Backport rmw callbacks implementation to Humble [ros2-73] (#157)

* backport: Add support for listener callbacks (#76) (d4330cc)

* Add support for listener callbacks.

* Fix wrong debug assertion when converting DDS_Duration values

* Clarify interactions between count_unread_samples() and take_next()

* Notify on changed matched status

Signed-off-by: Christopher Wecht <[email protected]>
Signed-off-by: Andrea Sorbini <[email protected]>
Signed-off-by: Taxo Rubio <[email protected]>

* backport: Conditional internal API access to support Connext 7+ (#121) (afa5055)

Signed-off-by: Andrea Sorbini <[email protected]>
Signed-off-by: Taxo Rubio <[email protected]>

* style: Fixed header inclusion order

Signed-off-by: Taxo Rubio <[email protected]>

---------

Signed-off-by: Christopher Wecht <[email protected]>
Signed-off-by: Andrea Sorbini <[email protected]>
Signed-off-by: Taxo Rubio <[email protected]>
Co-authored-by: Andrea Sorbini <[email protected]>

Author: trubio-rti

rmw_connextdds_common/include/rmw_connextdds/dds_api.hpp

@@ -138,6 +138,11 @@ rmw_ret_t
 rmw_connextdds_take_samples(
   RMW_Connext_Subscriber * const sub);
 
+rmw_ret_t
+rmw_connextdds_count_unread_samples(
+  RMW_Connext_Subscriber * const sub,
+  size_t & unread_count);
+
 rmw_ret_t
 rmw_connextdds_return_samples(
   RMW_Connext_Subscriber * const sub);

rmw_connextdds_common/include/rmw_connextdds/rmw_api_impl.hpp

@@ -92,8 +92,8 @@ RMW_CONNEXTDDS_PUBLIC
 rmw_ret_t
 rmw_api_connextdds_event_set_callback(
   rmw_event_t * event,
-  rmw_event_callback_t callback,
-  const void * user_data);
+  const rmw_event_callback_t callback,
+  const void * const user_data);
 
 /*****************************************************************************
  * Info API
@@ -437,15 +437,15 @@ RMW_CONNEXTDDS_PUBLIC
 rmw_ret_t
 rmw_api_connextdds_service_set_on_new_request_callback(
   rmw_service_t * rmw_service,
-  rmw_event_callback_t callback,
-  const void * user_data);
+  const rmw_event_callback_t callback,
+  const void * const user_data);
 
 RMW_CONNEXTDDS_PUBLIC
 rmw_ret_t
 rmw_api_connextdds_client_set_on_new_response_callback(
   rmw_client_t * rmw_client,
-  rmw_event_callback_t callback,
-  const void * user_data);
+  const rmw_event_callback_t callback,
+  const void * const user_data);
 
 /*****************************************************************************
  * Subscription API
@@ -574,9 +574,9 @@ rmw_api_connextdds_return_loaned_message_from_subscription(
 RMW_CONNEXTDDS_PUBLIC
 rmw_ret_t
 rmw_api_connextdds_subscription_set_on_new_message_callback(
-  rmw_subscription_t * rmw_subscription,
-  rmw_event_callback_t callback,
-  const void * user_data);
+  rmw_subscription_t * const rmw_subscription,
+  const rmw_event_callback_t callback,
+  const void * const user_data);
 
 /*****************************************************************************
  * WaitSet API

rmw_connextdds_common/include/rmw_connextdds/rmw_impl.hpp

@@ -462,6 +462,30 @@ class RMW_Connext_Subscriber
     return has_data;
   }
 
+  rmw_ret_t
+  count_unread_samples(size_t & unread_count)
+  {
+    // The action of counting unread samples is not currently mutually exclusive
+    // with the action of taking samples out of the reader cache. Unfortunately
+    // we cannot use a mutex to synchronize calls between
+    // count_unread_samples() and and take_next() because we would run the risk
+    // of a deadlock. This is because count_unread_samples() is supposed to be
+    // called from within the reader's "exclusive area" (since it is
+    // executed within a listener callback), while take_next() is usually called
+    // from an executor/application thread and it must acquire the reader's
+    // "exclusive area" before taking samples.
+    // This might mean that an application which relies on data callbacks and the
+    // count provided by this function, and which at the same time polls data
+    // on the subscription, might end up missing some samples in the total count
+    // notified to it via callback because the samples were taken out of the
+    // cache before they could be notified to the listener.
+    // Fortunately, in Connext the listener callback is notified right after a
+    // sample is added to the reader cache and before any mutex is released,
+    // which should allow this function to always report a correct number, as
+    // long as it is only called within a (DDS) listener callback.
+    return rmw_connextdds_count_unread_samples(this, unread_count);
+  }
+
   DDS_Subscriber * dds_subscriber() const
   {
     return DDS_DataReader_get_subscriber(this->dds_reader);

