Release v2.4.2

eProsima · Nov 22, 2023 · 57d0862 · 57d0862
2 parents 40954c2 + 0c5fb0a
commit 57d0862
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Showing 16 changed files with 145 additions and 30 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -40,8 +40,8 @@ option(UAGENT_SECURITY_PROFILE "Build security profile." OFF)
 option(UAGENT_BUILD_EXECUTABLE "Build Micro XRCE-DDS Agent provided executable." ON)
 option(UAGENT_BUILD_USAGE_EXAMPLES "Build Micro XRCE-DDS Agent built-in usage examples" OFF)
 
-set(UAGENT_P2P_CLIENT_VERSION 2.4.1 CACHE STRING "Sets Micro XRCE-DDS client version for P2P")
-set(UAGENT_P2P_CLIENT_TAG v2.4.1 CACHE STRING "Sets Micro XRCE-DDS client tag for P2P")
+set(UAGENT_P2P_CLIENT_VERSION 2.4.2 CACHE STRING "Sets Micro XRCE-DDS client version for P2P")
+set(UAGENT_P2P_CLIENT_TAG v2.4.2 CACHE STRING "Sets Micro XRCE-DDS client tag for P2P")
 
 option(UAGENT_BUILD_CI_TESTS "Build CI test cases.")
 if(UAGENT_BUILD_CI_TESTS)
@@ -80,8 +80,8 @@ set(_deps "")
 if(UAGENT_USE_SYSTEM_FASTCDR)
     set(_fastcdr_version 1)
 else()
-    set(_fastcdr_version 1.1.0)
-    set(_fastcdr_tag v1.1.0)
+    set(_fastcdr_version 1.1.1)
+    set(_fastcdr_tag v1.1.1)
 endif()
 list(APPEND _deps "fastcdr\;${_fastcdr_version}")
 
@@ -95,8 +95,8 @@ if(UAGENT_FAST_PROFILE)
     if(UAGENT_USE_SYSTEM_FASTDDS)
         set(_fastdds_version 2)
     else()
-        set(_fastdds_version 2.11)
-        set(_fastdds_tag 2.11.x)
+        set(_fastdds_version 2.12)
+        set(_fastdds_tag 2.12.x)
         set(_foonathan_memory_tag v0.7-3) # This tag should be updated every time it gets updated in foonathan_memory_vendor eProsima's package
     endif()
     list(APPEND _deps "fastrtps\;${_fastdds_version}")
@@ -117,7 +117,7 @@ endif()
 ###############################################################################
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules)
 if(NOT UAGENT_SUPERBUILD)
-    project(microxrcedds_agent VERSION "2.4.1" LANGUAGES C CXX)
+    project(microxrcedds_agent VERSION "2.4.2" LANGUAGES C CXX)
 else()
     project(uagent_superbuild NONE)
     include(${PROJECT_SOURCE_DIR}/cmake/SuperBuild.cmake)

diff --git a/include/uxr/agent/message/InputMessage.hpp b/include/uxr/agent/message/InputMessage.hpp
@@ -100,6 +100,13 @@ inline bool InputMessage::prepare_next_submessage()
     if (fastbuffer_.getBufferSize() > deserializer_.getSerializedDataLength())
     {
         rv = deserialize(subheader_);
+
+        // Check submessage endianness
+        fastcdr::Cdr::Endianness endianness = static_cast<fastcdr::Cdr::Endianness>(subheader_.flags() & 0x01);
+        if (endianness != deserializer_.endianness())
+        {
+            deserializer_.changeEndianness(endianness);
+        }
     }
     return rv;
 }

diff --git a/include/uxr/agent/types/XRCETypes.hpp b/include/uxr/agent/types/XRCETypes.hpp
@@ -91,6 +91,15 @@ const XrceVersion XRCE_VERSION = {XRCE_VERSION_MAJOR, XRCE_VERSION_MINOR};
 const uint8_t XRCE_VENDOR_INVALID1 = 0x00;
 const uint8_t XRCE_VENDOR_INVALID2 = 0x00;
 
