eclipse-iceoryx / iceoryx-gateway-dds Goto Github PK

Brief feature description

Currently the DDS gateway only supports the publish-subscribe messaging patter

Detailed information

In order to support all iceoryx messaging pattern, the generic gateway class as well as the DDS gateway need to be extended.

Brief feature description

• CI job is properly running

Brief feature description

The following maintenance tasks need to be done to keep the dds gateway code healthy:

• Update CMake build to retrieve cyclonedds-cxx library from the official github repository
• Refactor gateways to use new publisher/subscriber APIs
• Bring test coverage up to at least 70%
• Utilize the improved waitset to make the gateways reactive
• make DataWriter::write return a cxx::expected
• add convertor from mepoo::ChunkHeader to dds::IoxChunkDatagramHeader
• Findings budrus test run:
• No documentation how to setup a config file
• When building with the build script the cyclone libraries are in ...build/dependencies/install/lib64 (not documented but needed for setting LD_LIBRARY_PATH
• The default config should include the icedelivery topic. This allows to have a first running example with icedelivery
• "Terminated" endless loop when RouDi gets killed?
• Replace Channel concept with cxx::pair (needs to be implemented)

These should be completed before further extension of the gateway.

Some ToDo items from #360:

• Modify implementation of iox::dds::CycloneDataReader::hasNewSamples() so it can be made const
• Resolve mismatch of uint sizes of nextSampleSize in CycloneDataReader::peekNextSize()
• Add error handling to semaphore creation in Iceoryx2DDS main.cpp
• Simplify three nested lambdas in void DDS2IceoryxGateway<channel_t, gateway_t>::forward(). For example

  auto maybeNextSize = reader->peakNextSize();
  if(!maybeNextSize)
  {
      continue;
  }
  auto& size = maybeNextSize.value();
  ...
  

  and only use for for reader->takeNext the approach with the lambda.
  It would be more code, but also less complex

Brief feature description

A configuration option to disable dynamic discovery in the dds gateways.

Detailed information

There are use-cases where one might want the dds gateway to only forward data for specific topics rather than every topic that appears in the system.
This can be achieved by specifying the topics to forward (i.e. by the existing config file feature) and disabling service discovery in the gateway (missing).

Brief feature description

In iox_to_dds.inl and dds_to_iox.inl methods which are returning an cxx::expected are called but the error case is dismissed with IOX_DISCARD_RESULT. Either the cxx::expected is propagated to the user so that they can handle it or it has to be handled internally.

When this issue is closed the IOX_DISCARD_RESULT has to be gone and whenever the gateway is unable to work the user should be notified via the API.