From 83a70db9c2478d88c8d87d47f2a8cb16fcc3f28c Mon Sep 17 00:00:00 2001 From: Davide Faconti Date: Mon, 2 Mar 2026 14:07:00 +0100 Subject: [PATCH 01/15] feat: Unify ROS2/RTI backends with shared core, fix 7 bugs Architecture: Extract backend-agnostic core into app/ with abstract interfaces (TopicSourceInterface, SubscriptionManagerInterface). ROS2 adapter in ros2/, RTI Connext DDS adapter in rti/. BridgeServer takes interfaces via constructor injection; event loop externalized. Bug fixes from code review: - #1: Incremental session update during subscribe prevents ref-count leak if client disconnects mid-subscribe (add_subscription rollback) - #2: Remove failed topics from session on resume to prevent ref-count underflow on disconnect - #4: Unsubscribe now accepts object format [{"name": "/topic"}] in addition to string format ["/topic"] - #6: Bound incoming WebSocket queue to 1024 messages to prevent unbounded memory growth under overload - #7: Release clients_mutex_ before sending in WebSocket middleware (send_reply, send_binary, publish_data) to reduce lock contention - #9: Validate publish_rate > 0 early in initialize(), before starting the middleware - #15: Remove dead last_read_timestamp_ns_ field from MessageBuffer Test improvements: - Enhanced MockSubscriptionManager with ref-count tracking and underflow detection - Fixed UnsubscribeRemovesTopics and SubscribeIsAdditive to use real mock topics (previously tested wrong thing) - Added 7 new regression tests for each bug fix 317 tests pass (regular + TSAN + ASAN clean). Co-Authored-By: Claude Opus 4.6 Entire-Checkpoint: 7cd20ad6de03 --- CLAUDE.md | 679 ++++++------------ CMakeLists.txt | 262 ++++--- .../include/pj_bridge}/bridge_server.hpp | 104 +-- app/include/pj_bridge/message_buffer.hpp | 84 +++ .../include/pj_bridge}/message_serializer.hpp | 45 +- .../middleware/middleware_interface.hpp | 84 +++ .../middleware/websocket_middleware.hpp | 40 +- .../include/pj_bridge}/protocol_constants.hpp | 15 +- app/include/pj_bridge/session_manager.hpp | 63 ++ .../subscription_manager_interface.hpp | 79 ++ .../include/pj_bridge}/time_utils.hpp | 19 +- .../pj_bridge/topic_source_interface.hpp | 63 ++ {src => app/src}/bridge_server.cpp | 468 ++++++------ {src => app/src}/message_buffer.cpp | 33 +- {src => app/src}/message_serializer.cpp | 23 +- .../src}/middleware/websocket_middleware.cpp | 175 +++-- {src => app/src}/session_manager.cpp | 41 +- docs/ARCHITECTURE.md | 197 +++-- .../plans/2026-02-26-unify-backends-design.md | 281 ++++++++ include/pj_ros_bridge/message_buffer.hpp | 120 ---- include/pj_ros_bridge/message_stripper.hpp | 68 -- .../middleware/middleware_interface.hpp | 119 --- include/pj_ros_bridge/schema_extractor.hpp | 104 --- include/pj_ros_bridge/session_manager.hpp | 163 ----- package.xml | 10 +- .../generic_subscription_manager.hpp | 62 +- .../pj_bridge_ros2/message_stripper.hpp | 45 ++ .../ros2_subscription_manager.hpp | 56 ++ .../pj_bridge_ros2/ros2_topic_source.hpp | 54 ++ .../pj_bridge_ros2/schema_extractor.hpp | 65 ++ .../pj_bridge_ros2}/topic_discovery.hpp | 36 +- .../src}/generic_subscription_manager.cpp | 25 +- {src => ros2/src}/main.cpp | 65 +- {src => ros2/src}/message_stripper.cpp | 30 +- ros2/src/ros2_subscription_manager.cpp | 81 +++ ros2/src/ros2_topic_source.cpp | 53 ++ {src => ros2/src}/schema_extractor.cpp | 46 +- {src => ros2/src}/topic_discovery.cpp | 18 +- .../dds_subscription_manager.hpp | 74 ++ .../pj_bridge_rti/dds_topic_discovery.hpp | 76 ++ .../rti_subscription_manager.hpp | 47 ++ .../pj_bridge_rti/rti_topic_source.hpp | 45 ++ rti/src/dds_subscription_manager.cpp | 211 ++++++ rti/src/dds_topic_discovery.cpp | 208 ++++++ rti/src/main.cpp | 172 +++++ rti/src/rti_subscription_manager.cpp | 44 ++ rti/src/rti_topic_source.cpp | 49 ++ tests/unit/test_bridge_server.cpp | 388 ++++++++-- .../test_generic_subscription_manager.cpp | 12 +- tests/unit/test_message_buffer.cpp | 120 ++-- tests/unit/test_message_serializer.cpp | 141 ++-- tests/unit/test_message_stripper.cpp | 12 +- tests/unit/test_protocol_constants.cpp | 18 +- tests/unit/test_schema_extractor.cpp | 12 +- tests/unit/test_session_manager.cpp | 12 +- tests/unit/test_topic_discovery.cpp | 12 +- tests/unit/test_websocket_middleware.cpp | 55 +- 57 files changed, 3602 insertions(+), 2081 deletions(-) rename {include/pj_ros_bridge => app/include/pj_bridge}/bridge_server.hpp (63%) create mode 100644 app/include/pj_bridge/message_buffer.hpp rename {include/pj_ros_bridge => app/include/pj_bridge}/message_serializer.hpp (68%) create mode 100644 app/include/pj_bridge/middleware/middleware_interface.hpp rename {include/pj_ros_bridge => app/include/pj_bridge}/middleware/websocket_middleware.hpp (65%) rename {include/pj_ros_bridge => app/include/pj_bridge}/protocol_constants.hpp (71%) create mode 100644 app/include/pj_bridge/session_manager.hpp create mode 100644 app/include/pj_bridge/subscription_manager_interface.hpp rename {include/pj_ros_bridge => app/include/pj_bridge}/time_utils.hpp (56%) create mode 100644 app/include/pj_bridge/topic_source_interface.hpp rename {src => app/src}/bridge_server.cpp (55%) rename {src => app/src}/message_buffer.cpp (64%) rename {src => app/src}/message_serializer.cpp (88%) rename {src => app/src}/middleware/websocket_middleware.cpp (56%) rename {src => app/src}/session_manager.cpp (80%) create mode 100644 docs/plans/2026-02-26-unify-backends-design.md delete mode 100644 include/pj_ros_bridge/message_buffer.hpp delete mode 100644 include/pj_ros_bridge/message_stripper.hpp delete mode 100644 include/pj_ros_bridge/middleware/middleware_interface.hpp delete mode 100644 include/pj_ros_bridge/schema_extractor.hpp delete mode 100644 include/pj_ros_bridge/session_manager.hpp rename {include/pj_ros_bridge => ros2/include/pj_bridge_ros2}/generic_subscription_manager.hpp (52%) create mode 100644 ros2/include/pj_bridge_ros2/message_stripper.hpp create mode 100644 ros2/include/pj_bridge_ros2/ros2_subscription_manager.hpp create mode 100644 ros2/include/pj_bridge_ros2/ros2_topic_source.hpp create mode 100644 ros2/include/pj_bridge_ros2/schema_extractor.hpp rename {include/pj_ros_bridge => ros2/include/pj_bridge_ros2}/topic_discovery.hpp (63%) rename {src => ros2/src}/generic_subscription_manager.cpp (80%) rename {src => ros2/src}/main.cpp (55%) rename {src => ros2/src}/message_stripper.cpp (83%) create mode 100644 ros2/src/ros2_subscription_manager.cpp create mode 100644 ros2/src/ros2_topic_source.cpp rename {src => ros2/src}/schema_extractor.cpp (78%) rename {src => ros2/src}/topic_discovery.cpp (76%) create mode 100644 rti/include/pj_bridge_rti/dds_subscription_manager.hpp create mode 100644 rti/include/pj_bridge_rti/dds_topic_discovery.hpp create mode 100644 rti/include/pj_bridge_rti/rti_subscription_manager.hpp create mode 100644 rti/include/pj_bridge_rti/rti_topic_source.hpp create mode 100644 rti/src/dds_subscription_manager.cpp create mode 100644 rti/src/dds_topic_discovery.cpp create mode 100644 rti/src/main.cpp create mode 100644 rti/src/rti_subscription_manager.cpp create mode 100644 rti/src/rti_topic_source.cpp diff --git a/CLAUDE.md b/CLAUDE.md index b959b86..bc3bd8c 100644 --- a/CLAUDE.md +++ b/CLAUDE.md @@ -2,549 +2,294 @@ ## Project Overview -**Project Name**: pj_ros_bridge -**Type**: C++ ROS2 Package (Humble) -**Purpose**: ROS2 bridge server that forwards ROS2 topic content over WebSocket, without DDS +**Project Name**: pj_bridge +**Type**: Multi-backend C++ bridge server (ROS2 / RTI Connext DDS) +**Purpose**: Forward middleware topic content over WebSocket to PlotJuggler clients -**Main Goal**: Enable clients to subscribe to ROS2 topics and receive aggregated messages at 50 Hz without needing a full ROS2/DDS installation. +**Main Goal**: Enable clients to subscribe to topics and receive aggregated messages at configurable rates without needing a full middleware installation. Two backends share a common core library: +- **ROS2 backend** (`pj_bridge_ros2`) — ROS2 Humble, uses `rclcpp` +- **RTI backend** (`pj_bridge_rti`) — RTI Connext DDS, uses `rti::connext` ## Key Documentation Files -- `README.md` - User-facing documentation +- `docs/plans/2026-02-26-unify-backends-design.md` — Unified architecture design - `docs/API.md` - API protocol documentation - `.clang-tidy` - Coding standards and style guide ## Build Instructions +### ROS2 Backend (colcon) ```bash -# Navigate to workspace root cd ~/ws_plotjuggler - -# Source ROS2 Humble source /opt/ros/humble/setup.bash - -# Build the package -colcon build --packages-select pj_ros_bridge --cmake-args -DCMAKE_BUILD_TYPE=Release - -# Run tests -colcon test --packages-select pj_ros_bridge -colcon test-result --verbose +colcon build --packages-select pj_bridge --cmake-args -DCMAKE_BUILD_TYPE=Release +colcon test --packages-select pj_bridge && colcon test-result --verbose ``` -### External Dependencies - -IXWebSocket is automatically fetched via CMake FetchContent during build (no manual setup required). - -## Test Data - -**Location**: `DATA/` directory contains: -- `sample.mcap` - Real rosbag data for testing -- `sensor_msgs-pointcloud2.txt` - Reference schema for PointCloud2 -- `sensor_msgs-imu.txt` - Reference schema for IMU -- `pose_with_covariance_stamped.txt` - Reference schema for PoseWithCovarianceStamped - -**Inspect rosbag**: +### RTI Backend (standalone CMake) ```bash -source /opt/ros/humble/setup.bash -ros2 bag info DATA/sample.mcap +mkdir build && cd build +cmake .. -DCMAKE_BUILD_TYPE=Release -DENABLE_RTI=ON +make -j$(nproc) ``` -**sample.mcap Contents** (as of 2025-10-19): -- Duration: ~37 minutes (2212 seconds) -- 1,390,034 messages -- Topics include custom types: - - `ims_msgs::FulcrumLocation` - - `ims_msgs::ArmUIState` - - `ims_msgs::MotorCommandCollection` - - `ims_msgs::RoboticsInputs` - - `AsensusMessaging::ArmState` - - `AsensusMessaging::ArmOutput` +### External Dependencies + +- **IXWebSocket** — vendored in `3rdparty/ixwebsocket` +- **spdlog** — system package preferred (for ROS2 ABI compatibility with `librcl_logging_spdlog`); FetchContent fallback for standalone builds +- **ZSTD** — system package (`libzstd-dev`) +- **CLI11** — FetchContent (RTI backend only) -**Note**: Reference schema files are used for unit test validation to ensure SchemaExtractor produces correct output. +**Important**: Do NOT use FetchContent for spdlog when building with ROS2. The system spdlog must match the version used by `librcl_logging_spdlog.so` to avoid ABI conflicts (symbol collision causes "free(): invalid pointer" crash during `rclcpp::init()`). ## Coding Standards ### Naming Conventions (from `.clang-tidy`) -**Classes & Types**: -- Classes: `CamelCase` (e.g., `BridgeServer`, `SessionManager`) -- Structs: `CamelCase` with `lower_case` members -- Enums: `CamelCase` with `UPPER_CASE` constants - -**Functions & Methods**: -- Functions/Methods: `lower_case` (e.g., `get_topics()`, `update_heartbeat()`) - -**Variables**: -- Local/member variables: `lower_case` -- Private members: suffix with `_` (e.g., `sessions_`, `mutex_`) -- Constants: `CamelCase` with `k` prefix (e.g., `kDefaultTimeout`, `kBufferSize`) - -**Example**: -```cpp -class SessionManager { -public: - void create_session(const std::string& client_id); - -private: - static constexpr int kDefaultTimeout = 10; - std::unordered_map sessions_; - std::mutex mutex_; -}; -``` +- **Classes/Structs**: `CamelCase` (e.g., `BridgeServer`, `BufferedMessage`) +- **Functions/Methods**: `lower_case` (e.g., `get_topics()`, `add_message()`) +- **Local/member variables**: `lower_case`, private members suffix with `_` +- **Constants**: `k` prefix + `CamelCase` (e.g., `kDefaultMaxMessageAgeNs`) +- **Namespaces**: `pj_bridge` (core), `pj_bridge` with ROS2/RTI-specific types ### Code Quality -- **Warnings as Errors**: Most clang-tidy checks are treated as errors -- **Thread Safety**: Explicit from the start - use mutexes and document thread safety -- **ROS2 Compatibility**: - - Ignores macros in complexity checks (for `RCLCPP_INFO`, etc.) - - Allows `std::shared_ptr` as value param (for ROS2 callbacks) -- **Comments**: Comprehensive documentation for classes and methods +- **Thread Safety**: Use mutexes, document thread safety in class comments - **Testing**: Unit tests required for all core components (gtest) -- **Code Formatting**: Use `pre-commit run -a` to format all code before committing - - Configured in `.pre-commit-config.yaml` - - Uses clang-format for C++ code - - Note: uncrustify linter removed from CMakeLists.txt (was failing on 3rdparty libs) +- **Code Formatting**: `pre-commit run -a` before committing (clang-format) +- **Logging**: Use `spdlog::info/warn/error/debug()` — NOT `RCLCPP_*` macros (except in ros2/ adapter code) ## Architecture Overview -### Communication Pattern +### Multi-Backend Design -**WebSocket** (single port, default 8080): -- **Text frames**: JSON API commands and responses (get_topics, subscribe, heartbeat) -- **Binary frames**: ZSTD-compressed aggregated message stream at 50 Hz +``` +┌──────────────────────────────────────────────────┐ +│ app/ (core) │ +│ BridgeServer ← TopicSourceInterface │ +│ ← SubscriptionManagerInterface │ +│ ← MiddlewareInterface │ +│ + MessageBuffer, SessionManager, Serializer │ +└────────────────────┬─────────────────────────────┘ + ┌───────────┴───────────┐ + ┌────┴────┐ ┌─────┴─────┐ + │ ros2/ │ │ rti/ │ + │ Ros2TopicSource │ RtiTopicSource + │ Ros2SubscriptionMgr │ RtiSubscriptionMgr + │ (rclcpp) │ (RTI Connext) + └─────────┘ └───────────┘ +``` + +### Abstract Interfaces (in `app/include/pj_bridge/`) + +**TopicSourceInterface**: `get_topics()`, `get_schema(topic_name)`, `schema_encoding()` +**SubscriptionManagerInterface**: `set_message_callback()`, `subscribe(name, type)`, `unsubscribe()`, `unsubscribe_all()` +**MiddlewareInterface**: WebSocket text/binary frame API + +### Event Loop + +BridgeServer does NOT own timers. The entry point (`main.cpp`) drives the event loop: +- **ROS2**: `rclcpp` wall timers call `process_requests()`, `publish_aggregated_messages()`, `check_session_timeouts()` +- **RTI**: `std::chrono` loop with `std::this_thread::sleep_for()` ### Key Components -1. **Middleware Layer** (Abstract) - - `MiddlewareInterface` - Abstract base class with connection-oriented API - - `WebSocketMiddleware` - IXWebSocket implementation (single port, text + binary frames) - - Explicit client identity via `connectionState->getId()` - - Connection/disconnection callbacks for automatic session cleanup - -2. **Topic Discovery** - - Uses `rclcpp::Node::get_topic_names_and_types()` - - Filters system topics - -3. **Schema Extraction** - - Uses `ament_index_cpp` to locate .msg files in ROS2 package share directories - - Reads .msg files directly and recursively expands nested types - - Uses depth-first traversal to build complete message definitions - - Reference schema files stored in DATA/ for test validation: - - `sensor_msgs-pointcloud2.txt` - - `sensor_msgs-imu.txt` - - `pose_with_covariance_stamped.txt` - -4. **Generic Subscription** - - `rclcpp::GenericSubscription` for runtime topic subscription - - Reference counting for shared subscriptions across clients - -5. **Message Buffer** - - Thread-safe buffer per topic with automatic cleanup - - Zero-copy design using `shared_ptr` - - Stores: timestamp and shared pointer to serialized message data - - Auto-deletes messages older than 1 second to prevent unbounded memory growth - - Cleanup triggered on every message addition - - Move semantics: `move_messages()` atomically transfers buffer ownership via `std::swap()` - -6. **Session Manager** - - Tracks client sessions using WebSocket connection identity - - Monitors heartbeats (expected every 1 second) - - Timeout: 10 seconds without heartbeat - - Manages per-client subscriptions - - Automatic cleanup on WebSocket disconnect - -7. **Bridge Server** - - Main orchestrator integrating all components - - Handles API request/response loop - - Routes commands (get_topics, subscribe, heartbeat) - - Manages session timeouts with 1 Hz timer - - Creates message buffer callbacks for subscriptions - - Registers disconnect callback for automatic session cleanup - -8. **Message Aggregation** - - 50 Hz timer collects new messages from all active topics - - Custom binary serialization format (little-endian) - - ZSTD compression applied to serialized data - - Published via WebSocket binary frames (broadcast to all connected clients) - - Statistics tracking (total messages/bytes published) +1. **BridgeServer** (`app/`) — Main orchestrator. Takes interfaces via constructor injection. Uses spdlog for logging. Improved lock ordering: build frames under lock, send outside lock. -### Message Serialization Format +2. **MessageBuffer** (`app/`) — Thread-safe per-topic buffer. Uses `shared_ptr>` (not `rclcpp::SerializedMessage`). TTL cleanup based on `received_at_ns` (wall-clock time when added). -**Streaming Binary Format** (before compression): -- No header or message count placeholder -- Messages are serialized directly in sequence: -``` -For each message: - - Topic name length (uint16_t little-endian) - - Topic name (N bytes UTF-8) - - Timestamp (uint64_t nanoseconds since epoch, little-endian) - - Message data length (uint32_t little-endian) - - Message data (N bytes - CDR serialized from ROS2) -``` +3. **AggregatedMessageSerializer** (`app/`) — Serializes `(topic, timestamp, byte*, size)`. Backend-agnostic (no rclcpp dependency). -**Design Philosophy**: -- **Zero-copy**: Messages pass via `shared_ptr` to avoid data copying -- **Streaming**: Messages serialized immediately to output buffer (no intermediate storage) -- **Move semantics**: Buffer ownership transferred atomically via `std::swap()` -- **ZSTD Compression**: Final buffer compressed (level 1) before broadcasting via WebSocket binary frames +4. **SessionManager** (`app/`) — Tracks clients, heartbeats, per-client subscriptions. -### API Protocol +5. **WebSocketMiddleware** (`app/`) — IXWebSocket implementation. Improved shutdown: shared_ptr server, timeout thread, pre-close clients. -**Get Topics Request**: -```json -{ - "command": "get_topics" -} -``` +6. **Ros2TopicSource** (`ros2/`) — Wraps `TopicDiscovery` + `SchemaExtractor`. Schema encoding: `"ros2msg"`. -**Get Topics Response**: -```json -{ - "topics": [ - {"name": "/topic_name", "type": "package_name/msg/MessageType"}, - ... - ] -} -``` +7. **Ros2SubscriptionManager** (`ros2/`) — Wraps `GenericSubscriptionManager` + optional `MessageStripper`. Converts `rclcpp::SerializedMessage` → `shared_ptr>` via memcpy. -**Subscribe Request**: -```json -{ - "command": "subscribe", - "topics": ["/topic1", "/topic2"] -} -``` +8. **RtiTopicSource** (`rti/`) — Wraps `DdsTopicDiscovery`. Schema encoding: `"omgidl"`. -**Subscribe Response**: -```json -{ - "status": "success", - "schemas": { - "/topic1": { /* schema JSON */ }, - "/topic2": { /* schema JSON */ } - } -} -``` +9. **RtiSubscriptionManager** (`rti/`) — Wraps `DdsSubscriptionManager`. DDS already produces `shared_ptr>`. -**Heartbeat Request**: -```json -{ - "command": "heartbeat" -} -``` +### Communication Pattern -**Heartbeat Response**: -```json -{ - "status": "ok" -} -``` +**WebSocket** (single port, default 8080): +- **Text frames**: JSON API commands and responses (get_topics, subscribe, heartbeat, pause, resume, unsubscribe) +- **Binary frames**: ZSTD-compressed aggregated message stream -**Error Response**: -```json -{ - "status": "error", - "error_code": "ERROR_CODE", - "message": "Human readable error message" -} +### Message Serialization Format + +``` +For each message (streamed, no header): + - Topic name length (uint16_t LE) + - Topic name (N bytes UTF-8) + - Timestamp (uint64_t ns since epoch, LE) + - Message data length (uint32_t LE) + - Message data (N bytes CDR) ``` ## Project Structure ``` -pj_ros_bridge/ -├── include/pj_ros_bridge/ -│ ├── middleware/ -│ │ ├── middleware_interface.hpp -│ │ └── websocket_middleware.hpp -│ ├── topic_discovery.hpp -│ ├── schema_extractor.hpp -│ ├── message_buffer.hpp -│ ├── message_serializer.hpp -│ ├── session_manager.hpp -│ ├── generic_subscription_manager.hpp -│ ├── time_utils.hpp -│ └── bridge_server.hpp -├── src/ -│ ├── middleware/ -│ │ └── websocket_middleware.cpp -│ ├── topic_discovery.cpp -│ ├── schema_extractor.cpp -│ ├── message_buffer.cpp -│ ├── message_serializer.cpp -│ ├── session_manager.cpp -│ ├── generic_subscription_manager.cpp -│ ├── bridge_server.cpp -│ └── main.cpp -├── tests/ -│ ├── unit/ -│ │ ├── test_websocket_middleware.cpp -│ │ ├── test_topic_discovery.cpp -│ │ ├── test_schema_extractor.cpp -│ │ ├── test_message_buffer.cpp -│ │ ├── test_generic_subscription_manager.cpp -│ │ ├── test_session_manager.cpp -│ │ ├── test_message_serializer.cpp -│ │ └── test_bridge_server.cpp -│ └── integration/ -│ └── test_client.py -├── 3rdparty/ -│ ├── nlohmann/ (JSON library header) -│ └── tl/ (tl::expected header) -├── DATA/ -│ ├── sample.mcap -│ ├── sensor_msgs-pointcloud2.txt (reference schema) -│ ├── sensor_msgs-imu.txt (reference schema) -│ └── pose_with_covariance_stamped.txt (reference schema) -├── cmake/ -│ └── FindZSTD.cmake +pj_bridge/ +├── app/ +│ ├── include/pj_bridge/ +│ │ ├── topic_source_interface.hpp +│ │ ├── subscription_manager_interface.hpp +│ │ ├── middleware/ +│ │ │ ├── middleware_interface.hpp +│ │ │ └── websocket_middleware.hpp +│ │ ├── bridge_server.hpp +│ │ ├── session_manager.hpp +│ │ ├── message_buffer.hpp +│ │ ├── message_serializer.hpp +│ │ ├── protocol_constants.hpp +│ │ └── time_utils.hpp +│ └── src/ +│ ├── middleware/websocket_middleware.cpp +│ ├── bridge_server.cpp +│ ├── session_manager.cpp +│ ├── message_buffer.cpp +│ └── message_serializer.cpp +├── ros2/ +│ ├── include/pj_bridge_ros2/ +│ │ ├── ros2_topic_source.hpp +│ │ ├── ros2_subscription_manager.hpp +│ │ ├── topic_discovery.hpp +│ │ ├── schema_extractor.hpp +│ │ ├── generic_subscription_manager.hpp +│ │ └── message_stripper.hpp +│ └── src/ +│ ├── ros2_topic_source.cpp +│ ├── ros2_subscription_manager.cpp +│ ├── topic_discovery.cpp +│ ├── schema_extractor.cpp +│ ├── generic_subscription_manager.cpp +│ ├── message_stripper.cpp +│ └── main.cpp +├── rti/ +│ ├── include/pj_bridge_rti/ +│ │ ├── rti_topic_source.hpp +│ │ ├── rti_subscription_manager.hpp +│ │ ├── dds_topic_discovery.hpp +│ │ └── dds_subscription_manager.hpp +│ └── src/ +│ ├── rti_topic_source.cpp +│ ├── rti_subscription_manager.cpp +│ ├── dds_topic_discovery.cpp +│ ├── dds_subscription_manager.cpp +│ └── main.cpp +├── tests/unit/ +│ ├── test_bridge_server.cpp (mock-based, no ROS2 deps) +│ ├── test_session_manager.cpp +│ ├── test_message_buffer.cpp +│ ├── test_message_serializer.cpp +│ ├── test_websocket_middleware.cpp +│ ├── test_protocol_constants.cpp +│ ├── test_topic_discovery.cpp (ROS2-specific) +│ ├── test_schema_extractor.cpp (ROS2-specific) +│ ├── test_generic_subscription_manager.cpp (ROS2-specific) +│ └── test_message_stripper.cpp (ROS2-specific) +├── 3rdparty/ (nlohmann, tl, ixwebsocket) +├── DATA/ (test data: sample.mcap, reference schemas) +├── cmake/FindZSTD.cmake ├── CMakeLists.txt ├── package.xml -├── .clang-tidy -├── .pre-commit-config.yaml -├── CLAUDE.md (this file) -└── README.md +└── CLAUDE.md (this file) ``` +## CMake Targets + +| Target | Type | Description | +|--------|------|-------------| +| `pj_bridge_app` | STATIC | Core library (no ROS2/DDS deps) | +| `pj_bridge_ros2_lib` | STATIC | ROS2 adapter library | +| `pj_bridge_ros2` | EXECUTABLE | ROS2 entry point | +| `pj_bridge_rti_lib` | STATIC | RTI adapter library (if `ENABLE_RTI=ON`) | +| `pj_bridge_rti` | EXECUTABLE | RTI entry point | +| `pj_bridge_tests` | EXECUTABLE | All unit tests | + ## Dependencies -### ROS2 Packages (Runtime) -- `rclcpp` - ROS2 C++ client library -- `ament_index_cpp` - Locate ROS2 package share directories -- `ament_cmake` - Build system (buildtool) - -### ROS2 Packages (Test Only) -- `ament_cmake_gtest` - Testing framework -- `sensor_msgs` - Standard sensor message types for unit tests -- `geometry_msgs` - Standard geometry message types for unit tests - -### External Libraries -- **IXWebSocket** (`v11.4.6`) - WebSocket server/client (fetched via CMake FetchContent) -- **ZSTD** (libzstd) - Compression library (system package, FindZSTD.cmake in cmake/) -- **nlohmann/json** - JSON library (header-only, in 3rdparty/) -- **tl::expected** - Error handling (header-only, in 3rdparty/) - -### Python (for test clients) -- `websocket-client` - WebSocket client library (`pip install websocket-client`) -- `zstandard` - ZSTD decompression library -- `struct` - Binary serialization (built-in) -- `json` - JSON parsing (built-in) -- `argparse` - CLI parsing (built-in) - -## Implementation Status - -**Current Milestone**: Milestone 9 substantially completed -**Next Steps**: Milestone 10 - Documentation & Polish - -### Milestone Checklist -- [x] Milestone 1: Project Setup & Infrastructure (completed 2025-10-19) -- [x] Milestone 2: Topic Discovery & Schema Extraction (completed 2025-10-19) -- [x] Milestone 3: Generic Subscription & Message Buffering (completed 2025-10-19) -- [x] Milestone 4: Client Session Management (completed 2025-10-21) -- [x] Milestone 5: Message Aggregation & Publishing (completed 2025-10-21) -- [x] Milestone 6: Main Server Integration & Configuration (completed 2025-10-21) -- [x] Milestone 7: Python Test Client Development (completed 2025-10-21) -- [x] Milestone 8: Unit Test Suite (completed 2025-11-03) -- [x] Milestone 9: Error Handling & Robustness (substantially completed 2025-11-03) -- [ ] Milestone 10: Documentation & Polish - -### Completed Components - -All core implementation milestones are complete. - -**Recent changes** (WebSocket migration + bug fixes): -- Replaced ZeroMQ with IXWebSocket (single port, text + binary frames) -- Redesigned MiddlewareInterface for connection-oriented WebSocket -- Fixed serializer dangling pointer UB, wire format alignment, signal handler -- Extracted duplicated time utility, fixed stats counting -- Python test client updated for websocket-client library -- Added MessageStripper to strip large array fields from Image, PointCloud2, LaserScan, OccupancyGrid, CompressedImage -- New ROS2 parameter `strip_large_messages` (default: true) +### Core (always required) +- **ZSTD** — compression (`libzstd-dev`) +- **spdlog** — logging (system package or FetchContent) +- **IXWebSocket** — WebSocket (vendored in 3rdparty/) +- **nlohmann/json** — JSON (header-only, in 3rdparty/) +- **tl::expected** — error handling (header-only, in 3rdparty/) -## Important Design Decisions +### ROS2 Backend +- `rclcpp`, `ament_index_cpp`, `ament_cmake` +- `sensor_msgs`, `nav_msgs` (for message stripper) +- `ament_cmake_gtest` (test only) + +### RTI Backend +- RTI Connext DDS (`RTIConnextDDS::cpp2_api`) +- CLI11 (FetchContent, for CLI parsing) + +## Testing + +### Test Count: 154 unit tests across 10 test suites -### 1. Middleware Abstraction -**Decision**: Use abstract `MiddlewareInterface` class -**Rationale**: Allow future middleware replacement if needed -**Impact**: Slight overhead, but provides flexibility -**Current**: WebSocketMiddleware using IXWebSocket - -### 2. Session Identity via WebSocket -**Decision**: Use WebSocket connection identity (`connectionState->getId()`) for session tracking -**Rationale**: Natural per-connection identity, no client-side UUID management needed -**Benefit**: Automatic disconnect detection via WebSocket close events - -### 3. Shared Subscriptions with Reference Counting -**Decision**: Single ROS2 subscription per topic, shared across clients -**Rationale**: Reduces resource usage, improves scalability -**Impact**: Requires careful reference counting and thread safety - -### 4. Custom Binary Serialization -**Decision**: Hand-craft aggregated message serialization -**Rationale**: Simple format, no external dependencies, minimal overhead -**Impact**: Must handle endianness and test cross-platform compatibility - -### 5. 50 Hz Publish Rate -**Decision**: Fixed timer at 50 Hz for aggregated messages -**Rationale**: Balances latency vs. network overhead -**Configuration**: Make configurable for different use cases - -### 6. Schema Extraction via .msg Files -**Decision**: Read .msg files directly from ROS2 package share directories instead of runtime introspection -**Rationale**: Simpler implementation, more reliable for complex types, matches rosbag2 approach -**Implementation**: Use `ament_index_cpp` to locate packages, recursively expand nested types with depth-first traversal -**Impact**: Requires ROS2 packages to be installed; produces identical schemas to rosbag2 MCAP storage - -## Key References - -### ROS2 Documentation -- GenericSubscription: https://api.nav2.org/rolling/html/generic__subscription_8hpp_source.html -- Type Introspection: https://github.com/ros2/rosidl/tree/master/rosidl_typesupport_introspection_cpp - -### Schema Extraction Examples -- rosbag2 MCAP storage: https://github.com/ros2/rosbag2/blob/rolling/rosbag2_storage_mcap/src/mcap_storage.cpp -- Message definition access: Use `message.