+  return RMW_RET_UNSUPPORTED;
+}
+
 rmw_ret_t
 rmw_subscription_count_matched_publishers(
   const rmw_subscription_t * subscription,

rmw_iceoryx_cpp/src/rmw_dynamic_type_support.cpp

@@ -0,0 +1,67 @@
+// Copyright (c) 2023 by Apex.AI Inc. All rights reserved.
+//
+// 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 "rmw/impl/cpp/macros.hpp"
+#include "rmw/rmw.h"
+
+extern "C"
+{
+rmw_ret_t
+rmw_take_dynamic_message(
+  const rmw_subscription_t * subscription,
+  rosidl_dynamic_typesupport_dynamic_data_t * dynamic_message,
+  bool * taken,
+  rmw_subscription_allocation_t * allocation)
+{
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(subscription, RMW_RET_ERROR);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(dynamic_message, RMW_RET_ERROR);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(taken, RMW_RET_ERROR);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(allocation, RMW_RET_ERROR);
+
+  RMW_SET_ERROR_MSG("rmw_take_dynamic_message is not supported in iceoryx");
+  return RMW_RET_UNSUPPORTED;
+}
+
+rmw_ret_t
+rmw_take_dynamic_message_with_info(
+  const rmw_subscription_t * subscription,
+  rosidl_dynamic_typesupport_dynamic_data_t * dynamic_message,
+  bool * taken,
+  rmw_message_info_t * message_info,
+  rmw_subscription_allocation_t * allocation)
+{
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(subscription, RMW_RET_ERROR);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(dynamic_message, RMW_RET_ERROR);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(taken, RMW_RET_ERROR);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(message_info, RMW_RET_ERROR);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(allocation, RMW_RET_ERROR);
+
+  RMW_SET_ERROR_MSG("rmw_take_dynamic_message_with_info is not supported in iceoryx");
+  return RMW_RET_UNSUPPORTED;
+}
+
+rmw_ret_t
+rmw_serialization_support_init(
+  const char * serialization_lib_name,
+  rcutils_allocator_t * allocator,
+  rosidl_dynamic_typesupport_serialization_support_t * serialization_support)
+{
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(serialization_lib_name, RMW_RET_ERROR);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(allocator, RMW_RET_ERROR);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(serialization_support, RMW_RET_ERROR);
+
+  RMW_SET_ERROR_MSG("rmw_serialization_support_init is not supported in iceoryx");
+  return RMW_RET_UNSUPPORTED;
+}
+}  // extern "C"

rmw_iceoryx_cpp/src/types/iceoryx_client.hpp

@@ -15,6 +15,8 @@
 #ifndef TYPES__ICEORYX_CLIENT_HPP_
 #define TYPES__ICEORYX_CLIENT_HPP_
 
+#include "../iceoryx_generate_gid.hpp"
+
 #include "iceoryx_posh/popo/untyped_client.hpp"
 
 #include "rmw/rmw.h"
@@ -30,14 +32,16 @@ struct IceoryxClient
   : type_supports_(*type_supports),
     iceoryx_client_(iceoryx_client),
     is_fixed_size_(rmw_iceoryx_cpp::iceoryx_is_fixed_size(type_supports)),
-    request_size_(rmw_iceoryx_cpp::iceoryx_get_request_size(type_supports))
+    request_size_(rmw_iceoryx_cpp::iceoryx_get_request_size(type_supports)),
+    gid_(generate_client_gid(iceoryx_client_))
   {}
 
   rosidl_service_type_support_t type_supports_;
   iox::popo::UntypedClient * const iceoryx_client_;
   bool is_fixed_size_{false};
   size_t request_size_{0};
   int64_t sequence_id_{0};
+  rmw_gid_t gid_;
 };
 
 #endif  // TYPES__ICEORYX_CLIENT_HPP_