Adding support for micro 4.0.2

Author: angelrti

generate_xlsx_report.py

@@ -9,6 +9,7 @@
 #################################################################
 
 import argparse
+from io import BytesIO
 import junitparser
 import lxml
 import pathlib
@@ -168,8 +169,11 @@ def __init__(self, input: pathlib.Path):
     @staticmethod
     def xml_parser(file):
         """Function to parse the XML file"""
+        # Remove null bytes from the file
+        with open(file, "rb") as f:
+            data = f.read().replace(b"\x00", b"")
         parser = lxml.etree.XMLParser(huge_tree=True)
-        return lxml.etree.parse(file, parser)
+        return lxml.etree.parse(BytesIO(data), parser)
 
     def update_value_aggregated_data_dict(self,
             dictionary: dict,

interoperability_report.py

@@ -170,7 +170,7 @@ def run_subscriber_shape_main(
             log_message(f'Subscriber {subscriber_index}: Waiting for data', verbosity)
             index = child_sub.expect(
                 [
-                    '\[[0-9]+\]', # index = 0
+                    r'\[[0-9]+\]', # index = 0
                     'on_requested_incompatible_qos()', # index = 1
                     'on_requested_deadline_missed()', # index = 2
                     pexpect.TIMEOUT, # index = 3
@@ -330,7 +330,7 @@ def run_publisher_shape_main(
                 if '-w ' in parameters or parameters.endswith('-w'):
                     # Step 5: Check whether the writer sends the samples
                     index = child_pub.expect([
-                            '\[[0-9]+\]', # index = 0
+                            r'\[[0-9]+\]', # index = 0
                             'on_offered_deadline_missed()', # index = 1
                             pexpect.TIMEOUT, # index = 2
                             pexpect.EOF # index == 3
@@ -348,12 +348,12 @@ def run_publisher_shape_main(
                         for x in range(0, MAX_SAMPLES_SAVED, 1):
                             # At this point, at least one sample has been printed
                             # Therefore, that sample is added to samples_sent.
-                            pub_string = re.search('[0-9]+ [0-9]+ \[[0-9]+\]',
+                            pub_string = re.search(r'[0-9]+ [0-9]+ \[[0-9]+\]',
                                     child_pub.before + child_pub.after)
                             last_sample = pub_string.group(0)
                             samples_sent.put(last_sample)
                             index = child_pub.expect([
-                                    '\[[0-9]+\]', # index = 0
+                                    r'\[[0-9]+\]', # index = 0
                                     'on_offered_deadline_missed()', # index = 1
                                     pexpect.TIMEOUT # index = 2
                                 ],

srcCxx/makefile_rti_connext_micro_linux

@@ -43,15 +43,19 @@ ifeq ($(DEBUG),1)
 COMPILER_FLAGS += -g -O0
 LINKER_FLAGS += -g
 LIBS = -L$(RTIMEHOME)/lib/$(RTIMEARCH) \
-        -lrti_me_cppzd -lrti_me_discdpdezd -lrti_mezd -lrti_me_rhsmzd -lrti_me_whsmzd $(SYSLIBS)
+        -lrti_me_cppzd -lrti_me_netiosdmzd \
+        -lrti_me_discdpdez -lrti_me_ddsfilterzd -lrti_me_rhsmzd \
+        -lrti_me_whsmzd -lrti_mezd -lrti_me_ddsxtypeszd $(SYSLIBS)
 else
 # This option strips the executable symbols
 LINKER_FLAGS += -s
 LIBS = -L$(RTIMEHOME)/lib/$(RTIMEARCH) \
-        -lrti_me_cppz -lrti_me_discdpdez -lrti_mez -lrti_me_rhsmz -lrti_me_whsmz $(SYSLIBS)
+        -lrti_me_cppz -lrti_me_netiosdmz \
+		-lrti_me_discdpdez -lrti_me_ddsfilterz -lrti_me_rhsmz \
+		-lrti_me_whsmz -lrti_mez -lrti_me_ddsxtypesz $(SYSLIBS)
 endif
 
-DEFINES = -DRTI_UNIX -DRTI_LINUX -DRTI_CONNEXT_MICRO
+DEFINES = -DRTI_UNIX -DRTI_LINUX -DRTI_CONNEXT_MICRO -DOSAPI_CC_DEF_H=osapi/osapi_cc_gcc.h
 