__class__._full_text` in Python - -### IXWebSocket -- GitHub: https://github.com/machinezone/IXWebSocket -- Version: v11.4.6 (fetched via CMake FetchContent) - -## Testing Strategy - -### Unit Tests (gtest) -- Component isolation -- Thread safety verification -- Edge case handling -- 91 tests across 8 test files - -### Integration Tests (Python) -- Full workflow testing with real rosbag data -- Multi-client scenarios -- Session timeout verification -- Performance benchmarking - -### Manual Testing Workflow +### Commands ```bash -# Terminal 1: Play rosbag -source /opt/ros/humble/setup.bash -ros2 bag play DATA/sample.mcap --loop +# Regular build + test +cd ~/ws_plotjuggler && source /opt/ros/humble/setup.bash +colcon build --packages-select pj_bridge --cmake-args -DCMAKE_BUILD_TYPE=Release +colcon test --packages-select pj_bridge && colcon test-result --verbose -# Terminal 2: Run server -source /opt/ros/humble/setup.bash -ros2 run pj_ros_bridge pj_ros_bridge_node --ros-args --log-level debug +# TSAN +colcon build --packages-select pj_bridge --build-base build_tsan --install-base install_tsan --cmake-args -DCMAKE_BUILD_TYPE=Release -DENABLE_TSAN=ON +source install_tsan/setup.bash +TSAN_OPTIONS="suppressions=src/pj_ros_bridge/tsan_suppressions.txt" setarch $(uname -m) -R build_tsan/pj_bridge/pj_bridge_tests -# Terminal 3: Run Python test client -python3 tests/integration/test_client.py --subscribe +# ASAN +colcon build --packages-select pj_bridge --build-base build_asan --install-base install_asan --cmake-args -DCMAKE_BUILD_TYPE=Release -DENABLE_ASAN=ON +source install_asan/setup.bash +ASAN_OPTIONS="new_delete_type_mismatch=0" LSAN_OPTIONS="suppressions=src/pj_ros_bridge/asan_suppressions.txt" build_asan/pj_bridge/pj_bridge_tests + +# Format code (before committing) +pre-commit run -a ``` -## Configuration Parameters +### Notes +- Sanitizer binaries MUST be run with ROS2 sourced (tests need `AMENT_PREFIX_PATH`) +- TSAN exits with code 66 due to pre-existing IXWebSocket warnings (suppressed) — this is normal +- Convenience script available: `./run_and_test.sh` + +## Configuration -ROS2 parameters (set via `--ros-args -p`): +### ROS2 (via `--ros-args -p`): ```yaml port: 8080 # WebSocket port -publish_rate: 50.0 # Hz - aggregation publish rate -session_timeout: 10.0 # seconds - client heartbeat timeout +publish_rate: 50.0 # Hz +session_timeout: 10.0 # seconds +strip_large_messages: true # Strip Image/PointCloud2/etc data fields ``` -## Known Challenges & Solutions - -### 1. Schema Extraction for Custom Types -**Challenge**: Custom message types from sample.mcap may not expose schema correctly -**Approach**: Test incrementally, start with standard messages -**Monitor**: Test with `ims_msgs` and `AsensusMessaging` types early - -### 2. Thread Safety -**Challenge**: Concurrent access to buffers and sessions -**Approach**: Use explicit mutexes from the start, write thread safety tests -**Tool**: Use thread sanitizer during testing - -### 3. Performance at High Message Rates -**Challenge**: sample.mcap has 463,156 messages of some types -**Approach**: Profile early, optimize serialization and buffer operations -**Fallback**: Make publish rate configurable, implement message dropping if needed - -### 4. CDR Serialization Portability -**Challenge**: Serialized messages may have endianness issues -**Approach**: Document format assumptions, test cross-platform -**Mitigation**: Add endianness indicator to message header if needed - -## Success Criteria - -Project complete when: -- ✅ Server successfully bridges all topics from sample.mcap -- ✅ Multiple Python clients can connect simultaneously -- ✅ Aggregated messages published consistently at 50 Hz -- ✅ Session management handles connects/disconnects/timeouts correctly -- ✅ All unit tests pass (>80% code coverage) -- ✅ Integration tests pass with real rosbag data -- ✅ No memory leaks or crashes during 1-hour stress test -- ✅ Documentation is complete and clear -- ✅ Performance requirements met: - - ≥10 concurrent clients - - ≥1000 messages/second throughput - - <100ms latency (receive_time - publish_time) - -## Notes for Future Sessions - -### When resuming work: -1. Review any recent code changes (git log) -2. Ensure build environment is properly sourced -3. Run existing tests to verify baseline -4. Follow coding standards in .clang-tidy - -### Before committing code: -1. Run `pre-commit run -a` to format all code -2. Run unit tests: `colcon test --packages-select pj_ros_bridge` -3. Test with sample.mcap rosbag (if applicable) -4. Update documentation if needed -5. Update milestone checklist in this file - -### Common commands: +### RTI (via CLI flags): ```bash -# Build -cd ~/ws_plotjuggler && source /opt/ros/humble/setup.bash && colcon build --packages-select pj_ros_bridge --cmake-args -DCMAKE_BUILD_TYPE=Release - -# Format code (before committing) -pre-commit run -a - -# Test -colcon test --packages-select pj_ros_bridge && colcon test-result --all +pj_bridge_rti --domains 0 1 --port 8080 --publish-rate 50 --session-timeout 10 +``` -# Run server (default configuration - port 8080) -ros2 run pj_ros_bridge pj_ros_bridge_node +## Important Design Decisions -# Run server with custom parameters -ros2 run pj_ros_bridge pj_ros_bridge_node --ros-args \ - -p port:=9090 \ - -p publish_rate:=30.0 \ - -p session_timeout:=15.0 +1. **Backend-agnostic core via interfaces**: `TopicSourceInterface` and `SubscriptionManagerInterface` allow the same `BridgeServer` to work with ROS2 or RTI DDS. -# Inspect rosbag -ros2 bag info DATA/sample.mcap +2. **spdlog for logging**: Replaced `RCLCPP_*` macros in the core. System spdlog is required for ROS2 builds (ABI compatibility). FetchContent fallback for standalone builds. -# Play rosbag -ros2 bag play DATA/sample.mcap +3. **Event loop externalized**: `BridgeServer` exposes `process_requests()`, `publish_aggregated_messages()`, `check_session_timeouts()` as public methods. The entry point drives timing. -# Python test client -pip install websocket-client zstandard -python3 tests/integration/test_client.py --port 8080 --subscribe /topic1 /topic2 +4. **Message data as `shared_ptr>`**: Backend-agnostic type. ROS2 adapter copies from `SerializedMessage`; RTI adapter already produces this type natively. -# Build with Thread Sanitizer (TSAN) -colcon build --packages-select pj_ros_bridge --build-base build_tsan --install-base install_tsan --cmake-args -DCMAKE_BUILD_TYPE=Release -DENABLE_TSAN=ON -# Run TSAN tests (setarch needed on kernel 6.x for ASLR compat) -TSAN_OPTIONS="suppressions=tsan_suppressions.txt" setarch $(uname -m) -R build_tsan/pj_ros_bridge/pj_ros_bridge_tests +5. **TTL cleanup by received_at_ns**: MessageBuffer cleanup uses wall-clock reception time, not the message timestamp (which could be from sim time). -# Build with Address Sanitizer (ASAN) -colcon build --packages-select pj_ros_bridge --build-base build_asan --install-base install_asan --cmake-args -DCMAKE_BUILD_TYPE=Release -DENABLE_ASAN=ON -# Run ASAN tests -ASAN_OPTIONS="new_delete_type_mismatch=0" LSAN_OPTIONS="suppressions=asan_suppressions.txt" build_asan/pj_ros_bridge/pj_ros_bridge_tests -``` +6. **Improved lock ordering**: Build serialized frames under `last_sent_mutex_`, send outside lock (adopted from DDS bridge to minimize lock contention). --- -**Last Updated**: 2026-02-04 -**Project Phase**: API v2 implemented, Conan removed (using FetchContent for ixwebsocket) -**Middleware**: IXWebSocket (fetched via CMake FetchContent) -**Test Status**: 150 unit tests passing -**Executable**: pj_ros_bridge_node ready to run +**Last Updated**: 2026-02-26 +**Project Phase**: Unified multi-backend architecture +**Test Status**: 154 unit tests passing (all sanitizers clean) +**Executables**: `pj_bridge_ros2` (ROS2), `pj_bridge_rti` (RTI DDS) diff --git a/CMakeLists.txt b/CMakeLists.txt index 4bedfdb..ebbfd4b 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,158 +1,254 @@ -cmake_minimum_required(VERSION 3.8) -project(pj_ros_bridge) +cmake_minimum_required(VERSION 3.14) +project(pj_bridge) # Compiler settings if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wpedantic) endif() -# Set C++17 standard set(CMAKE_CXX_STANDARD 17) set(CMAKE_CXX_STANDARD_REQUIRED ON) -# Thread Sanitizer option +# Sanitizer options option(ENABLE_TSAN "Enable Thread Sanitizer" OFF) if(ENABLE_TSAN) add_compile_options(-fsanitize=thread -g -O1) add_link_options(-fsanitize=thread) endif() -# Address Sanitizer option option(ENABLE_ASAN "Enable Address Sanitizer" OFF) if(ENABLE_ASAN) add_compile_options(-fsanitize=address -fno-omit-frame-pointer -g -O1) add_link_options(-fsanitize=address) endif() -# Add cmake module path for custom find modules +# Custom cmake modules list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake) -# Find ROS2 dependencies -find_package(ament_cmake REQUIRED) -find_package(ament_index_cpp REQUIRED) -find_package(rclcpp REQUIRED) -find_package(sensor_msgs REQUIRED) -find_package(nav_msgs REQUIRED) +# ============================================================================ +# Backend detection +# ============================================================================ +find_package(ament_cmake QUIET) +# RTI Connext DDS — only look for it if explicitly requested or available +option(ENABLE_RTI "Build RTI Connext DDS backend" OFF) -# Find external dependencies -find_package(ZSTD REQUIRED) +if(ament_cmake_FOUND) + message(STATUS "ROS2 (ament_cmake) found — will build pj_bridge_ros2") +endif() -# IXWebSocket dependency management -option(USE_VENDORED_IXWEBSOCKET "Use vendored IXWebSocket library (on by default)" ON) +if(ENABLE_RTI) + find_package(RTIConnextDDS QUIET) + if(RTIConnextDDS_FOUND) + message(STATUS "RTI Connext DDS found — will build pj_bridge_rti") + else() + message(WARNING "ENABLE_RTI=ON but RTIConnextDDS not found — skipping RTI backend") + endif() +endif() +# ============================================================================ +# Common dependencies (for app layer) +# ============================================================================ +find_package(ZSTD REQUIRED) + +# IXWebSocket (vendored in 3rdparty/) +option(USE_VENDORED_IXWEBSOCKET "Use vendored IXWebSocket library" ON) if(USE_VENDORED_IXWEBSOCKET) - # Use vendored ixwebsocket from 3rdparty/ message(STATUS "Using vendored IXWebSocket (3rdparty/ixwebsocket)") set(USE_TLS OFF CACHE BOOL "" FORCE) set(USE_ZLIB ON CACHE BOOL "" FORCE) set(IXWEBSOCKET_INSTALL OFF CACHE BOOL "" FORCE) add_subdirectory(3rdparty/ixwebsocket) else() - # Try to find ixwebsocket from system (Conan, vcpkg, system package, etc.) - message(STATUS "Looking for system-installed IXWebSocket...") find_package(ixwebsocket REQUIRED) endif() -# Include directories -include_directories( - include - ${CMAKE_CURRENT_SOURCE_DIR}/3rdparty -) - -################################################################################## +# spdlog — prefer system package (required for ROS2 ABI compatibility with +# librcl_logging_spdlog), fall back to FetchContent for standalone builds. +include(FetchContent) +find_package(spdlog QUIET) +if(NOT spdlog_FOUND) + message(STATUS "System spdlog not found — fetching via FetchContent") + FetchContent_Declare( + spdlog + URL https://github.com/gabime/spdlog/archive/refs/tags/v1.15.0.tar.gz + URL_HASH SHA256=9962648c9b4f1a7bbc76fd8d9172555bad1871fdb14ff4f842ef87949682caa5 + ) + set(SPDLOG_INSTALL OFF CACHE BOOL "" FORCE) + FetchContent_MakeAvailable(spdlog) +else() + message(STATUS "Using system spdlog ${spdlog_VERSION}") +endif() -# ---- Trick to pass an absolute path to C++ code ---- +# ============================================================================ +# Data path for tests +# ============================================================================ get_filename_component(DATA_PATH "${CMAKE_CURRENT_LIST_DIR}/DATA" ABSOLUTE) configure_file(data_path.hpp.in "${CMAKE_BINARY_DIR}/include/data_path.hpp" @ONLY) add_library(data_path INTERFACE IMPORTED) target_include_directories(data_path INTERFACE ${CMAKE_BINARY_DIR}/include) -################################################################################## - -# Create library -add_library(${PROJECT_NAME}_lib - src/middleware/websocket_middleware.cpp - src/topic_discovery.cpp - src/schema_extractor.cpp - src/message_buffer.cpp - src/generic_subscription_manager.cpp - src/session_manager.cpp - src/message_serializer.cpp - src/message_stripper.cpp - src/bridge_server.cpp +# ============================================================================ +# pj_bridge_app — backend-agnostic core library +# ============================================================================ +add_library(pj_bridge_app STATIC + app/src/middleware/websocket_middleware.cpp + app/src/message_buffer.cpp + app/src/session_manager.cpp + app/src/message_serializer.cpp + app/src/bridge_server.cpp +) + +target_include_directories(pj_bridge_app PUBLIC + ${CMAKE_CURRENT_SOURCE_DIR}/app/include + ${CMAKE_CURRENT_SOURCE_DIR}/3rdparty ) -target_link_libraries(${PROJECT_NAME}_lib +target_link_libraries(pj_bridge_app PUBLIC zstd::libzstd_shared ixwebsocket::ixwebsocket + spdlog::spdlog ) -ament_target_dependencies(${PROJECT_NAME}_lib - ament_index_cpp - rclcpp - sensor_msgs - nav_msgs -) +# ============================================================================ +# pj_bridge_ros2 — ROS2 backend (only if ament_cmake found) +# ============================================================================ +if(ament_cmake_FOUND) + find_package(ament_index_cpp REQUIRED) + find_package(rclcpp REQUIRED) + find_package(sensor_msgs REQUIRED) + find_package(nav_msgs REQUIRED) -# Create executable -add_executable(${PROJECT_NAME}_node - src/main.cpp -) + # ROS2 plugin library (sources shared between executable and tests) + add_library(pj_bridge_ros2_lib STATIC + ros2/src/topic_discovery.cpp + ros2/src/schema_extractor.cpp + ros2/src/generic_subscription_manager.cpp + ros2/src/message_stripper.cpp + ros2/src/ros2_topic_source.cpp + ros2/src/ros2_subscription_manager.cpp + ) -target_link_libraries(${PROJECT_NAME}_node - ${PROJECT_NAME}_lib -) + target_include_directories(pj_bridge_ros2_lib PUBLIC + ${CMAKE_CURRENT_SOURCE_DIR}/ros2/include + ) -ament_target_dependencies(${PROJECT_NAME}_node - rclcpp -) + target_link_libraries(pj_bridge_ros2_lib PUBLIC + pj_bridge_app + ) -# Install executable -install(TARGETS ${PROJECT_NAME}_node - DESTINATION lib/${PROJECT_NAME} -) + ament_target_dependencies(pj_bridge_ros2_lib PUBLIC + ament_index_cpp + rclcpp + sensor_msgs + nav_msgs + ) -# Install launch files -install( - DIRECTORY launch/ - DESTINATION share/${PROJECT_NAME}/launch -) + # ROS2 executable + add_executable(pj_bridge_ros2 + ros2/src/main.cpp + ) + + target_link_libraries(pj_bridge_ros2 + pj_bridge_ros2_lib + ) -# Install headers + ament_target_dependencies(pj_bridge_ros2 + rclcpp + ) + + # Install ROS2 executable + install(TARGETS pj_bridge_ros2 + DESTINATION lib/${PROJECT_NAME} + ) +endif() + +# ============================================================================ +# pj_bridge_rti — RTI DDS backend (only if RTIConnextDDS found) +# ============================================================================ +if(ENABLE_RTI AND RTIConnextDDS_FOUND) + # CLI11 for command-line parsing + FetchContent_Declare( + cli11 + URL https://github.com/CLIUtils/CLI11/archive/refs/tags/v2.4.2.tar.gz + ) + set(CLI11_PRECOMPILED OFF CACHE BOOL "" FORCE) + FetchContent_MakeAvailable(cli11) + + add_library(pj_bridge_rti_lib STATIC + rti/src/dds_topic_discovery.cpp + rti/src/dds_subscription_manager.cpp + rti/src/rti_topic_source.cpp + rti/src/rti_subscription_manager.cpp + ) + + target_include_directories(pj_bridge_rti_lib PUBLIC + ${CMAKE_CURRENT_SOURCE_DIR}/rti/include + ) + + target_link_libraries(pj_bridge_rti_lib PUBLIC + pj_bridge_app + RTIConnextDDS::cpp2_api + ) + + add_executable(pj_bridge_rti + rti/src/main.cpp + ) + + target_link_libraries(pj_bridge_rti + pj_bridge_rti_lib + CLI11::CLI11 + ) + + install(TARGETS pj_bridge_rti + DESTINATION lib/${PROJECT_NAME} + ) +endif() + +# ============================================================================ +# Install common +# ============================================================================ install( - DIRECTORY include/ + DIRECTORY app/include/ DESTINATION include ) -# Install library install( - TARGETS ${PROJECT_NAME}_lib - EXPORT ${PROJECT_NAME}_libTargets + TARGETS pj_bridge_app + EXPORT ${PROJECT_NAME}_appTargets ARCHIVE DESTINATION lib LIBRARY DESTINATION lib RUNTIME DESTINATION bin ) +# Install launch files (if they exist) +if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/launch) + install( + DIRECTORY launch/ + DESTINATION share/${PROJECT_NAME}/launch + ) +endif() + +# ============================================================================ # Testing -if(BUILD_TESTING) +# ============================================================================ +if(BUILD_TESTING AND ament_cmake_FOUND) find_package(ament_cmake_gtest REQUIRED) - # Add unit tests ament_add_gtest(${PROJECT_NAME}_tests tests/unit/test_websocket_middleware.cpp - tests/unit/test_topic_discovery.cpp - tests/unit/test_schema_extractor.cpp tests/unit/test_message_buffer.cpp - tests/unit/test_generic_subscription_manager.cpp tests/unit/test_session_manager.cpp tests/unit/test_message_serializer.cpp - tests/unit/test_message_stripper.cpp tests/unit/test_bridge_server.cpp tests/unit/test_protocol_constants.cpp + tests/unit/test_topic_discovery.cpp + tests/unit/test_schema_extractor.cpp + tests/unit/test_generic_subscription_manager.cpp + tests/unit/test_message_stripper.cpp ) target_link_libraries(${PROJECT_NAME}_tests - ${PROJECT_NAME}_lib + pj_bridge_ros2_lib data_path ) @@ -162,17 +258,21 @@ if(BUILD_TESTING) nav_msgs ) - # When TSAN is enabled, suppress known third-party warnings during CTest runs + # Sanitizer environment settings for CTest if(ENABLE_TSAN) set_tests_properties(${PROJECT_NAME}_tests PROPERTIES ENVIRONMENT "TSAN_OPTIONS=suppressions=${CMAKE_CURRENT_SOURCE_DIR}/tsan_suppressions.txt") endif() - # When ASAN is enabled, suppress known third-party issues during CTest runs if(ENABLE_ASAN) set_tests_properties(${PROJECT_NAME}_tests PROPERTIES ENVIRONMENT "ASAN_OPTIONS=new_delete_type_mismatch=0;LSAN_OPTIONS=suppressions=${CMAKE_CURRENT_SOURCE_DIR}/asan_suppressions.txt") endif() endif() -ament_package() +# ============================================================================ +# ament package (must come last) +# ============================================================================ +if(ament_cmake_FOUND) + ament_package() +endif() diff --git a/include/pj_ros_bridge/bridge_server.hpp b/app/include/pj_bridge/bridge_server.hpp similarity index 63% rename from include/pj_ros_bridge/bridge_server.hpp rename to app/include/pj_bridge/bridge_server.hpp index 6ce1e73..6c3ac3d 100644 --- a/include/pj_ros_bridge/bridge_server.hpp +++ b/app/include/pj_bridge/bridge_server.hpp @@ -1,64 +1,73 @@ /* * Copyright (C) 2026 Davide Faconti * - * This file is part of pj_ros_bridge. + * This file is part of pj_bridge. * - * pj_ros_bridge is free software: you can redistribute it and/or modify + * pj_bridge is free software: you can redistribute it and/or modify * it under the terms of the GNU Affero General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * - * pj_ros_bridge is distributed in the hope that it will be useful, + * pj_bridge is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU Affero General Public License for more details. * * You should have received a copy of the GNU Affero General Public License - * along with pj_ros_bridge. If not, see . + * along with pj_bridge. If not, see . */ -#ifndef PJ_ROS_BRIDGE__BRIDGE_SERVER_HPP_ -#define PJ_ROS_BRIDGE__BRIDGE_SERVER_HPP_ +#pragma once #include #include #include -#include #include +#include -#include "pj_ros_bridge/generic_subscription_manager.hpp" -#include "pj_ros_bridge/message_buffer.hpp" -#include "pj_ros_bridge/middleware/middleware_interface.hpp" -#include "pj_ros_bridge/schema_extractor.hpp" -#include "pj_ros_bridge/session_manager.hpp" -#include "pj_ros_bridge/topic_discovery.hpp" +#include "pj_bridge/message_buffer.hpp" +#include "pj_bridge/middleware/middleware_interface.hpp" +#include "pj_bridge/session_manager.hpp" +#include "pj_bridge/subscription_manager_interface.hpp" +#include "pj_bridge/topic_source_interface.hpp" -namespace pj_ros_bridge { +namespace pj_bridge { /** * @brief Main bridge server that coordinates all components * - * Orchestrates the ROS2 bridge by managing: + * Orchestrates the bridge by managing: * - Client sessions and heartbeats - * - Topic discovery and subscriptions + * - Topic discovery and subscriptions (via abstract interfaces) * - Message buffering and aggregation * - API request/response handling * * Thread-safe for concurrent client connections. + * Event loop is driven externally (no internal timers). */ class BridgeServer { public: + struct StatsSnapshot { + std::unordered_map topic_receive_counts; + std::unordered_map topic_forward_counts; + uint64_t publish_cycles; + uint64_t total_bytes_published; + }; + /** * @brief Constructor - * @param node ROS2 node for communication + * @param topic_source Backend-specific topic discovery and schema provider + * @param subscription_manager Backend-specific subscription manager * @param middleware Middleware interface for network communication * @param port Server port (default: 8080) * @param session_timeout Session timeout in seconds (default: 10.0) * @param publish_rate Message aggregation publish rate in Hz (default: 50.0) */ explicit BridgeServer( - std::shared_ptr node, std::shared_ptr middleware, int port = 8080, - double session_timeout = 10.0, double publish_rate = 50.0, bool strip_large_messages = true); + std::shared_ptr topic_source, + std::shared_ptr subscription_manager, + std::shared_ptr middleware, int port = 8080, double session_timeout = 10.0, + double publish_rate = 50.0); /// Shuts down middleware before members are destroyed, preventing /// disconnect callbacks from firing into a partially destroyed object. @@ -80,9 +89,24 @@ class BridgeServer { */ bool process_requests(); + /** + * @brief Publish aggregated messages to connected clients + * + * Called externally by the event loop (e.g. at 50 Hz). + * Moves messages from the buffer, serializes per subscription group, + * compresses with ZSTD, and sends binary frames. + */ + void publish_aggregated_messages(); + + /** + * @brief Check for timed-out sessions and clean them up + * + * Called externally by the event loop (e.g. every 1 second). + */ + void check_session_timeouts(); + /** * @brief Get the number of active client sessions - * @return Number of active sessions */ size_t get_active_session_count() const; @@ -92,46 +116,32 @@ class BridgeServer { */ std::pair get_publish_stats() const; + /** + * @brief Snapshot and reset statistics counters + */ + StatsSnapshot snapshot_and_reset_stats(); + private: std::string handle_get_topics(const std::string& client_id, const nlohmann::json& request); std::string handle_subscribe(const std::string& client_id, const nlohmann::json& request); std::string handle_unsubscribe(const std::string& client_id, const nlohmann::json& request); std::string handle_heartbeat(const std::string& client_id, const nlohmann::json& request); - - /// Handle pause command - pauses binary frame delivery for client std::string handle_pause(const std::string& client_id, const nlohmann::json& request); - - /// Handle resume command - resumes binary frame delivery for client std::string handle_resume(const std::string& client_id, const nlohmann::json& request); std::string create_error_response( const std::string& error_code, const std::string& message, const nlohmann::json& request) const; - void check_session_timeouts(); - - /// Inject standard response fields (protocol_version, optional id) void inject_response_fields(nlohmann::json& response, const nlohmann::json& request) const; void cleanup_session(const std::string& client_id); - void publish_aggregated_messages(); - - /// Create a message callback that buffers messages with optional stripping. - /// If stripping fails (e.g., corrupted CDR data), the original message - /// is forwarded instead of crashing the callback. - MessageCallback make_buffer_callback(const std::string& topic_type); - // ROS2 components - std::shared_ptr node_; + // Backend interfaces (owned) + std::shared_ptr topic_source_; + std::shared_ptr subscription_manager_; // Core components std::shared_ptr middleware_; - std::unique_ptr topic_discovery_; - std::unique_ptr schema_extractor_; - std::unique_ptr subscription_manager_; std::shared_ptr message_buffer_; std::unique_ptr session_manager_; - // Timers - rclcpp::TimerBase::SharedPtr session_timeout_timer_; - rclcpp::TimerBase::SharedPtr publish_timer_; - // Configuration int port_; double session_timeout_; @@ -143,11 +153,11 @@ class BridgeServer { // Statistics uint64_t total_messages_published_; uint64_t total_bytes_published_; + uint64_t publish_cycles_; + std::unordered_map topic_receive_counts_; + std::unordered_map topic_forward_counts_; mutable std::mutex stats_mutex_; - // Message stripping configuration - bool strip_large_messages_; - // Lock ordering (to prevent deadlock): // cleanup_mutex_ > last_sent_mutex_ > stats_mutex_ // SessionManager::mutex_ may be acquired while holding any of these. @@ -159,6 +169,4 @@ class BridgeServer { std::mutex last_sent_mutex_; }; -} // namespace pj_ros_bridge - -#endif // PJ_ROS_BRIDGE__BRIDGE_SERVER_HPP_ +} // namespace pj_bridge diff --git a/app/include/pj_bridge/message_buffer.hpp b/app/include/pj_bridge/message_buffer.hpp new file mode 100644 index 0000000..20bbc40 --- /dev/null +++ b/app/include/pj_bridge/message_buffer.hpp @@ -0,0 +1,84 @@ +/* + * Copyright (C) 2026 Davide Faconti + * + * This file is part of pj_bridge. + * + * pj_bridge is free software: you can redistribute it and/or modify + * it under the terms of the GNU Affero General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * pj_bridge is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License + * along with pj_bridge. If not, see . + */ + +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace pj_bridge { + +/// A single message held in the buffer, waiting to be aggregated and sent. +struct BufferedMessage { + uint64_t timestamp_ns; ///< Source-clock timestamp from the middleware + uint64_t received_at_ns; ///< Wall-clock time when add_message() was called (used for TTL cleanup) + std::shared_ptr> data; ///< CDR-encoded message payload +}; + +/// Thread-safe per-topic message buffer with time-based auto-cleanup. +/// +/// Messages arrive via add_message() (called from the SubscriptionManager callback) +/// and are drained by move_messages() (called from BridgeServer::publish_aggregated_messages()). +/// +/// Stale messages older than max_message_age_ns are automatically removed on each +/// add_message() call. Cleanup uses received_at_ns (wall-clock), not timestamp_ns, +/// so sim-time offsets don't cause premature eviction or unbounded growth. +/// +/// Thread safety: all public methods are mutex-protected. add_message() may be +/// called concurrently with move_messages() from different threads. +class MessageBuffer { + public: + static constexpr uint64_t kDefaultMaxMessageAgeNs = 1'000'000'000; ///< 1 second + + /// @param max_message_age_ns TTL for buffered messages (default 1 second). + explicit MessageBuffer(uint64_t max_message_age_ns = kDefaultMaxMessageAgeNs); + + /// Add a message to the buffer for the given topic. + /// Triggers cleanup of stale messages before inserting. + /// @param topic_name fully-qualified topic name + /// @param timestamp_ns source-clock timestamp from the middleware + /// @param data CDR-encoded message payload (shared ownership) + void add_message(const std::string& topic_name, uint64_t timestamp_ns, std::shared_ptr> data); + + /// Atomically drain all buffered messages into @p out_messages. + /// After this call the internal buffer is empty. Messages are appended to any + /// existing entries in out_messages (keyed by topic name). + void move_messages(std::unordered_map>& out_messages); + + /// Discard all buffered messages across all topics. + void clear(); + + /// Return the total number of messages across all topics. + size_t size() const; + + private: + mutable std::mutex mutex_; + std::unordered_map> topic_buffers_; + uint64_t max_message_age_ns_; + + void cleanup_old_messages(); +}; + +} // namespace pj_bridge diff --git a/include/pj_ros_bridge/message_serializer.hpp b/app/include/pj_bridge/message_serializer.hpp similarity index 68% rename from include/pj_ros_bridge/message_serializer.hpp rename to app/include/pj_bridge/message_serializer.hpp index 8a982b1..a696515 100644 --- a/include/pj_ros_bridge/message_serializer.hpp +++ b/app/include/pj_bridge/message_serializer.hpp @@ -1,38 +1,36 @@ /* * Copyright (C) 2026 Davide Faconti * - * This file is part of pj_ros_bridge. + * This file is part of pj_bridge. * - * pj_ros_bridge is free software: you can redistribute it and/or modify + * pj_bridge is free software: you can redistribute it and/or modify * it under the terms of the GNU Affero General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * - * pj_ros_bridge is distributed in the hope that it will be useful, + * pj_bridge is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU Affero General Public License for more details. * * You should have received a copy of the GNU Affero General Public License - * along with pj_ros_bridge. If not, see . + * along with pj_bridge. If not, see . */ -#ifndef PJ_ROS_BRIDGE__MESSAGE_SERIALIZER_HPP_ -#define PJ_ROS_BRIDGE__MESSAGE_SERIALIZER_HPP_ +#pragma once +#include #include -#include #include #include -namespace pj_ros_bridge { +namespace pj_bridge { /** * @brief Serializes aggregated messages using streaming zero-copy approach * * Design principles: * - Streaming API: Messages serialized immediately to output buffer (no intermediate storage) - * - Zero-copy: Reads directly from SerializedMessage without data duplication * - No header: Messages serialized sequentially without placeholder or count header * - Little-endian: All multi-byte values use little-endian byte order * @@ -41,15 +39,12 @@ namespace pj_ros_bridge { * - Topic name (N bytes UTF-8) * - Timestamp (uint64_t nanoseconds since epoch, little-endian) * - Message data length (uint32_t little-endian) - * - Message data (N bytes - CDR serialized from ROS2) + * - Message data (N bytes - CDR serialized) * * Thread safety: Not thread-safe, use from single thread only */ class AggregatedMessageSerializer { public: - /** - * @brief Constructor - */ AggregatedMessageSerializer(); /** @@ -57,10 +52,10 @@ class AggregatedMessageSerializer { * * @param topic_name Topic name * @param timestamp_ns Timestamp in nanoseconds since epoch - * @param serialized_msg ROS2 serialized message (CDR format) + * @param data Pointer to CDR serialized message bytes + * @param data_size Size of the message data in bytes */ - void serialize_message( - const std::string& topic_name, uint64_t timestamp_ns, const rclcpp::SerializedMessage& serialized_msg); + void serialize_message(const std::string& topic_name, uint64_t timestamp_ns, const std::byte* data, size_t data_size); /** * @brief Get reference to the serialized data buffer @@ -95,38 +90,22 @@ class AggregatedMessageSerializer { /** * @brief Compress data using ZSTD (compression level 1) - * - * @param data Data to compress - * @param compressed_data Output parameter - receives compressed data - * @throws std::runtime_error if compression fails */ static void compress_zstd(const std::vector& data, std::vector& compressed_data); /** * @brief Decompress ZSTD data - * - * @param compressed_data Compressed data - * @param decompressed Output parameter - receives decompressed data - * @throws std::runtime_error if decompression fails */ static void decompress_zstd(const std::vector& compressed_data, std::vector& decompressed); private: - // Buffer for serialized data std::vector serialized_data_; - - // Count of messages added since last clear size_t message_count_{0}; - /** - * @brief Write a value to buffer in little-endian format - */ template static void write_le(std::vector& buffer, T value); static void write_str(std::vector& buffer, const std::string& str); }; -} // namespace pj_ros_bridge - -#endif // PJ_ROS_BRIDGE__MESSAGE_SERIALIZER_HPP_ +} // namespace pj_bridge diff --git a/app/include/pj_bridge/middleware/middleware_interface.hpp b/app/include/pj_bridge/middleware/middleware_interface.hpp new file mode 100644 index 0000000..abda272 --- /dev/null +++ b/app/include/pj_bridge/middleware/middleware_interface.hpp @@ -0,0 +1,84 @@ +/* + * Copyright (C) 2026 Davide Faconti + * + * This file is part of pj_bridge. + * + * pj_bridge is free software: you can redistribute it and/or modify + * it under the terms of the GNU Affero General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * pj_bridge is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License + * along with