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microRTPS: by default, when FastDDS >= 2.0, enable Shared Memory transport for the agent participants when the localhost network is enabled

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This commit is contained in:
TSC21
2021-05-01 13:11:57 +02:00
committed by Nuno Marques
parent 320b414511
commit f2fad6d966
3 changed files with 44 additions and 21 deletions
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29
msg/templates/urtps/Publisher.cpp.em
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@@ -62,16 +62,20 @@ except AttributeError:
* This file was adapted from the fastcdrgen tool. * This file was adapted from the fastcdrgen tool.
*/ */
#include "@(topic)_Publisher.h"
#include <fastrtps/Domain.h>
#include <fastrtps/participant/Participant.h> #include <fastrtps/participant/Participant.h>
#include <fastrtps/attributes/ParticipantAttributes.h> #include <fastrtps/attributes/ParticipantAttributes.h>
#include <fastrtps/publisher/Publisher.h> #include <fastrtps/publisher/Publisher.h>
#include <fastrtps/attributes/PublisherAttributes.h> #include <fastrtps/attributes/PublisherAttributes.h>
#include <fastrtps/transport/UDPv4TransportDescriptor.h> #include <fastrtps/transport/UDPv4TransportDescriptor.h>
@[if version.parse(fastrtps_version) >= version.parse('2.0')]@
#include <fastdds/rtps/transport/shared_mem/SharedMemTransportDescriptor.h>
#include <fastrtps/Domain.h> using SharedMemTransportDescriptor = eprosima::fastdds::rtps::SharedMemTransportDescriptor;
@[end if]@
#include "@(topic)_Publisher.h"
@(topic)_Publisher::@(topic)_Publisher() @(topic)_Publisher::@(topic)_Publisher()
: mp_participant(nullptr), : mp_participant(nullptr),
@@ -102,19 +106,26 @@ bool @(topic)_Publisher::init(const std::string &ns)
PParam.rtps.setName(nodeName.c_str()); PParam.rtps.setName(nodeName.c_str());
// Check if ROS_LOCALHOST_ONLY is set. This means that one wants to use // Check if ROS_LOCALHOST_ONLY is set. This means that one wants to use
// only the localhost network for data sharing // only the localhost network for data sharing. If FastRTPS/DDS >= 2.0
const char *localhost_only = std::getenv("ROS_LOCALHOST_ONLY"); // then the Shared Memory transport is used
const char* localhost_only = std::getenv("ROS_LOCALHOST_ONLY");
if (localhost_only && strcmp(localhost_only, "1") == 0) { if (localhost_only && strcmp(localhost_only, "1") == 0) {
// Create a custom network transport descriptor to whitelist the localhost // Create a custom network UDPv4 transport descriptor
auto localhostDescriptor = std::make_shared<UDPv4TransportDescriptor>(); // to whitelist the localhost
localhostDescriptor->interfaceWhiteList.emplace_back("127.0.0.1"); auto localhostUdpTransport = std::make_shared<UDPv4TransportDescriptor>();
localhostUdpTransport->interfaceWhiteList.emplace_back("127.0.0.1");
// Disable the built-in Transport Layer // Disable the built-in Transport Layer
PParam.rtps.useBuiltinTransports = false; PParam.rtps.useBuiltinTransports = false;
// Add the descriptor as a custom user transport // Add the descriptor as a custom user transport
PParam.rtps.userTransports.push_back(localhostDescriptor); PParam.rtps.userTransports.push_back(localhostUdpTransport);
@[if version.parse(fastrtps_version) >= version.parse('2.0')]@
// Add shared memory transport when available
auto shmTransport = std::make_shared<SharedMemTransportDescriptor>();
PParam.rtps.userTransports.push_back(shmTransport);
@[end if]@
} }
mp_participant = Domain::createParticipant(PParam); mp_participant = Domain::createParticipant(PParam);

