Merge branch 'release/1.0.0'

FastRTPSBridge.xcodeproj/xcshareddata/IDETemplateMacros.plist

@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>FILEHEADER</key>
+	<string><![CDATA[///
+////  ___FILENAME___
+///   Copyright © ___YEAR___ ___ORGANIZATIONNAME___. All rights reserved.
+//
+]]></string>
+</dict>
+</plist>

FastRTPSBridge/RovParticipant.h → FastRTPSBridge/BridgedParticipant.h

@@ -1,9 +1,6 @@
-//
-//  RovParticipant.h
-//  TridentVideoViewer
-//
-//  Created by Dmitriy Borovikov on 06/09/2019.
-//  Copyright © 2019 Dmitriy Borovikov. All rights reserved.
+/////
+////  BridgedParticipant.h
+///   Copyright © 2019 Dmitriy Borovikov. All rights reserved.
 //
 
 #pragma once
@@ -12,21 +9,21 @@
 #include <fastrtps/rtps/common/Types.h>
 #include <fastrtps/rtps/attributes/WriterAttributes.h>
 #include <fastrtps/rtps/reader/RTPSReader.h>
-#include "fastrtps/rtps/writer/RTPSWriter.h"
+#include <fastrtps/rtps/writer/RTPSWriter.h>
 #include <fastrtps/rtps/history/ReaderHistory.h>
-#include "fastrtps/rtps/history/WriterHistory.h"
+#include <fastrtps/rtps/history/WriterHistory.h>
 #include <string>
 #include <map>
-#import "RovTopicListener.h"
-#import "RovWriterListener.h"
+#import "BridgedReaderListener.h"
+#import "BridgedWriterListener.h"
 
-class CustomParticipantListener;
-class RovParticipant
+class BridgedParticipantListener;
+class BridgedParticipant
 {
     struct ReaderInfo {
         eprosima::fastrtps::rtps::RTPSReader* reader;
         eprosima::fastrtps::rtps::ReaderHistory* history;
-        RovTopicListener* listener;
+        BridgedReaderListener* listener;
         ~ReaderInfo() {
             delete history;
             delete listener;
@@ -36,22 +33,24 @@ class RovParticipant
     struct WriterInfo {
         eprosima::fastrtps::rtps::RTPSWriter* writer;
         eprosima::fastrtps::rtps::WriterHistory* history;
-        RovWriterListener* listener;
+        BridgedWriterListener* listener;
         ~WriterInfo() {
             delete history;
             delete listener;
         }
     };
 public:
-    RovParticipant();
-    virtual ~RovParticipant();
+    BridgedParticipant();
+    virtual ~BridgedParticipant();
     eprosima::fastrtps::rtps::RTPSParticipant* mp_participant;
-    CustomParticipantListener* mp_listener;
+    BridgedParticipantListener* mp_listener;
+    std::string partitionName;
 
     std::map<std::string, ReaderInfo*> readerList;
     std::map<std::string, WriterInfo*> writerList;
 
-    bool startRTPS(); //Initialization
+    bool createParticipant(const char* name, const char *interfaceIPv4, const char* networkAddress);
+    void setPartition(const char* name) { partitionName = std::string(name); }
     bool addReader(const char* name,
                    const char* dataType,
                    const bool keyed,

FastRTPSBridge/RovParticipant.mm → FastRTPSBridge/BridgedParticipant.mm

@@ -1,15 +1,12 @@
-//
-//  RovParticipant.mm
-//  TridentVideoViewer
-//
-//  Created by Dmitriy Borovikov on 06/09/2019.
-//  Copyright © 2019 Dmitriy Borovikov. All rights reserved.
+/////
+////  BridgedParticipant.mm
+///   Copyright © 2019 Dmitriy Borovikov. All rights reserved.
 //
 
-#include "RovParticipant.h"
-#include "RovTopicListener.h"
-#include "RovWriterListener.h"
-#include "CustomParticipantListener.h"
+#include "BridgedParticipant.h"
+#include "BridgedReaderListener.h"
+#include "BridgedWriterListener.h"
+#include "BridgedParticipantListener.h"
 
 #include <fastrtps/rtps/RTPSDomain.h>
 #include <fastrtps/rtps/participant/RTPSParticipant.h>
@@ -23,27 +20,31 @@
 #include <fastrtps/qos/ReaderQos.h>
 #include <fastrtps/qos/WriterQos.h>
 #include <fastrtps/log/Log.h>
+#include <fastrtps/transport/UDPv4TransportDescriptor.h>
+#include <memory>
+#include <arpa/inet.h>
 
 using namespace eprosima::fastrtps;
 using namespace eprosima::fastrtps::rtps;
 
-RovParticipant::RovParticipant():
+BridgedParticipant::BridgedParticipant():
 mp_participant(nullptr),
-mp_listener(nullptr)
+mp_listener(nullptr),
+partitionName("*")
 {
 }
 