 INCLUDES = -I. -I$(RTIMEHOME)/include -I$(RTIMEHOME)/include/rti_me
 

srcCxx/makefile_rti_connext_micro_macos

@@ -0,0 +1,86 @@
+######################################################################
+# To compile, type:
+# 	make -f makefile_rti_connext_dds_linux
+# To compile with the Debug option, use:
+#   make -f makefile_rti_connext_dds_linux DEBUG=1
+#
+# This makefile assumes that your build environment is already correctly
+# configured. (For example, the correct version of your compiler and
+# linker should be on your PATH.)
+#
+# You should set the environemnt variable RTIMEHOME to point to where
+# RTI Connext Micro is installed.
+#
+######################################################################
+
+# If undefined in the environment default RTIMEHOME to install dir
+ifndef RTIMEHOME
+$(error RTIMEHOME not defined)
+endif
+
+COMPILER_FLAGS = -std=c++11
+LINKER_FLAGS =
+
+split_path_name = $(subst /rti_, , $(RTIMEHOME))
+
+version_name = $(lastword $(split_path_name))
+common_name = "_shape_main_macos"
+executable_name = $(version_name)$(common_name)
+
+RTIMEARCH = arm64Darwin23clang15.0
+
+ifndef COMPILER
+COMPILER = clang++
+endif
+
+ifndef LINKER
+LINKER = clang++
+endif
+
+#SYSLIBS = 
+
+ifeq ($(DEBUG),1)
+COMPILER_FLAGS += -g -O0
+LINKER_FLAGS += -g
+LIBS = -L$(RTIMEHOME)/lib/$(RTIMEARCH) \
+        -lrti_me_cppzd -lrti_me_netiosdmzd \
+        -lrti_me_discdpdez -lrti_me_ddsfilterzd -lrti_me_rhsmzd \
+        -lrti_me_whsmzd -lrti_mezd -lrti_me_ddsxtypeszd $(SYSLIBS)
+else
+# This option strips the executable symbols
+#LINKER_FLAGS += -s
+LIBS = -L$(RTIMEHOME)/lib/$(RTIMEARCH) \
+        -lrti_me_cppz -lrti_me_netiosdmz \
+		-lrti_me_discdpdez -lrti_me_ddsfilterz -lrti_me_rhsmz \
+		-lrti_me_whsmz -lrti_mez -lrti_me_ddsxtypesz $(SYSLIBS)
+endif
+
+DEFINES = -DRTI_UNIX -DRTI_DARWIN -DRTI_CONNEXT_MICRO -DOSAPI_CC_DEF_H=osapi/osapi_cc_gcc.h
+
+INCLUDES = -I. -I$(RTIMEHOME)/include -I$(RTIMEHOME)/include/rti_me
+
+OBJDIR := objs/$(RTIMEARCH)_micro
+
+CDRSOURCES     := shape_micro.idl
+AUTOGENSOURCES := shape_microSupport.cxx shape_microPlugin.cxx shape_micro.cxx
+
+EXEC          := $(executable_name)
+AUTOGENOBJS   := $(addprefix $(OBJDIR)/, $(AUTOGENSOURCES:%.cxx=%.o))
+
+$(OBJDIR)/$(EXEC) : $(AUTOGENSOURCES) $(AUTOGENOBJS) $(OBJDIR)/shape_main.o
+	$(LINKER) $(LINKER_FLAGS)   -o $@ $(OBJDIR)/shape_main.o  $(AUTOGENOBJS) $(LIBS)
+
+$(OBJDIR)/%.o : %.cxx
+	$(COMPILER) $(COMPILER_FLAGS) -o $@ $(DEFINES) $(INCLUDES) -c  $<
+
+shape_main.cxx : shape_configurator_rti_connext_dds.h
+
+# Generate type-specific sources
+$(AUTOGENSOURCES) : $(CDRSOURCES)
+	$(RTIMEHOME)/rtiddsgen/scripts/rtiddsgen $(CDRSOURCES) -replace -micro -language C++
+
+$(AUTOGENOBJS): |  objs/$(RTIMEARCH)_micro
+
+objs/$(RTIMEARCH)_micro:
+	echo "Making directory objs/$(RTIMEARCH)_micro";
+	mkdir -p objs/$(RTIMEARCH)_micro

srcCxx/shape_configurator_rti_connext_micro.h

@@ -1,9 +1,11 @@
 #include "shape_micro.h"
 #include "shape_microSupport.h"
 
-#ifndef rti_me_cpp_hxx
-  #include "rti_me_cpp.hxx"
-#endif
+#include "rti_me_cpp.hxx"
+#include "dds_cpp/dds_cpp_netio.hxx"
+
+#include <map>
+#include <cstring>
 
 #define CONFIGURE_PARTICIPANT_FACTORY config_micro();
 #define LISTENER_STATUS_MASK_ALL (DDS_STATUS_MASK_ALL)
@@ -16,6 +18,23 @@
   #define XCDR2_DATA_REPRESENTATION DDS_XCDR2_DATA_REPRESENTATION
 #endif
 