pj_bridge. If not, see . + */ + +#pragma once + +#include +#include +#include +#include + +#include "tl/expected.hpp" + +namespace pj_bridge { + +/// Abstract transport layer between BridgeServer and clients. +/// +/// Implementations handle connection management and bidirectional messaging. +/// The interface separates two data channels: +/// - **Text** (request/reply): JSON API commands (subscribe, heartbeat, etc.) +/// - **Binary** (per-client push): ZSTD-compressed aggregated message frames +/// +/// Thread safety: implementations must be safe to call from multiple threads. +/// BridgeServer calls receive_request() and send_reply() from the request-processing +/// loop, and send_binary() from the publish loop, potentially concurrently. +class MiddlewareInterface { + public: + virtual ~MiddlewareInterface() = default; + + /// Start listening on the given port. Must be called before any other method. + /// @return void on success, or an error string describing the failure. + virtual tl::expected initialize(uint16_t port) = 0; + + /// Stop the server and close all client connections. + /// After this call, is_ready() must return false. + virtual void shutdown() = 0; + + /// Poll for the next incoming text request (non-blocking or short-blocking). + /// @param[out] data the raw request bytes (UTF-8 JSON) + /// @param[out] client_identity opaque client identifier for send_reply() + /// @return true if a request was dequeued, false if the queue was empty. + virtual bool receive_request(std::vector& data, std::string& client_identity) = 0; + + /// Send a text reply to a specific client. + /// @return true if the message was sent, false if the client is gone. + virtual bool send_reply(const std::string& client_identity, const std::vector& data) = 0; + + /// Broadcast binary data to all connected clients. + /// @return true if at least one client received the data. + virtual bool publish_data(const std::vector& data) = 0; + + /// Send binary data to a specific client (used for per-client aggregated frames). + /// @return true if the message was sent, false if the client is gone. + virtual bool send_binary(const std::string& client_identity, const std::vector& data) = 0; + + /// @return true if initialize() succeeded and shutdown() has not been called. + virtual bool is_ready() const = 0; + + using ConnectionCallback = std::function; + + /// Register a callback invoked when a new client connects. + virtual void set_on_connect(ConnectionCallback callback) = 0; + + /// Register a callback invoked when a client disconnects. + /// BridgeServer uses this to trigger session cleanup. + virtual void set_on_disconnect(ConnectionCallback callback) = 0; +}; + +} // namespace pj_bridge diff --git a/include/pj_ros_bridge/middleware/websocket_middleware.hpp b/app/include/pj_bridge/middleware/websocket_middleware.hpp similarity index 65% rename from include/pj_ros_bridge/middleware/websocket_middleware.hpp rename to app/include/pj_bridge/middleware/websocket_middleware.hpp index 5af7ec7..2c2cefa 100644 --- a/include/pj_ros_bridge/middleware/websocket_middleware.hpp +++ b/app/include/pj_bridge/middleware/websocket_middleware.hpp @@ -1,48 +1,40 @@ /* * Copyright (C) 2026 Davide Faconti * - * This file is part of pj_ros_bridge. + * This file is part of pj_bridge. * - * pj_ros_bridge is free software: you can redistribute it and/or modify + * pj_bridge is free software: you can redistribute it and/or modify * it under the terms of the GNU Affero General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * - * pj_ros_bridge is distributed in the hope that it will be useful, + * pj_bridge is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU Affero General Public License for more details. * * You should have received a copy of the GNU Affero General Public License - * along with pj_ros_bridge. If not, see . + * along with pj_bridge. If not, see . */ -#ifndef PJ_ROS_BRIDGE__MIDDLEWARE__WEBSOCKET_MIDDLEWARE_HPP_ -#define PJ_ROS_BRIDGE__MIDDLEWARE__WEBSOCKET_MIDDLEWARE_HPP_ +#pragma once #include +#include #include #include #include #include #include +#include #include #include -#include "pj_ros_bridge/middleware/middleware_interface.hpp" +#include "pj_bridge/middleware/middleware_interface.hpp" -namespace pj_ros_bridge { +namespace pj_bridge { -/** - * @brief WebSocket implementation of MiddlewareInterface using IXWebSocket - * - * Uses a single WebSocket server port. Each connected client gets a unique - * identity from the connection state. Text frames are used for JSON API - * requests/responses, binary frames for aggregated message data. - * - * Thread safety: All public methods are thread-safe. - */ class WebSocketMiddleware : public MiddlewareInterface { public: WebSocketMiddleware(); @@ -69,21 +61,15 @@ class WebSocketMiddleware : public MiddlewareInterface { std::vector data; }; - std::unique_ptr server_; + std::shared_ptr server_; - // Thread-safe incoming message queue std::queue incoming_queue_; mutable std::mutex queue_mutex_; std::condition_variable queue_cv_; - // Lock ordering (to prevent deadlock): - // state_mutex_ > clients_mutex_ > queue_mutex_ - - // Connected clients: client_id -> WebSocket shared_ptr std::unordered_map> clients_; mutable std::mutex clients_mutex_; - // Callbacks ConnectionCallback on_connect_; ConnectionCallback on_disconnect_; @@ -91,8 +77,8 @@ class WebSocketMiddleware : public MiddlewareInterface { bool initialized_; static constexpr int kReceiveTimeoutMs = 10; + static constexpr int kShutdownTimeoutSeconds = 3; + static constexpr size_t kMaxIncomingQueueSize = 1024; }; -} // namespace pj_ros_bridge - -#endif // PJ_ROS_BRIDGE__MIDDLEWARE__WEBSOCKET_MIDDLEWARE_HPP_ +} // namespace pj_bridge diff --git a/include/pj_ros_bridge/protocol_constants.hpp b/app/include/pj_bridge/protocol_constants.hpp similarity index 71% rename from include/pj_ros_bridge/protocol_constants.hpp rename to app/include/pj_bridge/protocol_constants.hpp index 82256ec..4636822 100644 --- a/include/pj_ros_bridge/protocol_constants.hpp +++ b/app/include/pj_bridge/protocol_constants.hpp @@ -1,20 +1,20 @@ /* * Copyright (C) 2026 Davide Faconti * - * This file is part of pj_ros_bridge. + * This file is part of pj_bridge. * - * pj_ros_bridge is free software: you can redistribute it and/or modify + * pj_bridge is free software: you can redistribute it and/or modify * it under the terms of the GNU Affero General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * - * pj_ros_bridge is distributed in the hope that it will be useful, + * pj_bridge is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU Affero General Public License for more details. * * You should have received a copy of the GNU Affero General Public License - * along with pj_ros_bridge. If not, see . + * along with pj_bridge. If not, see . */ #pragma once @@ -22,7 +22,7 @@ #include #include -namespace pj_ros_bridge { +namespace pj_bridge { /// Protocol version number, included in all JSON responses static constexpr int kProtocolVersion = 1; @@ -36,4 +36,7 @@ static constexpr size_t kBinaryHeaderSize = 16; /// Schema encoding identifier for ROS2 message definitions static constexpr const char* kSchemaEncodingRos2Msg = "ros2msg"; -} // namespace pj_ros_bridge +/// Schema encoding identifier for OMG IDL type definitions +static constexpr const char* kSchemaEncodingOmgIdl = "omgidl"; + +} // namespace pj_bridge diff --git a/app/include/pj_bridge/session_manager.hpp b/app/include/pj_bridge/session_manager.hpp new file mode 100644 index 0000000..5d23681 --- /dev/null +++ b/app/include/pj_bridge/session_manager.hpp @@ -0,0 +1,63 @@ +/* + * Copyright (C) 2026 Davide Faconti + * + * This file is part of pj_bridge. + * + * pj_bridge is free software: you can redistribute it and/or modify + * it under the terms of the GNU Affero General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * pj_bridge is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License + * along with pj_bridge. If not, see . + */ + +#pragma once + +#include +#include +#include +#include +#include + +namespace pj_bridge { + +struct Session { + std::string client_id; + std::unordered_map subscribed_topics; + std::chrono::steady_clock::time_point last_heartbeat; + std::chrono::steady_clock::time_point created_at; + bool paused{false}; +}; + +class SessionManager { + public: + explicit SessionManager(double timeout_seconds = 10.0); + + bool create_session(const std::string& client_id); + bool update_heartbeat(const std::string& client_id); + bool get_session(const std::string& client_id, Session& session) const; + bool update_subscriptions(const std::string& client_id, const std::unordered_map& topics); + bool add_subscription(const std::string& client_id, const std::string& topic, double rate); + bool remove_subscription(const std::string& client_id, const std::string& topic); + std::unordered_map get_subscriptions(const std::string& client_id) const; + bool remove_session(const std::string& client_id); + std::vector get_timed_out_sessions(); + std::vector get_active_sessions() const; + size_t session_count() const; + bool session_exists(const std::string& client_id) const; + bool set_paused(const std::string& client_id, bool paused); + bool is_paused(const std::string& client_id) const; + + private: + std::unordered_map sessions_; + mutable std::mutex mutex_; + std::chrono::duration timeout_duration_; +}; + +} // namespace pj_bridge diff --git a/app/include/pj_bridge/subscription_manager_interface.hpp b/app/include/pj_bridge/subscription_manager_interface.hpp new file mode 100644 index 0000000..d5780d2 --- /dev/null +++ b/app/include/pj_bridge/subscription_manager_interface.hpp @@ -0,0 +1,79 @@ +/* + * Copyright (C) 2026 Davide Faconti + * + * This file is part of pj_bridge. + * + * pj_bridge is free software: you can redistribute it and/or modify + * it under the terms of the GNU Affero General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * pj_bridge is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License + * along with pj_bridge. If not, see . + */ + +#pragma once + +#include +#include +#include +#include +#include +#include + +namespace pj_bridge { + +/// Callback invoked when a new message arrives on a subscribed topic. +/// @param topic_name the topic the message was received on +/// @param cdr_data serialized message payload (CDR-encoded) +/// @param timestamp_ns nanoseconds since epoch (source-clock timestamp) +using MessageCallback = std::function> cdr_data, uint64_t timestamp_ns)>; + +/// Abstract interface for managing middleware subscriptions with reference counting. +/// +/// Implementations wrap a backend-specific subscription mechanism (e.g. rclcpp +/// GenericSubscription for ROS2, DDS DataReader for RTI) behind a uniform API. +/// +/// Subscriptions are reference-counted: multiple clients can subscribe to the +/// same topic, and the underlying middleware subscription is only destroyed when +/// the last client unsubscribes. Each subscribe() call increments the ref count; +/// each unsubscribe() call decrements it. +/// +/// A single global MessageCallback is set once at startup. All incoming messages +/// from all topics are delivered through this callback, which feeds them into +/// the MessageBuffer for later aggregation and delivery. +/// +/// Thread safety: implementations must be safe to call from any thread. +class SubscriptionManagerInterface { + public: + virtual ~SubscriptionManagerInterface() = default; + + /// Set the global callback for all incoming messages. Must be called once + /// before any subscribe() call. + virtual void set_message_callback(MessageCallback callback) = 0; + + /// Subscribe to a topic, incrementing its reference count. + /// If this is the first subscriber, the underlying middleware subscription is created. + /// @param topic_name fully-qualified topic name (e.g. "/sensor/imu") + /// @param topic_type message type string (e.g. "sensor_msgs/msg/Imu"); + /// required by ROS2, ignored by DDS backends. + /// @return true on success, false if the subscription could not be created. + virtual bool subscribe(const std::string& topic_name, const std::string& topic_type) = 0; + + /// Unsubscribe from a topic, decrementing its reference count. + /// The underlying middleware subscription is destroyed when the count reaches zero. + /// @return true if the topic was found and ref count decremented, false otherwise. + virtual bool unsubscribe(const std::string& topic_name) = 0; + + /// Unsubscribe from all topics, destroying all underlying subscriptions. + /// Called during shutdown. + virtual void unsubscribe_all() = 0; +}; + +} // namespace pj_bridge diff --git a/include/pj_ros_bridge/time_utils.hpp b/app/include/pj_bridge/time_utils.hpp similarity index 56% rename from include/pj_ros_bridge/time_utils.hpp rename to app/include/pj_bridge/time_utils.hpp index 23b1875..d0a4620 100644 --- a/include/pj_ros_bridge/time_utils.hpp +++ b/app/include/pj_bridge/time_utils.hpp @@ -1,36 +1,33 @@ /* * Copyright (C) 2026 Davide Faconti * - * This file is part of pj_ros_bridge. + * This file is part of pj_bridge. * - * pj_ros_bridge is free software: you can redistribute it and/or modify + * pj_bridge is free software: you can redistribute it and/or modify * it under the terms of the GNU Affero General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * - * pj_ros_bridge is distributed in the hope that it will be useful, + * pj_bridge is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU Affero General Public License for more details. * * You should have received a copy of the GNU Affero General Public License - * along with pj_ros_bridge. If not, see . + * along with pj_bridge. If not, see . */ -#ifndef PJ_ROS_BRIDGE__TIME_UTILS_HPP_ -#define PJ_ROS_BRIDGE__TIME_UTILS_HPP_ +#pragma once #include #include -namespace pj_ros_bridge { +namespace pj_bridge { inline uint64_t get_current_time_ns() { auto now = std::chrono::system_clock::now(); auto duration = now.time_since_epoch(); - return std::chrono::duration_cast(duration).count(); + return static_cast(std::chrono::duration_cast(duration).count()); } -} // namespace pj_ros_bridge - -#endif // PJ_ROS_BRIDGE__TIME_UTILS_HPP_ +} // namespace pj_bridge diff --git a/app/include/pj_bridge/topic_source_interface.hpp b/app/include/pj_bridge/topic_source_interface.hpp new file mode 100644 index 0000000..684dd2c --- /dev/null +++ b/app/include/pj_bridge/topic_source_interface.hpp @@ -0,0 +1,63 @@ +/* + * Copyright (C) 2026 Davide Faconti + * + * This file is part of pj_bridge. + * + * pj_bridge is free software: you can redistribute it and/or modify + * it under the terms of the GNU Affero General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * pj_bridge is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License + * along with pj_bridge. If not, see . + */ + +#pragma once + +#include +#include + +namespace pj_bridge { + +/// A discovered topic with its fully-qualified name and message type. +struct TopicInfo { + std::string name; ///< e.g. "/sensor/imu" + std::string type; ///< e.g. "sensor_msgs/msg/Imu" +}; + +/// Abstract interface for discovering topics and retrieving their schemas. +/// +/// Implementations wrap backend-specific discovery mechanisms: +/// - ROS2: `Ros2TopicSource` uses rclcpp topic enumeration + .msg file parsing +/// - RTI: `RtiTopicSource` uses DDS participant discovery + OMG IDL type info +/// +/// BridgeServer calls get_topics() to list available topics for clients, and +/// get_schema() before subscribing to provide the client with the schema needed +/// to deserialize incoming messages. +class TopicSourceInterface { + public: + virtual ~TopicSourceInterface() = default; + + /// Return all currently available topics. + /// May be called repeatedly (e.g. on each client "get_topics" request). + virtual std::vector get_topics() = 0; + + /// Return the full schema definition for a topic. + /// @param topic_name fully-qualified topic name + /// @return the schema text (e.g. concatenated .msg definitions for ROS2, + /// OMG IDL for RTI). Empty string if the schema cannot be resolved. + /// @throws std::exception on unrecoverable schema extraction errors. + virtual std::string get_schema(const std::string& topic_name) = 0; + + /// Return the encoding identifier for schemas produced by this source. + /// Used in the subscribe response so clients know how to parse the schema. + /// @return "ros2msg" for ROS2, "omgidl" for RTI DDS. + virtual std::string schema_encoding() const = 0; +}; + +} // namespace pj_bridge diff --git a/src/bridge_server.cpp b/app/src/bridge_server.cpp similarity index 55% rename from src/bridge_server.cpp rename to app/src/bridge_server.cpp index 0407a31..5c9a3f9 100644 --- a/src/bridge_server.cpp +++ b/app/src/bridge_server.cpp @@ -1,48 +1,50 @@ /* * Copyright (C) 2026 Davide Faconti * - * This file is part of pj_ros_bridge. + * This file is part of pj_bridge. * - * pj_ros_bridge is free software: you can redistribute it and/or modify + * pj_bridge is free software: you can redistribute it and/or modify * it under the terms of the GNU Affero General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * - * pj_ros_bridge is distributed in the hope that it will be useful, + * pj_bridge is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU Affero General Public License for more details. * * You should have received a copy of the GNU Affero General Public License - * along with pj_ros_bridge. If not, see . + * along with pj_bridge. If not, see . */ -#include "pj_ros_bridge/bridge_server.hpp" +#include "pj_bridge/bridge_server.hpp" + +#include #include #include -#include -#include "pj_ros_bridge/message_serializer.hpp" -#include "pj_ros_bridge/message_stripper.hpp" -#include "pj_ros_bridge/protocol_constants.hpp" +#include "pj_bridge/message_serializer.hpp" +#include "pj_bridge/protocol_constants.hpp" using json = nlohmann::json; -namespace pj_ros_bridge { +namespace pj_bridge { BridgeServer::BridgeServer( - std::shared_ptr node, std::shared_ptr middleware, int port, - double session_timeout, double publish_rate, bool strip_large_messages) - : node_(node), - middleware_(middleware), + std::shared_ptr topic_source, + std::shared_ptr subscription_manager, std::shared_ptr middleware, + int port, double session_timeout, double publish_rate) + : topic_source_(std::move(topic_source)), + subscription_manager_(std::move(subscription_manager)), + middleware_(std::move(middleware)), port_(port), session_timeout_(session_timeout), publish_rate_(publish_rate), initialized_(false), total_messages_published_(0), total_bytes_published_(0), - strip_large_messages_(strip_large_messages) {} + publish_cycles_(0) {} BridgeServer::~BridgeServer() { // Shut down the middleware before members are destroyed so that @@ -55,76 +57,72 @@ BridgeServer::~BridgeServer() { bool BridgeServer::initialize() { if (initialized_) { - RCLCPP_WARN(node_->get_logger(), "Bridge server already initialized"); + spdlog::warn("Bridge server already initialized"); return true; } - RCLCPP_INFO(node_->get_logger(), "Initializing bridge server..."); + spdlog::info("Initializing bridge server..."); + + if (publish_rate_ <= 0.0) { + spdlog::error("Invalid publish_rate: {:.1f} (must be > 0)", publish_rate_); + return false; + } - // Create components before middleware init so callbacks can use them - topic_discovery_ = std::make_unique(node_); - schema_extractor_ = std::make_unique(); message_buffer_ = std::make_shared(); - subscription_manager_ = std::make_unique(node_); session_manager_ = std::make_unique(session_timeout_); - RCLCPP_INFO(node_->get_logger(), "Core components created"); + spdlog::info("Core components created"); + + // Set the global message callback to feed into message buffer + subscription_manager_->set_message_callback( + [this](const std::string& topic_name, std::shared_ptr> cdr_data, uint64_t timestamp_ns) { + { + std::lock_guard lock(stats_mutex_); + topic_receive_counts_[topic_name]++; + } + if (message_buffer_) { + message_buffer_->add_message(topic_name, timestamp_ns, std::move(cdr_data)); + } + }); // Register disconnect callback before middleware init to avoid missing events middleware_->set_on_disconnect([this](const std::string& client_id) { - RCLCPP_INFO(node_->get_logger(), "Client disconnected: '%s'", client_id.c_str()); + spdlog::info("Client disconnected: '{}'", client_id); cleanup_session(client_id); }); // Initialize middleware (may start accepting connections immediately) auto result = middleware_->initialize(static_cast(port_)); if (!result) { - RCLCPP_ERROR(node_->get_logger(), "Failed to initialize middleware: %s", result.error().c_str()); - return false; - } - RCLCPP_INFO(node_->get_logger(), "Middleware initialized (port: %d)", port_); - - // Create session timeout timer (check every 1 second) - session_timeout_timer_ = node_->create_wall_timer(std::chrono::seconds(1), [this]() { check_session_timeouts(); }); - - RCLCPP_INFO(node_->get_logger(), "Session timeout monitoring started"); - - // Create message publisher timer (default: 50 Hz) - if (publish_rate_ <= 0.0) { - RCLCPP_ERROR(node_->get_logger(), "Invalid publish_rate: %.1f (must be > 0)", publish_rate_); + spdlog::error("Failed to initialize middleware: {}", result.error()); return false; } - auto publish_period_ms = static_cast(1000.0 / publish_rate_); - publish_timer_ = node_->create_wall_timer( - std::chrono::milliseconds(publish_period_ms), [this]() { publish_aggregated_messages(); }); - - RCLCPP_INFO(node_->get_logger(), "Message aggregation publisher started at %.1f Hz", publish_rate_); + spdlog::info("Middleware initialized (port: {})", port_); initialized_ = true; - RCLCPP_INFO(node_->get_logger(), "Bridge server initialization complete"); + spdlog::info("Bridge server initialization complete"); return true; } bool BridgeServer::process_requests() { if (!initialized_) { - RCLCPP_ERROR(node_->get_logger(), "Bridge server not initialized"); + spdlog::error("Bridge server not initialized"); return false; } - // Receive request (non-blocking) + // Receive request (non-blocking with timeout) std::vector request_data; std::string client_id; bool received = middleware_->receive_request(request_data, client_id); if (!received || request_data.empty()) { - return false; // No request pending + return false; } - // Convert request data to string std::string request(request_data.begin(), request_data.end()); if (client_id.empty()) { - RCLCPP_WARN(node_->get_logger(), "Received request with no client identity"); + spdlog::warn("Received request with no client identity"); return true; } @@ -139,9 +137,8 @@ bool BridgeServer::process_requests() { } else { std::string command = request_json["command"]; - RCLCPP_DEBUG(node_->get_logger(), "Processing '%s' command from client '%s'", command.c_str(), client_id.c_str()); + spdlog::debug("Processing '{}' command from client '{}'", command, client_id); - // Route to appropriate handler if (command == "get_topics") { response = handle_get_topics(client_id, request_json); } else if (command == "subscribe") { @@ -159,33 +156,32 @@ bool BridgeServer::process_requests() { } } } catch (const json::exception& e) { - RCLCPP_ERROR(node_->get_logger(), "JSON parse error: %s", e.what()); + spdlog::error("JSON parse error: {}", e.what()); response = create_error_response("INVALID_JSON", "Failed to parse JSON request", json::object()); } catch (const std::exception& e) { - RCLCPP_ERROR(node_->get_logger(), "Error processing request: %s", e.what()); + spdlog::error("Error processing request: {}", e.what()); response = create_error_response("INTERNAL_ERROR", "Internal server error", request_json); } // Send response to the specific client std::vector response_data(response.begin(), response.end()); - middleware_->send_reply(client_id, response_data); + if (!middleware_->send_reply(client_id, response_data)) { + spdlog::warn("Failed to send response to client '{}', cleaning up session", client_id); + cleanup_session(client_id); + } return true; } std::string BridgeServer::handle_get_topics(const std::string& client_id, const nlohmann::json& request) { - // Create session if it doesn't exist if (!session_manager_->session_exists(client_id)) { session_manager_->create_session(client_id); - RCLCPP_INFO(node_->get_logger(), "Created new session for client '%s'", client_id.c_str()); + spdlog::info("Created new session for client '{}'", client_id); } - // Update heartbeat session_manager_->update_heartbeat(client_id); - // Discover topics - auto topics = topic_discovery_->discover_topics(); + auto topics = topic_source_->get_topics(); - // Build JSON response json response; response["status"] = "success"; response["topics"] = json::array(); @@ -199,19 +195,17 @@ std::string BridgeServer::handle_get_topics(const std::string& client_id, const inject_response_fields(response, request); - RCLCPP_INFO(node_->get_logger(), "Returning %zu topics to client '%s'", topics.size(), client_id.c_str()); + spdlog::info("Returning {} topics to client '{}'", topics.size(), client_id); return response.dump(); } std::string BridgeServer::handle_subscribe(const std::string& client_id, const nlohmann::json& request) { - // Create session if it doesn't exist if (!session_manager_->session_exists(client_id)) { session_manager_->create_session(client_id); - RCLCPP_INFO(node_->get_logger(), "Created new session for client '%s'", client_id.c_str()); + spdlog::info("Created new session for client '{}'", client_id); } - // Update heartbeat session_manager_->update_heartbeat(client_id); if (!request.contains("topics")) { @@ -222,7 +216,6 @@ std::string BridgeServer::handle_subscribe(const std::string& client_id, const n return create_error_response("INVALID_REQUEST", "'topics' must be an array", request); } - // Get current subscriptions auto current_subs = session_manager_->get_subscriptions(client_id); // Parse requested topics — supports mixed array of strings and objects: @@ -243,33 +236,28 @@ std::string BridgeServer::handle_subscribe(const std::string& client_id, const n } } - // Determine which topics to add (additive model - subscribe only adds, never removes) + // Determine which topics to add (additive model — subscribe only adds, never removes) std::vector topics_to_add; - - // Find topics to add (in requested but not in current) for (const auto& [topic, rate] : requested_topics) { if (current_subs.find(topic) == current_subs.end()) { topics_to_add.push_back(topic); } } - // Get all available topics - auto available_topics = topic_discovery_->discover_topics(); + // Build topic name → type lookup from topic source + auto available_topics = topic_source_->get_topics(); std::unordered_map topic_types; for (const auto& topic : available_topics) { topic_types[topic.name] = topic.type; } - // Subscribe to new topics - track successes and failures + // Subscribe to new topics — track successes and failures json schemas = json::object(); json failures = json::array(); - std::unordered_set successfully_subscribed; for (const auto& topic_name : topics_to_add) { - // Check if topic exists if (topic_types.find(topic_name) == topic_types.end()) { - RCLCPP_WARN( - node_->get_logger(), "Client '%s' requested non-existent topic '%s'", client_id.c_str(), topic_name.c_str()); + spdlog::warn("Client '{}' requested non-existent topic '{}'", client_id, topic_name); json failure; failure["topic"] = topic_name; failure["reason"] = "Topic does not exist"; @@ -279,16 +267,13 @@ std::string BridgeServer::handle_subscribe(const std::string& client_id, const n std::string topic_type = topic_types[topic_name]; - // Create callback to add messages to buffer (with optional stripping) - auto callback = make_buffer_callback(topic_type); - // Get schema BEFORE subscribing to avoid corrupting the reference count // if schema extraction fails after subscribe() increments it. std::string schema; try { - schema = schema_extractor_->get_message_definition(topic_type); + schema = topic_source_->get_schema(topic_name); } catch (const std::exception& e) { - RCLCPP_ERROR(node_->get_logger(), "Failed to get schema for topic '%s': %s", topic_name.c_str(), e.what()); + spdlog::error("Failed to get schema for topic '{}': {}", topic_name, e.what()); json failure; failure["topic"] = topic_name; failure["reason"] = std::string("Schema extraction failed: ") + e.what(); @@ -297,8 +282,7 @@ std::string BridgeServer::handle_subscribe(const std::string& client_id, const n } if (schema.empty()) { - RCLCPP_ERROR( - node_->get_logger(), "Empty schema for topic '%s' (type: %s)", topic_name.c_str(), topic_type.c_str()); + spdlog::error("Empty schema for topic '{}' (type: {})", topic_name, topic_type); json failure; failure["topic"] = topic_name; failure["reason"] = "Schema extraction returned empty definition"; @@ -306,10 +290,10 @@ std::string BridgeServer::handle_subscribe(const std::string& client_id, const n continue; } - // Subscribe via subscription manager - bool success = subscription_manager_->subscribe(topic_name, topic_type, callback); + // Subscribe via subscription manager (ref-counted) + bool success = subscription_manager_->subscribe(topic_name, topic_type); if (!success) { - RCLCPP_ERROR(node_->get_logger(), "Failed to subscribe to topic '%s'", topic_name.c_str()); + spdlog::error("Failed to subscribe to topic '{}'", topic_name); json failure; failure["topic"] = topic_name; failure["reason"] = "Subscription manager failed to create subscription"; @@ -317,41 +301,38 @@ std::string BridgeServer::handle_subscribe(const std::string& client_id, const n continue; } + // Immediately add to session. If session is gone (client disconnected + // between subscribe and now), roll back the ref count. + if (!session_manager_->add_subscription(client_id, topic_name, requested_topics[topic_name])) { + spdlog::warn("Session gone for client '{}', rolling back subscribe for '{}'", client_id, topic_name); + subscription_manager_->unsubscribe(topic_name); + continue; + } + nlohmann::json schema_obj; - schema_obj["encoding"] = kSchemaEncodingRos2Msg; + schema_obj["encoding"] = topic_source_->schema_encoding(); schema_obj["definition"] = schema; schemas[topic_name] = schema_obj; - successfully_subscribed.insert(topic_name); - RCLCPP_INFO( - node_->get_logger(), "Client '%s' subscribed to topic '%s' (type: %s)", client_id.c_str(), topic_name.c_str(), - topic_type.c_str()); + spdlog::info("Client '{}' subscribed to topic '{}' (type: {})", client_id, topic_name, topic_type); } - // Update session subscriptions with successfully subscribed topics (additive model) - std::unordered_map final_subscriptions = current_subs; - for (const auto& topic : successfully_subscribed) { - final_subscriptions[topic] = requested_topics[topic]; - } // Update rates for topics that were already subscribed but may have a new rate for (const auto& [topic, rate] : requested_topics) { - if (final_subscriptions.find(topic) != final_subscriptions.end()) { - final_subscriptions[topic] = rate; + if (current_subs.find(topic) != current_subs.end()) { + session_manager_->add_subscription(client_id, topic, rate); } } - session_manager_->update_subscriptions(client_id, final_subscriptions); // Build