+//! @brief This enumeration represents the two posible values of the SubMessage endianness flag.
+typedef enum Endianness
+{
+    //! @brief Big endianness.
+    BIG_ENDIANNESS = 0x0,
+    //! @brief Little endianness.
+    LITTLE_ENDIANNESS = 0x1
+} Endianness;
+
 /*!
  * @brief This class represents the structure Time_t defined by the user in the IDL file.
  * @ingroup TYPESMOD
@@ -2364,6 +2373,24 @@ class OBJK_RepresentationBinAndXML_Base
         return m_representation;
     }
 
+    /*!
+     * @brief This function updates the value in representation endianness
+     * @param endianness New value of representation endianness
+     */
+    inline void endianness(Endianness endianness)
+    {
+        m_endianness = endianness;
+    }
+
+    /*!
+     * @brief This function returns a copy to the representation endianness
+     * @return Representation endianness
+     */
+    inline Endianness endianness() const
+    {
+        return m_endianness;
+    }
+
     /*!
      * @brief This function returns the maximum serialized size of an object
      * depending on the buffer alignment.
@@ -2395,6 +2422,7 @@ class OBJK_RepresentationBinAndXML_Base
 
 private:
     OBJK_RepresentationBinAndXMLFormats m_representation;
+    Endianness m_endianness;
 };
 
 /*!
@@ -2474,7 +2502,25 @@ class OBJK_Representation3_Base
     {
         return m_representation;
     }
-
+
+    /*!
+     * @brief This function updates the value in representation endianness
+     * @param endianness New value of representation endianness
+     */
+    inline void endianness(Endianness endianness)
+    {
+        m_endianness = endianness;
+    }
+
+    /*!
+     * @brief This function returns a copy to the representation endianness
+     * @return Representation endianness
+     */
+    inline Endianness endianness() const
+    {
+        return m_endianness;
+    }
+
     /*!
      * @brief This function returns the maximum serialized size of an object
      * depending on the buffer alignment.
@@ -2505,6 +2551,7 @@ class OBJK_Representation3_Base
 
 private:
     OBJK_Representation3Formats m_representation;
+    Endianness m_endianness;
 };
 
 /*!
@@ -5902,7 +5949,34 @@ class ObjectVariant
      * @exception dds::xrce::XRCETypesException This exception is thrown if the requested union member is not the current selection.
      */
     REPLIER_Representation& replier();
-
+
+    /*!
+     * @brief This function updates the value in representation endianness
+     * @param endianness New value of representation endianness
+     */
+    inline void endianness(Endianness endianness)
+    {
+        m_endianness = endianness;
+
+        m_participant.endianness(m_endianness);
+        m_topic.endianness(m_endianness);
+        m_publisher.endianness(m_endianness);
+        m_subscriber.endianness(m_endianness);
+        m_data_writer.endianness(m_endianness);
+        m_data_reader.endianness(m_endianness);
+        m_requester.endianness(m_endianness);
+        m_replier.endianness(m_endianness);
+    }
+
+    /*!
+     * @brief This function returns a copy to the representation endianness
+     * @return Representation endianness
+     */
+    inline Endianness endianness() const
+    {
+        return m_endianness;
+    }
+
     /*!
      * @brief This function returns the maximum serialized size of an object
      * depending on the buffer alignment.
@@ -5933,7 +6007,8 @@ class ObjectVariant
 
 private:
     ObjectKind m__d;
-
+    Endianness m_endianness;
+
     AGENT_Representation m_agent;
     CLIENT_Representation m_client;
     OBJK_APPLICATION_Representation m_application;

diff --git a/include/uxr/agent/utils/ArgumentParser.hpp b/include/uxr/agent/utils/ArgumentParser.hpp
@@ -1068,10 +1068,10 @@ class ArgumentParser
 
