FastDDS implementation of IPublisherMiddleware. More...

#include <FastDDSPublisherMiddleware.h>

Inheritance diagram for carla::ros2::FastDDSPublisherMiddleware< T >:

Public Types
using	msg_type = typename T::msg_type

Public Member Functions
	FastDDSPublisherMiddleware ()=default

	FastDDSPublisherMiddleware (const FastDDSPublisherMiddleware &)=delete

std::string	GetTopicName () const override

bool	Init (const std::string &topic_name) override
	Initialize the underlying middleware entities.

bool	Init (const std::string &topic_name, const QosProfile &qos) override
	Initialize with an explicit per-topic QoS profile (see QosProfile.h).

bool	IsAlive () const override

void	on_publication_matched (efd::DataWriter *writer, const efd::PublicationMatchedStatus &info) override

FastDDSPublisherMiddleware &	operator= (const FastDDSPublisherMiddleware &)=delete

bool	Publish (void *message_data) override
	Serialize and write a message to the network.

	~FastDDSPublisherMiddleware () override

Public Member Functions inherited from carla::ros2::IPublisherMiddleware
virtual	~IPublisherMiddleware ()=default

Private Member Functions
bool	InitImpl (const std::string &topic_name, const QosProfile *qos)
	Shared Init body.

Private Attributes
std::atomic< bool >	_alive { false }

efd::DataWriter *	_datawriter { nullptr }

efd::DomainParticipant *	_participant { nullptr }

efd::Publisher *	_publisher { nullptr }

efd::Topic *	_topic { nullptr }

std::string	_topic_name

efd::TypeSupport	_type { new GenericCdrPubSubType<msg_type>() }

Detailed Description

template<typename T>
class carla::ros2::FastDDSPublisherMiddleware< T >

FastDDS implementation of IPublisherMiddleware.

Parameterized on a traits type T that provides: T::msg_type — the message type (a carla::ros2::msg::* POD struct) Serialization is handled by GenericCdrPubSubType<msg_type> via CdrSerialization.h.

Uses FastDDSSharedParticipant for a single refcounted DomainParticipant across all FastDDS endpoints, mirroring CycloneDDS's shared-participant model. This avoids the discovery storm that occurred when N independent participants were destroyed back-to-back on ROS2::Shutdown().

Sets USER_DATA QoS on the DataWriter to the REP-2016 KV payload "typehash=RIHS01_<hex>;" (PID_USER_DATA = 0x002c in DDSI-RTPS v2.5 §9.6.2.2.2) so that Jazzy rmw_cyclonedds_cpp and rmw_fastrtps_cpp can perform REP-2011 type-hash-based endpoint matching without warning.

Definition at line 48 of file FastDDSPublisherMiddleware.h.

Member Typedef Documentation

◆ msg_type

template<typename T >

using carla::ros2::FastDDSPublisherMiddleware< T >::msg_type = typename T::msg_type

Definition at line 52 of file FastDDSPublisherMiddleware.h.

Constructor & Destructor Documentation

◆ FastDDSPublisherMiddleware() [1/2]

template<typename T >

carla::ros2::FastDDSPublisherMiddleware< T >::FastDDSPublisherMiddleware ( )

default

◆ FastDDSPublisherMiddleware() [2/2]

template<typename T >

carla::ros2::FastDDSPublisherMiddleware< T >::FastDDSPublisherMiddleware ( const FastDDSPublisherMiddleware< T > & )

delete

◆ ~FastDDSPublisherMiddleware()

template<typename T >

carla::ros2::FastDDSPublisherMiddleware< T >::~FastDDSPublisherMiddleware ( )

inlineoverride

Definition at line 64 of file FastDDSPublisherMiddleware.h.

References carla::ros2::FastDDSPublisherMiddleware< T >::_datawriter, carla::ros2::FastDDSPublisherMiddleware< T >::_participant, carla::ros2::FastDDSPublisherMiddleware< T >::_publisher, carla::ros2::FastDDSPublisherMiddleware< T >::_topic, carla::ros2::FastDDSPublisherMiddleware< T >::_type, carla::ros2::FastDDSSharedParticipant::release(), and carla::ros2::FastDDSSharedParticipant::release_type().

Member Function Documentation

◆ GetTopicName()

template<typename T >

std::string carla::ros2::FastDDSPublisherMiddleware< T >::GetTopicName ( ) const

inlineoverridevirtual

Returns: The topic name this publisher is bound to.

Implements carla::ros2::IPublisherMiddleware.

Definition at line 206 of file FastDDSPublisherMiddleware.h.

References carla::ros2::FastDDSPublisherMiddleware< T >::_topic_name.

◆ Init() [1/2]

template<typename T >

bool carla::ros2::FastDDSPublisherMiddleware< T >::Init ( const std::string & topic_name )

inlineoverridevirtual

Initialize the underlying middleware entities.

Parameters

topic_name Full topic name including "rt/" prefix.

Returns: true on success.

Implements carla::ros2::IPublisherMiddleware.

Definition at line 86 of file FastDDSPublisherMiddleware.h.

References carla::ros2::FastDDSPublisherMiddleware< T >::InitImpl().

◆ Init() [2/2]

template<typename T >

bool carla::ros2::FastDDSPublisherMiddleware< T >::Init	(	const std::string &	topic_name,
		const QosProfile &	qos
	)

inlineoverridevirtual

Initialize with an explicit per-topic QoS profile (see QosProfile.h).

The default implementation ignores the profile and falls back to the QoS-less Init so test fakes and QoS-agnostic middlewares keep working; concrete backends override this to honor the profile.

Reimplemented from carla::ros2::IPublisherMiddleware.

Definition at line 90 of file FastDDSPublisherMiddleware.h.

References carla::ros2::FastDDSPublisherMiddleware< T >::InitImpl().

◆ InitImpl()

template<typename T >

bool carla::ros2::FastDDSPublisherMiddleware< T >::InitImpl	(	const std::string &	topic_name,
		const QosProfile *	qos
	)

inlineprivate

Shared Init body.

When qos is non-null the profile overrides the FastDDS DataWriter defaults; when null the defaults are kept, preserving the pre-QoS behavior for every existing publisher.

Definition at line 98 of file FastDDSPublisherMiddleware.h.

References carla::ros2::FastDDSPublisherMiddleware< T >::_datawriter, carla::ros2::FastDDSPublisherMiddleware< T >::_participant, carla::ros2::FastDDSPublisherMiddleware< T >::_publisher, carla::ros2::FastDDSPublisherMiddleware< T >::_topic, carla::ros2::FastDDSPublisherMiddleware< T >::_topic_name, carla::ros2::FastDDSPublisherMiddleware< T >::_type, carla::ros2::FastDDSSharedParticipant::acquire(), carla::ros2::QosProfile::durability, carla::ros2::QosProfile::history, carla::ros2::QosProfile::history_depth, carla::ros2::QosProfile::KeepLast, carla::log_error(), carla::ros2::QosProfile::reliability, carla::ros2::QosProfile::Reliable, carla::ros2::FastDDSSharedParticipant::retain_type(), and carla::ros2::QosProfile::TransientLocal.