iox-eclipse-iceoryx#27-1: merging changes from master

Signed-off-by: Poehnl Michael (CC-AD/ESW1) <[email protected]>

Author: Poehnl Michael (CC-AD/ESW1)

.github/workflows/build-test.yml

@@ -27,7 +27,9 @@ jobs:
          uses: actions/checkout@v2
 
        - name: Build sources
-         run: cmake -Bbuild -Hiceoryx_meta -Dtest=ON -Dbinding_c=ON -Dexamples=ON -Dintrospection=ON && cmake --build build
+         run: |
+            export NUM_CORES=`nproc`
+            cmake -Bbuild -Hiceoryx_meta -Dtest=ON -Dbinding_c=ON -Dexamples=ON -Dintrospection=ON && cmake --build build -j$NUM_CORES
 
        - name: Run timeless tests
          run: |

iceoryx_dds/CMakeLists.txt

@@ -19,6 +19,7 @@ project(iceoryx_dds VERSION ${iceoryx_dds_VERSION})
 
 option(test "build test binaries")
 
+find_package(cpptoml REQUIRED)
 find_package(iceoryx_posh REQUIRED)
 find_package(iceoryx_utils REQUIRED)
 
@@ -51,8 +52,6 @@ endif()
 add_library(iceoryx_dds
     STATIC
     source/iceoryx_dds/log/logging.cpp
-    source/iceoryx_dds/gateway/gateway_config.cpp
-    source/iceoryx_dds/gateway/toml_gateway_config_parser.cpp
 )
 add_library(${PROJECT_NAMESPACE}::iceoryx_dds ALIAS iceoryx_dds)
 
@@ -61,11 +60,14 @@ target_compile_options(iceoryx_dds PUBLIC -std=c++11)
 target_include_directories(iceoryx_dds
     PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<BUILD_INTERFACE:${CMAKE_BINARY_DIR}/dependencies/install/include>
     $<INSTALL_INTERFACE:include/${PREFIX}>
 )
 target_link_libraries(iceoryx_dds
     PRIVATE
     iceoryx_posh::iceoryx_posh
+    iceoryx_posh::iceoryx_posh_config
+    iceoryx_posh::iceoryx_posh_gateway
     iceoryx_utils::iceoryx_utils
 )
 

iceoryx_dds/examples/docker/publisher_node.entrypoint

@@ -14,6 +14,19 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+GATEWAY_CONF_PATH=/etc/iceoryx/gateway_config.toml
+
+mkdir -p /etc/iceoryx
+
+if [[ ! -f "$GATEWAY_CONF_PATH" ]]; then
+    cat <<EOF >> /etc/iceoryx/gateway_config.toml
+	[[services]]
+	service = "Radar"
+	instance = "FrontRight"
+	event = "Counter"
+EOF
+fi
+
 /usr/bin/iox-roudi &
 /usr/bin/iox-gw-iceoryx2dds &
 /usr/bin/iox-ex-publisher-simple 

iceoryx_dds/include/iceoryx_dds/dds/dds_config.hpp

@@ -24,7 +24,6 @@ namespace dds
 static constexpr units::Duration DISCOVERY_PERIOD = 1000_ms;
 static constexpr units::Duration FORWARDING_PERIOD = 50_ms;
 static constexpr uint32_t SUBSCRIBER_CACHE_SIZE = 128u;
-static constexpr uint32_t MAX_CHANNEL_NUMBER = iox::MAX_PUBLISHERS + iox::MAX_SUBSCRIBERS;
 
 } // namespace dds
 } // namespace iox

iceoryx_dds/include/iceoryx_dds/gateway/dds_to_iox.hpp

@@ -12,12 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef IOX_DDS_GATEWAY_DDS_TO_IOX_HPP
-#define IOX_DDS_GATEWAY_DDS_TO_IOX_HPP
+#ifndef IOX_DDS_DDS_TO_IOX_HPP
+#define IOX_DDS_DDS_TO_IOX_HPP
 