         /* Setting baudrate. */
         speed_t baudrate = getBaudRate(baudrate_str);
-#if _HAVE_STRUCT_TERMIOS_C_ISPEED
+#if _HAVE_STRUCT_TERMIOS_C_ISPEED || __APPLE__
         attr.c_ispeed = baudrate;
 #endif
-#if _HAVE_STRUCT_TERMIOS_C_OSPEED
+#if _HAVE_STRUCT_TERMIOS_C_OSPEED || __APPLE__
         attr.c_ospeed = baudrate;
 #endif
 

diff --git a/src/cpp/datareader/DataReader.cpp b/src/cpp/datareader/DataReader.cpp
@@ -54,7 +54,8 @@ std::unique_ptr<DataReader> DataReader::create(
             dds::xrce::OBJK_DataReader_Binary datareader_xrce;
 
             fastcdr::FastBuffer fastbuffer{reinterpret_cast<char*>(const_cast<uint8_t*>(rep.binary_representation().data())), rep.binary_representation().size()};
-            eprosima::fastcdr::Cdr cdr(fastbuffer);
+            eprosima::fastcdr::Cdr::Endianness endianness = static_cast<eprosima::fastcdr::Cdr::Endianness>(representation.endianness());
+            eprosima::fastcdr::Cdr cdr(fastbuffer, endianness);
             datareader_xrce.deserialize(cdr);
 
             created_entity = proxy_client->get_middleware().create_datareader_by_bin(raw_object_id, subscriber_id, datareader_xrce);
@@ -111,7 +112,8 @@ bool DataReader::matched(
             dds::xrce::OBJK_DataReader_Binary datareader_xrce;
 
             fastcdr::FastBuffer fastbuffer{reinterpret_cast<char*>(const_cast<uint8_t*>(rep.binary_representation().data())), rep.binary_representation().size()};
-            eprosima::fastcdr::Cdr cdr(fastbuffer);
+            eprosima::fastcdr::Cdr::Endianness endianness = static_cast<eprosima::fastcdr::Cdr::Endianness>(new_object_rep.endianness());
+            eprosima::fastcdr::Cdr cdr(fastbuffer, endianness);
             datareader_xrce.deserialize(cdr);
 
             rv = proxy_client_->get_middleware().matched_datareader_from_bin(get_raw_id(), datareader_xrce);

diff --git a/src/cpp/datawriter/DataWriter.cpp b/src/cpp/datawriter/DataWriter.cpp
@@ -52,7 +52,8 @@ std::unique_ptr<DataWriter> DataWriter::create(
             dds::xrce::OBJK_DataWriter_Binary datawriter_xrce;
 
             fastcdr::FastBuffer fastbuffer{reinterpret_cast<char*>(const_cast<uint8_t*>(rep.binary_representation().data())), rep.binary_representation().size()};
-            eprosima::fastcdr::Cdr cdr(fastbuffer);
+            eprosima::fastcdr::Cdr::Endianness endianness = static_cast<eprosima::fastcdr::Cdr::Endianness>(representation.endianness());
+            eprosima::fastcdr::Cdr cdr(fastbuffer, endianness);
             datawriter_xrce.deserialize(cdr);
 
             created_entity = proxy_client->get_middleware().create_datawriter_by_bin(raw_object_id, publisher_id, datawriter_xrce);
@@ -105,7 +106,8 @@ bool DataWriter::matched(const dds::xrce::ObjectVariant& new_object_rep) const
             dds::xrce::OBJK_DataWriter_Binary datawriter_xrce;
 
             fastcdr::FastBuffer fastbuffer{reinterpret_cast<char*>(const_cast<uint8_t*>(rep.binary_representation().data())), rep.binary_representation().size()};
-            eprosima::fastcdr::Cdr cdr(fastbuffer);
+            eprosima::fastcdr::Cdr::Endianness endianness = static_cast<eprosima::fastcdr::Cdr::Endianness>(new_object_rep.endianness());
+            eprosima::fastcdr::Cdr cdr(fastbuffer, endianness);
             datawriter_xrce.deserialize(cdr);
 
             rv = proxy_client_->get_middleware().matched_datawriter_from_bin(get_raw_id(), datawriter_xrce);

