dds_to_iox.inl🔗

Namespaces🔗

Name
iox
iox::dds

Defines🔗

	Name
	IOX_DDS_DDS_TO_IOX_INL

Macro Documentation🔗

define IOX_DDS_DDS_TO_IOX_INL🔗

#define IOX_DDS_DDS_TO_IOX_INL

Source code🔗

// Copyright (c) 2020 by Robert Bosch GmbH. All rights reserved.
// Copyright (c) 2020 - 2021 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.
//
// SPDX-License-Identifier: Apache-2.0

#ifndef IOX_DDS_DDS_TO_IOX_INL
#define IOX_DDS_DDS_TO_IOX_INL

#include "iceoryx_dds/dds/dds_config.hpp"
#include "iceoryx_dds/internal/log/logging.hpp"
#include "iceoryx_posh/capro/service_description.hpp"
#include "iceoryx_utils/cxx/string.hpp"

namespace iox
{
namespace dds
{
template <typename channel_t, typename gateway_t>
inline DDS2IceoryxGateway<channel_t, gateway_t>::DDS2IceoryxGateway() noexcept
    : gateway_t(capro::Interfaces::DDS, DISCOVERY_PERIOD, FORWARDING_PERIOD)
{
}

template <typename channel_t, typename gateway_t>
inline void DDS2IceoryxGateway<channel_t, gateway_t>::loadConfiguration(const config::GatewayConfig& config) noexcept
{
    LogDebug() << "[DDS2IceoryxGateway] Configuring gateway...";
    for (const auto& service : config.m_configuredServices)
    {
        if (!this->findChannel(service.m_serviceDescription).has_value())
        {
            auto serviceDescription = service.m_serviceDescription;
            LogDebug() << "[DDS2IceoryxGateway] Setting up channel for service: {"
                       << serviceDescription.getServiceIDString() << ", " << serviceDescription.getInstanceIDString()
                       << ", " << serviceDescription.getEventIDString() << "}";
            IOX_DISCARD_RESULT(setupChannel(serviceDescription, popo::PublisherOptions()));
        }
    }
}

template <typename channel_t, typename gateway_t>
inline void DDS2IceoryxGateway<channel_t, gateway_t>::discover(IOX_MAYBE_UNUSED const capro::CaproMessage& msg) noexcept
{
}

template <typename channel_t, typename gateway_t>
inline void DDS2IceoryxGateway<channel_t, gateway_t>::forward(const channel_t& channel) noexcept
{
    auto publisher = channel.getIceoryxTerminal();
    auto reader = channel.getExternalTerminal();

    while (reader->hasSamples())
    {
        reader->peekNextIoxChunkDatagramHeader().and_then([&](auto datagramHeader) {
            // this is safe, it is just used to check if the alignment doesn't exceed the
            // alignment of the ChunkHeader but since this is data from a previously valid
            // chunk, we can assume that the alignment was correct and use this value
            constexpr uint32_t USER_HEADER_ALIGNMENT{1U};
            publisher
                ->loan(datagramHeader.userPayloadSize,
                       datagramHeader.userPayloadAlignment,
                       datagramHeader.userHeaderSize,
                       USER_HEADER_ALIGNMENT)
                .and_then([&](auto userPayload) {
                    auto chunkHeader = iox::mepoo::ChunkHeader::fromUserPayload(userPayload);
                    reader
                        ->takeNext(datagramHeader,
                                   static_cast<uint8_t*>(chunkHeader->userHeader()),
                                   static_cast<uint8_t*>(chunkHeader->userPayload()))
                        .and_then([&]() { publisher->publish(userPayload); })
                        .or_else([&](DataReaderError err) {
                            publisher->release(userPayload);
                            LogWarn() << "[DDS2IceoryxGateway] Encountered error reading from DDS network: "
                                      << dds::DataReaderErrorString[static_cast<uint8_t>(err)];
                        });
                })
                .or_else([](auto& error) {
                    LogError() << "[DDS2IceoryxGateway] Could not loan chunk! Error code: "
                               << static_cast<uint64_t>(error);
                });
            ;
        });
    }
}

// ======================================== Private ======================================== //
template <typename channel_t, typename gateway_t>
cxx::expected<channel_t, gw::GatewayError>
DDS2IceoryxGateway<channel_t, gateway_t>::setupChannel(const capro::ServiceDescription& service,
                                                       const popo::PublisherOptions& publisherOptions) noexcept
{
    return this->addChannel(service, publisherOptions).and_then([&service](auto channel) {
        auto publisher = channel.getIceoryxTerminal();
        auto reader = channel.getExternalTerminal();
        publisher->offer();
        reader->connect();
        iox::LogDebug() << "[DDS2IceoryxGateway] Setup channel for service: {" << service.getServiceIDString() << ", "
                        << service.getInstanceIDString() << ", " << service.getEventIDString() << "}";
    });
}

} // namespace dds
} // namespace iox

#endif // IOX_DDS_DDS_TO_IOX_INL

Updated on 31 May 2022 at 15:29:16 CEST