 #include "iceoryx_dds/dds/dds_types.hpp"
-#include "iceoryx_dds/gateway/channel.hpp"
-#include "iceoryx_dds/gateway/dds_gateway_generic.hpp"
+#include "iceoryx_posh/gateway/channel.hpp"
+#include "iceoryx_posh/gateway/gateway_generic.hpp"
+#include "iceoryx_posh/gateway/gateway_config.hpp"
 #include "iceoryx_posh/popo/publisher.hpp"
 
 namespace iox
@@ -27,28 +28,28 @@ namespace dds
 ///
 /// @brief DDS Gateway implementation for the DDS to iceoryx direction.
 ///
-template <typename channel_t = iox::dds::Channel<iox::popo::Publisher, iox::dds::data_reader_t>,
-          typename gateway_t = iox::dds::DDSGatewayGeneric<channel_t>>
+template <typename channel_t = gw::Channel<popo::Publisher, dds::data_reader_t>,
+          typename gateway_t = gw::GatewayGeneric<channel_t>>
 class DDS2IceoryxGateway : public gateway_t
 {
-    using ChannelFactory = std::function<channel_t(const iox::capro::ServiceDescription)>;
+    using ChannelFactory = std::function<channel_t(const capro::ServiceDescription)>;
 
   public:
     DDS2IceoryxGateway() noexcept;
     DDS2IceoryxGateway(ChannelFactory channelFactory) noexcept;
-    void loadConfiguration(const GatewayConfig& config) noexcept;
-    void discover(const iox::capro::CaproMessage& msg) noexcept;
+    void loadConfiguration(const config::GatewayConfig& config) noexcept;
+    void discover(const capro::CaproMessage& msg) noexcept;
     void forward(const channel_t& channel) noexcept;
 
   private:
     void* m_reservedChunk = nullptr;
-    iox::cxx::expected<channel_t, iox::dds::GatewayError>
-    setupChannel(const iox::capro::ServiceDescription& service) noexcept;
+    cxx::expected<channel_t, gw::GatewayError>
+    setupChannel(const capro::ServiceDescription& service) noexcept;
 };
 
 } // namespace dds
 } // namespace iox
 
 #include "iceoryx_dds/internal/gateway/dds_to_iox.inl"
 
-#endif // IOX_DDS_GATEWAY_DDS_TO_IOX_HPP
+#endif // IOX_DDS_DDS_TO_IOX_HPP

iceoryx_dds/include/iceoryx_dds/gateway/iox_to_dds.hpp

@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef IOX_DDS_GATEWAY_IOX_TO_DDS_HPP
-#define IOX_DDS_GATEWAY_IOX_TO_DDS_HPP
+#ifndef IOX_DDS_IOX_TO_DDS_HPP
+#define IOX_DDS_IOX_TO_DDS_HPP
 
 #include "iceoryx_dds/dds/dds_types.hpp"
-#include "iceoryx_dds/gateway/channel.hpp"
-#include "iceoryx_dds/gateway/dds_gateway_generic.hpp"
+#include "iceoryx_posh/gateway/channel.hpp"
+#include "iceoryx_posh/gateway/gateway_generic.hpp"
 #include "iceoryx_posh/popo/subscriber.hpp"
 
 namespace iox
@@ -27,24 +27,24 @@ namespace dds
 ///
 /// @brief DDS Gateway implementation for the iceoryx to DDS direction.
 ///
-template <typename channel_t = iox::dds::Channel<iox::popo::Subscriber, iox::dds::data_writer_t>,
-          typename gateway_t = iox::dds::DDSGatewayGeneric<channel_t>>
+template <typename channel_t = gw::Channel<popo::Subscriber, dds::data_writer_t>,
+          typename gateway_t = gw::GatewayGeneric<channel_t>>
 class Iceoryx2DDSGateway : public gateway_t
 {
   public:
     Iceoryx2DDSGateway() noexcept;
-    void loadConfiguration(const GatewayConfig& config) noexcept;
-    void discover(const iox::capro::CaproMessage& msg) noexcept;
+    void loadConfiguration(const config::GatewayConfig& config) noexcept;
+    void discover(const capro::CaproMessage& msg) noexcept;
     void forward(const channel_t& channel) noexcept;
 
   private:
-    iox::cxx::expected<channel_t, iox::dds::GatewayError>
-    setupChannel(const iox::capro::ServiceDescription& service) noexcept;
+    cxx::expected<channel_t, gw::GatewayError>
+    setupChannel(const capro::ServiceDescription& service) noexcept;
 };
 