diff --git a/src/cpp/middleware/fastdds/FastDDSMiddleware.cpp b/src/cpp/middleware/fastdds/FastDDSMiddleware.cpp
@@ -70,6 +70,14 @@ bool FastDDSMiddleware::create_participant_by_ref(
         int16_t domain_id,
         const std::string& ref)
 {
+    if(domain_id == UXR_CLIENT_DOMAIN_ID_TO_OVERRIDE_WITH_ENV){
+        domain_id = agent_domain_id_;
+        UXR_AGENT_LOG_WARN(
+                UXR_DECORATE_YELLOW("Overriding Micro XRCE-DDS Client DOMAIN_ID"),
+                "domain_id: {}", domain_id
+        );
+    }
+
     bool rv = false;
     fastrtps::ParticipantAttributes attrs;
     auto participant_domain_id = domain_id;
@@ -97,6 +105,14 @@ bool FastDDSMiddleware::create_participant_by_xml(
         int16_t domain_id,
         const std::string& xml)
 {
+    if(domain_id == UXR_CLIENT_DOMAIN_ID_TO_OVERRIDE_WITH_ENV){
+        domain_id = agent_domain_id_;
+        UXR_AGENT_LOG_WARN(
+                UXR_DECORATE_YELLOW("Overriding Micro XRCE-DDS Client DOMAIN_ID"),
+                "domain_id: {}", domain_id
+        );
+    }
+
     bool rv = false;
     std::shared_ptr<FastDDSParticipant> participant(new FastDDSParticipant(domain_id));
     if (participant->create_by_xml(xml))

diff --git a/src/cpp/participant/Participant.cpp b/src/cpp/participant/Participant.cpp
@@ -48,7 +48,8 @@ std::unique_ptr<Participant> Participant::create(
             participant_xrce.domain_id(representation.domain_id());
 
             fastcdr::FastBuffer fastbuffer{reinterpret_cast<char*>(const_cast<uint8_t*>(rep.binary_representation().data())), rep.binary_representation().size()};
-            eprosima::fastcdr::Cdr cdr(fastbuffer);
+            eprosima::fastcdr::Cdr::Endianness endianness = static_cast<eprosima::fastcdr::Cdr::Endianness>(representation.endianness());
+            eprosima::fastcdr::Cdr cdr(fastbuffer, endianness);
             participant_xrce.deserialize(cdr);
 
             created_entity = proxy_client->get_middleware().create_participant_by_bin(raw_object_id, participant_xrce);
@@ -106,7 +107,8 @@ bool Participant::matched(const dds::xrce::ObjectVariant& new_object_rep) const
             participant_xrce.domain_id(domain_id);
 
             fastcdr::FastBuffer fastbuffer{reinterpret_cast<char*>(const_cast<uint8_t*>(rep.binary_representation().data())), rep.binary_representation().size()};
-            eprosima::fastcdr::Cdr cdr(fastbuffer);
+            eprosima::fastcdr::Cdr::Endianness endianness = static_cast<eprosima::fastcdr::Cdr::Endianness>(new_object_rep.endianness());
+            eprosima::fastcdr::Cdr cdr(fastbuffer, endianness);
             participant_xrce.deserialize(cdr);
 
             rv = proxy_client_->get_middleware().matched_participant_from_bin(get_raw_id(), domain_id, participant_xrce);

diff --git a/src/cpp/processor/Processor.cpp b/src/cpp/processor/Processor.cpp
@@ -332,6 +332,9 @@ bool Processor<EndPoint>::process_create_submessage(
     dds::xrce::CREATE_Payload create_payload;
     if (input_packet.message->get_payload(create_payload))
     {
+        dds::xrce::Endianness endianness = static_cast<dds::xrce::Endianness>(input_packet.message->get_subheader().flags() & 0x01);
+        create_payload.object_representation().endianness(endianness);
+
         dds::xrce::STATUS_Payload status_payload;
         status_payload.related_request().request_id(create_payload.request_id());
         status_payload.related_request().object_id(create_payload.object_id());