rmw_connextdds_common/include/rmw_connextdds/rmw_waitset_std.hpp

@@ -15,6 +15,7 @@
 #ifndef RMW_CONNEXTDDS__RMW_WAITSET_STD_HPP_
 #define RMW_CONNEXTDDS__RMW_WAITSET_STD_HPP_
 
+#include <condition_variable>
 #include "rmw_connextdds/context.hpp"
 
 /******************************************************************************
@@ -121,6 +122,22 @@ class RMW_Connext_Condition
     }
   }
 
+  template<typename FunctorT, typename FunctorA>
+  void
+  perform_action_and_update_state(FunctorA && action, FunctorT && update_condition)
+  {
+    std::lock_guard<std::mutex> internal_lock(this->mutex_internal);
+
+    action();
+
+    if (nullptr != this->waitset_mutex) {
+      std::lock_guard<std::mutex> lock(*this->waitset_mutex);
+      update_condition();
+    } else {
+      update_condition();
+    }
+  }
+
 protected:
   std::mutex mutex_internal;
   std::mutex * waitset_mutex;
@@ -333,8 +350,55 @@ class RMW_Connext_StatusCondition : public RMW_Connext_Condition
   virtual bool
   has_status(const rmw_event_type_t event_type) = 0;
 
+  void
+  notify_new_event(rmw_event_type_t event_type)
+  {
+    std::unique_lock<std::mutex> lock_mutex(new_event_mutex_);
+    if (new_event_cb_[event_type]) {
+      new_event_cb_[event_type](user_data_[event_type], 1);
+    } else {
+      unread_events_count_[event_type]++;
+    }
+  }
+
+  void
+  set_new_event_callback(
+    rmw_event_type_t event_type,
+    rmw_event_callback_t callback,
+    const void * user_data)
+  {
+    std::unique_lock<std::mutex> lock_mutex(new_event_mutex_);
+
+    if (callback) {
+      // Push events arrived before setting the executor's callback
+      if (unread_events_count_[event_type] > 0) {
+        callback(user_data, unread_events_count_[event_type]);
+        unread_events_count_[event_type] = 0;
+      }
+      user_data_[event_type] = user_data;
+      new_event_cb_[event_type] = callback;
+    } else {
+      user_data_[event_type] = nullptr;
+      new_event_cb_[event_type] = nullptr;
+    }
+  }
+
+  void
+  on_inconsistent_topic(const struct DDS_InconsistentTopicStatus * status);
+
+  void
+  update_status_inconsistent_topic(const struct DDS_InconsistentTopicStatus * status);
+
 protected:
   DDS_StatusCondition * scond;
+  std::mutex new_event_mutex_;
+  rmw_event_callback_t new_event_cb_[RMW_EVENT_INVALID] = {};
+  const void * user_data_[RMW_EVENT_INVALID] = {};
+  uint64_t unread_events_count_[RMW_EVENT_INVALID] = {0};
+
+  bool triggered_inconsistent_topic{false};
+
+  struct DDS_InconsistentTopicStatus status_inconsistent_topic;
 };
 
 void
@@ -712,6 +776,26 @@ class RMW_Connext_SubscriberStatusCondition : public RMW_Connext_StatusCondition
     return RMW_RET_OK;
   }
 
+  void set_on_new_data_callback(
+    const rmw_event_callback_t callback,
+    const void * const user_data)
+  {
+    std::unique_lock<std::mutex> lock(new_data_event_mutex_);
+    if (callback) {
+      if (unread_data_events_count_ > 0) {
+        callback(user_data, unread_data_events_count_);
+        unread_data_events_count_ = 0;
+      }
+      new_data_event_cb_ = callback;
+      data_event_user_data_ = user_data;
+    } else {
+      new_data_event_cb_ = nullptr;
+      data_event_user_data_ = nullptr;
+    }
+  }
+
+  void notify_new_data();
+
 protected:
   void update_status_deadline(
     const DDS_RequestedDeadlineMissedStatus * const status);
@@ -745,6 +829,11 @@ class RMW_Connext_SubscriberStatusCondition : public RMW_Connext_StatusCondition
 