 } // namespace dds
 } // namespace iox
 
 #include "iceoryx_dds/internal/gateway/iox_to_dds.inl"
 
-#endif // IOX_DDS_GATEWAY_IOX_TO_DDS_HPP
+#endif // IOX_DDS_IOX_TO_DDS_HPP

iceoryx_dds/include/iceoryx_dds/internal/gateway/channel.inl

@@ -12,9 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef IOX_DDS_INTERNAL_GATEWAY_DDS_TO_IOX_INL
-#define IOX_DDS_INTERNAL_GATEWAY_DDS_TO_IOX_INL
+#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"
@@ -25,26 +26,31 @@ namespace dds
 {
 template <typename channel_t, typename gateway_t>
 inline DDS2IceoryxGateway<channel_t, gateway_t>::DDS2IceoryxGateway() noexcept
-    : gateway_t()
+    : 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 GatewayConfig& config) noexcept
+inline void DDS2IceoryxGateway<channel_t, gateway_t>::loadConfiguration(const config::GatewayConfig& config) noexcept
 {
-    iox::LogDebug() << "[DDS2IceoryxGateway] Configuring gateway.";
+    LogDebug() << "[DDS2IceoryxGateway] Configuring gateway...";
     for (const auto& service : config.m_configuredServices)
     {
         if (!this->findChannel(service.m_serviceDescription).has_value())
         {
-            setupChannel(service.m_serviceDescription);
+            auto serviceDescription =  service.m_serviceDescription;
+            LogDebug() << "[DDS2IceoryxGateway] Setting up channel for service: {"
+                            << serviceDescription.getServiceIDString() << ", "
+                            << serviceDescription.getInstanceIDString() << ", "
+                            << serviceDescription.getEventIDString() << "}";
+            setupChannel(serviceDescription);
         }
     }
 }
 
 template <typename channel_t, typename gateway_t>
 inline void
-DDS2IceoryxGateway<channel_t, gateway_t>::discover([[gnu::unused]] const iox::capro::CaproMessage& msg) noexcept
+DDS2IceoryxGateway<channel_t, gateway_t>::discover([[gnu::unused]] const capro::CaproMessage& msg) noexcept
 {
     /// @note not implemented - requires dds discovery which is currently not implemented in the used dds stack.
 }
@@ -53,7 +59,7 @@ 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.getDDSTerminal();
+    auto reader = channel.getExternalTerminal();
 
     reader->peekNextSize().and_then([&](uint64_t size) {
         // reserve a chunk for the sample
@@ -67,19 +73,19 @@ inline void DDS2IceoryxGateway<channel_t, gateway_t>::forward(const channel_t& c
             })
             .or_else([&](DataReaderError err) {
                 LogWarn() << "[DDS2IceoryxGateway] Encountered error reading from DDS network: "
-                          << iox::dds::DataReaderErrorString[static_cast<uint8_t>(err)];
+                          << dds::DataReaderErrorString[static_cast<uint8_t>(err)];
             });
     });
 }
 
 // ======================================== Private ======================================== //
 template <typename channel_t, typename gateway_t>
-iox::cxx::expected<channel_t, iox::dds::GatewayError>
-DDS2IceoryxGateway<channel_t, gateway_t>::setupChannel(const iox::capro::ServiceDescription& service) noexcept
+cxx::expected<channel_t, gw::GatewayError>
+DDS2IceoryxGateway<channel_t, gateway_t>::setupChannel(const capro::ServiceDescription& service) noexcept
 {
     return this->addChannel(service).and_then([&service](channel_t channel) {
         auto publisher = channel.getIceoryxTerminal();
-        auto reader = channel.getDDSTerminal();
+        auto reader = channel.getExternalTerminal();
         publisher->offer();
         reader->connect();
         iox::LogDebug() << "[DDS2IceoryxGateway] Setup channel for service: {" << service.getServiceIDString() << ", "
@@ -90,4 +96,4 @@ DDS2IceoryxGateway<channel_t, gateway_t>::setupChannel(const iox::capro::Service
 } // namespace dds
 } // namespace iox
 
-#endif
+#endif // IOX_DDS_DDS_TO_IOX_INL