+#ifndef PresentationQosPolicyAccessScopeKind
+    #define PresentationQosPolicyAccessScopeKind DDS_PresentationQosPolicyAccessScopeKind
+#endif
+
+#ifndef INSTANCE_PRESENTATION_QOS
+    #define INSTANCE_PRESENTATION_QOS DDS_INSTANCE_PRESENTATION_QOS
+#endif
+
+#ifndef TOPIC_PRESENTATION_QOS
+    #define TOPIC_PRESENTATION_QOS DDS_TOPIC_PRESENTATION_QOS
+#endif
+
+#ifndef GROUP_PRESENTATION_QOS
+    #define GROUP_PRESENTATION_QOS DDS_GROUP_PRESENTATION_QOS
+#endif
+
+
 #define DataRepresentationId_t DDS_DataRepresentationId_t
 #define DataRepresentationIdSeq DDS_DataRepresentationIdSeq
 
@@ -106,7 +125,13 @@ static void config_micro()
       return;
   }
 
-  udp_property->allow_interface[0] = DDS_String_dup("lo");
+#if defined(RTI_LINUX)
+    udp_property->allow_interface[0] = DDS_String_dup("lo");
+    printf("Configured UDP to allow interface lo\n");
+#elif defined(RTI_DARWIN)
+    udp_property->allow_interface[0] = DDS_String_dup("lo0");
+    printf("Configured UDP to allow interface lo0\n");
+#endif
   //udp_property->allow_interface[1] = DDS_String_dup("eth0");
 
   if (!registry->register_component(
@@ -119,22 +144,73 @@ static void config_micro()
       return;
   }
 
-  DPDE::DiscoveryPluginProperty discovery_plugin_properties;
+  DPDE::DiscoveryPluginProperty *discovery_plugin_properties = new DPDE::DiscoveryPluginProperty();
 
   /* Configure properties */
-  discovery_plugin_properties.participant_liveliness_assert_period.sec = 5;
-  discovery_plugin_properties.participant_liveliness_assert_period.nanosec = 0;
-  discovery_plugin_properties.participant_liveliness_lease_duration.sec = 30;
-  discovery_plugin_properties.participant_liveliness_lease_duration.nanosec = 0;
+  discovery_plugin_properties->participant_liveliness_assert_period.sec = 5;
+  discovery_plugin_properties->participant_liveliness_assert_period.nanosec = 0;
+  discovery_plugin_properties->participant_liveliness_lease_duration.sec = 30;
+  discovery_plugin_properties->participant_liveliness_lease_duration.nanosec = 0;
 
 
   if (!registry->register_component(
       "dpde",
       DPDEDiscoveryFactory::get_interface(),
-      &discovery_plugin_properties._parent,
+      &discovery_plugin_properties->_parent,
       NULL))
   {
       printf("ERROR: unable to register dpde\n");
       return;
   }
 }
+
+static bool configure_dp_qos(DDS::DomainParticipantQos &dp_qos)
+{
+    if (!dp_qos.discovery.discovery.name.set_name("dpde"))
+    {
+        printf("ERROR: unable to set discovery plugin name\n");
+        return false;
+    }
+
+    dp_qos.discovery.initial_peers.maximum(1);
+    dp_qos.discovery.initial_peers.length(1);
+    dp_qos.discovery.initial_peers[0] = DDS_String_dup("127.0.0.1");
+    /* if there are more remote or local endpoints, you need to increase these limits */
+    dp_qos.resource_limits.max_destination_ports = 32;
+    dp_qos.resource_limits.max_receive_ports = 32;
+    dp_qos.resource_limits.local_topic_allocation = 2;
+    dp_qos.resource_limits.local_type_allocation = 2;
+    //TODO we need to increase this
+    dp_qos.resource_limits.local_reader_allocation = 2;
+    dp_qos.resource_limits.local_writer_allocation = 2;
+    dp_qos.resource_limits.remote_participant_allocation = 8;
+    dp_qos.resource_limits.remote_reader_allocation = 8;
+    dp_qos.resource_limits.remote_writer_allocation = 8;
+    return true;
+}
+
+uint64_t DDS_UInt8Seq_get_length(DDS_OctetSeq * seq)
+{
+  return seq->length();
+}
+
+void DDS_UInt8Seq_ensure_length(DDS_OctetSeq * seq, uint64_t length, uint64_t max)
+{
+  seq->ensure_length(length, max);
+}
+
+unsigned char* DDS_UInt8Seq_get_reference(DDS_OctetSeq * seq, uint64_t index)
+{
+  return DDS_OctetSeq_get_reference(seq, index);
+}
+
+const unsigned char* DDS_UInt8Seq_get_reference(const DDS_OctetSeq * seq, uint64_t index)
+{
+  return DDS_OctetSeq_get_reference(seq, index);
+}
+
+struct InstanceHandle_t_less_op {
+    bool operator()(const DDS::InstanceHandle_t& a, const DDS::InstanceHandle_t& b) const {
+        return std::memcmp(a.octet, b.octet, 16);
+    }
+};