response json response; if (failures.empty()) { response["status"] = "success"; } else if (schemas.empty()) { - // All subscriptions failed response["status"] = "error"; response["error_code"] = "ALL_SUBSCRIPTIONS_FAILED"; response["message"] = "Failed to subscribe to all requested topics"; } else { - // Partial success response["status"] = "partial_success"; response["message"] = "Some subscriptions failed"; } @@ -363,7 +344,8 @@ std::string BridgeServer::handle_subscribe(const std::string& client_id, const n // Include rate limits in response for topics with non-zero rates json rate_limits = json::object(); - for (const auto& [topic, rate] : final_subscriptions) { + auto updated_subs = session_manager_->get_subscriptions(client_id); + for (const auto& [topic, rate] : updated_subs) { if (rate > 0.0) { rate_limits[topic] = rate; } @@ -378,21 +360,17 @@ std::string BridgeServer::handle_subscribe(const std::string& client_id, const n } std::string BridgeServer::handle_unsubscribe(const std::string& client_id, const nlohmann::json& request) { - // Create session if it doesn't exist if (!session_manager_->session_exists(client_id)) { session_manager_->create_session(client_id); - RCLCPP_INFO(node_->get_logger(), "Created new session for client '%s'", client_id.c_str()); + spdlog::info("Created new session for client '{}'", client_id); } - // Update heartbeat session_manager_->update_heartbeat(client_id); - // Validate topics field if (!request.contains("topics") || !request["topics"].is_array()) { return create_error_response("INVALID_REQUEST", "Missing or invalid 'topics' array", request); } - // Get current subscriptions auto current_subs = session_manager_->get_subscriptions(client_id); std::vector removed; @@ -401,29 +379,23 @@ std::string BridgeServer::handle_unsubscribe(const std::string& client_id, const std::string topic_name; if (topic_item.is_string()) { topic_name = topic_item.get(); + } else if (topic_item.is_object() && topic_item.contains("name") && topic_item["name"].is_string()) { + topic_name = topic_item["name"].get(); } else { - continue; // Skip invalid entries + continue; } - // Check if subscribed if (current_subs.find(topic_name) != current_subs.end()) { - // Decrement subscription ref count subscription_manager_->unsubscribe(topic_name); - - // Remove from client subscriptions current_subs.erase(topic_name); - removed.push_back(topic_name); - RCLCPP_INFO( - node_->get_logger(), "Client '%s' unsubscribed from topic '%s'", client_id.c_str(), topic_name.c_str()); + spdlog::info("Client '{}' unsubscribed from topic '{}'", client_id, topic_name); } } - // Update session subscriptions session_manager_->update_subscriptions(client_id, current_subs); - // Build response json response; response["status"] = "success"; response["removed"] = removed; @@ -433,18 +405,15 @@ std::string BridgeServer::handle_unsubscribe(const std::string& client_id, const } std::string BridgeServer::handle_heartbeat(const std::string& client_id, const nlohmann::json& request) { - // Create session if it doesn't exist if (!session_manager_->session_exists(client_id)) { session_manager_->create_session(client_id); - RCLCPP_INFO(node_->get_logger(), "Created new session for client '%s'", client_id.c_str()); + spdlog::info("Created new session for client '{}'", client_id); } - // Update heartbeat session_manager_->update_heartbeat(client_id); - RCLCPP_DEBUG(node_->get_logger(), "Heartbeat received from client '%s'", client_id.c_str()); + spdlog::debug("Heartbeat received from client '{}'", client_id); - // Build response json response; response["status"] = "ok"; inject_response_fields(response, request); @@ -453,18 +422,15 @@ std::string BridgeServer::handle_heartbeat(const std::string& client_id, const n } std::string BridgeServer::handle_pause(const std::string& client_id, const nlohmann::json& request) { - // Create session if it doesn't exist if (!session_manager_->session_exists(client_id)) { session_manager_->create_session(client_id); - RCLCPP_INFO(node_->get_logger(), "Created new session for client '%s'", client_id.c_str()); + spdlog::info("Created new session for client '{}'", client_id); } - // Update heartbeat session_manager_->update_heartbeat(client_id); - // Check if already paused (idempotent) if (session_manager_->is_paused(client_id)) { - RCLCPP_DEBUG(node_->get_logger(), "Client '%s' already paused", client_id.c_str()); + spdlog::debug("Client '{}' already paused", client_id); json response; response["status"] = "ok"; response["paused"] = true; @@ -472,19 +438,16 @@ std::string BridgeServer::handle_pause(const std::string& client_id, const nlohm return response.dump(); } - // Set paused state session_manager_->set_paused(client_id, true); - // Smart ROS2 management: decrement ref counts for all subscribed topics + // Decrement ref counts for all subscribed topics auto subs = session_manager_->get_subscriptions(client_id); for (const auto& [topic, rate] : subs) { subscription_manager_->unsubscribe(topic); - RCLCPP_DEBUG( - node_->get_logger(), "Decremented ref count for topic '%s' (client '%s' paused)", topic.c_str(), - client_id.c_str()); + spdlog::debug("Decremented ref count for topic '{}' (client '{}' paused)", topic, client_id); } - RCLCPP_INFO(node_->get_logger(), "Client '%s' paused (%zu topics refs decremented)", client_id.c_str(), subs.size()); + spdlog::info("Client '{}' paused ({} topics refs decremented)", client_id, subs.size()); json response; response["status"] = "ok"; @@ -494,18 +457,15 @@ std::string BridgeServer::handle_pause(const std::string& client_id, const nlohm } std::string BridgeServer::handle_resume(const std::string& client_id, const nlohmann::json& request) { - // Create session if it doesn't exist if (!session_manager_->session_exists(client_id)) { session_manager_->create_session(client_id); - RCLCPP_INFO(node_->get_logger(), "Created new session for client '%s'", client_id.c_str()); + spdlog::info("Created new session for client '{}'", client_id); } - // Update heartbeat session_manager_->update_heartbeat(client_id); - // Check if not paused (idempotent) if (!session_manager_->is_paused(client_id)) { - RCLCPP_DEBUG(node_->get_logger(), "Client '%s' not paused", client_id.c_str()); + spdlog::debug("Client '{}' not paused", client_id); json response; response["status"] = "ok"; response["paused"] = false; @@ -513,35 +473,42 @@ std::string BridgeServer::handle_resume(const std::string& client_id, const nloh return response.dump(); } - // Set unpaused state session_manager_->set_paused(client_id, false); - // Smart ROS2 management: increment ref counts for all subscribed topics - // Get all available topics for type lookup - auto available_topics = topic_discovery_->discover_topics(); + // Build topic name → type lookup for subscribe calls + auto available_topics = topic_source_->get_topics(); std::unordered_map topic_types; - for (const auto& topic : available_topics) { - topic_types[topic.name] = topic.type; + for (const auto& t : available_topics) { + topic_types[t.name] = t.type; } + // Increment ref counts for all subscribed topics auto subs = session_manager_->get_subscriptions(client_id); + std::vector failed_topics; for (const auto& [topic, rate] : subs) { auto type_it = topic_types.find(topic); - if (type_it != topic_types.end()) { - std::string topic_type = type_it->second; - auto callback = make_buffer_callback(topic_type); - subscription_manager_->subscribe(topic, topic_type, callback); - RCLCPP_DEBUG( - node_->get_logger(), "Incremented ref count for topic '%s' (client '%s' resumed)", topic.c_str(), - client_id.c_str()); + if (type_it == topic_types.end()) { + spdlog::warn("Topic '{}' no longer exists, cannot re-subscribe for client '{}'", topic, client_id); + failed_topics.push_back(topic); + continue; + } + bool ok = subscription_manager_->subscribe(topic, type_it->second); + if (ok) { + spdlog::debug("Incremented ref count for topic '{}' (client '{}' resumed)", topic, client_id); } else { - RCLCPP_WARN( - node_->get_logger(), "Topic '%s' no longer exists, cannot re-subscribe for client '%s'", topic.c_str(), - client_id.c_str()); + spdlog::warn("Topic '{}' subscription failed on resume for client '{}'", topic, client_id); + failed_topics.push_back(topic); } } - RCLCPP_INFO(node_->get_logger(), "Client '%s' resumed (%zu topics refs incremented)", client_id.c_str(), subs.size()); + // Remove failed topics from session to prevent ref-count underflow on disconnect + for (const auto& topic : failed_topics) { + session_manager_->remove_subscription(client_id, topic); + } + + spdlog::info( + "Client '{}' resumed ({} topics re-subscribed, {} failed)", client_id, subs.size() - failed_topics.size(), + failed_topics.size()); json response; response["status"] = "ok"; @@ -569,11 +536,14 @@ std::string BridgeServer::create_error_response( } void BridgeServer::check_session_timeouts() { + if (!initialized_) { + return; + } + auto timed_out_sessions = session_manager_->get_timed_out_sessions(); for (const auto& client_id : timed_out_sessions) { - RCLCPP_WARN(node_->get_logger(), "Session timeout for client '%s'", client_id.c_str()); - + spdlog::warn("Session timeout for client '{}'", client_id); cleanup_session(client_id); } } @@ -581,35 +551,29 @@ void BridgeServer::check_session_timeouts() { void BridgeServer::cleanup_session(const std::string& client_id) { std::lock_guard lock(cleanup_mutex_); - // Check if session still exists (idempotency guard) if (!session_manager_->session_exists(client_id)) { return; } - // Get client's subscriptions and paused state auto subscriptions = session_manager_->get_subscriptions(client_id); bool was_paused = session_manager_->is_paused(client_id); - // Unsubscribe from all topics (only if not paused - paused clients already decremented ref counts) + // Unsubscribe from all topics (only if not paused — paused clients already decremented ref counts) if (!was_paused) { for (const auto& [topic, rate] : subscriptions) { subscription_manager_->unsubscribe(topic); - RCLCPP_DEBUG(node_->get_logger(), "Unsubscribed client '%s' from topic '%s'", client_id.c_str(), topic.c_str()); + spdlog::debug("Unsubscribed client '{}' from topic '{}'", client_id, topic); } } - // Remove session session_manager_->remove_session(client_id); - // Clean up rate-limit tracking for this client { - std::lock_guard lock(last_sent_mutex_); + std::lock_guard sent_lock(last_sent_mutex_); last_sent_times_.erase(client_id); } - RCLCPP_INFO( - node_->get_logger(), "Cleaned up session for client '%s' (%zu topics unsubscribed)", client_id.c_str(), - subscriptions.size()); + spdlog::info("Cleaned up session for client '{}' ({} topics unsubscribed)", client_id, subscriptions.size()); } size_t BridgeServer::get_active_session_count() const { @@ -621,49 +585,40 @@ std::pair BridgeServer::get_publish_stats() const { return {total_messages_published_, total_bytes_published_}; } -MessageCallback BridgeServer::make_buffer_callback(const std::string& topic_type) { - return - [this, topic_type]( - const std::string& topic, const std::shared_ptr& msg, uint64_t receive_time_ns) { - if (strip_large_messages_ && MessageStripper::should_strip(topic_type)) { - try { - auto stripped = MessageStripper::strip(topic_type, *msg); - auto stripped_ptr = std::make_shared(std::move(stripped)); - message_buffer_->add_message(topic, receive_time_ns, stripped_ptr); - return; - } catch (const std::exception& e) { - RCLCPP_WARN_THROTTLE( - node_->get_logger(), *node_->get_clock(), 5000, - "Failed to strip message on topic '%s': %s. Forwarding original.", topic.c_str(), e.what()); - } - } - message_buffer_->add_message(topic, receive_time_ns, msg); - }; +BridgeServer::StatsSnapshot BridgeServer::snapshot_and_reset_stats() { + std::lock_guard lock(stats_mutex_); + StatsSnapshot snapshot; + snapshot.topic_receive_counts = std::move(topic_receive_counts_); + topic_receive_counts_.clear(); + snapshot.topic_forward_counts = std::move(topic_forward_counts_); + topic_forward_counts_.clear(); + snapshot.publish_cycles = publish_cycles_; + publish_cycles_ = 0; + snapshot.total_bytes_published = total_bytes_published_; + return snapshot; } void BridgeServer::publish_aggregated_messages() { - // Get all new messages from buffer + if (!initialized_) { + return; + } + std::unordered_map> messages; message_buffer_->move_messages(messages); if (messages.empty()) { - // No new messages, skip publishing return; } try { - // Get active sessions for per-client filtering auto active_sessions = session_manager_->get_active_sessions(); if (active_sessions.empty()) { return; } // Group clients by subscription config (topic + rate) to avoid redundant serialization. - // Key: map of topic -> rate_mhz (milli-Hz as int, avoids float equality issues). - // Clients with identical topic+rate configs share the same compressed buffer. using GroupKey = std::map; std::map> subscription_groups; - // Also store the per-client subscription map for rate filtering std::unordered_map> client_subs; for (const auto& client_id : active_sessions) { @@ -681,78 +636,103 @@ void BridgeServer::publish_aggregated_messages() { size_t total_msg_count = 0; size_t total_bytes = 0; + std::unordered_map forward_counts; - std::lock_guard sent_lock(last_sent_mutex_); - + // Collect paused state outside of last_sent_mutex_ to avoid lock ordering issues. + std::unordered_map paused_state; for (const auto& [group_key, client_ids] : subscription_groups) { - // Serialize once for this subscription group - AggregatedMessageSerializer serializer; - size_t group_msg_count = 0; - - // Use the first client's subs to get rate info (all clients in group have same config) - const auto& representative_subs = client_subs[client_ids.front()]; - // Get this representative client's last-sent times for rate filtering - auto& rep_last_sent = last_sent_times_[client_ids.front()]; - - for (const auto& [topic, msgs] : messages) { - auto sub_it = representative_subs.find(topic); - if (sub_it == representative_subs.end()) { - continue; - } + for (const auto& client_id : client_ids) { + paused_state[client_id] = session_manager_->is_paused(client_id); + } + } + + // Per-group serialized frames, built under last_sent_mutex_ for rate limiting + struct GroupFrame { + std::vector compressed_data; + size_t msg_count; + std::vector client_ids; + }; + std::vector frames; + + { + std::lock_guard sent_lock(last_sent_mutex_); - double rate_hz = sub_it->second; - int rate_mhz = static_cast(rate_hz * 1000); + for (const auto& [group_key, client_ids] : subscription_groups) { + AggregatedMessageSerializer serializer; + size_t group_msg_count = 0; - if (rate_mhz == 0) { - // Unlimited: serialize all messages - for (const auto& msg : msgs) { - serializer.serialize_message(topic, msg.timestamp_ns, *(msg.msg)); - group_msg_count++; + const auto& representative_subs = client_subs[client_ids.front()]; + auto& rep_last_sent = last_sent_times_[client_ids.front()]; + + for (const auto& [topic, msgs] : messages) { + auto sub_it = representative_subs.find(topic); + if (sub_it == representative_subs.end()) { + continue; } - } else { - // Rate limited: compute minimum interval in nanoseconds - // rate_mhz is in milli-Hz, so interval = 1e12 / rate_mhz nanoseconds - uint64_t min_interval_ns = 1'000'000'000'000ULL / static_cast(rate_mhz); - uint64_t last_sent = rep_last_sent[topic]; // 0 if not yet sent - - for (const auto& msg : msgs) { - if (msg.timestamp_ns >= last_sent + min_interval_ns) { - serializer.serialize_message(topic, msg.timestamp_ns, *(msg.msg)); - last_sent = msg.timestamp_ns; + + double rate_hz = sub_it->second; + int rate_mhz = static_cast(rate_hz * 1000); + + if (rate_mhz == 0) { + for (const auto& msg : msgs) { + serializer.serialize_message(topic, msg.timestamp_ns, msg.data->data(), msg.data->size()); group_msg_count++; + forward_counts[topic]++; + } + } else { + uint64_t min_interval_ns = static_cast(1'000'000'000'000) / static_cast(rate_mhz); + uint64_t last_sent = rep_last_sent[topic]; + + for (const auto& msg : msgs) { + if (msg.timestamp_ns >= last_sent + min_interval_ns) { + serializer.serialize_message(topic, msg.timestamp_ns, msg.data->data(), msg.data->size()); + last_sent = msg.timestamp_ns; + group_msg_count++; + forward_counts[topic]++; + } } + rep_last_sent[topic] = last_sent; } - rep_last_sent[topic] = last_sent; } - } - if (group_msg_count == 0) { - continue; - } + if (group_msg_count == 0) { + continue; + } - // Finalize with 16-byte header and compress - std::vector compressed_data = serializer.finalize(); + GroupFrame frame; + frame.compressed_data = serializer.finalize(); + frame.msg_count = group_msg_count; + frame.client_ids = client_ids; - // Send the same buffer to all clients in this group + // Propagate rate-limiting state to other clients in the group + for (const auto& client_id : client_ids) { + if (client_id != client_ids.front()) { + last_sent_times_[client_id] = rep_last_sent; + } + } + + frames.push_back(std::move(frame)); + } + } // last_sent_mutex_ released here + + // Send frames outside of any lock + for (const auto& frame : frames) { bool any_sent = false; - for (const auto& client_id : client_ids) { - // Skip paused clients - they should not receive binary frames - if (session_manager_->is_paused(client_id)) { + for (const auto& client_id : frame.client_ids) { + auto it = paused_state.find(client_id); + if (it != paused_state.end() && it->second) { continue; } - if (middleware_->send_binary(client_id, compressed_data)) { + if (middleware_->send_binary(client_id, frame.compressed_data)) { any_sent = true; - } - // Sync last-sent times from representative to all clients in group - if (client_id != client_ids.front()) { - last_sent_times_[client_id] = rep_last_sent; + } else { + spdlog::debug("Failed to send binary frame to client '{}'", client_id); } } - // Count messages once per group (not per client) to avoid inflation if (any_sent) { - total_msg_count += group_msg_count; - total_bytes += compressed_data.size(); + total_msg_count += frame.msg_count; + total_bytes += frame.compressed_data.size(); } } @@ -760,10 +740,14 @@ void BridgeServer::publish_aggregated_messages() { std::lock_guard lock(stats_mutex_); total_messages_published_ += total_msg_count; total_bytes_published_ += total_bytes; + publish_cycles_++; + for (const auto& [topic, count] : forward_counts) { + topic_forward_counts_[topic] += count; + } } } catch (const std::exception& e) { - RCLCPP_ERROR(node_->get_logger(), "Error publishing aggregated messages: %s", e.what()); + spdlog::error("Error publishing aggregated messages: {}", e.what()); } } -} // namespace pj_ros_bridge +} // namespace pj_bridge diff --git a/src/message_buffer.cpp b/app/src/message_buffer.cpp similarity index 64% rename from src/message_buffer.cpp rename to app/src/message_buffer.cpp index a4bf237..ce03343 100644 --- a/src/message_buffer.cpp +++ b/app/src/message_buffer.cpp @@ -1,41 +1,40 @@ /* * Copyright (C) 2026 Davide Faconti * - * This file is part of pj_ros_bridge. + * This file is part of pj_bridge. * - * pj_ros_bridge is free software: you can redistribute it and/or modify + * pj_bridge is free software: you can redistribute it and/or modify * it under the terms of the GNU Affero General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * - * pj_ros_bridge is distributed in the hope that it will be useful, + * pj_bridge is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU Affero General Public License for more details. * * You should have received a copy of the GNU Affero General Public License - * along with pj_ros_bridge. If not, see . + * along with pj_bridge. If not, see . */ -#include "pj_ros_bridge/message_buffer.hpp" +#include "pj_bridge/message_buffer.hpp" -#include "pj_ros_bridge/time_utils.hpp" +#include "pj_bridge/time_utils.hpp" -namespace pj_ros_bridge { +namespace pj_bridge { -MessageBuffer::MessageBuffer() : last_read_timestamp_ns_(get_current_time_ns()) {} +MessageBuffer::MessageBuffer(uint64_t max_message_age_ns) : max_message_age_ns_(max_message_age_ns) {} void MessageBuffer::add_message( - const std::string& topic_name, uint64_t timestamp_ns, std::shared_ptr serialized_msg) { + const std::string& topic_name, uint64_t timestamp_ns, std::shared_ptr> data) { std::lock_guard lock(mutex_); - // Cleanup old messages first cleanup_old_messages(); - // Add the new message BufferedMessage msg; msg.timestamp_ns = timestamp_ns; - msg.msg = std::move(serialized_msg); + msg.received_at_ns = get_current_time_ns(); + msg.data = std::move(data); topic_buffers_[topic_name].push_back(std::move(msg)); } @@ -44,13 +43,11 @@ void MessageBuffer::move_messages(std::unordered_map lock(mutex_); out_messages = std::move(topic_buffers_); topic_buffers_.clear(); - last_read_timestamp_ns_ = get_current_time_ns(); } void MessageBuffer::clear() { std::lock_guard lock(mutex_); topic_buffers_.clear(); - last_read_timestamp_ns_ = get_current_time_ns(); } size_t MessageBuffer::size() const { @@ -67,21 +64,17 @@ size_t MessageBuffer::size() const { void MessageBuffer::cleanup_old_messages() { uint64_t current_time = get_current_time_ns(); - // Remove old messages from all topic buffers for (auto& [topic, buffer] : topic_buffers_) { - // Remove messages older than kMaxMessageAgeNs while (!buffer.empty()) { const auto& oldest_msg = buffer.front(); - if (current_time - oldest_msg.timestamp_ns > kMaxMessageAgeNs) { + if (current_time - oldest_msg.received_at_ns > max_message_age_ns_) { buffer.pop_front(); } else { - // Messages are ordered by time, so we can stop here break; } } } - // Remove empty topic buffers for (auto it = topic_buffers_.begin(); it != topic_buffers_.end();) { if (it->second.empty()) { it = topic_buffers_.erase(it); @@ -91,4 +84,4 @@ void MessageBuffer::cleanup_old_messages() { } } -} // namespace pj_ros_bridge +} // namespace pj_bridge diff --git a/src/message_serializer.cpp b/app/src/message_serializer.cpp similarity index 88% rename from src/message_serializer.cpp rename to app/src/message_serializer.cpp index 61b0455..970a1db 100644 --- a/src/message_serializer.cpp +++ b/app/src/message_serializer.cpp @@ -1,37 +1,37 @@ /* * Copyright (C) 2026 Davide Faconti * - * This file is part of pj_ros_bridge. + * This file is part of pj_bridge. * - * pj_ros_bridge is free software: you can redistribute it and/or modify + * pj_bridge is free software: you can redistribute it and/or modify * it under the terms of the GNU Affero General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * - * pj_ros_bridge is distributed in the hope that it will be useful, + * pj_bridge is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU Affero General Public License for more details. * * You should have received a copy of the GNU Affero General Public License - * along with pj_ros_bridge. If not, see . + * along with pj_bridge. If not, see . */ -#include "pj_ros_bridge/message_serializer.hpp" +#include "pj_bridge/message_serializer.hpp" #include #include #include -#include "pj_ros_bridge/protocol_constants.hpp" +#include "pj_bridge/protocol_constants.hpp" -namespace pj_ros_bridge { +namespace pj_bridge { AggregatedMessageSerializer::AggregatedMessageSerializer() {} void AggregatedMessageSerializer::serialize_message( - const std::string &topic_name, uint64_t timestamp_ns, const rclcpp::SerializedMessage &serialized_msg) { + const std::string &topic_name, uint64_t timestamp_ns, const std::byte *data, size_t data_size) { message_count_++; write_str(serialized_data_, topic_name); @@ -39,14 +39,13 @@ void AggregatedMessageSerializer::serialize_message( write_le(serialized_data_, timestamp_ns); // Message data length (uint32_t) - uint32_t msg_size = static_cast(serialized_msg.size()); + uint32_t msg_size = static_cast(data_size); write_le(serialized_data_, msg_size); // Message data (CDR bytes) using memcpy - const uint8_t *read_ptr = static_cast(serialized_msg.get_rcl_serialized_message().buffer); size_t old_size = serialized_data_.size(); serialized_data_.resize(old_size + msg_size); - std::memcpy(serialized_data_.data() + old_size, read_ptr, msg_size); + std::memcpy(serialized_data_.data() + old_size, data, msg_size); } void AggregatedMessageSerializer::clear() { @@ -176,4 +175,4 @@ template void AggregatedMessageSerializer::write_le(std::vector(std::vector &, uint32_t); template void AggregatedMessageSerializer::write_le(std::vector &, uint64_t); -} // namespace pj_ros_bridge +} // namespace pj_bridge diff --git a/src/middleware/websocket_middleware.cpp b/app/src/middleware/websocket_middleware.cpp similarity index 56% rename from src/middleware/websocket_middleware.cpp rename to app/src/middleware/websocket_middleware.cpp index f49d658..d48f693 100644 --- a/src/middleware/websocket_middleware.cpp +++ b/app/src/middleware/websocket_middleware.cpp @@ -1,25 +1,30 @@ /* * Copyright (C) 2026 Davide Faconti * - * This file is part of pj_ros_bridge. + * This file is part of pj_bridge. * - * pj_ros_bridge is free software: you can redistribute it and/or modify + * pj_bridge is free software: you can redistribute it and/or modify * it under the terms of the GNU Affero General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * - * pj_ros_bridge is distributed in the hope that it will be useful, + * pj_bridge is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU Affero General Public License for more details. * * You should have received a copy of the GNU Affero General Public License - * along with pj_ros_bridge. If not, see . + * along with pj_bridge. If not, see . */ -#include "pj_ros_bridge/middleware/websocket_middleware.hpp" +#include "pj_bridge/middleware/websocket_middleware.hpp" -namespace pj_ros_bridge { +#include + +#include +#include + +namespace pj_bridge { WebSocketMiddleware::WebSocketMiddleware() : initialized_(false) {} @@ -34,22 +39,22 @@ tl::expected WebSocketMiddleware::initialize(uint16_t port) { return tl::unexpected("WebSocket middleware already initialized"); } - server_ = std::make_unique(port, "0.0.0.0"); + server_ = std::make_shared(port, "0.0.0.0"); server_->setOnClientMessageCallback([this]( std::shared_ptr connection_state, ix::WebSocket& web_socket, const ix::WebSocketMessagePtr& msg) { + { + std::lock_guard state_lock(state_mutex_); + if (!initialized_) { + return; + } + } + std::string client_id = connection_state->getId(); if (msg->type == ix::WebSocketMessageType::Open) { - // Store client connection. Hold state_mutex_ through server_ access - // to prevent shutdown() from moving server_ out between the - // initialized_ check and getClients() call. { - std::lock_guard state_lock(state_mutex_); - if (!initialized_) { - return; - } std::lock_guard clients_lock(clients_mutex_); for (const auto& client : server_->getClients()) { if (client.get() == &web_socket) { @@ -59,7 +64,6 @@ tl::expected WebSocketMiddleware::initialize(uint16_t port) { } } - // Notify connect callback ConnectionCallback cb; { std::lock_guard state_lock(state_mutex_); @@ -70,14 +74,6 @@ tl::expected WebSocketMiddleware::initialize(uint16_t port) { } } else if (msg->type == ix::WebSocketMessageType::Close) { - { - std::lock_guard state_lock(state_mutex_); - if (!initialized_) { - return; - } - } - - // Notify disconnect callback ConnectionCallback cb; { std::lock_guard state_lock(state_mutex_); @@ -87,33 +83,29 @@ tl::expected WebSocketMiddleware::initialize(uint16_t port) { cb(client_id); } - // Remove client connection { std::lock_guard clients_lock(clients_mutex_); clients_.erase(client_id); } } else if (msg->type == ix::WebSocketMessageType::Message) { - { - std::lock_guard state_lock(state_mutex_); - if (!initialized_) { - return; - } - } - if (!msg->binary) { - // Text message = API request, push to queue IncomingRequest req; req.client_id = client_id; req.data.assign(msg->str.begin(), msg->str.end()); { std::lock_guard queue_lock(queue_mutex_); + if (incoming_queue_.size() >= kMaxIncomingQueueSize) { + spdlog::warn( + "Incoming queue full ({} messages), dropping message from client '{}'", kMaxIncomingQueueSize, + client_id); + return; + } incoming_queue_.push(std::move(req)); } queue_cv_.notify_one(); } - // Binary messages from clients are ignored (server-to-client only) } }); @@ -131,7 +123,7 @@ tl::expected WebSocketMiddleware::initialize(uint16_t port) { } void WebSocketMiddleware::shutdown() { - std::unique_ptr server_to_stop; + std::shared_ptr server_to_stop; { std::lock_guard lock(state_mutex_); @@ -141,35 +133,62 @@ void WebSocketMiddleware::shutdown() { } initialized_ = false; - - // Clear callbacks before stopping so that Close events fired during - // stop() don't invoke into potentially destroyed objects (BridgeServer). on_connect_ = nullptr; on_disconnect_ = nullptr; - - // Move server out — will be stopped outside the lock to avoid deadlock - // with IO threads that acquire state_mutex_ in their Close callbacks. server_to_stop = std::move(server_); } - // Wake any thread blocked in receive_request() queue_cv_.notify_all(); - // Stop the server WITHOUT holding state_mutex_. - // IX IO threads fire Close callbacks that acquire state_mutex_; - // releasing it first prevents the deadlock. if (server_to_stop) { - server_to_stop->stop(); - server_to_stop.reset(); + // Replace the message callback with a no-op before stopping. The original + // callback captures `this`, so it must not fire after the WebSocketMiddleware + // instance is destroyed (which can happen if the stop thread is detached on timeout). + server_to_stop->setOnClientMessageCallback( + [](std::shared_ptr, ix::WebSocket&, const ix::WebSocketMessagePtr&) {}); + + // Initiate graceful close on all connected clients before calling stop(). + spdlog::debug("[shutdown] Pre-closing {} WebSocket client(s)...", server_to_stop->getClients().size()); + for (const auto& client : server_to_stop->getClients()) { + client->close(); + } + + // Run stop() on a dedicated thread with a timeout. + spdlog::debug("[shutdown] Starting server stop thread..."); + auto done = std::make_shared>(false); + std::thread stop_thread([server_to_stop, done]() { + server_to_stop->stop(); + done->store(true); + }); + + auto start = std::chrono::steady_clock::now(); + auto deadline = start + std::chrono::seconds(kShutdownTimeoutSeconds); + while (!done->load() && std::chrono::steady_clock::now() < deadline) { + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + } + auto elapsed_ms = + std::chrono::duration_cast(std::chrono::steady_clock::now() - start).count(); + + if (done->load()) { + stop_thread.join(); + spdlog::debug("[shutdown] Server stop completed (took {}ms)", elapsed_ms); + } else { + // Timeout reached. Detach the thread and let it finish in the background. + // The thread captures server_to_stop by shared_ptr, so the server + // will be destroyed when stop() finishes and the thread exits. + // The message callback was already cleared above, so no use-after-free. + spdlog::warn( + "[shutdown] Server stop timed out after {}s ({}ms elapsed), detaching shutdown thread", + kShutdownTimeoutSeconds, elapsed_ms); + stop_thread.detach(); + } } - // Clear