-RovParticipant::~RovParticipant()
+BridgedParticipant::~BridgedParticipant()
 {
-    mp_participant->stopRTPSParticipantAnnouncement();
     logInfo(ROV_PARTICIPANT, "Delete participant")
+    mp_participant->stopRTPSParticipantAnnouncement();
     resignAll();
     RTPSDomain::removeRTPSParticipant(mp_participant);
     delete mp_listener;
 //    RTPSDomain::stopAll();
 }
 
-void RovParticipant::resignAll() {
+void BridgedParticipant::resignAll() {
     for(auto it = readerList.begin(); it != readerList.end(); it++)
     {
         logInfo(ROV_PARTICIPANT, "Remove reader: " << it->first)
@@ -63,28 +64,40 @@
     writerList.clear();
 }
 
-bool RovParticipant::startRTPS()
+bool BridgedParticipant::createParticipant(const char* name, const char *interfaceIPv4, const char* networkAddress)
 {
-    //CREATE PARTICIPANT
-    RTPSParticipantAttributes PParam;
-    PParam.builtin.use_WriterLivelinessProtocol = true;
-    PParam.builtin.discovery_config.discoveryProtocol = eprosima::fastrtps::rtps::DiscoveryProtocol::SIMPLE;
-    PParam.builtin.discovery_config.leaseDuration_announcementperiod.seconds = 1;
-    PParam.builtin.discovery_config.leaseDuration.seconds = 20;
-    PParam.builtin.readerHistoryMemoryPolicy = PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
-    PParam.builtin.writerHistoryMemoryPolicy = PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
-    PParam.builtin.domainId = 0;
-    PParam.setName("TridentVideoViewer");
+    RTPSParticipantAttributes pattr;
+    pattr.builtin.use_WriterLivelinessProtocol = true;
+    pattr.builtin.discovery_config.discoveryProtocol = eprosima::fastrtps::rtps::DiscoveryProtocol::SIMPLE;
+    pattr.builtin.discovery_config.leaseDuration_announcementperiod.seconds = 1;
+    pattr.builtin.discovery_config.leaseDuration.seconds = 10;
+    pattr.builtin.discovery_config.ignoreParticipantFlags = FILTER_SAME_PROCESS;
+    pattr.builtin.readerHistoryMemoryPolicy = PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+    pattr.builtin.writerHistoryMemoryPolicy = PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+    pattr.builtin.domainId = 0;
+    pattr.setName(name);
 
-    mp_listener = new CustomParticipantListener();
-    mp_participant = RTPSDomain::createParticipant(PParam, mp_listener);
+    auto customTransport = std::make_shared<UDPv4TransportDescriptor>();
+    customTransport->sendBufferSize = 65536;
+    customTransport->receiveBufferSize = 65536;
+    if (interfaceIPv4 != nullptr) {
+        customTransport->interfaceWhiteList.emplace_back(interfaceIPv4);
+    }
+    if (networkAddress != nullptr) {
+        customTransport->remoteWhiteList.emplace_back(networkAddress);
+    }
+    pattr.userTransports.push_back(customTransport);
+    pattr.useBuiltinTransports = false;
+
+    mp_listener = new BridgedParticipantListener();
+    mp_participant = RTPSDomain::createParticipant(pattr, mp_listener);
     if (mp_participant == nullptr)
         return false;
 
     return true;
 }
 
-bool RovParticipant::addReader(const char* name,
+bool BridgedParticipant::addReader(const char* name,
                                const char* dataType,
                                const bool keyed,
                                NSObject<PayloadDecoderInterface>* payloadDecoder)
@@ -95,14 +108,14 @@
         // aready registered
         return false;
     }
-    //CREATE READER
     ReaderAttributes readerAttributes;
     readerAttributes.endpoint.topicKind = tKind;
-    auto listener = new RovTopicListener(name, payloadDecoder);
-    //CREATE READERHISTORY
+    auto listener = new BridgedReaderListener(name, payloadDecoder);
+
     HistoryAttributes hatt;
-    hatt.payloadMaxSize = 10000;
     hatt.memoryPolicy = DYNAMIC_RESERVE_MEMORY_MODE;
+    hatt.payloadMaxSize = 1000;
+    hatt.initialReservedCaches = 5;
     hatt.maximumReservedCaches = 0;
     auto history = new ReaderHistory(hatt);
     auto reader = RTPSDomain::createRTPSReader(mp_participant, readerAttributes, history, listener);
@@ -111,16 +124,16 @@
         delete history;
         return false;
     }
-    
+
     auto readerInfo = new ReaderInfo;
     readerInfo->reader = reader;
     readerInfo->history = history;
     readerInfo->listener = listener;
     readerList[topicName] = readerInfo;
-  
+
     TopicAttributes Tatt(name, dataType, tKind);
     ReaderQos Rqos;
-    Rqos.m_partition.push_back("*");
+    Rqos.m_partition.push_back(partitionName.c_str());
     auto rezult = mp_participant->registerReader(reader, Tatt, Rqos);
     if (!rezult) {
         RTPSDomain::removeRTPSReader(reader);
@@ -132,7 +145,7 @@
     return true;
 }
 