diff --git a/src/cpp/publisher/Publisher.cpp b/src/cpp/publisher/Publisher.cpp
@@ -42,7 +42,8 @@ std::unique_ptr<Publisher> Publisher::create(
             dds::xrce::OBJK_Publisher_Binary publisher_xrce;
 
             fastcdr::FastBuffer fastbuffer{reinterpret_cast<char*>(const_cast<uint8_t*>(rep.binary_representation().data())), rep.binary_representation().size()};
-            eprosima::fastcdr::Cdr cdr(fastbuffer);
+            eprosima::fastcdr::Cdr::Endianness endianness = static_cast<eprosima::fastcdr::Cdr::Endianness>(representation.endianness());
+            eprosima::fastcdr::Cdr cdr(fastbuffer, endianness);
             publisher_xrce.deserialize(cdr);
 
             created_entity = proxy_client->get_middleware().create_publisher_by_bin(raw_object_id, participant_id, publisher_xrce);

diff --git a/src/cpp/replier/Replier.cpp b/src/cpp/replier/Replier.cpp
@@ -52,7 +52,8 @@ std::unique_ptr<Replier> Replier::create(
             dds::xrce::OBJK_Replier_Binary replier_xrce;
 
             fastcdr::FastBuffer fastbuffer{reinterpret_cast<char*>(const_cast<uint8_t*>(rep.binary_representation().data())), rep.binary_representation().size()};
-            eprosima::fastcdr::Cdr cdr(fastbuffer);
+            eprosima::fastcdr::Cdr::Endianness endianness = static_cast<eprosima::fastcdr::Cdr::Endianness>(representation.endianness());
+            eprosima::fastcdr::Cdr cdr(fastbuffer, endianness);
             replier_xrce.deserialize(cdr);
 
             created_entity = proxy_client->get_middleware().create_replier_by_bin(raw_object_id, participant_id, replier_xrce);
@@ -108,7 +109,8 @@ bool Replier::matched(
             dds::xrce::OBJK_Replier_Binary replier_xrce;
 
             fastcdr::FastBuffer fastbuffer{reinterpret_cast<char*>(const_cast<uint8_t*>(rep.binary_representation().data())), rep.binary_representation().size()};
-            eprosima::fastcdr::Cdr cdr(fastbuffer);
+            eprosima::fastcdr::Cdr::Endianness endianness = static_cast<eprosima::fastcdr::Cdr::Endianness>(new_object_rep.endianness());
+            eprosima::fastcdr::Cdr cdr(fastbuffer, endianness);
             replier_xrce.deserialize(cdr);
 
             rv = proxy_client_->get_middleware().matched_replier_from_bin(get_raw_id(), replier_xrce);

diff --git a/src/cpp/requester/Requester.cpp b/src/cpp/requester/Requester.cpp
@@ -54,7 +54,8 @@ std::unique_ptr<Requester> Requester::create(
             dds::xrce::OBJK_Requester_Binary request_xrce;
 
             fastcdr::FastBuffer fastbuffer{reinterpret_cast<char*>(const_cast<uint8_t*>(rep.binary_representation().data())), rep.binary_representation().size()};
-            eprosima::fastcdr::Cdr cdr(fastbuffer);
+            eprosima::fastcdr::Cdr::Endianness endianness = static_cast<eprosima::fastcdr::Cdr::Endianness>(representation.endianness());
+            eprosima::fastcdr::Cdr cdr(fastbuffer, endianness);
             request_xrce.deserialize(cdr);
 
             created_entity = proxy_client->get_middleware().create_requester_by_bin(raw_object_id, participant_id, request_xrce);
@@ -110,7 +111,8 @@ bool Requester::matched(
             dds::xrce::OBJK_Requester_Binary request_xrce;
 
             fastcdr::FastBuffer fastbuffer{reinterpret_cast<char*>(const_cast<uint8_t*>(rep.binary_representation().data())), rep.binary_representation().size()};
-            eprosima::fastcdr::Cdr cdr(fastbuffer);
+            eprosima::fastcdr::Cdr::Endianness endianness = static_cast<eprosima::fastcdr::Cdr::Endianness>(new_object_rep.endianness());
+            eprosima::fastcdr::Cdr cdr(fastbuffer, endianness);
             request_xrce.deserialize(cdr);
 