client map { std::lock_guard clients_lock(clients_mutex_); clients_.clear(); } - // Clear incoming queue { std::lock_guard queue_lock(queue_mutex_); std::queue empty; @@ -189,7 +208,7 @@ bool WebSocketMiddleware::receive_request(std::vector& data, std::strin if (!queue_cv_.wait_for( lock, std::chrono::milliseconds(kReceiveTimeoutMs), [this]() { return !incoming_queue_.empty(); })) { - return false; // Timeout + return false; } auto req = std::move(incoming_queue_.front()); @@ -201,47 +220,59 @@ bool WebSocketMiddleware::receive_request(std::vector& data, std::strin } bool WebSocketMiddleware::send_reply(const std::string& client_identity, const std::vector& data) { - std::lock_guard lock(clients_mutex_); - - auto it = clients_.find(client_identity); - if (it == clients_.end() || !it->second) { - return false; // Client not found or disconnected + std::shared_ptr ws; + { + std::lock_guard lock(clients_mutex_); + auto it = clients_.find(client_identity); + if (it == clients_.end() || !it->second) { + return false; + } + ws = it->second; } std::string text_data(data.begin(), data.end()); - auto send_info = it->second->send(text_data); + auto send_info = ws->send(text_data); return send_info.success; } bool WebSocketMiddleware::send_binary(const std::string& client_identity, const std::vector& data) { - std::lock_guard lock(clients_mutex_); - - auto it = clients_.find(client_identity); - if (it == clients_.end() || !it->second) { - return false; + std::shared_ptr ws; + { + std::lock_guard lock(clients_mutex_); + auto it = clients_.find(client_identity); + if (it == clients_.end() || !it->second) { + return false; + } + ws = it->second; } std::string binary_data(reinterpret_cast(data.data()), data.size()); - auto send_info = it->second->sendBinary(binary_data); + auto send_info = ws->sendBinary(binary_data); return send_info.success; } bool WebSocketMiddleware::publish_data(const std::vector& data) { - std::lock_guard lock(clients_mutex_); - - if (clients_.empty()) { - return false; + std::vector> clients_copy; + { + std::lock_guard lock(clients_mutex_); + if (clients_.empty()) { + return false; + } + clients_copy.reserve(clients_.size()); + for (const auto& [client_id, ws] : clients_) { + if (ws) { + clients_copy.push_back(ws); + } + } } std::string binary_data(reinterpret_cast(data.data()), data.size()); bool any_sent = false; - for (auto& [client_id, ws] : clients_) { - if (ws) { - auto send_info = ws->sendBinary(binary_data); - if (send_info.success) { - any_sent = true; - } + for (const auto& ws : clients_copy) { + auto send_info = ws->sendBinary(binary_data); + if (send_info.success) { + any_sent = true; } } @@ -263,4 +294,4 @@ void WebSocketMiddleware::set_on_disconnect(ConnectionCallback callback) { on_disconnect_ = std::move(callback); } -} // namespace pj_ros_bridge +} // namespace pj_bridge diff --git a/src/session_manager.cpp b/app/src/session_manager.cpp similarity index 80% rename from src/session_manager.cpp rename to app/src/session_manager.cpp index 685e229..dc3f605 100644 --- a/src/session_manager.cpp +++ b/app/src/session_manager.cpp @@ -1,39 +1,37 @@ /* * Copyright (C) 2026 Davide Faconti * - * This file is part of pj_ros_bridge. + * This file is part of pj_bridge. * - * pj_ros_bridge is free software: you can redistribute it and/or modify + * pj_bridge is free software: you can redistribute it and/or modify * it under the terms of the GNU Affero General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * - * pj_ros_bridge is distributed in the hope that it will be useful, + * pj_bridge is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU Affero General Public License for more details. * * You should have received a copy of the GNU Affero General Public License - * along with pj_ros_bridge. If not, see . + * along with pj_bridge. If not, see . */ -#include "pj_ros_bridge/session_manager.hpp" +#include "pj_bridge/session_manager.hpp" #include -namespace pj_ros_bridge { +namespace pj_bridge { SessionManager::SessionManager(double timeout_seconds) : timeout_duration_(timeout_seconds) {} bool SessionManager::create_session(const std::string& client_id) { std::lock_guard lock(mutex_); - // Check if session already exists if (sessions_.find(client_id) != sessions_.end()) { return false; } - // Create new session Session session; session.client_id = client_id; session.created_at = std::chrono::steady_clock::now(); @@ -80,6 +78,29 @@ bool SessionManager::update_subscriptions( return true; } +bool SessionManager::add_subscription(const std::string& client_id, const std::string& topic, double rate) { + std::lock_guard lock(mutex_); + + auto it = sessions_.find(client_id); + if (it == sessions_.end()) { + return false; + } + + it->second.subscribed_topics[topic] = rate; + return true; +} + +bool SessionManager::remove_subscription(const std::string& client_id, const std::string& topic) { + std::lock_guard lock(mutex_); + + auto it = sessions_.find(client_id); + if (it == sessions_.end()) { + return false; + } + + return it->second.subscribed_topics.erase(topic) > 0; +} + std::unordered_map SessionManager::get_subscriptions(const std::string& client_id) const { std::lock_guard lock(mutex_); @@ -159,10 +180,10 @@ bool SessionManager::is_paused(const std::string& client_id) const { auto it = sessions_.find(client_id); if (it == sessions_.end()) { - return false; // Non-existent sessions are not paused + return false; } return it->second.paused; } -} // namespace pj_ros_bridge +} // namespace pj_bridge diff --git a/docs/ARCHITECTURE.md b/docs/ARCHITECTURE.md index f4dc93c..2e94168 100644 --- a/docs/ARCHITECTURE.md +++ b/docs/ARCHITECTURE.md @@ -1,91 +1,182 @@ # Architecture +## Overview + +pj_bridge is a multi-backend bridge server that forwards middleware topic data over WebSocket to PlotJuggler clients. A backend-agnostic core library (`app/`) is shared by two backend-specific adapters: + +- **ROS2 backend** (`ros2/`) — uses `rclcpp`, schema from `.msg` files +- **RTI backend** (`rti/`) — uses RTI Connext DDS, schema from OMG IDL + +``` +┌──────────────────────────────────────────────────┐ +│ app/ (core) │ +│ BridgeServer ← TopicSourceInterface │ +│ ← SubscriptionManagerInterface │ +│ ← MiddlewareInterface │ +│ + MessageBuffer, SessionManager, Serializer │ +└────────────────────┬─────────────────────────────┘ + ┌───────────┴───────────┐ + ┌────┴────┐ ┌─────┴─────┐ + │ ros2/ │ │ rti/ │ + │ Ros2TopicSource │ RtiTopicSource + │ Ros2SubscriptionMgr │ RtiSubscriptionMgr + │ (rclcpp) │ (RTI Connext) + └─────────┘ └───────────┘ +``` + ## Communication Pattern -The server uses a single WebSocket port (default 8080): +Single WebSocket port (default 8080), two frame types: -- **Text frames**: JSON API requests and responses (get_topics, subscribe, heartbeat) -- **Binary frames**: ZSTD-compressed aggregated message stream (per-client filtered) +- **Text frames**: JSON API requests and responses (`get_topics`, `subscribe`, `unsubscribe`, `heartbeat`, `pause`, `resume`) +- **Binary frames**: ZSTD-compressed aggregated message stream, sent per-client based on their subscriptions -## Core Components +## Abstract Interfaces -### MiddlewareInterface / WebSocketMiddleware +Three interfaces decouple the core from any specific middleware: -Abstract middleware layer over IXWebSocket. Provides: -- Connection-oriented client identity via `connectionState->getId()` -- Text frame send/receive for JSON API -- Binary frame broadcast and per-client send -- Connect/disconnect callbacks for automatic session cleanup +### TopicSourceInterface + +Discovers available topics and retrieves their schemas. Implementations: +- `Ros2TopicSource`: wraps `TopicDiscovery` (rclcpp enumeration) + `SchemaExtractor` (.msg file parsing). Schema encoding: `"ros2msg"`. +- `RtiTopicSource`: wraps `DdsTopicDiscovery` (DDS participant discovery). Schema encoding: `"omgidl"`. + +### SubscriptionManagerInterface -### TopicDiscovery +Manages ref-counted middleware subscriptions. A single global `MessageCallback` delivers all incoming messages as `shared_ptr>` to the `MessageBuffer`. Implementations: +- `Ros2SubscriptionManager`: wraps `GenericSubscriptionManager`. Converts `rclcpp::SerializedMessage` to `shared_ptr>` via memcpy. Optionally strips large message fields (Image, PointCloud2) via `MessageStripper`. +- `RtiSubscriptionManager`: wraps `DdsSubscriptionManager`. DDS natively produces `shared_ptr>`, no conversion needed. -Discovers available ROS2 topics using `rclcpp::Node::get_topic_names_and_types()`. Filters system topics. +### MiddlewareInterface -### SchemaExtractor +Abstract transport layer for client connections. Separates text (request/reply) and binary (per-client push) channels. Single implementation: `WebSocketMiddleware` (IXWebSocket). -Extracts complete message schemas by reading `.msg` files from ROS2 package share directories via `ament_index_cpp`. Recursively expands nested types using depth-first traversal, producing schemas identical to rosbag2 MCAP storage format. +## Core Components + +### BridgeServer -### GenericSubscriptionManager +Main orchestrator. Takes all three interfaces via constructor injection (dependency injection). Does **not** own timers — the entry point drives the event loop by calling three public methods: +- `process_requests()` — polls and handles one JSON API request +- `publish_aggregated_messages()` — drains the message buffer, serializes per subscription group, compresses with ZSTD, sends per-client binary frames +- `check_session_timeouts()` — evicts sessions with expired heartbeats -Manages ROS2 subscriptions using `rclcpp::GenericSubscription` with reference counting. A single ROS2 subscription is shared across all clients subscribing to the same topic. Subscriptions are destroyed when the reference count reaches zero. +Key behaviors: +- **Schema-before-subscribe**: `get_schema()` is called before `subscribe()` to avoid corrupting ref counts if schema extraction fails +- **Additive subscriptions**: `handle_subscribe()` only adds topics, never removes; rate limits can be updated for already-subscribed topics +- **Ref-counted pause/resume**: `handle_pause()` decrements subscription ref counts; `handle_resume()` increments them; `cleanup_session()` skips unsubscribe for paused clients ### MessageBuffer -Thread-safe per-topic message buffer: -- **Zero-copy**: Messages stored as `shared_ptr` -- **Auto-cleanup**: Messages older than 1 second are removed on every insertion -- **Move semantics**: `move_messages()` atomically transfers buffer ownership +Thread-safe per-topic message buffer. Messages are stored as `BufferedMessage` containing: +- `timestamp_ns` — source-clock timestamp from the middleware +- `received_at_ns` — wall-clock time at insertion (used for TTL cleanup) +- `data` — `shared_ptr>`, CDR-encoded payload + +Stale messages (older than 1 second by `received_at_ns`) are removed on every `add_message()` call. `move_messages()` atomically drains the buffer into the caller's map. ### SessionManager -Tracks client sessions using WebSocket connection identity: -- Heartbeat monitoring (expected every 1 second, default 10 second timeout) -- Per-client subscription tracking -- Automatic cleanup on WebSocket disconnect or heartbeat timeout +Tracks client sessions by WebSocket connection identity: +- Heartbeat monitoring (default 10-second timeout) +- Per-client subscription tracking with per-topic rate limits +- Pause/resume state - Thread-safe for concurrent access ### AggregatedMessageSerializer -Custom streaming binary serializer: -- Messages serialized immediately to output buffer (no intermediate storage) -- ZSTD compression (level 1) applied to final buffer -- See [API docs](API.md#binary-message-format) for wire format +Streaming binary serializer, no middleware dependencies. Per-message wire format: +- Topic name length (uint16_t LE) + topic name (UTF-8) +- Timestamp (uint64_t ns, LE) +- Message data length (uint32_t LE) + message data (CDR) -### BridgeServer +`finalize()` produces a 16-byte header (`PJRB` magic, message count, uncompressed size, flags) followed by a ZSTD-compressed payload. See [API docs](API.md#binary-message-format) for full format. + +### WebSocketMiddleware + +IXWebSocket-based implementation of `MiddlewareInterface`: +- Connection-oriented client identity via `connectionState->getId()` +- Incoming text requests queued and dequeued via `receive_request()` +- Per-client binary send for aggregated message frames +- Connect/disconnect callbacks for automatic session lifecycle + +## Event Loop + +BridgeServer exposes methods; the entry point drives timing: + +**ROS2** (`ros2/src/main.cpp`): Three `rclcpp` wall timers: +- 10 ms → `process_requests()` +- 1/publish_rate → `publish_aggregated_messages()` +- 1 s → `check_session_timeouts()` + +Spun via `SingleThreadedExecutor::spin_some(100ms)`. + +**RTI** (`rti/src/main.cpp`): `std::chrono` loop with 1 ms sleep: +- Every iteration → `process_requests()` +- At publish_rate → `publish_aggregated_messages()` +- Every 1 s → `check_session_timeouts()` +- Every 5 s (optional) → stats snapshot + +## ROS2-Specific Components -Main orchestrator integrating all components: -- Handles API request/response routing -- Per-client message filtering and delivery -- Session timeout monitoring (1 Hz timer) -- Message aggregation publishing (configurable rate, default 50 Hz) -- Thread-safe cleanup with idempotency guard +- **TopicDiscovery**: Discovers topics via `rclcpp::Node::get_topic_names_and_types()`, filtering system topics +- **SchemaExtractor**: Reads `.msg` files from ROS2 package share directories via `ament_index_cpp`, recursively expanding nested types (matches rosbag2 MCAP format) +- **GenericSubscriptionManager**: Ref-counted `rclcpp::GenericSubscription` per topic +- **MessageStripper**: Strips data fields from large message types (Image, PointCloud2, etc.) + +## RTI-Specific Components + +- **DdsTopicDiscovery**: Discovers topics via DDS participant discovery across configured domain IDs +- **DdsSubscriptionManager**: Manages DDS DataReaders, natively produces `shared_ptr>` ## Design Decisions +### Backend-Agnostic Core via Interfaces +`TopicSourceInterface` and `SubscriptionManagerInterface` allow the same `BridgeServer` to work with ROS2 or RTI DDS without compile-time dependencies on either middleware. + +### Message Data as `shared_ptr>` +Backend-agnostic type eliminates `rclcpp::SerializedMessage` from the core. ROS2 adapter converts via memcpy; RTI adapter already produces this type natively. + +### Externalized Event Loop +BridgeServer has no internal timers. This avoids coupling to any specific executor model (rclcpp timers vs. `std::chrono` loop) and keeps the core library free of middleware dependencies. + ### Shared Subscriptions with Reference Counting -Single ROS2 subscription per topic shared across clients reduces resource usage. Requires careful reference counting and thread safety. +One underlying middleware subscription per topic, shared across all clients. Ref count incremented on subscribe/resume, decremented on unsubscribe/pause/disconnect. + +### TTL Cleanup by Wall-Clock Time +MessageBuffer cleanup uses `received_at_ns` (wall clock), not `timestamp_ns` (source clock). This prevents sim-time offsets from causing premature eviction or unbounded growth. ### Per-Client Message Filtering -Each client receives only messages for its subscribed topics. The server iterates active sessions, filters the message buffer, serializes, compresses, and sends individually per client. +Each client receives only messages for its subscribed topics, with per-topic rate limiting. The server serializes, compresses, and sends individually per client. -### Custom Binary Serialization -Hand-crafted format with no external dependencies. Little-endian throughout. See [API docs](API.md#binary-message-format) for format details. +## Thread Safety -### Schema Extraction via .msg Files -Reads .msg files directly from ROS2 package share directories rather than runtime introspection. Simpler, more reliable for complex types, and matches rosbag2's approach. +### Lock Ordering (to prevent deadlock) -## Performance Characteristics +``` +cleanup_mutex_ > last_sent_mutex_ > stats_mutex_ +``` -- **Throughput**: >1000 messages/second -- **Latency**: <100ms (publish time to receive time) -- **Concurrent Clients**: 10+ clients supported -- **Compression**: ZSTD level 1 (typically 50-70% size reduction) -- **Memory**: Automatic cleanup prevents unbounded growth (1 second message retention) +`SessionManager::mutex_` may be acquired while holding any of these. Never acquire a higher-order lock while holding a lower-order one. -## Thread Safety +### Per-Component Guarantees + +- **MessageBuffer**: Internal mutex protects all buffer operations +- **SessionManager**: Internal mutex protects session map +- **GenericSubscriptionManager**: Internal mutex protects subscription map +- **BridgeServer**: `cleanup_mutex_` prevents concurrent cleanup; `last_sent_mutex_` protects rate-limiting state; `stats_mutex_` protects counters. Frames are built under `last_sent_mutex_`, sent outside it (minimizes lock contention) +- **WebSocketMiddleware**: Separate mutexes for state, client map, and message queue + +## Shutdown Sequence + +Both entry points follow the same ordered shutdown to avoid use-after-free: + +1. Cancel timers / exit event loop +2. Clear the subscription manager's message callback (`set_message_callback(nullptr)`) +3. Unsubscribe all middleware subscriptions +4. Shutdown WebSocket server (BridgeServer destructor handles this if not done explicitly) -- `MessageBuffer`: Internal mutex protects all buffer operations -- `SessionManager`: Internal mutex protects session map -- `GenericSubscriptionManager`: Internal mutex protects subscription map -- `BridgeServer`: `cleanup_mutex_` prevents concurrent cleanup of the same session; `stats_mutex_` protects publish statistics -- `WebSocketMiddleware`: Separate mutexes for state, client map, and message queue +## Performance Characteristics + +- **Compression**: ZSTD level 1 (typically 50-70% size reduction) +- **Memory**: Automatic 1-second TTL prevents unbounded growth +- **Concurrent Clients**: 10+ clients supported diff --git a/docs/plans/2026-02-26-unify-backends-design.md b/docs/plans/2026-02-26-unify-backends-design.md new file mode 100644 index 0000000..77c768d --- /dev/null +++ b/docs/plans/2026-02-26-unify-backends-design.md @@ -0,0 +1,281 @@ +# Unify pj_ros_bridge + dds_websocket_bridge into pj_bridge + +**Date**: 2026-02-26 +**Status**: Proposed + +## Context + +Two projects implement identical WebSocket bridge functionality for different backends: +- **pj_ros_bridge** (`/home/davide/ws_plotjuggler/src/pj_ros_bridge/`) — ROS2 Humble +- **dds_websocket_bridge** (`~/Asensus/ros_starman_ws/dds_websocket_bridge/`) — RTI Connext DDS + +They share identical: API protocol, binary wire format (PJRB + ZSTD), session management, message buffering, serialization, and WebSocket middleware. The only differences are topic discovery, schema extraction, subscription management, logging, and build system. + +**Goal**: Unify into a single project `pj_bridge` with a backend-agnostic `app/` core library and two optional plugins (`ros2/`, `rti/`). No client-side changes needed. + +## Design Decisions + +- **Project name**: `pj_bridge` (rename from `pj_ros_bridge`) +- **Namespace**: `pj_bridge` (rename from `pj_ros_bridge`) +- **Event loop**: App-driven (no timers in BridgeServer; main.cpp calls methods) +- **Executables**: `pj_bridge_ros2` + `pj_bridge_rti` (two separate binaries) +- **Logging**: spdlog in app layer (FetchContent, like IXWebSocket) +- **Message stripping**: ROS2-plugin only +- **RTI detection**: `find_package(RTIConnextDDS QUIET)` +- **ROS2 detection**: `find_package(ament_cmake QUIET)` (auto-detected by colcon) + +## Abstract Interfaces + +Two new interfaces in `app/include/pj_bridge/`: + +### TopicSourceInterface + +```cpp +struct TopicInfo { std::string name; std::string type; }; + +class TopicSourceInterface { +public: + virtual ~TopicSourceInterface() = default; + virtual std::vector get_topics() = 0; + virtual std::string get_schema(const std::string& topic_name) = 0; + virtual std::string schema_encoding() const = 0; // "ros2msg" or "omgidl" +}; +``` + +### SubscriptionManagerInterface + +```cpp +using MessageCallback = std::function> cdr_data, + uint64_t timestamp_ns)>; + +class SubscriptionManagerInterface { +public: + virtual ~SubscriptionManagerInterface() = default; + virtual void set_message_callback(MessageCallback callback) = 0; + virtual bool subscribe(const std::string& topic_name, const std::string& topic_type) = 0; + virtual bool unsubscribe(const std::string& topic_name) = 0; + virtual void unsubscribe_all() = 0; +}; +``` + +**Key design rationale:** + +- `subscribe()` takes both `topic_name` and `topic_type` — ROS2 needs the type for `GenericSubscription`; DDS ignores it. +- `set_message_callback()` — single global callback (DDS pattern). ROS2 adapter internally routes per-topic callbacks to this. +- Message type is `shared_ptr>` — eliminates rclcpp dependency from app layer. ROS2 adapter converts `SerializedMessage` to `vector` (one memcpy, negligible vs ZSTD compression). + +## Target Directory Structure + +``` +pj_bridge/ +├── app/ +│ ├── include/pj_bridge/ +│ │ ├── topic_source_interface.hpp [NEW] +│ │ ├── subscription_manager_interface.hpp [NEW] +│ │ ├── middleware/ +│ │ │ ├── middleware_interface.hpp [from include/pj_ros_bridge/middleware/] +│ │ │ └── websocket_middleware.hpp [from include/pj_ros_bridge/middleware/] +│ │ ├── bridge_server.hpp [refactored - no ROS2 deps] +│ │ ├── session_manager.hpp [from include/pj_ros_bridge/] +│ │ ├── message_buffer.hpp [unified - vector] +│ │ ├── message_serializer.hpp [unified - byte*, size_t] +│ │ ├── protocol_constants.hpp [merged both encodings] +│ │ └── time_utils.hpp [from include/pj_ros_bridge/] +│ └── src/ +│ ├── middleware/websocket_middleware.cpp +│ ├── bridge_server.cpp [refactored - spdlog, interfaces] +│ ├── session_manager.cpp +│ ├── message_buffer.cpp +│ └── message_serializer.cpp +├── ros2/ +│ ├── include/pj_bridge_ros2/ +│ │ ├── ros2_topic_source.hpp [wraps TopicDiscovery + SchemaExtractor] +│ │ ├── ros2_subscription_manager.hpp [wraps GenericSubscriptionManager] +│ │ ├── topic_discovery.hpp [from include/pj_ros_bridge/] +│ │ ├── schema_extractor.hpp [from include/pj_ros_bridge/] +│ │ ├── generic_subscription_manager.hpp [from include/pj_ros_bridge/] +│ │ └── message_stripper.hpp [from include/pj_ros_bridge/] +│ └── src/ +│ ├── ros2_topic_source.cpp [NEW adapter] +│ ├── ros2_subscription_manager.cpp [NEW adapter] +│ ├── topic_discovery.cpp [from src/] +│ ├── schema_extractor.cpp [from src/] +│ ├── generic_subscription_manager.cpp [from src/] +│ ├── message_stripper.cpp [from src/] +│ └── main.cpp [ROS2 entry point] +├── rti/ +│ ├── include/pj_bridge_rti/ +│ │ ├── rti_topic_source.hpp [wraps DdsTopicDiscovery] +│ │ ├── rti_subscription_manager.hpp [wraps DdsSubscriptionManager] +│ │ ├── dds_topic_discovery.hpp [from dds_websocket_bridge] +│ │ └── dds_subscription_manager.hpp [from dds_websocket_bridge] +│ └── src/ +│ ├── rti_topic_source.cpp [NEW adapter] +│ ├── rti_subscription_manager.cpp [NEW adapter] +│ ├── dds_topic_discovery.cpp [from dds_websocket_bridge] +│ ├── dds_subscription_manager.cpp [from dds_websocket_bridge] +│ └── main.cpp [RTI entry point] +├── 3rdparty/ [existing: nlohmann, tl, ixwebsocket] +├── tests/ +│ └── unit/ +│ ├── test_bridge_server.cpp [rewritten with mocks] +│ ├── test_session_manager.cpp [namespace change] +│ ├── test_message_buffer.cpp [data type change] +│ ├── test_message_serializer.cpp [signature change] +│ ├── test_websocket_middleware.cpp [namespace change] +│ ├── test_protocol_constants.cpp [namespace change] +│ ├── test_schema_extractor.cpp [ROS2-only] +│ ├── test_topic_discovery.cpp [ROS2-only] +│ ├── test_generic_subscription_manager.cpp [ROS2-only] +│ └── test_message_stripper.cpp [ROS2-only] +├── DATA/ [unchanged] +├── cmake/FindZSTD.cmake [unchanged] +├── data_path.hpp.in [unchanged] +├── CMakeLists.txt [rewritten] +├── package.xml [renamed to pj_bridge] +├── .clang-tidy [unchanged] +├── .pre-commit-config.yaml [unchanged] +└── CLAUDE.md [updated] +``` + +## How BridgeServer Changes + +| Method | Current (ROS2) | Unified | +|--------|---------------|---------| +| Constructor | `(Node, Middleware, port, timeout, rate, strip)` | `(TopicSource, SubManager, Middleware, port, timeout, rate)` | +| `initialize()` | Creates TopicDiscovery, SchemaExtractor, GenericSubManager, timers | Creates MessageBuffer, SessionManager. Sets message callback. No timers | +| `handle_get_topics()` | `topic_discovery_->discover_topics()` | `topic_source_->get_topics()` | +| `handle_subscribe()` | `schema_extractor_->get_message_definition(type)` + `subscribe(name, type, callback)` | `topic_source_->get_schema(name)` + `subscription_manager_->subscribe(name, type)` | +| `handle_resume()` | `subscribe(topic, type, make_buffer_callback(type))` | `subscription_manager_->subscribe(topic, type)` | +| `cleanup_session()` | `subscription_manager_->unsubscribe(topic)` | Same (interface method) | +| `publish_aggregated_messages()` | ROS2 timer callback, holds lock across send | Public method called by main.cpp. DDS lock ordering (build frames under lock, send outside) | +| `check_session_timeouts()` | ROS2 timer callback | Public method called by main.cpp | +| Logging | `RCLCPP_INFO(node_->get_logger(), "%s", arg)` | `spdlog::info("{}", arg)` | + +## Implementation Steps + +### Step 1: Create branch and directory structure + +Create `unify-backends` branch. Create `app/`, `ros2/`, `rti/` directory trees. + +### Step 2: Create abstract interface headers + +- `app/include/pj_bridge/topic_source_interface.hpp` +- `app/include/pj_bridge/subscription_manager_interface.hpp` + +### Step 3: Move and adapt common components to `app/` + +| File | Key Changes | +|------|-------------| +| `middleware_interface.hpp` | Namespace `pj_ros_bridge` → `pj_bridge` | +| `websocket_middleware.hpp/.cpp` | Namespace. Adopt DDS version's improved shutdown (shared_ptr server, timeout+detach thread) | +| `session_manager.hpp/.cpp` | Namespace only | +| `time_utils.hpp` | Namespace only | +| `protocol_constants.hpp` | Namespace. Add `kSchemaEncodingOmgIdl = "omgidl"` | +| `message_buffer.hpp/.cpp` | Namespace. `BufferedMessage` → `shared_ptr>` + add `received_at_ns` field. Remove rclcpp include | +| `message_serializer.hpp/.cpp` | Namespace. `serialize_message()` → `(const std::byte* data, size_t data_size)`. Remove rclcpp include | + +### Step 4: Refactor BridgeServer (the core change) + +**Header** (`app/include/pj_bridge/bridge_server.hpp`): +- Remove all ROS2 includes, add `#include ` +- New constructor: `BridgeServer(shared_ptr, shared_ptr, shared_ptr, int port, double session_timeout, double publish_rate)` +- Remove: `node_`, `topic_discovery_`, `schema_extractor_`, old `subscription_manager_` (concrete), timers, `strip_large_messages_`, `make_buffer_callback()` +- Add: `topic_source_`, `subscription_manager_` (via interfaces) +- Make `publish_aggregated_messages()` and `check_session_timeouts()` public +- Add `StatsSnapshot` struct and `snapshot_and_reset_stats()` from DDS version + +**Source** (`app/src/bridge_server.cpp`): +- Replace all `RCLCPP_*` with `spdlog::*` (printf → fmt syntax) +- `initialize()`: No timers. Set message callback: `subscription_manager_->set_message_callback([this](topic, data, ts) { message_buffer_->add_message(topic, ts, move(data)); })` +- `handle_get_topics()`: `topic_source_->get_topics()` +- `handle_subscribe()`: `topic_source_->get_schema(topic_name)` + `topic_source_->schema_encoding()` + `subscription_manager_->subscribe(name, type)` +- `publish_aggregated_messages()`: Adopt DDS lock ordering (build frames under lock, send outside). `msg.data->data(), msg.data->size()` for serializer + +### Step 5: Move ROS2-specific code to `ros2/` + +Move `topic_discovery`, `schema_extractor`, `generic_subscription_manager`, `message_stripper` headers and sources to `ros2/`. + +### Step 6: Create ROS2 adapters + +**`Ros2TopicSource`**: Implements `TopicSourceInterface`. Constructor takes `rclcpp::Node::SharedPtr`. Internally creates `TopicDiscovery` + `SchemaExtractor`. `get_schema(topic_name)` looks up type from cached topics, calls `SchemaExtractor::get_message_definition(type)`. + +**`Ros2SubscriptionManager`**: Implements `SubscriptionManagerInterface`. Constructor takes `rclcpp::Node::SharedPtr`, `bool strip_large_messages`. Internally creates `GenericSubscriptionManager`. `subscribe(name, type)` creates ROS2 callback that: receives `SerializedMessage` → optionally strips → converts to `shared_ptr>` → calls stored callback. + +**`ros2/src/main.cpp`**: ROS2 entry point. Creates node, declares parameters, creates adapters and BridgeServer. Uses ROS2 wall timers to drive `process_requests()`, `publish_aggregated_messages()`, `check_session_timeouts()`. Runs `executor.spin_some()` loop. + +### Step 7: Port RTI DDS backend + +Copy `DdsTopicDiscovery`, `DdsSubscriptionManager` from dds_websocket_bridge. Create thin `RtiTopicSource` and `RtiSubscriptionManager` adapters. Port `main.cpp` with CLI11 parsing and signal-handler event loop. + +### Step 8: Rewrite CMakeLists.txt + +Three build targets: +- `pj_bridge_app` (STATIC library, always built) — links ZSTD, IXWebSocket, spdlog +- `pj_bridge_ros2_lib` + `pj_bridge_ros2` executable — conditional on `ament_cmake` +- `pj_bridge_rti_lib` + `pj_bridge_rti` executable — conditional on `RTIConnextDDS` + +spdlog added via FetchContent (like IXWebSocket). + +### Step 9: Update tests + +**Core tests** (link `pj_bridge_app` + gtest, NO rclcpp): +- `test_bridge_server.cpp`: Biggest change. New mocks: `MockTopicSource`, `MockSubscriptionManager`. Remove `rclcpp::init/shutdown`. Fixture: `BridgeServer(mock_topic_source, mock_sub_manager, mock_middleware, ...)