RPC whole implementation (#281)

* Add RPC support (services)

Signed-off-by: Juan López Fernández <[email protected]>

* Apply suggestions

Signed-off-by: Juan López Fernández <[email protected]>

* Fix rebase errors

Signed-off-by: Juan López Fernández <[email protected]>

* Add repeater condition

Signed-off-by: Juan López Fernández <[email protected]>

* Document code and improve error handling

Signed-off-by: Juan López Fernández <[email protected]>

* Uncrustify

Signed-off-by: Juan López Fernández <[email protected]>

* Add RPC Docker Compose tests

Signed-off-by: jparisu <[email protected]>

* Add vulcanexus to github action

Signed-off-by: jparisu <[email protected]>

* Fix windows compilation

Signed-off-by: jparisu <[email protected]>

* Fix target messages from router

Signed-off-by: jparisu <[email protected]>

* Add Writer matching debug log

Signed-off-by: jparisu <[email protected]>

* Fix race condition in on_data_available task_map

Signed-off-by: jparisu <[email protected]>

* Increase timeout of ros2 services tests

Signed-off-by: jparisu <[email protected]>

* uncrustify

Signed-off-by: jparisu <[email protected]>

* Limit number of elements in registries

Signed-off-by: Juan López Fernández <[email protected]>

* Take reader mutex when enabling it

Signed-off-by: Juan López Fernández <[email protected]>

* More accurate documentation

Signed-off-by: Juan López Fernández <[email protected]>

* Fix compose tests

Signed-off-by: Juan López Fernández <[email protected]>

* Some fixes

Signed-off-by: Juan López Fernández <[email protected]>

* Apply suggestions

Signed-off-by: Juan López Fernández <[email protected]>

* Uncrustify

Signed-off-by: Juan López Fernández <[email protected]>

Signed-off-by: Juan López Fernández <[email protected]>
Signed-off-by: jparisu <[email protected]>
Co-authored-by: Juan López Fernández <[email protected]>

Author: jparisu

.github/docker/Dockerfile .github/docker/ddsrouter/Dockerfile.github/docker/Dockerfile renamed to .github/docker/ddsrouter/Dockerfile

@@ -41,8 +41,9 @@ RUN pip3 install \
 
 WORKDIR /ddsrouter
 
-ARG ddsrouter_branch=main
+
 ARG fastdds_branch=master
+ARG ddsrouter_branch=main
 
 RUN mkdir src && \
     wget https://raw.githubusercontent.com/eProsima/DDS-Router/${ddsrouter_branch}/ddsrouter.repos && \

.github/docker/run.bash .github/docker/ddsrouter/run.bash.github/docker/run.bash renamed to .github/docker/ddsrouter/run.bash

@@ -0,0 +1,30 @@
+ARG docker_image_base
+FROM $docker_image_base
+
+LABEL [email protected]
+
+# Avoid interactuation with installation of some package that needs the locale.
+ENV TZ=Europe/Madrid
+RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
+
+# Avoids using interactions during building
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Use a bash shell so it is possigle to run things like `source` (required for colcon builds)
+SHELL ["/bin/bash", "-c"]
+
+ARG docker_image_base
+RUN echo "Docker Base image used: ${docker_image_base}"
+
+# Install message interface required package
+RUN source "/opt/vulcanexus/$VULCANEXUS_DISTRO/setup.bash" && \
+        apt-get update && \
+        apt-get install -y \
+            ros-humble-example-interfaces
+
+# Copy and use run.bash as entrypoint
+COPY run.bash /root/run.bash
+
+RUN chmod +x /root/run.bash
+
+ENTRYPOINT ["/root/run.bash" ]

.github/docker/vulcanexus/Dockerfile

@@ -0,0 +1,6 @@
+#!/bin/bash
+
+# Setup environment
+source "/opt/vulcanexus/$VULCANEXUS_DISTRO/setup.bash"
+
+exec "$@"

.github/docker/vulcanexus/run.bash

@@ -18,62 +18,94 @@ on:
   schedule:
     - cron: '0 0 * * *'
 