30
msg/templates/urtps/Subscriber.cpp.em
View File

@@ -62,15 +62,20 @@ except AttributeError:
* This file was adapted from the fastcdrgen tool. * This file was adapted from the fastcdrgen tool.
*/ */
#include "@(topic)_Subscriber.h"
#include <fastrtps/Domain.h>
#include <fastrtps/participant/Participant.h> #include <fastrtps/participant/Participant.h>
#include <fastrtps/attributes/ParticipantAttributes.h> #include <fastrtps/attributes/ParticipantAttributes.h>
#include <fastrtps/subscriber/Subscriber.h> #include <fastrtps/subscriber/Subscriber.h>
#include <fastrtps/attributes/SubscriberAttributes.h> #include <fastrtps/attributes/SubscriberAttributes.h>
#include <fastrtps/transport/UDPv4TransportDescriptor.h> #include <fastrtps/transport/UDPv4TransportDescriptor.h>
@[if version.parse(fastrtps_version) >= version.parse('2.0')]@
#include <fastdds/rtps/transport/shared_mem/SharedMemTransportDescriptor.h>
#include <fastrtps/Domain.h> using SharedMemTransportDescriptor = eprosima::fastdds::rtps::SharedMemTransportDescriptor;
@[end if]@
#include "@(topic)_Subscriber.h"
@(topic)_Subscriber::@(topic)_Subscriber() @(topic)_Subscriber::@(topic)_Subscriber()
: mp_participant(nullptr), : mp_participant(nullptr),
@@ -107,19 +112,26 @@ bool @(topic)_Subscriber::init(uint8_t topic_ID, std::condition_variable *t_send
PParam.rtps.setName(nodeName.c_str()); PParam.rtps.setName(nodeName.c_str());
// Check if ROS_LOCALHOST_ONLY is set. This means that one wants to use // Check if ROS_LOCALHOST_ONLY is set. This means that one wants to use
// only the localhost network for data sharing // only the localhost network for data sharing. If FastRTPS/DDS >= 2.0
const char *localhost_only = std::getenv("ROS_LOCALHOST_ONLY"); // then the Shared Memory transport is used
const char* localhost_only = std::getenv("ROS_LOCALHOST_ONLY");
if (localhost_only && strcmp(localhost_only, "1") == 0) { if (localhost_only && strcmp(localhost_only, "1") == 0) {
// Create a custom network transport descriptor to whitelist the localhost // Create a custom network UDPv4 transport descriptor
auto localhostDescriptor = std::make_shared<UDPv4TransportDescriptor>(); // to whitelist the localhost
localhostDescriptor->interfaceWhiteList.emplace_back("127.0.0.1"); auto localhostUdpTransport = std::make_shared<UDPv4TransportDescriptor>();
localhostUdpTransport->interfaceWhiteList.emplace_back("127.0.0.1");
// Disable the built-in Transport Layer // Disable the built-in Transport Layer
PParam.rtps.useBuiltinTransports = false; PParam.rtps.useBuiltinTransports = false;
// Add the descriptor as a custom user transport // Add the descriptor as a custom user transport
PParam.rtps.userTransports.push_back(localhostDescriptor); PParam.rtps.userTransports.push_back(localhostUdpTransport);
@[if version.parse(fastrtps_version) >= version.parse('2.0')]@
// Add shared memory transport when available
auto shmTransport = std::make_shared<SharedMemTransportDescriptor>();
PParam.rtps.userTransports.push_back(shmTransport);
@[end if]@
} }
mp_participant = Domain::createParticipant(PParam); mp_participant = Domain::createParticipant(PParam);

4
msg/templates/urtps/microRTPS_agent.cpp.em
View File

@@ -237,10 +237,10 @@ int main(int argc, char **argv)
printf("\033[0;37m--- MicroRTPS Agent ---\033[0m\n"); printf("\033[0;37m--- MicroRTPS Agent ---\033[0m\n");
printf("[ micrortps_agent ]\tStarting link...\n"); printf("[ micrortps_agent ]\tStarting link...\n");
const char *localhost_only = std::getenv("ROS_LOCALHOST_ONLY"); const char* localhost_only = std::getenv("ROS_LOCALHOST_ONLY");
if (localhost_only && strcmp(localhost_only, "1") == 0) { if (localhost_only && strcmp(localhost_only, "1") == 0) {
printf("[ micrortps_agent ]\tUsing only the localhost network for data sharing...\n"); printf("[ micrortps_agent ]\tUsing only the localhost network...\n");
} }
switch (_options.transport) { switch (_options.transport) {