`. JSON protocol assertions stay identical. +- `test_message_buffer.cpp`: `rclcpp::SerializedMessage` → `vector` +- `test_message_serializer.cpp`: `serialize_message` → `(topic, ts, data, size)` +- Others: namespace change only + +**ROS2-specific tests** (link `pj_bridge_ros2_lib`, require ament): +- `test_schema_extractor.cpp`, `test_topic_discovery.cpp`, `test_generic_subscription_manager.cpp`, `test_message_stripper.cpp` — namespace change, still require rclcpp + +### Step 10: Update package.xml, conanfile.py, CLAUDE.md + +## Execution Order (minimizing risk) + +| # | Step | Risk | Test Impact | +|---|------|------|-------------| +| 1 | Create branch + dirs + interface headers | None | 0 | +| 2 | Move + adapt `protocol_constants`, `time_utils`, `session_manager` | Low | Namespace fix | +| 3 | Unify `MessageBuffer` (vector\) | Medium | ~11 tests | +| 4 | Unify `AggregatedMessageSerializer` (byte*, size) | Medium | ~22 tests | +| 5 | Unify `MiddlewareInterface` + `WebSocketMiddleware` | Low | ~16 tests | +| 6 | Refactor `BridgeServer` + rewrite `test_bridge_server.cpp` | **High** | ~44 tests | +| 7 | Create `Ros2TopicSource` + `Ros2SubscriptionManager` | Medium | 0 | +| 8 | Move ROS2-specific code + tests to `ros2/` | Low | Path changes | +| 9 | Update `ros2/src/main.cpp` | Low | Integration | +| 10 | Rewrite `CMakeLists.txt` | Medium | All (paths) | +| 11 | Port RTI backend from dds_websocket_bridge | Low | New tests | +| 12 | Update `package.xml`, `CLAUDE.md` | None | 0 | + +Steps 6 is the highest risk — BridgeServer and its tests must change in lockstep. + +## Potential Pitfalls + +1. **SerializedMessage → vector\ memcpy**: One copy per ROS2 message. Negligible vs ZSTD. +2. **Schema lookup by topic_name**: `Ros2TopicSource::get_schema()` must maintain name→type mapping internally. +3. **Thread safety of set_message_callback()**: ROS2 adapter must protect the callback pointer. +4. **spdlog dependency**: Add via FetchContent for ROS2 builds. +5. **Core tests must NOT depend on rclcpp**: Use plain gtest, not `ament_cmake_gtest`, for core tests. + +## Verification + +```bash +# Build with colcon (ROS2 backend) +cd ~/ws_plotjuggler && source /opt/ros/humble/setup.bash +colcon build --packages-select pj_bridge --cmake-args -DCMAKE_BUILD_TYPE=Release + +# Run all tests +colcon test --packages-select pj_bridge && colcon test-result --verbose + +# TSAN + ASAN (existing workflow via run_and_test.sh) + +# Integration test with rosbag +ros2 bag play DATA/sample.mcap --loop & +ros2 run pj_bridge pj_bridge_ros2 +python3 tests/integration/test_client.py --subscribe /topic + +# RTI build (on machine with Conan + RTI) +conan install . && cmake ... && make +``` diff --git a/include/pj_ros_bridge/message_buffer.hpp b/include/pj_ros_bridge/message_buffer.hpp deleted file mode 100644 index 40eab04..0000000 --- a/include/pj_ros_bridge/message_buffer.hpp +++ /dev/null @@ -1,120 +0,0 @@ -/* - * Copyright (C) 2026 Davide Faconti - * - * This file is part of pj_ros_bridge. - * - * pj_ros_bridge is free software: you can redistribute it and/or modify - * it under the terms of the GNU Affero General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * pj_ros_bridge is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU Affero General Public License for more details. - * - * You should have received a copy of the GNU Affero General Public License - * along with pj_ros_bridge. If not, see . - */ - -#ifndef PJ_ROS_BRIDGE__MESSAGE_BUFFER_HPP_ -#define PJ_ROS_BRIDGE__MESSAGE_BUFFER_HPP_ - -#include -#include -#include -#include -#include -#include -#include - -namespace pj_ros_bridge { - -/** - * @brief Structure to hold a buffered message with zero-copy semantics - * - * Uses shared_ptr to avoid copying message data. The same SerializedMessage - * can be referenced by multiple BufferedMessage instances without duplication. - */ -struct BufferedMessage { - uint64_t timestamp_ns; ///< Receive timestamp in nanoseconds since epoch - std::shared_ptr msg; ///< Shared pointer to serialized ROS2 message (zero-copy) -}; - -/** - * @brief Thread-safe message buffer with zero-copy and move semantics - * - * Design principles: - * - Zero-copy: Messages stored as shared_ptr to avoid data duplication - * - Move semantics: Buffer ownership transferred via std::swap() in move_messages() - * - Auto-cleanup: Messages older than 1 second are automatically removed - * - Thread-safe: All public methods use mutex protection - * - * The buffer stores messages per topic and uses std::swap() for efficient - * ownership transfer, avoiding any message copying during read operations. - */ -class MessageBuffer { - public: - MessageBuffer(); - - /** - * @brief Add a message to the buffer (zero-copy) - * - * The message is stored as a shared_ptr, avoiding any data copying. - * Automatically cleans up old messages before adding. - * - * @param topic_name Topic name - * @param timestamp_ns Receive timestamp in nanoseconds since epoch - * @param serialized_msg Shared pointer to serialized ROS2 message (ownership shared, not transferred) - */ - void add_message( - const std::string& topic_name, uint64_t timestamp_ns, std::shared_ptr serialized_msg); - - /** - * @brief Move entire buffer out atomically (zero-copy via std::swap) - * - * This method uses std::swap() to transfer buffer ownership without copying. - * After the call: - * - out_messages contains all buffered messages grouped by topic - * - Internal buffer is cleared - * - last_read_timestamp is updated to current time - * - * @param out_messages Output parameter that receives the buffer contents via swap - */ - void move_messages(std::unordered_map>& out_messages); - - /** - * @brief Clear all buffered messages - */ - void clear(); - - /** - * @brief Get the number of buffered messages - * - * @return Total number of messages currently in buffer - */ - size_t size() const; - - private: - mutable std::mutex mutex_; - - // Buffer per topic - std::unordered_map> topic_buffers_; - - // Timestamp of last read operation - uint64_t last_read_timestamp_ns_; - - // Maximum age of messages in nanoseconds (1 second) - static constexpr uint64_t kMaxMessageAgeNs = 1'000'000'000; - - /** - * @brief Remove messages older than kMaxMessageAgeNs - * - * Must be called with mutex_ locked. - */ - void cleanup_old_messages(); -}; - -} // namespace pj_ros_bridge - -#endif // PJ_ROS_BRIDGE__MESSAGE_BUFFER_HPP_ diff --git a/include/pj_ros_bridge/message_stripper.hpp b/include/pj_ros_bridge/message_stripper.hpp deleted file mode 100644 index 1f6933f..0000000 --- a/include/pj_ros_bridge/message_stripper.hpp +++ /dev/null @@ -1,68 +0,0 @@ -/* - * Copyright (C) 2026 Davide Faconti - * - * This file is part of pj_ros_bridge. - * - * pj_ros_bridge is free software: you can redistribute it and/or modify - * it under the terms of the GNU Affero General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * pj_ros_bridge is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU Affero General Public License for more details. - * - * You should have received a copy of the GNU Affero General Public License - * along with pj_ros_bridge. If not, see . - */ - -#ifndef PJ_ROS_BRIDGE__MESSAGE_STRIPPER_HPP_ -#define PJ_ROS_BRIDGE__MESSAGE_STRIPPER_HPP_ - -#include -#include - -namespace pj_ros_bridge { - -/** - * @brief Strips large array fields from known message types to reduce bandwidth - * - * Supported message types: - * - sensor_msgs/msg/Image: strips `data` field - * - sensor_msgs/msg/CompressedImage: strips `data` field - * - sensor_msgs/msg/PointCloud2: strips `data` field - * - sensor_msgs/msg/LaserScan: strips `ranges` and `intensities` fields - * - nav_msgs/msg/OccupancyGrid: strips `data` field - * - * Stripped fields are replaced with a single sentinel byte [0] to indicate - * the field was intentionally removed. - * - * Thread safety: Thread-safe, all methods are stateless - */ -class MessageStripper { - public: - /** - * @brief Check if a message type should be stripped - * @param message_type Full type name (e.g., "sensor_msgs/msg/Image") - * @return true if this type has fields that should be stripped - */ - static bool should_strip(const std::string& message_type); - - /** - * @brief Strip large fields from a serialized message - * - * Deserializes the message, replaces large array fields with [0] sentinel, - * and re-serializes to CDR format. - * - * @param message_type Full type name (e.g., "sensor_msgs/msg/Image") - * @param input CDR-serialized message from ROS2 - * @return New SerializedMessage with large fields replaced by [0] sentinel - * @throws std::runtime_error if deserialization or serialization fails - */ - static rclcpp::SerializedMessage strip(const std::string& message_type, const rclcpp::SerializedMessage& input); -}; - -} // namespace pj_ros_bridge - -#endif // PJ_ROS_BRIDGE__MESSAGE_STRIPPER_HPP_ diff --git a/include/pj_ros_bridge/middleware/middleware_interface.hpp b/include/pj_ros_bridge/middleware/middleware_interface.hpp deleted file mode 100644 index da15e18..0000000 --- a/include/pj_ros_bridge/middleware/middleware_interface.hpp +++ /dev/null @@ -1,119 +0,0 @@ -/* - * Copyright (C) 2026 Davide Faconti - * - * This file is part of pj_ros_bridge. - * - * pj_ros_bridge is free software: you can redistribute it and/or modify - * it under the terms of the GNU Affero General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * pj_ros_bridge is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU Affero General Public License for more details. - * - * You should have received a copy of the GNU Affero General Public License - * along with pj_ros_bridge. If not, see . - */ - -#ifndef PJ_ROS_BRIDGE__MIDDLEWARE__MIDDLEWARE_INTERFACE_HPP_ -#define PJ_ROS_BRIDGE__MIDDLEWARE__MIDDLEWARE_INTERFACE_HPP_ - -#include -#include -#include -#include - -#include "tl/expected.hpp" - -namespace pj_ros_bridge { - -/** - * @brief Abstract interface for connection-oriented middleware implementations - * - * This interface provides an abstraction layer over the networking middleware. - * It uses a connection-oriented model where each client has a unique identity, - * and replies are sent to specific clients by identity. - * - * Thread safety: Implementations should be thread-safe for concurrent calls. - */ -class MiddlewareInterface { - public: - virtual ~MiddlewareInterface() = default; - - /** - * @brief Initialize the middleware on a single port - * - * @param port Port to listen on - * @return void on success, error message string on failure - */ - virtual tl::expected initialize(uint16_t port) = 0; - - /** - * @brief Shutdown the middleware and cleanup resources - */ - virtual void shutdown() = 0; - - /** - * @brief Receive a request from a client (with timeout) - * - * @param data Output buffer for received data - * @param client_identity Output parameter for client identifier - * @return true if request received, false on timeout or error - */ - virtual bool receive_request(std::vector& data, std::string& client_identity) = 0; - - /** - * @brief Send a reply to a specific client - * - * @param client_identity Client to send to (from receive_request) - * @param data Data to send as reply - * @return true if reply sent successfully, false otherwise - */ - virtual bool send_reply(const std::string& client_identity, const std::vector& data) = 0; - - /** - * @brief Broadcast binary data to all connected clients - * - * Currently unused — per-client delivery uses send_binary() instead. - * Retained in the interface for future broadcast scenarios. - * - * @param data Data to broadcast - * @return true if data sent to at least one client, false otherwise - */ - virtual bool publish_data(const std::vector& data) = 0; - - /** - * @brief Send binary data to a specific client - * - * @param client_identity Client to send to - * @param data Binary data to send - * @return true if data sent successfully, false otherwise - */ - virtual bool send_binary(const std::string& client_identity, const std::vector& data) = 0; - - /** - * @brief Check if middleware is initialized and ready - * - * @return true if ready, false otherwise - */ - virtual bool is_ready() const = 0; - - /// Callback for connection events - using ConnectionCallback = std::function; - - /** - * @brief Set callback for new client connections - */ - virtual void set_on_connect(ConnectionCallback callback) = 0; - - /** - * @brief Set callback for client disconnections - */ - virtual void set_on_disconnect(ConnectionCallback callback) = 0; -}; - -} // namespace pj_ros_bridge - -#endif // PJ_ROS_BRIDGE__MIDDLEWARE__MIDDLEWARE_INTERFACE_HPP_ diff --git a/include/pj_ros_bridge/schema_extractor.hpp b/include/pj_ros_bridge/schema_extractor.hpp deleted file mode 100644 index 5cb34c0..0000000 --- a/include/pj_ros_bridge/schema_extractor.hpp +++ /dev/null @@ -1,104 +0,0 @@ -/* - * Copyright (C) 2026 Davide Faconti - * - * This file is part of pj_ros_bridge. - * - * pj_ros_bridge is free software: you can redistribute it and/or modify - * it under the terms of the GNU Affero General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * pj_ros_bridge is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU Affero General Public License for more details. - * - * You should have received a copy of the GNU Affero General Public License - * along with pj_ros_bridge. If not, see . - */ - -#ifndef PJ_ROS_BRIDGE__SCHEMA_EXTRACTOR_HPP_ -#define PJ_ROS_BRIDGE__SCHEMA_EXTRACTOR_HPP_ - -#include -#include -#include -#include -#include -#include - -namespace pj_ros_bridge { - -/** - * @brief Extracts message definitions in ROS2 interface text format - * - * This class reads .msg files from ROS2 packages and recursively expands - * nested message types to produce the full message definition text. - * - * Implements two-level caching: - * - Level 1: Complete message definitions (final output) - * - Level 2: Raw .msg file contents - * - * Thread safety: Thread-safe for concurrent access using shared_mutex. - */ -class SchemaExtractor { - public: - SchemaExtractor() = default; - - /** - * @brief Get message definition text - * - * Returns the message definition in ROS2 interface format (same as ros2 interface show). - * Results are cached for subsequent calls. - * - * @param message_type Full message type name (e.g., "std_msgs/msg/String") - * @return Message definition text, or empty string on failure - */ - std::string get_message_definition(const std::string& message_type); - - private: - /** - * @brief Convert ROS2 type string to library and type name - * - * Converts "pkg_name/msg/MsgType" to library name and type name - * for use with rosidl type support lookup. - * - * @param message_type Full message type string - * @param library_name Output: library name - * @param type_name Output: type name - * @return true if conversion successful, false otherwise - */ - bool parse_message_type(const std::string& message_type, std::string& library_name, std::string& type_name) const; - - /** - * @brief Recursively build message definition text from .msg files - * - * Reads .msg files from /opt/ros/DISTRO/share/{package}/msg/ and recursively - * expands nested message types with ================MSG: separators. - * - * @param package_name Package name (e.g., "sensor_msgs") - * @param type_name Type name (e.g., "PointCloud2") - * @param output Output stream to write the definition to - * @param processed_types Set of already processed types to avoid duplicates - * @param is_root Whether this is the root type (no separator) - * @return true if successful, false otherwise - */ - bool build_message_definition_recursive( - const std::string& package_name, const std::string& type_name, std::ostringstream& output, - std::set& processed_types, bool is_root) const; - - // Level 1 cache: Complete message definitions (key: "package/msg/Type") - mutable std::unordered_map definition_cache_; - - // Level 2 cache: Raw .msg file contents (key: "package/Type") - mutable std::unordered_map msg_file_cache_; - - // Thread safety: shared_mutex allows multiple readers or one writer - mutable std::shared_mutex cache_mutex_; -}; - -std::string remove_comments_from_schema(const std::string& schema); - -} // namespace pj_ros_bridge - -#endif // PJ_ROS_BRIDGE__SCHEMA_EXTRACTOR_HPP_ diff --git a/include/pj_ros_bridge/session_manager.hpp b/include/pj_ros_bridge/session_manager.hpp deleted file mode 100644 index 4e35a90..0000000 --- a/include/pj_ros_bridge/session_manager.hpp +++ /dev/null @@ -1,163 +0,0 @@ -/* - * Copyright (C) 2026 Davide Faconti - * - * This file is part of pj_ros_bridge. - * - * pj_ros_bridge is free software: you can redistribute it and/or modify - * it under the terms of the GNU Affero General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * pj_ros_bridge is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU Affero General Public License for more details. - * - * You should have received a copy of the GNU Affero General Public License - * along with pj_ros_bridge. If not, see . - */ - -#ifndef PJ_ROS_BRIDGE__SESSION_MANAGER_HPP_ -#define PJ_ROS_BRIDGE__SESSION_MANAGER_HPP_ - -#include -#include -#include -#include -#include - -namespace pj_ros_bridge { - -/** - * @brief Represents a client session - */ -struct Session { - /// Unique client identifier (from WebSocket connection) - std::string client_id; - - /// Map of topic names to max rate in Hz (0.0 = unlimited) - std::unordered_map subscribed_topics; - - /// Timestamp of last heartbeat received - std::chrono::steady_clock::time_point last_heartbeat; - - /// Session creation timestamp - std::chrono::steady_clock::time_point created_at; - - /// Whether message publishing is paused for this client - bool paused{false}; -}; - -/** - * @brief Manages client sessions and tracks subscriptions - * - * Thread-safe class that manages active client sessions, tracks - * per-client subscriptions, monitors heartbeats, and handles - * session timeouts. - */ -class SessionManager { - public: - /** - * @brief Constructor - * @param timeout_seconds Timeout duration for client sessions (default: 10 seconds) - */ - explicit SessionManager(double timeout_seconds = 10.0); - - /** - * @brief Create a new session for a client - * @param client_id Unique client identifier - * @return true if session created, false if already exists - */ - bool create_session(const std::string& client_id); - - /** - * @brief Update heartbeat timestamp for a client session - * @param client_id Client identifier - * @return true if session exists and was updated, false otherwise - */ - bool update_heartbeat(const std::string& client_id); - - /** - * @brief Get a session by client ID - * @param client_id Client identifier - * @param session Output parameter for session data - * @return true if session exists, false otherwise - */ - bool get_session(const std::string& client_id, Session& session) const; - - /** - * @brief Update the subscribed topics for a client session - * @param client_id Client identifier - * @param topics Set of topic names - * @return true if session exists and was updated, false otherwise - */ - bool update_subscriptions(const std::string& client_id, const std::unordered_map& topics); - - /** - * @brief Get the subscribed topics for a client - * @param client_id Client identifier - * @return Set of subscribed topic names (empty if session doesn't exist) - */ - std::unordered_map get_subscriptions(const std::string& client_id) const; - - /** - * @brief Remove a session - * @param client_id Client identifier - * @return true if session was removed, false if it didn't exist - */ - bool remove_session(const std::string& client_id); - - /** - * @brief Check for timed-out sessions and return their IDs - * @return Vector of client IDs that have timed out - */ - std::vector get_timed_out_sessions(); - - /** - * @brief Get all active session IDs - * @return Vector of active client IDs - */ - std::vector get_active_sessions() const; - - /** - * @brief Get the number of active sessions - * @return Number of active sessions - */ - size_t session_count() const; - - /** - * @brief Check if a session exists - * @param client_id Client identifier - * @return true if session exists, false otherwise - */ - bool session_exists(const std::string& client_id) const; - - /** - * @brief Set the paused state for a client - * @param client_id Client identifier - * @param paused Whether to pause message publishing for this client - * @return true if session exists and was updated, false if session not found - */ - bool set_paused(const std::string& client_id, bool paused); - - /** - * @brief Check if a client is paused - * @param client_id Client identifier - * @return true if paused, false if not paused or session not found - */ - bool is_paused(const std::string& client_id) const; - - private: - /// Map of client ID to session data - std::unordered_map sessions_; - - /// Mutex for thread-safe access - mutable std::mutex mutex_; - - /// Session timeout duration - std::chrono::duration timeout_duration_; -}; - -} // namespace pj_ros_bridge - -#endif // PJ_ROS_BRIDGE__SESSION_MANAGER_HPP_ diff --git a/package.xml b/package.xml index b2c5ed4..f5c70bf 100644 --- a/package.xml +++ b/package.xml @@ -1,9 +1,9 @@ - pj_ros_bridge - 0.1.0 - ROS2 bridge server that forwards ROS2 topic content over WebSocket + pj_bridge + 0.2.0 + Multi-backend bridge server (ROS2 / RTI DDS) that forwards topic content over WebSocket davide davide AGPL-3.0 @@ -14,15 +14,15 @@ ament_index_cpp rclcpp + sensor_msgs + nav_msgs ros2launch launch_ros geometry_msgs ament_cmake_gtest - sensor_msgs geometry_msgs - nav_msgs ament_cmake diff --git a/include/pj_ros_bridge/generic_subscription_manager.hpp b/ros2/include/pj_bridge_ros2/generic_subscription_manager.hpp similarity index 52% rename from include/pj_ros_bridge/generic_subscription_manager.hpp rename to ros2/include/pj_bridge_ros2/generic_subscription_manager.hpp index 3f80c95..e0274c2 100644 --- a/include/pj_ros_bridge/generic_subscription_manager.hpp +++ b/ros2/include/pj_bridge_ros2/generic_subscription_manager.hpp @@ -1,24 +1,23 @@ /* * Copyright (C) 2026 Davide Faconti * - * This file is part of pj_ros_bridge. + * This file is part of pj_bridge. * - * pj_ros_bridge is free software: you can redistribute it and/or modify + * pj_bridge is free software: you can redistribute it and/or modify * it under the terms of the GNU Affero General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * - * pj_ros_bridge is distributed in the hope that it will be useful, + * pj_bridge is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU Affero General Public License for more details. * * You should have received a copy of the GNU Affero General Public License - * along with pj_ros_bridge. If not, see . + * along with pj_bridge. If not, see . */ -#ifndef PJ_ROS_BRIDGE__GENERIC_SUBSCRIPTION_MANAGER_HPP_ -#define PJ_ROS_BRIDGE__GENERIC_SUBSCRIPTION_MANAGER_HPP_ +#pragma once #include #include @@ -28,14 +27,14 @@ #include #include -namespace pj_ros_bridge { +namespace pj_bridge { /** - * @brief Callback function for received messages + * @brief ROS2-specific callback for received serialized messages * * Parameters: topic_name, serialized_data, receive_timestamp_ns */ -using MessageCallback = +using Ros2MessageCallback = std::function&, uint64_t)>; /** @@ -50,54 +49,17 @@ class GenericSubscriptionManager { public: explicit GenericSubscriptionManager(rclcpp::Node::SharedPtr node); - /** - * @brief Subscribe to a topic - * - * If already subscribed, increments reference count. - * - * @param topic_name Topic name to subscribe to - * @param topic_type Full topic type (e.g., "std_msgs/msg/String") - * @param callback Callback function for received messages - * @return true if subscription created/incremented, false on error - */ - bool subscribe(const std::string& topic_name, const std::string& topic_type, MessageCallback callback); - - /** - * @brief Unsubscribe from a topic - * - * Decrements reference count. Removes subscription when count reaches zero. - * - * @param topic_name Topic name to unsubscribe from - * @return true if unsubscribed, false if not subscribed - */ + bool subscribe(const std::string& topic_name, const std::string& topic_type, Ros2MessageCallback callback); bool unsubscribe(const std::string& topic_name); - - /** - * @brief Check if subscribed to a topic - * - * @param topic_name Topic name to check - * @return true if subscribed, false otherwise - */ bool is_subscribed(const std::string& topic_name) const; - - /** - * @brief Get reference count for a topic - * - * @param topic_name Topic name - * @return Reference count, or 0 if not subscribed - */ size_t get_reference_count(const std::string& topic_name) const; - - /** - * @brief Unsubscribe from all topics - */ void unsubscribe_all(); private: struct SubscriptionInfo { std::shared_ptr subscription; std::string topic_type; - MessageCallback callback; + Ros2MessageCallback callback; size_t reference_count; }; @@ -106,6 +68,4 @@ class GenericSubscriptionManager { std::unordered_map subscriptions_; }; -} // namespace pj_ros_bridge - -#endif // PJ_ROS_BRIDGE__GENERIC_SUBSCRIPTION_MANAGER_HPP_ +} // namespace pj_bridge diff --git a/ros2/include/pj_bridge_ros2/message_stripper.hpp b/ros2/include/pj_bridge_ros2/message_stripper.hpp new file mode 100644 index 0000000..b418a5e --- /dev/null +++ b/ros2/include/pj_bridge_ros2/message_stripper.hpp @@ -0,0 +1,45 @@ +/* + * Copyright (C) 2026 Davide Faconti + * + * This file is part of pj_bridge. + * + * pj_bridge is free software: you can redistribute it and/or modify + * it under the terms of the GNU Affero General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * pj_bridge is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License + * along with pj_bridge. If not, see . + */ + +#pragma once + +#include +#include + +namespace pj_bridge { + +/** + * @brief Strips large array fields from known message types to reduce bandwidth + * + * Supported message types: + * - sensor_msgs/msg/Image: strips `data` field + * - sensor_msgs/msg/CompressedImage: strips `data` field + * - sensor_msgs/msg/PointCloud2: strips `data` field + * - sensor_msgs/msg/LaserScan: strips `ranges` and `intensities` fields + * - nav_msgs/msg/OccupancyGrid: strips `data` field + * + * Thread safety: Thread-safe, all methods are stateless + */ +class MessageStripper { + public: + static bool should_strip(const std::string& message_type); + static rclcpp::SerializedMessage strip(const std::string& message_type, const rclcpp::SerializedMessage& input); +}; + +} // namespace pj_bridge diff --git a/ros2/include/pj_bridge_ros2/ros2_subscription_manager.hpp b/ros2/include/pj_bridge_ros2/ros2_subscription_manager.hpp new file mode 100644 index 0000000..ada94d4 --- /dev/null +++ b/ros2/include/pj_bridge_ros2/ros2_subscription_manager.hpp @@ -0,0 +1,56 @@ +/* + * Copyright (C) 2026 Davide Faconti + * + * This file is part of pj_bridge. + * + * pj_bridge is free software: you can redistribute it and/or modify + * it under the terms of the GNU Affero General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * pj_bridge is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License + * along with pj_bridge. If not, see . + */ + +#pragma once + +#include +#include + +#include "pj_bridge/subscription_manager_interface.hpp" +#include "pj_bridge_ros2/generic_subscription_manager.hpp" +#include "pj_bridge_ros2/message_stripper.hpp" + +namespace pj_bridge { + +/** + * @brief ROS2 implementation of SubscriptionManagerInterface + * + * Wraps GenericSubscriptionManager to provide backend-agnostic subscription + * management. Handles conversion from rclcpp::SerializedMessage to + * shared_ptr> and optional message stripping. + */ +class Ros2SubscriptionManager : public SubscriptionManagerInterface { + public: + explicit Ros2SubscriptionManager(rclcpp::Node::SharedPtr node, bool strip_large_messages = true); + + void set_message_callback(MessageCallback callback) override; + bool subscribe(const std::string& topic_name, const std::string& topic_type) override; + bool unsubscribe(const std::string& topic_name) override; + void unsubscribe_all() override; + + private: + rclcpp::Node::SharedPtr node_; + GenericSubscriptionManager inner_manager_; + bool strip_large_messages_; + + std::mutex callback_mutex_; + MessageCallback callback_; +}; + +} // namespace pj_bridge diff --git a/ros2/include/pj_bridge_ros2/ros2_topic_source.hpp b/ros2/include/pj_bridge_ros2/ros2_topic_source.hpp new file mode 100644 index 0000000..b9f7fbb --- /dev/null +++ b/ros2/include/pj_bridge_ros2/ros2_topic_source.hpp @@ -0,0 +1,54 @@ +/* + * Copyright (C) 2026 Davide Faconti + * + * This file is part of pj_bridge. + * + * pj_bridge is free software: you can redistribute it and/or modify + * it under the terms of the GNU Affero General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * pj_bridge is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License + * along with pj_bridge. If not, see . + */ + +#pragma once + +#include +#include +#include + +#include "pj_bridge/topic_source_interface.hpp" +#include "pj_bridge_ros2/schema_extractor.hpp" +#include "pj_bridge_ros2/topic_discovery.hpp" + +namespace pj_bridge { + +/** + * @brief ROS2 implementation of TopicSourceInterface + * + * Wraps TopicDiscovery and SchemaExtractor to provide backend-agnostic + * topic discovery and schema extraction. + */ +class Ros2TopicSource : public TopicSourceInterface { + public: + explicit Ros2TopicSource(rclcpp::Node::SharedPtr node); + + std::vector get_topics() override; + std::string get_schema(const std::string& topic_name) override; + std::string schema_encoding() const override; + + private: + TopicDiscovery topic_discovery_; + SchemaExtractor schema_extractor_; + + // Cached name → type mapping from last get_topics() call + std::unordered_map topic_type_cache_; +}; + +} // namespace pj_bridge diff --git a/ros2/include/pj_bridge_ros2/schema_extractor.hpp b/ros2/include/pj_bridge_ros2/schema_extractor.hpp new file mode 100644 index 0000000..6dc5075 --- /dev/null +++ b/ros2/include/pj_bridge_ros2/schema_extractor.hpp @@ -0,0 +1,65 @@ +/* + * Copyright (C) 2026 Davide Faconti + * + * This file is part of pj_bridge. + * + * pj_bridge is free software: you can redistribute it and/or modify + * it under the terms of the GNU Affero General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * pj_bridge is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License + * along with pj_bridge. If not, see . + */ + +#pragma once + +#include +#include +#include +#include +#include +#include + +namespace pj_bridge { + +/** + * @brief Extracts message definitions in ROS2 interface text format + * + * Reads .msg files from ROS2 packages and recursively expands + * nested message types to produce the full message definition text. + * + * Thread safety: Thread-safe for concurrent access using shared_mutex. + */ +class SchemaExtractor { + public: + SchemaExtractor() = default; + + /** + * @brief Get message definition text + * + * @param message_type Full message type name (e.g., "std_msgs/msg/String") + * @return Message definition text, or empty string on failure + */ + std::string get_message_definition(const std::string& message_type); + + private: + bool parse_message_type(const std::string& message_type, std::string& library_name, std::string& type_name) const; + + bool build_message_definition_recursive( + const std::string& package_name, const std::string& type_name, std::ostringstream& output, + std::set& processed_types, bool is_root) const; + + mutable std::unordered_map definition_cache_; + mutable std::unordered_map msg_file_cache_; + mutable std::shared_mutex cache_mutex_; +}; + +std::string remove_comments_from_schema(const std::string& schema); + +} // namespace pj_bridge diff --git a/include/pj_ros_bridge/topic_discovery.hpp b/ros2/include/pj_bridge_ros2/topic_discovery.hpp similarity index 63% rename from include/pj_ros_bridge/topic_discovery.hpp rename to ros2/include/pj_bridge_ros2/topic_discovery.hpp index f586ab5..70427c3 100644 --- a/include/pj_ros_bridge/topic_discovery.hpp +++ b/ros2/include/pj_bridge_ros2/topic_discovery.hpp @@ -1,44 +1,37 @@ /* * Copyright (C) 2026 Davide Faconti * - * This file is part of pj_ros_bridge. + * This file is part of pj_bridge. * - * pj_ros_bridge is free software: you can redistribute it and/or modify + * pj_bridge is free software: you can redistribute it and/or modify * it under the terms of the GNU Affero General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * - * pj_ros_bridge is distributed in the hope that it will be useful, + * pj_bridge is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU Affero General Public License for more details. * * You should have received a copy of the GNU Affero General Public License - * along with pj_ros_bridge. If not, see . + * along with pj_bridge. If not, see . */ -#ifndef PJ_ROS_BRIDGE__TOPIC_DISCOVERY_HPP_ -#define PJ_ROS_BRIDGE__TOPIC_DISCOVERY_HPP_ +#pragma once #include #include #include #include -namespace pj_ros_bridge { +#include "pj_bridge/topic_source_interface.hpp" -/** - * @brief Structure to hold topic information - */ -struct TopicInfo { - std::string name; - std::string type; -}; +namespace pj_bridge { /** * @brief Discovers and manages ROS2 topics * - * This class uses the ROS2 API to discover available topics and filter + * Uses the ROS2 API to discover available topics and filter * system topics that should not be exposed to clients. * * Thread safety: Not thread-safe. External synchronization required. @@ -49,21 +42,18 @@ class TopicDiscovery { /** * @brief Discover all available ROS2 topics - * * @return Vector of discovered topics (excluding system topics) */ std::vector discover_topics(); /** * @brief Get cached topic information - * * @return Vector of previously discovered topics */ std::vector get_topics() const; /** * @brief Refresh the topic list - * * @return true if successful, false otherwise */ bool refresh(); @@ -72,15 +62,7 @@ class TopicDiscovery { rclcpp::Node::SharedPtr node_; std::vector topics_; - /** - * @brief Check if a topic should be filtered out - * - * @param topic_name Topic name to check - * @return true if topic should be filtered, false otherwise - */ bool should_filter_topic(const std::string& topic_name) const; }; -} // namespace pj_ros_bridge - -#endif // PJ_ROS_BRIDGE__TOPIC_DISCOVERY_HPP_ +} // namespace pj_bridge diff --git a/src/generic_subscription_manager.cpp b/ros2/src/generic_subscription_manager.cpp similarity index 80% rename from src/generic_subscription_manager.cpp rename to ros2/src/generic_subscription_manager.cpp index d08571c..98486ba 100644 --- a/src/generic_subscription_manager.cpp +++ b/ros2/src/generic_subscription_manager.cpp @@ -1,43 +1,41 @@ /* * Copyright (C) 2026 Davide Faconti * - * This file is part of pj_ros_bridge. + * This file is part of pj_bridge. * - * pj_ros_bridge is free software: you can redistribute it and/or modify + * pj_bridge is free software: you can redistribute it and/or modify * it under the terms of the GNU Affero General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * - * pj_ros_bridge is distributed in the hope that it will be useful, + * pj_bridge is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU Affero General Public License for more details. * * You should have received a copy of the GNU Affero General Public License - * along with pj_ros_bridge. If not, see . + * along with pj_bridge. If not, see . */ -#include "pj_ros_bridge/generic_subscription_manager.hpp" +#include "pj_bridge_ros2/generic_subscription_manager.hpp" -#include "pj_ros_bridge/time_utils.hpp" +#include "pj_bridge/time_utils.hpp" -namespace pj_ros_bridge { +namespace pj_bridge { GenericSubscriptionManager::GenericSubscriptionManager(rclcpp::Node::SharedPtr node) : node_(node) {} bool GenericSubscriptionManager::subscribe( - const std::string& topic_name, const std::string& topic_type, MessageCallback callback) { + const std::string& topic_name, const std::string& topic_type, Ros2MessageCallback callback) { std::lock_guard lock(mutex_); auto it = subscriptions_.find(topic_name); if (it != subscriptions_.end()) { - // Already subscribed - increment reference count it->second.reference_count++; return true; } - // Create new subscription try { auto sub_callback = [topic_name, callback](std::shared_ptr msg) { uint64_t receive_time = get_current_time_ns(); @@ -68,18 +66,15 @@ bool GenericSubscriptionManager::unsubscribe(const std::string& topic_name) { auto it = subscriptions_.find(topic_name); if (it == subscriptions_.end()) { - return false; // Not subscribed + return false; } - // Guard against underflow if (it->second.reference_count == 0) { return false; } - // Decrement reference count it->second.reference_count--; - // Remove subscription if no more references if (it->second.reference_count == 0) { subscriptions_.erase(it); } @@ -108,4 +103,4 @@ void GenericSubscriptionManager::unsubscribe_all() { subscriptions_.clear(); } -} // namespace pj_ros_bridge +} // namespace pj_bridge diff --git a/src/main.cpp b/ros2/src/main.cpp similarity index 55% rename from src/main.cpp rename to ros2/src/main.cpp index fb37dc4..68a68bc 100644 --- a/src/main.cpp +++ b/ros2/src/main.cpp @@ -1,36 +1,39 @@ /* * Copyright (C) 2026 Davide Faconti * - * This file is part of pj_ros_bridge. + * This file is part of pj_bridge. * - * pj_ros_bridge is free software: you can redistribute it and/or modify + * pj_bridge is free software: you can redistribute it and/or modify * it under the terms of the GNU Affero General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * - * pj_ros_bridge is distributed in the hope that it will be useful, + * pj_bridge is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU Affero General Public License for more details. * * You should have received a copy of the GNU Affero General Public License - * along with pj_ros_bridge. If not, see . + * along with pj_bridge. If not, see . */ +#include + +#include #include #include -#include "pj_ros_bridge/bridge_server.hpp" -#include "pj_ros_bridge/middleware/websocket_middleware.hpp" +#include "pj_bridge/bridge_server.hpp" +#include "pj_bridge/middleware/websocket_middleware.hpp" +#include "pj_bridge_ros2/ros2_subscription_manager.hpp" +#include "pj_bridge_ros2/ros2_topic_source.hpp" int main(int argc, char** argv) { - // Initialize ROS2 rclcpp::init(argc, argv); - // Create node - auto node = std::make_shared("pj_ros_bridge"); + auto node = std::make_shared("pj_bridge"); - RCLCPP_INFO(node->get_logger(), "Starting pj_ros_bridge server..."); + RCLCPP_INFO(node->get_logger(), "Starting pj_bridge (ROS2 backend)..."); // Declare and get parameters node->declare_parameter("port", 8080); @@ -49,15 +52,15 @@ int main(int argc, char** argv) { publish_rate, session_timeout, strip_large_messages ? "true" : "false"); try { - // Create middleware - auto middleware = std::make_shared(); + // Create backend components + auto topic_source = std::make_shared(node); + auto sub_manager = std::make_shared(node, strip_large_messages); + auto middleware = std::make_shared(); // Create bridge server - auto bridge_server = std::make_shared( - node, middleware, port, session_timeout, publish_rate, strip_large_messages); + pj_bridge::BridgeServer server(topic_source, sub_manager, middleware, port, session_timeout, publish_rate); - // Initialize server - if (!bridge_server->initialize()) { + if (!server.initialize()) { RCLCPP_ERROR(node->get_logger(), "Failed to initialize bridge server"); rclcpp::shutdown(); return 1; @@ -66,29 +69,39 @@ int main(int argc, char** argv) { RCLCPP_INFO(node->get_logger(), "Bridge server initialized successfully"); RCLCPP_INFO(node->get_logger(), "Ready to accept WebSocket connections on port %d", port); - // Create ROS timer to process API requests at 100 Hz - auto request_timer = node->create_wall_timer( - std::chrono::milliseconds(10), // 100 Hz - [&bridge_server]() { bridge_server->process_requests(); }); + // ROS2 timers drive the event loop + using namespace std::chrono_literals; + + auto request_timer = node->create_wall_timer(10ms, [&server]() { server.process_requests(); }); + + auto publish_period = std::chrono::duration(1.0 / publish_rate); + auto publish_timer = node->create_wall_timer( + std::chrono::duration_cast(publish_period), + [&server]() { server.publish_aggregated_messages(); }); - // Create single-threaded executor and add node + auto timeout_timer = node->create_wall_timer(1s, [&server]() { server.check_session_timeouts(); }); + + // Spin until shutdown rclcpp::executors::SingleThreadedExecutor executor; executor.add_node(node); - // Spin until shutdown is requested while (rclcpp::ok()) { - executor.spin_some(std::chrono::milliseconds(100)); + executor.spin_some(100ms); } // Graceful shutdown RCLCPP_INFO(node->get_logger(), "Shutting down bridge server..."); - // Cancel timer and remove node from executor request_timer->cancel(); + publish_timer->cancel(); + timeout_timer->cancel(); executor.remove_node(node); - // Get final statistics - auto [total_messages, total_bytes] = bridge_server->get_publish_stats(); + // Clear the subscription manager callback before server destruction + sub_manager->set_message_callback(nullptr); + sub_manager->unsubscribe_all(); + + auto [total_messages, total_bytes] = server.get_publish_stats(); RCLCPP_INFO( node->get_logger(), "Final statistics: %lu messages published, %lu bytes transmitted", total_messages, total_bytes); diff --git a/src/message_stripper.cpp b/ros2/src/message_stripper.cpp similarity index 83% rename from src/message_stripper.cpp rename to ros2/src/message_stripper.cpp index dd9707c..cbef0f1 100644 --- a/src/message_stripper.cpp +++ b/ros2/src/message_stripper.cpp @@ -1,23 +1,23 @@ /* * Copyright (C) 2026 Davide Faconti * - * This file is part of pj_ros_bridge. + * This file is part of pj_bridge. * - * pj_ros_bridge is free software: you can redistribute it and/or modify + * pj_bridge is free software: you can redistribute it and/or modify * it under the terms of the GNU Affero General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * - * pj_ros_bridge is distributed in the hope that it will be useful, + * pj_bridge is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU Affero General Public License for more details. * * You should have received a copy of the GNU Affero General Public License - * along with pj_ros_bridge. If not, see . + * along with pj_bridge. If not, see . */ -#include "pj_ros_bridge/message_stripper.hpp" +#include "pj_bridge_ros2/message_stripper.hpp" #include #include @@ -28,34 +28,25 @@ #include #include -namespace pj_ros_bridge { +namespace pj_bridge { namespace { -// Set of message types that should be stripped const std::unordered_set kStrippableTypes = { "sensor_msgs/msg/Image", "sensor_msgs/msg/CompressedImage", "sensor_msgs/msg/PointCloud2", "sensor_msgs/msg/LaserScan", "nav_msgs/msg/OccupancyGrid", }; -// Strip function for sensor_msgs/msg/Image rclcpp::SerializedMessage strip_image(const rclcpp::SerializedMessage& input) { rclcpp::Serialization serializer; - - // Deserialize sensor_msgs::msg::Image msg; serializer.deserialize_message(&input, &msg); - - // Replace data with sentinel msg.data = {0}; - - // Re-serialize rclcpp::SerializedMessage output; serializer.serialize_message(&msg, &output); return output; } -// Strip function for sensor_msgs/msg/CompressedImage rclcpp::SerializedMessage strip_compressed_image(const rclcpp::SerializedMessage& input) { rclcpp::Serialization serializer; sensor_msgs::msg::CompressedImage msg; @@ -66,7 +57,6 @@ rclcpp::SerializedMessage strip_compressed_image(const rclcpp::SerializedMessage return output; } -// Strip function for sensor_msgs/msg/PointCloud2 rclcpp::SerializedMessage strip_pointcloud2(const rclcpp::SerializedMessage& input) { rclcpp::Serialization serializer; sensor_msgs::msg::PointCloud2 msg; @@ -77,7 +67,6 @@ rclcpp::SerializedMessage strip_pointcloud2(const rclcpp::SerializedMessage& inp return output; } -// Strip function for sensor_msgs/msg/LaserScan rclcpp::SerializedMessage strip_laser_scan(const rclcpp::SerializedMessage& input) { rclcpp::Serialization serializer; sensor_msgs::msg::LaserScan msg; @@ -89,7 +78,6 @@ rclcpp::SerializedMessage strip_laser_scan(const rclcpp::SerializedMessage& inpu return output; } -// Strip function for nav_msgs/msg/OccupancyGrid rclcpp::SerializedMessage strip_occupancy_grid(const rclcpp::SerializedMessage& input) { rclcpp::Serialization serializer; nav_msgs::msg::OccupancyGrid msg; @@ -111,19 +99,15 @@ rclcpp::SerializedMessage MessageStripper::strip( if (message_type == "sensor_msgs/msg/Image") { return strip_image(input); } - if (message_type == "sensor_msgs/msg/CompressedImage") { return strip_compressed_image(input); } - if (message_type == "sensor_msgs/msg/PointCloud2") { return strip_pointcloud2(input); } - if (message_type == "sensor_msgs/msg/LaserScan") { return strip_laser_scan(input); } - if (message_type == "nav_msgs/msg/OccupancyGrid") { return strip_occupancy_grid(input); } @@ -131,4 +115,4 @@ rclcpp::SerializedMessage MessageStripper::strip( throw std::runtime_error("strip() not implemented for type: " + message_type); } -} // namespace pj_ros_bridge +} // namespace pj_bridge diff --git a/ros2/src/ros2_subscription_manager.cpp b/ros2/src/ros2_subscription_manager.cpp new file mode 100644 index 0000000..e56b338 --- /dev/null +++ b/ros2/src/ros2_subscription_manager.cpp @@ -0,0 +1,81 @@ +/* + * Copyright (C) 2026 Davide Faconti + * + * This file is part of pj_bridge. + * + * pj_bridge is free software: you can redistribute it and/or modify + * it under the terms of the GNU Affero General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * pj_bridge is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License + * along with pj_bridge. If not, see . + */ + +#include "pj_bridge_ros2/ros2_subscription_manager.hpp" + +#include + +#include + +namespace pj_bridge { + +Ros2SubscriptionManager::Ros2SubscriptionManager(rclcpp::Node::SharedPtr node, bool strip_large_messages) + : node_(node), inner_manager_(node), strip_large_messages_(strip_large_messages) {} + +void Ros2SubscriptionManager::set_message_callback(MessageCallback callback) { + std::lock_guard lock(callback_mutex_); + callback_ = std::move(callback); +} + +bool Ros2SubscriptionManager::subscribe(const std::string& topic_name, const std::string& topic_type) { + // Create a ROS2 callback that converts SerializedMessage → vector and calls the stored callback + Ros2MessageCallback ros2_callback = + [this, topic_type]( + const std::string& topic, const std::shared_ptr& msg, uint64_t receive_time_ns) { + // Optionally strip large fields + const rclcpp::SerializedMessage* msg_to_use = msg.get(); + std::unique_ptr stripped_msg; + + if (strip_large_messages_ && MessageStripper::should_strip(topic_type)) { + try { + stripped_msg = std::make_unique(MessageStripper::strip(topic_type, *msg)); + msg_to_use = stripped_msg.get(); + } catch (const std::exception& e) { + spdlog::warn("Failed to strip message on topic '{}': {}. Forwarding original.", topic, e.what()); + } + } + + // Convert rclcpp::SerializedMessage to shared_ptr> + const auto& rcl_msg = msg_to_use->get_rcl_serialized_message(); + auto data = std::make_shared>(rcl_msg.buffer_length); + std::memcpy(data->data(), rcl_msg.buffer, rcl_msg.buffer_length); + + // Invoke the stored callback + MessageCallback cb; + { + std::lock_guard lock(callback_mutex_); + cb = callback_; + } + if (cb) { + cb(topic, std::move(data), receive_time_ns); + } + }; + + return inner_manager_.subscribe(topic_name, topic_type, ros2_callback); +} + +bool Ros2SubscriptionManager::unsubscribe(const std::string& topic_name) { + return inner_manager_.unsubscribe(topic_name); +} + +void Ros2SubscriptionManager::unsubscribe_all() { + inner_manager_.unsubscribe_all(); +} + +} // namespace pj_bridge diff --git a/ros2/src/ros2_topic_source.cpp b/ros2/src/ros2_topic_source.cpp new file mode 100644 index 0000000..bfde758 --- /dev/null +++ b/ros2/src/ros2_topic_source.cpp @@ -0,0 +1,53 @@ +/* + * Copyright (C) 2026 Davide Faconti + * + * This file is part of pj_bridge. + * + * pj_bridge is free software: you can redistribute it and/or modify + * it under the terms of the GNU Affero General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * pj_bridge is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License + * along with pj_bridge. If not, see . + */ + +#include "pj_bridge_ros2/ros2_topic_source.hpp" + +#include "pj_bridge/protocol_constants.hpp" + +namespace pj_bridge { + +Ros2TopicSource::Ros2TopicSource(rclcpp::Node::SharedPtr node) : topic_discovery_(node) {} + +std::vector Ros2TopicSource::get_topics() { + auto topics = topic_discovery_.discover_topics(); + + // Update the name → type cache + topic_type_cache_.clear(); + for (const auto& topic : topics) { + topic_type_cache_[topic.name] = topic.type; + } + + return topics; +} + +std::string Ros2TopicSource::get_schema(const std::string& topic_name) { + auto it = topic_type_cache_.find(topic_name); + if (it == topic_type_cache_.end()) { + return ""; + } + + return schema_extractor_.get_message_definition(it->second); +} + +std::string Ros2TopicSource::schema_encoding() const { + return kSchemaEncodingRos2Msg; +} + +} // namespace pj_bridge diff --git a/src/schema_extractor.cpp b/ros2/src/schema_extractor.cpp similarity index 78% rename from src/schema_extractor.cpp rename to ros2/src/schema_extractor.cpp index 7407a31..63363d7 100644 --- a/src/schema_extractor.cpp +++ b/ros2/src/schema_extractor.cpp @@ -1,23 +1,23 @@ /* * Copyright (C) 2026 Davide Faconti * - * This file is part of pj_ros_bridge. + * This file is part of pj_bridge. * - * pj_ros_bridge is free software: you can redistribute it and/or modify + * pj_bridge is free software: you can redistribute it and/or modify * it under the terms of the GNU Affero General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * - * pj_ros_bridge is distributed in the hope that it will be useful, + * pj_bridge is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU Affero General Public License for more details. * * You should have received a copy of the GNU Affero General Public License - * along with pj_ros_bridge. If not, see . + * along with pj_bridge. If not, see . */ -#include "pj_ros_bridge/schema_extractor.hpp" +#include "pj_bridge_ros2/schema_extractor.hpp" #include #include @@ -27,10 +27,9 @@ #include #include -namespace pj_ros_bridge { +namespace pj_bridge { std::string SchemaExtractor::get_message_definition(const std::string& message_type) { - // Level 1 cache: Check if complete definition is cached { std::shared_lock lock(cache_mutex_); auto it = definition_cache_.find(message_type); @@ -39,7 +38,6 @@ std::string SchemaExtractor::get_message_definition(const std::string& message_t } } - // Cache miss - build the definition std::string package_name; std::string type_name; @@ -47,8 +45,6 @@ std::string SchemaExtractor::get_message_definition(const std::string& message_t return ""; } - // Build the message definition by reading .msg files from ROS2 share directory - // and recursively expanding nested types std::ostringstream result; std::set processed_types; @@ -58,7 +54,6 @@ std::string SchemaExtractor::get_message_definition(const std::string& message_t std::string definition = result.str(); - // Store in cache { std::unique_lock lock(cache_mutex_); definition_cache_[message_type] = definition; @@ -72,7 +67,6 @@ bool SchemaExtractor::build_message_definition_recursive( std::set& processed_types, bool is_root) const { const std::string full_type = package_name + "/" + type_name; - // Level 2 cache: Check if .msg file content is cached std::string msg_content; { std::shared_lock lock(cache_mutex_); @@ -82,9 +76,7 @@ bool SchemaExtractor::build_message_definition_recursive( } } - // Cache miss - read the .msg file if (msg_content.empty()) { - // Get package share directory std::string package_share_dir; try { package_share_dir = ament_index_cpp::get_package_share_directory(package_name); @@ -92,7 +84,6 @@ bool SchemaExtractor::build_message_definition_recursive( return false; } - // Construct path to .msg file std::string msg_file_path = package_share_dir + "/msg/" + type_name + ".msg"; std::ifstream msg_file(msg_file_path); @@ -100,7 +91,6 @@ bool SchemaExtractor::build_message_definition_recursive( return false; } - // Read entire file into string std::ostringstream content_stream; std::string line; while (std::getline(msg_file, line)) { @@ -108,20 +98,17 @@ bool SchemaExtractor::build_message_definition_recursive( } msg_content = content_stream.str(); - // Store in cache { std::unique_lock lock(cache_mutex_); msg_file_cache_[full_type] = msg_content; } } - // Add separator for nested types (not for root type) if (!is_root) { output << "\n================================================================================\n"; output << "MSG: " << full_type << "\n"; } - // Process the .msg file content line by line std::istringstream msg_stream(msg_content); std::string line; std::vector nested_types; @@ -129,41 +116,33 @@ bool SchemaExtractor::build_message_definition_recursive( while (std::getline(msg_stream, line)) { output << line << "\n"; - // Check if line contains a nested message type - // Format: "package_name/MessageType field_name" or "MessageType field_name" std::istringstream line_stream(line); std::string first_word; line_stream >> first_word; - // Skip comments and empty lines if (first_word.empty() || first_word[0] == '#') { continue; } - // Check if this is a nested message type std::string nested_package; std::string nested_type; if (first_word.find('/') != std::string::npos) { - // Format: package_name/MessageType size_t slash_pos = first_word.find('/'); nested_package = first_word.substr(0, slash_pos); nested_type = first_word.substr(slash_pos + 1); - // Remove array brackets if present size_t bracket_pos = nested_type.find('['); if (bracket_pos != std::string::npos) { nested_type = nested_type.substr(0, bracket_pos); } } else { - // Strip array brackets (e.g., "float64[9]" -> "float64") before builtin check std::string base_type = first_word; size_t bracket_pos = base_type.find('['); if (bracket_pos != std::string::npos) { base_type = base_type.substr(0, bracket_pos); } - // Check if it's a built-in type or a local type bool is_builtin = (base_type == "bool" || base_type == "byte" || base_type == "char" || base_type == "float32" || base_type == "float64" || base_type == "int8" || base_type == "uint8" || base_type == "int16" || @@ -171,13 +150,11 @@ bool SchemaExtractor::build_message_definition_recursive( base_type == "uint64" || base_type == "string" || base_type == "wstring"); if (!is_builtin) { - // It's a local type in the same package nested_package = package_name; nested_type = base_type; } } - // If we found a nested type, add it to the list if (!nested_type.empty()) { std::string full_nested_type = nested_package + "/" + nested_type; if (processed_types.find(full_nested_type) == processed_types.end()) { @@ -186,7 +163,7 @@ bool SchemaExtractor::build_message_definition_recursive( } } } - // std_msgs/Header always goes last + if (nested_types.size() >= 2) { if (nested_types.at(0) == "std_msgs/Header") { nested_types.push_back(nested_types.at(0)); @@ -194,7 +171,6 @@ bool SchemaExtractor::build_message_definition_recursive( } } - // Recursively process nested types in the order they appear for (const auto& nested_full_type : nested_types) { size_t slash_pos = nested_full_type.find('/'); std::string nested_pkg = nested_full_type.substr(0, slash_pos); @@ -210,7 +186,6 @@ bool SchemaExtractor::build_message_definition_recursive( bool SchemaExtractor::parse_message_type( const std::string& message_type, std::string& library_name, std::string& type_name) const { - // Expected format: "package_name/msg/MessageType" size_t first_slash = message_type.find('/'); if (first_slash == std::string::npos) { return false; @@ -233,14 +208,11 @@ std::string remove_comments_from_schema(const std::string& schema) { std::string line; while (std::getline(input, line)) { - // Find the position of '#' character size_t comment_pos = line.find('#'); if (comment_pos != std::string::npos) { - // Keep everything before the '#', trim trailing whitespace std::string before_comment = line.substr(0, comment_pos); - // Trim trailing whitespace size_t end = before_comment.find_last_not_of(" \t\r\n"); if (end != std::string::npos) { before_comment = before_comment.substr(0, end + 1); @@ -248,12 +220,10 @@ std::string remove_comments_from_schema(const std::string& schema) { before_comment = ""; } - // Only add non-empty lines if (!before_comment.empty()) { output << before_comment << "\n"; } } else { - // No comment, keep the whole line output << line << "\n"; } } @@ -261,4 +231,4 @@ std::string remove_comments_from_schema(const std::string& schema) { return output.str(); } -} // namespace pj_ros_bridge +} // namespace pj_bridge diff --git a/src/topic_discovery.cpp b/ros2/src/topic_discovery.cpp similarity index 76% rename from src/topic_discovery.cpp rename to ros2/src/topic_discovery.cpp index 7c326b4..9b5c44c 100644 --- a/src/topic_discovery.cpp +++ b/ros2/src/topic_discovery.cpp @@ -1,25 +1,25 @@ /* * Copyright (C) 2026 Davide Faconti * - * This file is part of pj_ros_bridge. + * This file is part of pj_bridge. * - * pj_ros_bridge is free software: you can redistribute it and/or modify + * pj_bridge is free software: you can redistribute it and/or modify * it under the terms of the GNU Affero General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * - * pj_ros_bridge is distributed in the hope that it will be useful, + * pj_bridge is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU Affero General Public License for more details. * * You should have received a copy of the GNU Affero General Public License - * along with pj_ros_bridge. If not, see . + * along with pj_bridge. If not, see . */ -#include "pj_ros_bridge/topic_discovery.hpp" +#include "pj_bridge_ros2/topic_discovery.hpp" -namespace pj_ros_bridge { +namespace pj_bridge { TopicDiscovery::TopicDiscovery(rclcpp::Node::SharedPtr node) : node_(node) {} @@ -29,12 +29,10 @@ std::vector TopicDiscovery::discover_topics() { auto topic_names_and_types = node_->get_topic_names_and_types(); for (const auto& [topic_name, topic_types] : topic_names_and_types) { - // Filter system topics if (should_filter_topic(topic_name)) { continue; } - // A topic can have multiple types in some cases, we'll use the first one if (!topic_types.empty()) { TopicInfo info; info.name = topic_name; @@ -61,7 +59,6 @@ bool TopicDiscovery::refresh() { } bool TopicDiscovery::should_filter_topic(const std::string& topic_name) const { - // Filter out ROS2 system topics static const std::vector kSystemTopics = {"/rosout", "/parameter_events", "/robot_description"}; for (const auto& system_topic : kSystemTopics) { @@ -70,7 +67,6 @@ bool TopicDiscovery::should_filter_topic(const std::string& topic_name) const { } } - // Filter topics that start with system prefixes if (topic_name.find("/_") == 0) { return true; } @@ -78,4 +74,4 @@ bool TopicDiscovery::should_filter_topic(const std::string& topic_name) const { return false; } -} // namespace pj_ros_bridge +} // namespace pj_bridge diff --git a/rti/include/pj_bridge_rti/dds_subscription_manager.hpp b/rti/include/pj_bridge_rti/dds_subscription_manager.hpp new file mode 100644 index 0000000..f19b72a --- /dev/null +++ b/rti/include/pj_bridge_rti/dds_subscription_manager.hpp @@ -0,0 +1,74 @@ +/* + * Copyright (C) 2026 Davide Faconti + * + * This file is part of pj_bridge. + * + * pj_bridge is free software: you can redistribute it and/or modify + * it under the terms of the GNU Affero General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * pj_bridge is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License + * along with pj_bridge. If not, see . + */ + +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include + +#include "pj_bridge_rti/dds_topic_discovery.hpp" + +namespace pj_bridge { + +class DdsSubscriptionManager { + public: + using DdsMessageCallback = std::function> cdr_data, uint64_t timestamp_ns)>; + + explicit DdsSubscriptionManager(DdsTopicDiscovery& discovery); + ~DdsSubscriptionManager(); + + DdsSubscriptionManager(const DdsSubscriptionManager&) = delete; + DdsSubscriptionManager& operator=(const DdsSubscriptionManager&) = delete; + + void set_message_callback(DdsMessageCallback callback); + + bool subscribe(const std::string& topic_name); + bool unsubscribe(const std::string& topic_name); + size_t ref_count(const std::string& topic_name) const; + void unsubscribe_all(); + + private: + class InternalReaderListener; + + struct SubscriptionInfo { + dds::sub::Subscriber subscriber; + dds::sub::DataReader reader; + std::shared_ptr listener; + size_t reference_count; + + SubscriptionInfo( + dds::sub::Subscriber sub, dds::sub::DataReader rdr, + std::shared_ptr lst, size_t rc) + : subscriber(std::move(sub)), reader(std::move(rdr)), listener(std::move(lst)), reference_count(rc) {} + }; + + DdsTopicDiscovery& discovery_; + DdsMessageCallback callback_; + mutable std::mutex mutex_; + std::unordered_map subscriptions_; +}; + +} // namespace pj_bridge diff --git a/rti/include/pj_bridge_rti/dds_topic_discovery.hpp b/rti/include/pj_bridge_rti/dds_topic_discovery.hpp new file mode 100644 index 0000000..42cddf8 --- /dev/null +++ b/rti/include/pj_bridge_rti/dds_topic_discovery.hpp @@ -0,0 +1,76 @@ +/* + * Copyright (C) 2026 Davide Faconti + * + * This file is part of pj_bridge. + * + * pj_bridge is free software: you can redistribute it and/or modify + * it under the terms of the GNU Affero General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * pj_bridge is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License + * along with pj_bridge. If not, see . + */ + +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace pj_bridge { + +struct DdsTopicInfo { + std::string name; + std::string type_name; +}; + +class DdsTopicDiscovery { + public: + explicit DdsTopicDiscovery(const std::vector& domain_ids, const std::string& qos_profile_path = ""); + ~DdsTopicDiscovery(); + + DdsTopicDiscovery(const DdsTopicDiscovery&) = delete; + DdsTopicDiscovery& operator=(const DdsTopicDiscovery&) = delete; + + std::vector get_topics() const; + std::string get_schema(const std::string& topic_name) const; + std::optional get_type(const std::string& topic_name) const; + std::optional get_domain_id(const std::string& topic_name) const; + dds::domain::DomainParticipant get_participant(int32_t domain_id) const; + + private: + class PublisherListener; + + struct DiscoveredTopic { + std::string type_name; + dds::core::xtypes::StructType struct_type; + std::string schema_idl; + int32_t domain_id; + + DiscoveredTopic(const std::string& tn, const dds::core::xtypes::StructType& st, const std::string& idl, int32_t did) + : type_name(tn), struct_type(st), schema_idl(idl), domain_id(did) {} + }; + + void on_topic_discovered( + const std::string& topic_name, const std::string& type_name, const dds::core::xtypes::StructType& struct_type, + const std::string& schema_idl, int32_t