+env:
+  REGISTRY: ghcr.io
+
 jobs:
   docker_test:
+
     runs-on: ubuntu-20.04
+
     env:
       DEFAULT_FASTDDS_BRANCH: 'master'
       DEFAULT_DDSROUTER_BRANCH: 'main'
       DDSROUTER_COMPOSE_TEST_DOCKER_IMAGE: "ddsrouter:ci"
+      DDSROUTER_COMPOSE_TEST_ROS2_DOCKER_IMAGE: "vulcanexus:ci"
+
     steps:
+
+      # Sync current branch
       - name: Sync eProsima/DDS-Router repository
         uses: actions/checkout@v2
         with:
           path: src/DDS-Router
 
+      # Echo Env Var to debug workflow
       - name: Echo env variables
         run: |
           echo "--- Input Variables ---"
           echo "github.event.inputs.fastdds_branch: ${{ github.event.inputs.fastdds_branch }}"
           echo "github.event.inputs.ddsrouter_branch: ${{ github.event.inputs.ddsrouter_branch }}"
-
           echo "--- Github Environment Variables ---"
           echo "github.head_ref: ${{ github.head_ref }}"
-
           echo "--- Environment Variables ---"
           echo "DEFAULT_FASTDDS_BRANCH: ${{ env.DEFAULT_FASTDDS_BRANCH }}"
           echo "DEFAULT_DDSROUTER_BRANCH: ${{ env.DEFAULT_DDSROUTER_BRANCH }}"
-          echo "DDSROUTER_COMPOSE_TEST_DOCKER_IMAGE: ${{ env.DDSROUTER_COMPOSE_TEST_DOCKER_IMAGE }}"
 
-      # Install colcon and required packages
-      - name: Install apt packages
-        uses: ./src/DDS-Router/.github/actions/install-apt-packages
+      # It enables the use of Vulcanexus container
+      - name: Log in to the Container registry
+        uses: docker/login-action@f054a8b539a109f9f41c372932f1ae047eff08c9
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.DOCKER_CONTAINER_REGISTRY_TOKEN }}
 
-      - name: Install Python packages
-        uses: ./src/DDS-Router/.github/actions/install-python-packages
+      # Build Vulcanexus Docker image
+      - name: Build custom Vulcanexus Docker image
+        run: |
+          cd src/DDS-Router/.github/docker/vulcanexus
+          docker build \
+            --no-cache \
+            --build-arg docker_image_base=ghcr.io/eprosima/ubuntu-vulcanexus:humble-core \
+            -t ${{ env.DDSROUTER_COMPOSE_TEST_ROS2_DOCKER_IMAGE }} \
+            -f Dockerfile .
 
+      # Build DDS Router Docker image
       - name: Build DDS Router Docker image
         run: |
-          cd src/DDS-Router/.github/docker
+          cd src/DDS-Router/.github/docker/ddsrouter
           docker build \
             --no-cache \
             --build-arg fastdds_branch=${{ github.event.inputs.fastdds_branch || env.DEFAULT_FASTDDS_BRANCH }} \
             --build-arg ddsrouter_branch=${{ github.event.inputs.ddsrouter_branch || github.head_ref || env.DEFAULT_DDSROUTER_BRANCH }} \
             -t ${{ env.DDSROUTER_COMPOSE_TEST_DOCKER_IMAGE }} \
             -f Dockerfile .
+          echo "DDSROUTER_COMPOSE_TEST_DOCKER_IMAGE: ${{ env.DDSROUTER_COMPOSE_TEST_DOCKER_IMAGE }}"
+
+      # Install colcon and required apt packages
+      - name: Install apt packages
+        uses: ./src/DDS-Router/.github/actions/install-apt-packages
+
+      # Install colcon and required python packages
+      - name: Install Python packages
+        uses: ./src/DDS-Router/.github/actions/install-python-packages
 
-      - name: Check if Docker image exists
+      # Check Docker images exist
+      - name: Check if Docker images exist
         run: |
           [ -n "$(docker images -q ${{ env.DDSROUTER_COMPOSE_TEST_DOCKER_IMAGE }})" ] || echo "DDS Router Docker image does not exists"
+          [ -n "$(docker images -q ${{ env.DDSROUTER_COMPOSE_TEST_ROS2_DOCKER_IMAGE }})" ] || echo "Vulcanexus image does not exists"
 