-bool RovParticipant::removeReader(const char* name)
+bool BridgedParticipant::removeReader(const char* name)
 {
     logInfo(ROV_PARTICIPANT, "Remove reader: " << name)
     auto topicName = std::string(name);
@@ -147,7 +160,7 @@
     return true;
 }
 
-bool RovParticipant::addWriter(const char* name,
+bool BridgedParticipant::addWriter(const char* name,
                                const char* dataType,
                                const bool keyed)
 {
@@ -161,11 +174,11 @@
     WriterAttributes watt;
     watt.endpoint.reliabilityKind = BEST_EFFORT;
     watt.endpoint.topicKind = tKind;
-    auto listener = new RovWriterListener(name);
-    //CREATE WRITERHISTORY
+    auto listener = new BridgedWriterListener(name);
     HistoryAttributes hatt;
-//    hatt.payloadMaxSize = 10000;
     hatt.memoryPolicy = DYNAMIC_RESERVE_MEMORY_MODE;
+    hatt.payloadMaxSize = 1000;
+    hatt.initialReservedCaches = 5;
     hatt.maximumReservedCaches = 0;
     auto history = new WriterHistory(hatt);
     auto writer = RTPSDomain::createRTPSWriter(mp_participant, watt, history, listener);
@@ -183,7 +196,7 @@
 
     TopicAttributes Tatt(name, dataType, tKind);
     WriterQos Wqos;
-    Wqos.m_partition.push_back("*");
+    Wqos.m_partition.push_back(partitionName.c_str());
     Wqos.m_disablePositiveACKs.enabled = true;
     auto rezult = mp_participant->registerWriter(writer, Tatt, Wqos);
     if (!rezult) {
@@ -196,7 +209,7 @@
     return true;
 }
 
-bool RovParticipant::removeWriter(const char* name)
+bool BridgedParticipant::removeWriter(const char* name)
 {
     logInfo(ROV_PARTICIPANT, "Remove writer: " << name)
     auto topicName = std::string(name);
@@ -211,7 +224,7 @@
     return true;
 }
 
-bool RovParticipant::send(const char* name, const uint8_t* data, uint32_t length, const void* key, uint32_t keyLength)
+bool BridgedParticipant::send(const char* name, const uint8_t* data, uint32_t length, const void* key, uint32_t keyLength)
 {
     static const octet header[] = {0, 1, 0, 0};
     auto topicName = std::string(name);
@@ -231,14 +244,14 @@
         memcpy(instanceHandle.value, key, len);
         change = writer->new_change([length]() -> uint32_t { return length+sizeof(header);}, ALIVE, instanceHandle);
         if (!change) {    // In the case history is full, remove some old changes
-            logWarning(ROV_PARTICIPANT, "cleaning history...")
+            logInfo(ROV_PARTICIPANT, "cleaning history...")
             writer->remove_older_changes(2);
             change = writer->new_change([length]() -> uint32_t { return length+sizeof(header);}, ALIVE, instanceHandle);
         }
     } else {
         change = writer->new_change([length]() -> uint32_t { return length+sizeof(header);}, ALIVE);
         if (!change) {    // In the case history is full, remove some old changes
-            logWarning(ROV_PARTICIPANT, "cleaning history...")
+            logInfo(ROV_PARTICIPANT, "cleaning history...")
             writer->remove_older_changes(2);
             change = writer->new_change([length]() -> uint32_t { return length+sizeof(header);}, ALIVE);
         }

FastRTPSBridge/CustomParticipantListener.h → FastRTPSBridge/BridgedParticipantListener.h

@@ -1,26 +1,22 @@
-//
-//  CustomParticipantListener.h
-//  TestFastRTPS
-//
-//  Created by Dmitriy Borovikov on 29/07/2019.
-//  Copyright © 2019 Dmitriy Borovikov. All rights reserved.
+/////
+////  BridgedParticipantListener.h
+///   Copyright © 2019 Dmitriy Borovikov. All rights reserved.
 //
 
-#ifndef CustomParticipantListener_h
-#define CustomParticipantListener_h
+#pragma once
 
 #include <fastrtps/fastrtps_fwd.h>
 #include <fastrtps/subscriber/SampleInfo.h>
 #include <fastrtps/rtps/participant/RTPSParticipantListener.h>
+#import "FastRTPSBridge.h"
 
 using namespace eprosima::fastrtps;
 using namespace eprosima::fastrtps::rtps;
 
-class CustomParticipantListener: public eprosima::fastrtps::rtps::RTPSParticipantListener
+class BridgedParticipantListener: public eprosima::fastrtps::rtps::RTPSParticipantListener
 {
     void onParticipantDiscovery(RTPSParticipant *participant, ParticipantDiscoveryInfo &&info) override;
     void onReaderDiscovery(RTPSParticipant *participant, ReaderDiscoveryInfo &&info) override;
     void onWriterDiscovery(RTPSParticipant *participant, WriterDiscoveryInfo &&info) override;
+    NSSet* dumpLocators(ResourceLimitedVector<eprosima::fastrtps::rtps::Locator_t> locators);
 };
-
-#endif /* CustomParticipantListener_h */