             rv = proxy_client_->get_middleware().matched_requester_from_bin(get_raw_id(), request_xrce);

diff --git a/src/cpp/subscriber/Subscriber.cpp b/src/cpp/subscriber/Subscriber.cpp
@@ -42,7 +42,8 @@ std::unique_ptr<Subscriber> Subscriber::create(
             dds::xrce::OBJK_Subscriber_Binary subscriber_xrce;
 
             fastcdr::FastBuffer fastbuffer{reinterpret_cast<char*>(const_cast<uint8_t*>(rep.binary_representation().data())), rep.binary_representation().size()};
-            eprosima::fastcdr::Cdr cdr(fastbuffer);
+            eprosima::fastcdr::Cdr::Endianness endianness = static_cast<eprosima::fastcdr::Cdr::Endianness>(representation.endianness());
+            eprosima::fastcdr::Cdr cdr(fastbuffer, endianness);
             subscriber_xrce.deserialize(cdr);
 
             created_entity = proxy_client->get_middleware().create_subscriber_by_bin(raw_object_id, participant_id, subscriber_xrce);

diff --git a/src/cpp/topic/Topic.cpp b/src/cpp/topic/Topic.cpp
@@ -49,7 +49,8 @@ std::unique_ptr<Topic> Topic::create(
             dds::xrce::OBJK_Topic_Binary topic_xrce;
 
             fastcdr::FastBuffer fastbuffer{reinterpret_cast<char*>(const_cast<uint8_t*>(rep.binary_representation().data())), rep.binary_representation().size()};
-            eprosima::fastcdr::Cdr cdr(fastbuffer);
+            eprosima::fastcdr::Cdr::Endianness endianness = static_cast<eprosima::fastcdr::Cdr::Endianness>(representation.endianness());
+            eprosima::fastcdr::Cdr cdr(fastbuffer, endianness);
             topic_xrce.deserialize(cdr);
 
             created_entity = proxy_client->get_middleware().create_topic_by_bin(raw_object_id, participant_id, topic_xrce);
@@ -103,7 +104,8 @@ bool Topic::matched(const dds::xrce::ObjectVariant& new_object_rep) const
             dds::xrce::OBJK_Topic_Binary topic_xrce;
 
             fastcdr::FastBuffer fastbuffer{reinterpret_cast<char*>(const_cast<uint8_t*>(rep.binary_representation().data())), rep.binary_representation().size()};
-            eprosima::fastcdr::Cdr cdr(fastbuffer);
+            eprosima::fastcdr::Cdr::Endianness endianness = static_cast<eprosima::fastcdr::Cdr::Endianness>(new_object_rep.endianness());
+            eprosima::fastcdr::Cdr cdr(fastbuffer, endianness);
             topic_xrce.deserialize(cdr);
 
             rv = proxy_client_->get_middleware().matched_topic_from_bin(get_raw_id(), topic_xrce);

diff --git a/src/cpp/transport/serial/MultiTermiosAgentLinux.cpp b/src/cpp/transport/serial/MultiTermiosAgentLinux.cpp
@@ -85,10 +85,10 @@ void MultiTermiosAgent::init_multiport()
                         new_attrs.c_cc[VMIN] = termios_attrs_.c_cc[VMIN];
                         new_attrs.c_cc[VTIME] = termios_attrs_.c_cc[VTIME];
 
-#if _HAVE_STRUCT_TERMIOS_C_ISPEED
+#if _HAVE_STRUCT_TERMIOS_C_ISPEED || __APPLE__
                         cfsetispeed(&new_attrs, termios_attrs_.c_ispeed);
 #endif
-#if _HAVE_STRUCT_TERMIOS_C_OSPEED
+#if _HAVE_STRUCT_TERMIOS_C_OSPEED || __APPLE__
                         cfsetospeed(&new_attrs, termios_attrs_.c_ospeed);
 #endif