+      # Run ddsrouter_test compose tests
       - name: Run tests
         run: |
           export DDSROUTER_COMPOSE_TEST_DOCKER_IMAGE=${{ env.DDSROUTER_COMPOSE_TEST_DOCKER_IMAGE }}
+          export DDSROUTER_COMPOSE_TEST_ROS2_DOCKER_IMAGE=${{ env.DDSROUTER_COMPOSE_TEST_ROS2_DOCKER_IMAGE }}
           colcon build --event-handlers console_direct+ --packages-up-to ddsrouter_test --cmake-args -DBUILD_COMPOSE_TESTS=ON
           colcon test \
             --packages-select ddsrouter_test \
             --event-handlers console_direct+ \
             --return-code-on-test-failure \
             --ctest-args \
               --label-exclude xfail \
-              --timeout 60
+              --timeout 60

.github/workflows/docker_test.yml

@@ -20,6 +20,7 @@
 #define _DDSROUTERCORE_TYPES_DDS_DATA_HPP_
 
 #include <fastdds/rtps/common/SerializedPayload.h>
+#include <fastdds/rtps/common/WriteParams.h>
 
 #include <ddsrouter_core/library/library_dll.h>
 #include <ddsrouter_core/types/dds/Guid.hpp>
@@ -47,6 +48,12 @@ struct DataReceived
 
     //! Id of the participant from which the Reader has received the data.
     ParticipantId participant_receiver;
+
+    //! Sequence number of the received cache change
+    eprosima::fastrtps::rtps::SequenceNumber_t sequenceNumber;
+
+    //! Write params associated to the received cache change
+    eprosima::fastrtps::rtps::WriteParams write_params;
 };
 
 //! \c octet to stream serializator

ddsrouter_core/include/ddsrouter_core/types/dds/Data.hpp

@@ -37,6 +37,17 @@ class DDSROUTER_CORE_DllAPI Guid : public fastrtps::rtps::GUID_t
     //! Using parent constructors
     using fastrtps::rtps::GUID_t::GUID_t;
 
+    //! Default constructor
+    Guid() = default;
+
+    //! Copy constructor
+    Guid(
+            const fastrtps::rtps::GUID_t& x);
+
+    //! Move constructor
+    Guid(
+            fastrtps::rtps::GUID_t&& x);
+
     //! Equal operator (inherited from GUID_t)
     Guid& operator = (
             const fastrtps::rtps::GUID_t& other) noexcept;

ddsrouter_core/include/ddsrouter_core/types/dds/Guid.hpp

@@ -22,7 +22,9 @@
 #include <ddsrouter_core/library/library_dll.h>
 #include <ddsrouter_core/types/dds/Guid.hpp>
 #include <ddsrouter_core/types/endpoint/QoS.hpp>
+#include <ddsrouter_core/types/participant/ParticipantId.hpp>
 #include <ddsrouter_core/types/topic/RealTopic.hpp>
+#include <ddsrouter_core/types/topic/RPCTopic.hpp>
 
 namespace eprosima {
 namespace ddsrouter {
@@ -70,7 +72,8 @@ class Endpoint
             const EndpointKind& kind,
             const Guid& guid,
             const QoS& qos,
-            const RealTopic& topic) noexcept;
+            const RealTopic& topic,
+            const ParticipantId& discoverer_participant_id = ParticipantId()) noexcept;
 
     //! Endpoint kind getter
     DDSROUTER_CORE_DllAPI EndpointKind kind() const noexcept;
@@ -84,6 +87,9 @@ class Endpoint
     //! Topic getter
     DDSROUTER_CORE_DllAPI RealTopic topic() const noexcept;
 
+    //! Id of participant who discovered this endpoint
+    DDSROUTER_CORE_DllAPI ParticipantId discoverer_participant_id() const noexcept;
+
     //! Whether the endpoint referenced is currently active
     DDSROUTER_CORE_DllAPI bool active() const noexcept;
 
@@ -104,6 +110,9 @@ class Endpoint
     //! Whether the endpoint is a reader
     DDSROUTER_CORE_DllAPI bool is_reader() const noexcept;
 