   RMW_Connext_Subscriber * sub;
 
+  std::mutex new_data_event_mutex_;
+  rmw_event_callback_t new_data_event_cb_{nullptr};
+  const void * data_event_user_data_{nullptr};
+  uint64_t unread_data_events_count_ = 0;
+
   friend class RMW_Connext_WaitSet;
 };
 

rmw_connextdds_common/src/common/rmw_impl_waitset_std.cpp

@@ -121,6 +121,7 @@ RMW_Connext_DataReaderListener_on_data_available(
 
   UNUSED_ARG(reader);
 
+  self->notify_new_data();
   self->set_data_available(true);
 }
 
@@ -706,6 +707,8 @@ RMW_Connext_SubscriberStatusCondition::update_status_deadline(
 
   this->status_deadline.total_count_change = this->status_deadline.total_count;
   this->status_deadline.total_count_change -= this->status_deadline_last.total_count;
+
+  this->notify_new_event(RMW_EVENT_REQUESTED_DEADLINE_MISSED);
 }
 
 void
@@ -720,6 +723,8 @@ RMW_Connext_SubscriberStatusCondition::update_status_liveliness(
   this->status_liveliness.alive_count_change -= this->status_liveliness_last.alive_count;
   this->status_liveliness.not_alive_count_change -=
     this->status_liveliness_last.not_alive_count;
+
+  this->notify_new_event(RMW_EVENT_LIVELINESS_CHANGED);
 }
 
 void
@@ -731,6 +736,7 @@ RMW_Connext_SubscriberStatusCondition::update_status_qos(
 
   this->status_qos.total_count_change = this->status_qos.total_count;
   this->status_qos.total_count_change -= this->status_qos_last.total_count;
+  this->notify_new_event(RMW_EVENT_REQUESTED_QOS_INCOMPATIBLE);
 }
 
 void
@@ -743,6 +749,31 @@ RMW_Connext_SubscriberStatusCondition::update_status_sample_lost(
   this->status_sample_lost.total_count_change = this->status_sample_lost.total_count;
   this->status_sample_lost.total_count_change -=
     this->status_sample_lost_last.total_count;
+  this->notify_new_event(RMW_EVENT_MESSAGE_LOST);
+}
+
+void
+RMW_Connext_SubscriberStatusCondition::notify_new_data()
+{
+  size_t unread_samples = 0;
+  std::unique_lock<std::mutex> lock_mutex(new_data_event_mutex_);
+  perform_action_and_update_state(
+    [this, &unread_samples]() {
+      const rmw_ret_t rc = this->sub->count_unread_samples(unread_samples);
+      if (RMW_RET_OK != rc) {
+        RMW_CONNEXT_LOG_ERROR("failed to count unread samples on DDS Reader")
+      }
+    },
+    [this, &unread_samples]() {
+      if (unread_samples == 0) {
+        return;
+      }
+      if (new_data_event_cb_) {
+        new_data_event_cb_(data_event_user_data_, unread_samples);
+      } else {
+        unread_data_events_count_ += unread_samples;
+      }
+    });
 }
 
 rmw_ret_t
@@ -852,6 +883,8 @@ RMW_Connext_PublisherStatusCondition::update_status_deadline(
 
   this->status_deadline.total_count_change = this->status_deadline.total_count;
   this->status_deadline.total_count_change -= this->status_deadline_last.total_count;
+
+  this->notify_new_event(RMW_EVENT_OFFERED_DEADLINE_MISSED);
 }
 
 void
@@ -863,6 +896,8 @@ RMW_Connext_PublisherStatusCondition::update_status_liveliness(
 
   this->status_liveliness.total_count_change = this->status_liveliness.total_count;
   this->status_liveliness.total_count_change -= this->status_liveliness_last.total_count;
+
+  this->notify_new_event(RMW_EVENT_LIVELINESS_CHANGED);
 }
 
 void
@@ -874,4 +909,6 @@ RMW_Connext_PublisherStatusCondition::update_status_qos(
 
   this->status_qos.total_count_change = this->status_qos.total_count;
   this->status_qos.total_count_change -= this->status_qos_last.total_count;
+
+  this->notify_new_event(RMW_EVENT_OFFERED_QOS_INCOMPATIBLE);
 }