+    //! Whether the endpoint belongs to a RPC server (i.e. is request reader or reply writer)
+    DDSROUTER_CORE_DllAPI bool is_server_endpoint() const noexcept;
+
     //! Copy operator
     DDSROUTER_CORE_DllAPI Endpoint& operator =(
             const Endpoint& other) noexcept;
@@ -129,6 +138,9 @@ class Endpoint
     //! Whether the endpoint is currently active
     bool active_;
 
+    //! Id of participant who discovered this endpoint
+    ParticipantId discoverer_participant_id_;
+
     // Allow operator << to use private variables
     DDSROUTER_CORE_DllAPI friend std::ostream& operator <<(
             std::ostream&,

ddsrouter_core/include/ddsrouter_core/types/endpoint/Endpoint.hpp

@@ -82,6 +82,17 @@ class ParticipantId
     DDSROUTER_CORE_DllAPI bool operator ==(
             const ParticipantId& other) const noexcept;
 
+    /**
+     * @brief Not equals operator
+     *
+     * Check whether both objects identify different participants
+     *
+     * @param [in] other \c ParticipantId to compare with
+     * @return true if this Ids are not equal. False otherwise.
+     */
+    DDSROUTER_CORE_DllAPI bool operator !=(
+            const ParticipantId& other) const noexcept;
+
     /**
      * @brief Minor operator
      *

ddsrouter_core/include/ddsrouter_core/types/participant/ParticipantId.hpp

@@ -0,0 +1,110 @@
+// Copyright 2022 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.
+
+/**
+ * @file RPCTopic.hpp
+ */
+
+#ifndef _DDSROUTERCORE_TYPES_TOPIC_RPCTOPIC_HPP_
+#define _DDSROUTERCORE_TYPES_TOPIC_RPCTOPIC_HPP_
+
+#include <ddsrouter_core/types/topic/RealTopic.hpp>
+
+namespace eprosima {
+namespace ddsrouter {
+namespace core {
+namespace types {
+
+/**
+ * Class that represents a RPC service in a DDS network.
+ * It is composed of a pair of DDS topics; one for request and other for reply.
+ * These two DDS topics are formed by mangling a \c service_name with different prefix and suffixes.
+ */
+class RPCTopic
+{
+public:
+
+    //! Constructor by service name, request topic and reply topic
+    RPCTopic(
+            const std::string& service_name,
+            const RealTopic& topic_request,
+            const RealTopic& topic_reply) noexcept;
+
+    //! Constructor by request/reply topic only (infers service name and the other request/reply topic)
+    RPCTopic(
+            const RealTopic& topic) noexcept;
+
+    //! Service name getter
+    const std::string& service_name() const;
+
+    //! Request topic getter
+    const RealTopic& request_topic() const;
+
+    //! Reply topic getter
+    const RealTopic& reply_topic() const;
+
+    //! Whether a topic is a request topic
+    static bool is_request_topic(
+            const RealTopic& topic);
+
+    //! Whether a topic is a reply topic
+    static bool is_reply_topic(
+            const RealTopic& topic);
+
+    //! Whether a topic is a service topic (request or reply topic)
+    static bool is_service_topic(
+            const RealTopic& topic);
+
+    /**
+     * Minor operator
+     *
+     * It compares both service names lexicographically
+     */
+    bool operator <(
+            const RPCTopic& other) const;
+
+protected:
+
+    //! Name of the service
+    std::string service_name_;
+
+    //! Topic used for transmitting requests
+    RealTopic request_topic_;
+
+    //! Topic used for transmitting replies
+    RealTopic reply_topic_;
+
+    static const std::string REQUEST_PREFIX_STR;
+    static const std::string REPLY_PREFIX_STR;
+    static const std::string REQUEST_STR;
+    static const std::string REPLY_STR;
+    static const std::string RESPONSE_STR;
+};
+
+/**
+ * Serialization method
+ *
+ * It prints the service name inside "{}"
+ * Example: RPCTopic{ServiceName}
+ */
+std::ostream& operator <<(
+        std::ostream& os,
+        const RPCTopic& a);
+
+} /* namespace types */
+} /* namespace core */
+} /* namespace ddsrouter */
+} /* namespace eprosima */
+
+#endif /* _DDSROUTERCORE_TYPES_TOPIC_RPCTOPIC_HPP_ */