domain_id); + + mutable std::shared_mutex mutex_; + std::unordered_map topics_; + std::unordered_map participants_; + std::vector> listeners_; + std::vector> builtin_readers_; +}; + +} // namespace pj_bridge diff --git a/rti/include/pj_bridge_rti/rti_subscription_manager.hpp b/rti/include/pj_bridge_rti/rti_subscription_manager.hpp new file mode 100644 index 0000000..015b011 --- /dev/null +++ b/rti/include/pj_bridge_rti/rti_subscription_manager.hpp @@ -0,0 +1,47 @@ +/* + * Copyright (C) 2026 Davide Faconti + * + * This file is part of pj_bridge. + * + * pj_bridge is free software: you can redistribute it and/or modify + * it under the terms of the GNU Affero General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * pj_bridge is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License + * along with pj_bridge. If not, see . + */ + +#pragma once + +#include "pj_bridge/subscription_manager_interface.hpp" +#include "pj_bridge_rti/dds_subscription_manager.hpp" + +namespace pj_bridge { + +/** + * @brief RTI Connext DDS implementation of SubscriptionManagerInterface + * + * Thin adapter over DdsSubscriptionManager. DDS already produces + * shared_ptr> so no data conversion is needed — + * only the callback signature mapping and subscribe/unsubscribe forwarding. + */ +class RtiSubscriptionManager : public SubscriptionManagerInterface { + public: + explicit RtiSubscriptionManager(DdsSubscriptionManager& inner); + + void set_message_callback(MessageCallback callback) override; + bool subscribe(const std::string& topic_name, const std::string& topic_type) override; + bool unsubscribe(const std::string& topic_name) override; + void unsubscribe_all() override; + + private: + DdsSubscriptionManager& inner_; +}; + +} // namespace pj_bridge diff --git a/rti/include/pj_bridge_rti/rti_topic_source.hpp b/rti/include/pj_bridge_rti/rti_topic_source.hpp new file mode 100644 index 0000000..6d7affc --- /dev/null +++ b/rti/include/pj_bridge_rti/rti_topic_source.hpp @@ -0,0 +1,45 @@ +/* + * Copyright (C) 2026 Davide Faconti + * + * This file is part of pj_bridge. + * + * pj_bridge is free software: you can redistribute it and/or modify + * it under the terms of the GNU Affero General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * pj_bridge is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License + * along with pj_bridge. If not, see . + */ + +#pragma once + +#include "pj_bridge/topic_source_interface.hpp" +#include "pj_bridge_rti/dds_topic_discovery.hpp" + +namespace pj_bridge { + +/** + * @brief RTI Connext DDS implementation of TopicSourceInterface + * + * Thin adapter over DdsTopicDiscovery, mapping DdsTopicInfo → TopicInfo + * and forwarding schema/encoding queries. + */ +class RtiTopicSource : public TopicSourceInterface { + public: + explicit RtiTopicSource(DdsTopicDiscovery& discovery); + + std::vector get_topics() override; + std::string get_schema(const std::string& topic_name) override; + std::string schema_encoding() const override; + + private: + DdsTopicDiscovery& discovery_; +}; + +} // namespace pj_bridge diff --git a/rti/src/dds_subscription_manager.cpp b/rti/src/dds_subscription_manager.cpp new file mode 100644 index 0000000..1104cf7 --- /dev/null +++ b/rti/src/dds_subscription_manager.cpp @@ -0,0 +1,211 @@ +/* + * Copyright (C) 2026 Davide Faconti + * + * This file is part of pj_bridge. + * + * pj_bridge is free software: you can redistribute it and/or modify + * it under the terms of the GNU Affero General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * pj_bridge is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License + * along with pj_bridge. If not, see . + */ + +#include "pj_bridge_rti/dds_subscription_manager.hpp" + +#include + +namespace pj_bridge { + +class DdsSubscriptionManager::InternalReaderListener + : public dds::sub::NoOpDataReaderListener { + public: + InternalReaderListener(const std::string& topic_name, DdsSubscriptionManager& manager) + : topic_name_(topic_name), manager_(manager) {} + + void on_data_available(dds::sub::DataReader& reader) override { + try { + auto samples = reader.take(); + + DdsMessageCallback cb; + { + std::lock_guard lock(manager_.mutex_); + cb = manager_.callback_; + } + + if (!cb) { + return; + } + + for (const auto& sample : samples) { + if (!sample.info().valid()) { + continue; + } + + auto cdr_buffer = sample.data().get_cdr_buffer(); + const auto* raw_data = reinterpret_cast(cdr_buffer.first); + uint32_t data_size = cdr_buffer.second; + + auto cdr_data = std::make_shared>(raw_data, raw_data + data_size); + + const auto& source_ts = sample.info().source_timestamp(); + uint64_t timestamp_ns = (static_cast(source_ts.sec()) * 1'000'000'000ULL) + source_ts.nanosec(); + + cb(topic_name_, std::move(cdr_data), timestamp_ns); + } + } catch (const std::exception& e) { + spdlog::error("Exception in DataReaderListener for '{}': {}", topic_name_, e.what()); + } + } + + private: + std::string topic_name_; + DdsSubscriptionManager& manager_; +}; + +DdsSubscriptionManager::DdsSubscriptionManager(DdsTopicDiscovery& discovery) : discovery_(discovery) {} + +DdsSubscriptionManager::~DdsSubscriptionManager() { + unsubscribe_all(); +} + +void DdsSubscriptionManager::set_message_callback(DdsMessageCallback callback) { + std::lock_guard lock(mutex_); + callback_ = std::move(callback); +} + +bool DdsSubscriptionManager::subscribe(const std::string& topic_name) { + std::lock_guard lock(mutex_); + + auto it = subscriptions_.find(topic_name); + if (it != subscriptions_.end()) { + it->second.reference_count++; + spdlog::debug("Incremented ref count for '{}' to {}", topic_name, it->second.reference_count); + return true; + } + + auto struct_type_opt = discovery_.get_type(topic_name); + if (!struct_type_opt) { + spdlog::error("Topic '{}' not found in discovery", topic_name); + return false; + } + + auto domain_id_opt = discovery_.get_domain_id(topic_name); + if (!domain_id_opt) { + spdlog::error("No domain ID for topic '{}'", topic_name); + return false; + } + + auto& struct_type = *struct_type_opt; + + try { + auto participant = discovery_.get_participant(*domain_id_opt); + + rti::core::xtypes::DynamicDataTypeSerializationProperty ser_prop; + ser_prop.skip_deserialization(true); + + rti::domain::register_type(participant, struct_type.name(), struct_type, ser_prop); + + dds::topic::Topic topic(participant, topic_name, struct_type.name()); + + dds::sub::Subscriber subscriber(participant); + dds::sub::DataReader reader(subscriber, topic); + + auto listener = std::make_shared(topic_name, *this); + reader.set_listener(listener); + + subscriptions_.emplace( + std::piecewise_construct, std::forward_as_tuple(topic_name), + std::forward_as_tuple(subscriber, reader, listener, 1)); + + spdlog::info("Subscribed to '{}' (type: '{}', domain: {})", topic_name, struct_type.name(), *domain_id_opt); + return true; + } catch (const std::exception& e) { + spdlog::error("Failed to subscribe to '{}': {}", topic_name, e.what()); + return false; + } +} + +bool DdsSubscriptionManager::unsubscribe(const std::string& topic_name) { + std::optional to_close; + + { + std::lock_guard lock(mutex_); + + auto it = subscriptions_.find(topic_name); + if (it == subscriptions_.end()) { + return false; + } + + if (it->second.reference_count == 0) { + return false; + } + + it->second.reference_count--; + spdlog::debug("Decremented ref count for '{}' to {}", topic_name, it->second.reference_count); + + if (it->second.reference_count == 0) { + to_close.emplace(std::move(it->second)); + subscriptions_.erase(it); + } + } + + if (to_close) { + try { + to_close->reader.set_listener(nullptr); + to_close->reader.close(); + to_close->subscriber.close(); + } catch (const std::exception& e) { + spdlog::warn("Error cleaning up reader for '{}': {}", topic_name, e.what()); + } catch (...) { + spdlog::warn("Unknown error cleaning up reader for '{}'", topic_name); + } + spdlog::info("Unsubscribed from '{}' (reader destroyed)", topic_name); + } + + return true; +} + +size_t DdsSubscriptionManager::ref_count(const std::string& topic_name) const { + std::lock_guard lock(mutex_); + + auto it = subscriptions_.find(topic_name); + if (it != subscriptions_.end()) { + return it->second.reference_count; + } + + return 0; +} + +void DdsSubscriptionManager::unsubscribe_all() { + std::unordered_map to_close; + + { + std::lock_guard lock(mutex_); + to_close.swap(subscriptions_); + } + + spdlog::debug("[shutdown] unsubscribe_all: {} subscriptions to close", to_close.size()); + for (auto& [name, info] : to_close) { + try { + spdlog::debug("[shutdown] Closing reader for '{}'...", name); + info.reader.set_listener(nullptr); + info.reader.close(); + info.subscriber.close(); + spdlog::debug("[shutdown] Closed '{}'", name); + } catch (const std::exception& e) { + spdlog::warn("Error cleaning up reader for '{}': {}", name, e.what()); + } catch (...) { + spdlog::warn("Unknown error cleaning up reader for '{}'", name); + } + } + spdlog::debug("[shutdown] unsubscribe_all complete"); +} + +} // namespace pj_bridge diff --git a/rti/src/dds_topic_discovery.cpp b/rti/src/dds_topic_discovery.cpp new file mode 100644 index 0000000..b594c1c --- /dev/null +++ b/rti/src/dds_topic_discovery.cpp @@ -0,0 +1,208 @@ +/* + * Copyright (C) 2026 Davide Faconti + * + * This file is part of pj_bridge. + * + * pj_bridge is free software: you can redistribute it and/or modify + * it under the terms of the GNU Affero General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * pj_bridge is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License + * along with pj_bridge. If not, see . + */ + +#include "pj_bridge_rti/dds_topic_discovery.hpp" + +#include + +namespace pj_bridge { + +class DdsTopicDiscovery::PublisherListener + : public dds::sub::NoOpDataReaderListener { + public: + PublisherListener(DdsTopicDiscovery& discovery, int32_t domain_id) : discovery_(discovery), domain_id_(domain_id) {} + + void on_data_available(dds::sub::DataReader& reader) override { + try { + auto samples = reader.select().state(dds::sub::status::DataState::new_instance()).take(); + + for (const auto& sample : samples) { + if (!sample.info().valid()) { + continue; + } + + const auto& topic_name = sample.data().topic_name(); + const auto& type = sample.data().extensions().type(); + + if (!type) { + spdlog::debug("Topic '{}' discovered without type info in domain {}", topic_name.to_std_string(), domain_id_); + continue; + } + + const auto& type_name = type->name(); + + if (type->kind() != dds::core::xtypes::TypeKind::STRUCTURE_TYPE) { + spdlog::debug("Topic '{}' has non-struct type '{}', skipping", topic_name.to_std_string(), type_name); + continue; + } + + auto struct_type = static_cast(type.get()); + + rti::core::xtypes::DynamicTypePrintFormatProperty print_format{ + 0, false, rti::core::xtypes::DynamicTypePrintKind::idl, true}; + std::string schema_idl = rti::core::xtypes::to_string(type.get(), print_format); + + spdlog::info( + "Discovered topic '{}' (type: '{}') in domain {}", topic_name.to_std_string(), type_name, domain_id_); + + discovery_.on_topic_discovered(topic_name.to_std_string(), type_name, struct_type, schema_idl, domain_id_); + } + } catch (const std::exception& e) { + spdlog::error("Exception in PublisherListener on domain {}: {}", domain_id_, e.what()); + } + } + + private: + DdsTopicDiscovery& discovery_; + int32_t domain_id_; +}; + +DdsTopicDiscovery::DdsTopicDiscovery(const std::vector& domain_ids, const std::string& qos_profile_path) { + if (!qos_profile_path.empty()) { + rti::core::QosProviderParams params; + params.url_profile({qos_profile_path}); + rti::core::default_qos_provider_params(params); + spdlog::info("Set default QoS profile from '{}'", qos_profile_path); + } + + for (int32_t domain_id : domain_ids) { + spdlog::info("Creating DomainParticipant for domain {}", domain_id); + + dds::domain::DomainParticipant participant(domain_id); + participants_.emplace(domain_id, participant); + + auto listener = std::make_shared(*this, domain_id); + listeners_.push_back(listener); + + dds::sub::Subscriber builtin_subscriber = dds::sub::builtin_subscriber(participant); + std::vector> readers; + dds::sub::find>( + builtin_subscriber, dds::topic::publication_topic_name(), std::back_inserter(readers)); + + if (readers.empty()) { + spdlog::error("No built-in publication DataReader found for domain {}", domain_id); + continue; + } + + readers[0].set_listener(listener); + builtin_readers_.push_back(std::move(readers[0])); + + spdlog::info("Topic discovery active on domain {}", domain_id); + } +} + +DdsTopicDiscovery::~DdsTopicDiscovery() { + spdlog::debug("[shutdown] ~DdsTopicDiscovery: clearing {} builtin readers", builtin_readers_.size()); + for (auto& reader : builtin_readers_) { + try { + reader.set_listener(nullptr); + } catch (const std::exception& e) { + spdlog::warn("Error clearing builtin reader listener: {}", e.what()); + } catch (...) { + spdlog::warn("Unknown error clearing builtin reader listener"); + } + } + builtin_readers_.clear(); + listeners_.clear(); + spdlog::debug("[shutdown] ~DdsTopicDiscovery: builtin readers cleared"); + + for (auto& [domain_id, participant] : participants_) { + try { + spdlog::debug("[shutdown] Closing DomainParticipant for domain {}...", domain_id); + participant.close(); + spdlog::debug("[shutdown] DomainParticipant for domain {} closed", domain_id); + } catch (const std::exception& e) { + spdlog::warn("Error closing participant for domain {}: {}", domain_id, e.what()); + } catch (...) { + spdlog::warn("Unknown error closing participant for domain {}", domain_id); + } + } + spdlog::debug("[shutdown] ~DdsTopicDiscovery complete"); +} + +void DdsTopicDiscovery::on_topic_discovered( + const std::string& topic_name, const std::string& type_name, const dds::core::xtypes::StructType& struct_type, + const std::string& schema_idl, int32_t domain_id) { + std::unique_lock lock(mutex_); + + if (topics_.find(topic_name) != topics_.end()) { + return; + } + + topics_.emplace(topic_name, DiscoveredTopic{type_name, struct_type, schema_idl, domain_id}); + spdlog::info("Cached topic '{}' (type: '{}', domain: {})", topic_name, type_name, domain_id); +} + +std::vector DdsTopicDiscovery::get_topics() const { + std::shared_lock lock(mutex_); + + std::vector result; + result.reserve(topics_.size()); + + for (const auto& [name, topic] : topics_) { + result.push_back({name, topic.type_name}); + } + + return result; +} + +std::string DdsTopicDiscovery::get_schema(const std::string& topic_name) const { + std::shared_lock lock(mutex_); + + auto it = topics_.find(topic_name); + if (it == topics_.end()) { + return ""; + } + + return it->second.schema_idl; +} + +std::optional DdsTopicDiscovery::get_type(const std::string& topic_name) const { + std::shared_lock lock(mutex_); + + auto it = topics_.find(topic_name); + if (it == topics_.end()) { + return std::nullopt; + } + + return it->second.struct_type; +} + +std::optional DdsTopicDiscovery::get_domain_id(const std::string& topic_name) const { + std::shared_lock lock(mutex_); + + auto it = topics_.find(topic_name); + if (it == topics_.end()) { + return std::nullopt; + } + + return it->second.domain_id; +} + +dds::domain::DomainParticipant DdsTopicDiscovery::get_participant(int32_t domain_id) const { + std::shared_lock lock(mutex_); + + auto it = participants_.find(domain_id); + if (it == participants_.end()) { + throw std::runtime_error("No participant for domain " + std::to_string(domain_id)); + } + return it->second; +} + +} // namespace pj_bridge diff --git a/rti/src/main.cpp b/rti/src/main.cpp new file mode 100644 index 0000000..f8ebcfa --- /dev/null +++ b/rti/src/main.cpp @@ -0,0 +1,172 @@ +/* + * Copyright (C) 2026 Davide Faconti + * + * This file is part of pj_bridge. + * + * pj_bridge is free software: you can redistribute it and/or modify + * it under the terms of the GNU Affero General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * pj_bridge is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License + * along with pj_bridge. If not, see . + */ + +#include + +#include +#include +#include +#include +#include +#include +#include + +#include "pj_bridge/bridge_server.hpp" +#include "pj_bridge/middleware/websocket_middleware.hpp" +#include "pj_bridge_rti/dds_subscription_manager.hpp" +#include "pj_bridge_rti/dds_topic_discovery.hpp" +#include "pj_bridge_rti/rti_subscription_manager.hpp" +#include "pj_bridge_rti/rti_topic_source.hpp" + +namespace { +std::atomic g_shutdown{false}; + +void signal_handler(int /*signum*/) { + g_shutdown.store(true); +} +} // namespace + +int main(int argc, char* argv[]) { + CLI::App app{"pj_bridge RTI DDS Backend"}; + + std::vector domain_ids; + int port = 8080; + double publish_rate = 50.0; + double session_timeout = 10.0; + std::string qos_profile; + std::string log_level = "info"; + bool stats_enabled = false; + + app.add_option("--domains,-d", domain_ids, "DDS domain IDs")->required()->expected(1, -1); + app.add_option("--port,-p", port, "WebSocket port")->default_val(8080)->check(CLI::Range(1, 65535)); + app.add_option("--publish-rate", publish_rate, "Aggregation publish rate in Hz")->default_val(50.0); + app.add_option("--session-timeout", session_timeout, "Session timeout in seconds")->default_val(10.0); + app.add_option("--qos-profile", qos_profile, "QoS profile XML file path"); + app.add_option("--log-level", log_level, "Log level (trace, debug, info, warn, error)")->default_val("info"); + app.add_flag("--stats", stats_enabled, "Print statistics every 5 seconds"); + + CLI11_PARSE(app, argc, argv); + + spdlog::set_level(spdlog::level::from_str(log_level)); + + spdlog::info("pj_bridge (RTI DDS backend) starting..."); + spdlog::info(" Domains: {}", fmt::join(domain_ids, ", ")); + spdlog::info(" Port: {}", port); + spdlog::info(" Publish rate: {:.1f} Hz", publish_rate); + spdlog::info(" Session timeout: {:.1f} s", session_timeout); + if (!qos_profile.empty()) { + spdlog::info(" QoS profile: {}", qos_profile); + } + + std::signal(SIGINT, signal_handler); + std::signal(SIGTERM, signal_handler); + + try { + // Create DDS components + pj_bridge::DdsTopicDiscovery discovery(domain_ids, qos_profile); + pj_bridge::DdsSubscriptionManager subscriptions(discovery); + + // Create adapters + auto topic_source = std::make_shared(discovery); + auto sub_manager = std::make_shared(subscriptions); + + // Create WebSocket middleware + auto middleware = std::make_shared(); + + // Create bridge server + pj_bridge::BridgeServer server(topic_source, sub_manager, middleware, port, session_timeout, publish_rate); + + if (!server.initialize()) { + spdlog::error("Failed to initialize bridge server"); + return 1; + } + + spdlog::info("Bridge server initialized, entering event loop"); + + // Event loop + using clock = std::chrono::steady_clock; + auto publish_interval = + std::chrono::duration_cast(std::chrono::duration(1.0 / publish_rate)); + auto last_publish = clock::now(); + auto last_timeout_check = clock::now(); + auto last_stats_print = clock::now(); + uint64_t prev_bytes_published = 0; + + while (!g_shutdown.load()) { + server.process_requests(); + + auto now = clock::now(); + + if (now - last_publish >= publish_interval) { + server.publish_aggregated_messages(); + last_publish += publish_interval; + } + + if (now - last_timeout_check >= std::chrono::seconds(1)) { + server.check_session_timeouts(); + last_timeout_check = now; + } + + if (stats_enabled && now - last_stats_print >= std::chrono::seconds(5)) { + auto elapsed = std::chrono::duration(now - last_stats_print).count(); + auto snapshot = server.snapshot_and_reset_stats(); + + std::string stats_msg = "=== Stats ===\n DDS receive rates:"; + if (snapshot.topic_receive_counts.empty()) { + stats_msg += "\n (no subscriptions)"; + } else { + for (const auto& [topic, count] : snapshot.topic_receive_counts) { + stats_msg += fmt::format("\n {}: {:.1f} msg/s", topic, static_cast(count) / elapsed); + } + } + + stats_msg += + fmt::format("\n Publish frequency: {:.1f} Hz", static_cast(snapshot.publish_cycles) / elapsed); + uint64_t delta_bytes = snapshot.total_bytes_published - prev_bytes_published; + prev_bytes_published = snapshot.total_bytes_published; + stats_msg += + fmt::format("\n Sent: {:.2f} MB/s", static_cast(delta_bytes) / elapsed / (1024.0 * 1024.0)); + + spdlog::info(stats_msg); + last_stats_print = now; + } + + std::this_thread::sleep_for(std::chrono::milliseconds(1)); + } + + spdlog::info("Shutting down..."); + + // Explicit ordered shutdown to avoid use-after-free: + // 1. Clear DDS message callback + spdlog::debug("[shutdown] Clearing DDS message callback..."); + subscriptions.set_message_callback(nullptr); + // 2. Unsubscribe all DDS readers + spdlog::debug("[shutdown] Unsubscribing all DDS readers..."); + subscriptions.unsubscribe_all(); + // 3. Shutdown WebSocket server + spdlog::debug("[shutdown] Shutting down WebSocket middleware..."); + middleware->shutdown(); + spdlog::debug("[shutdown] Cleanup complete, exiting scope (destructors will run)..."); + } catch (const std::exception& e) { + spdlog::error("Fatal error: {}", e.what()); + return 1; + } + + return 0; +} diff --git a/rti/src/rti_subscription_manager.cpp b/rti/src/rti_subscription_manager.cpp new file mode 100644 index 0000000..fe5f1e4 --- /dev/null +++ b/rti/src/rti_subscription_manager.cpp @@ -0,0 +1,44 @@ +/* + * Copyright (C) 2026 Davide Faconti + * + * This file is part of pj_bridge. + * + * pj_bridge is free software: you can redistribute it and/or modify + * it under the terms of the GNU Affero General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * pj_bridge is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License + * along with pj_bridge. If not, see . + */ + +#include "pj_bridge_rti/rti_subscription_manager.hpp" + +namespace pj_bridge { + +RtiSubscriptionManager::RtiSubscriptionManager(DdsSubscriptionManager& inner) : inner_(inner) {} + +void RtiSubscriptionManager::set_message_callback(MessageCallback callback) { + // DdsSubscriptionManager::DdsMessageCallback has the exact same signature as MessageCallback + inner_.set_message_callback(std::move(callback)); +} + +bool RtiSubscriptionManager::subscribe(const std::string& topic_name, const std::string& /*topic_type*/) { + // DDS subscribe only needs topic_name (type is discovered dynamically) + return inner_.subscribe(topic_name); +} + +bool RtiSubscriptionManager::unsubscribe(const std::string& topic_name) { + return inner_.unsubscribe(topic_name); +} + +void RtiSubscriptionManager::unsubscribe_all() { + inner_.unsubscribe_all(); +} + +} // namespace pj_bridge diff --git a/rti/src/rti_topic_source.cpp b/rti/src/rti_topic_source.cpp new file mode 100644 index 0000000..d96dd97 --- /dev/null +++ b/rti/src/rti_topic_source.cpp @@ -0,0 +1,49 @@ +/* + * Copyright (C) 2026 Davide Faconti + * + * This file is part of pj_bridge. + * + * pj_bridge is free software: you can redistribute it and/or modify + * it under the terms of the GNU Affero General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * pj_bridge is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License + * along with pj_bridge. If not, see . + */ + +#include "pj_bridge_rti/rti_topic_source.hpp" + +#include "pj_bridge/protocol_constants.hpp" + +namespace pj_bridge { + +RtiTopicSource::RtiTopicSource(DdsTopicDiscovery& discovery) : discovery_(discovery) {} + +std::vector RtiTopicSource::get_topics() { + auto dds_topics = discovery_.get_topics(); + + std::vector result; + result.reserve(dds_topics.size()); + + for (const auto& t : dds_topics) { + result.push_back({t.name, t.type_name}); + } + + return result; +} + +std::string RtiTopicSource::get_schema(const std::string& topic_name) { + return discovery_.get_schema(topic_name); +} + +std::string RtiTopicSource::schema_encoding() const { + return kSchemaEncodingOmgIdl; +} + +} // namespace pj_bridge diff --git a/tests/unit/test_bridge_server.cpp b/tests/unit/test_bridge_server.cpp index 95cffbd..4e989f3 100644 --- a/tests/unit/test_bridge_server.cpp +++ b/tests/unit/test_bridge_server.cpp @@ -1,39 +1,42 @@ /* * Copyright (C) 2026 Davide Faconti * - * This file is part of pj_ros_bridge. + * This file is part of pj_bridge. * - * pj_ros_bridge is free software: you can redistribute it and/or modify + * pj_bridge is free software: you can redistribute it and/or modify * it under the terms of the GNU Affero General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * - * pj_ros_bridge is distributed in the hope that it will be useful, + * pj_bridge is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU Affero General Public License for more details. * * You should have received a copy of the GNU Affero General Public License - * along with pj_ros_bridge. If not, see . + * along with pj_bridge. If not, see . */ #include +#include #include #include #include #include -#include #include +#include #include #include -#include "pj_ros_bridge/bridge_server.hpp" -#include "pj_ros_bridge/middleware/middleware_interface.hpp" +#include "pj_bridge/bridge_server.hpp" +#include "pj_bridge/middleware/middleware_interface.hpp" +#include "pj_bridge/subscription_manager_interface.hpp" +#include "pj_bridge/topic_source_interface.hpp" #include "tl/expected.hpp" using json = nlohmann::json; -using namespace pj_ros_bridge; +using namespace pj_bridge; // --------------------------------------------------------------------------- // MockMiddleware — in-process fake for unit-testing BridgeServer @@ -168,29 +171,132 @@ class MockMiddleware : public MiddlewareInterface { ConnectionCallback on_disconnect_; }; +// --------------------------------------------------------------------------- +// MockTopicSource — fake topic discovery and schema provider +// --------------------------------------------------------------------------- +class MockTopicSource : public TopicSourceInterface { + public: + std::vector get_topics() override { + return topics_; + } + + std::string get_schema(const std::string& topic_name) override { + for (const auto& t : topics_) { + if (t.name == topic_name) { + return "uint32 seq\nstring data\n"; + } + } + return ""; + } + + std::string schema_encoding() const override { + return "ros2msg"; + } + + // Test helper: set the topics list + void set_topics(std::vector topics) { + topics_ = std::move(topics); + } + + // Test helper: remove a single topic by name + void remove_topic(const std::string& name) { + topics_.erase( + std::remove_if(topics_.begin(), topics_.end(), [&](const TopicInfo& t) { return t.name == name; }), + topics_.end()); + } + + private: + std::vector topics_; +}; + +// --------------------------------------------------------------------------- +// MockSubscriptionManager — fake subscription manager +// --------------------------------------------------------------------------- +class MockSubscriptionManager : public SubscriptionManagerInterface { + public: + void set_message_callback(MessageCallback callback) override { + callback_ = std::move(callback); + } + + bool subscribe(const std::string& topic_name, const std::string& /*topic_type*/) override { + if (known_topics_.find(topic_name) == known_topics_.end()) { + return false; + } + ref_counts_[topic_name]++; + return true; + } + + bool unsubscribe(const std::string& topic_name) override { + auto it = ref_counts_.find(topic_name); + if (it == ref_counts_.end() || it->second <= 0) { + underflow_detected_ = true; + return false; + } + it->second--; + if (it->second == 0) { + ref_counts_.erase(it); + } + return true; + } + + void unsubscribe_all() override { + ref_counts_.clear(); + } + + // Test helpers + void add_known_topic(const std::string& topic_name) { + known_topics_.insert(topic_name); + } + + bool is_subscribed(const std::string& topic_name) const { + auto it = ref_counts_.find(topic_name); + return it != ref_counts_.end() && it->second > 0; + } + + int ref_count(const std::string& topic_name) const { + auto it = ref_counts_.find(topic_name); + return (it != ref_counts_.end()) ? it->second : 0; + } + + bool has_underflow() const { + return underflow_detected_; + } + + void reset_underflow() { + underflow_detected_ = false; + } + + private: + MessageCallback callback_; + std::set known_topics_; + std::unordered_map ref_counts_; + bool underflow_detected_{false}; +}; + // --------------------------------------------------------------------------- // Test fixture // --------------------------------------------------------------------------- class BridgeServerTest : public ::testing::Test { protected: void SetUp() override { - rclcpp::init(0, nullptr); - node_ = std::make_shared("test_bridge_server"); mock_ = std::make_shared(); + mock_topic_source_ = std::make_shared(); + mock_sub_manager_ = std::make_shared(); // Use a high port that the mock will never actually listen on. // session_timeout = 10s, publish_rate = 50 Hz - server_ = std::make_unique(node_, mock_, 19999, 10.0, 50.0); + server_ = std::make_unique(mock_topic_source_, mock_sub_manager_, mock_, 19999, 10.0, 50.0); } void TearDown() override { server_.reset(); mock_.reset(); - node_.reset(); - rclcpp::shutdown(); + mock_topic_source_.reset(); + mock_sub_manager_.reset(); } - rclcpp::Node::SharedPtr node_; std::shared_ptr mock_; + std::shared_ptr mock_topic_source_; + std::shared_ptr mock_sub_manager_; std::unique_ptr server_; }; @@ -298,18 +404,12 @@ TEST_F(BridgeServerTest, CleanupSessionIdempotent) { // 7. PerClientFiltering // // We create two sessions with different (non-existent) topic subscriptions. -// Because the topics don't exist in the ROS2 graph, subscribe will report -// failures — but we can still exercise the publish_aggregated_messages path -// by injecting messages directly into the shared MessageBuffer and then -// manually triggering the publish timer callback. +// Because the topics don't exist in the mock, subscribe will report +// failures — but we can still exercise the publish_aggregated_messages path. // -// Instead of fighting GenericSubscriptionManager (which needs real ROS2 -// topic types), we verify that subscribing to non-existent topics returns +// We verify that subscribing to non-existent topics returns // an error containing "failures", and that send_binary is NOT called when // no messages are buffered. -// -// Then we confirm that when two clients have sessions, send_binary is -// called with the correct per-client identity when there are messages. // --------------------------------------------------------------------------- TEST_F(BridgeServerTest, PerClientFiltering) { ASSERT_TRUE(server_->initialize()); @@ -332,7 +432,7 @@ TEST_F(BridgeServerTest, PerClientFiltering) { json reply_x = mock_->pop_reply("client_X"); ASSERT_FALSE(reply_x.is_discarded()); - // All subscriptions failed since topic doesn't exist in the ROS2 graph + // All subscriptions failed since topic doesn't exist EXPECT_TRUE(reply_x.contains("failures")); EXPECT_FALSE(reply_x["failures"].empty()); @@ -352,11 +452,9 @@ TEST_F(BridgeServerTest, PerClientFiltering) { // Verify that send_binary has NOT been called (no data to publish). mock_->clear_binary_sends(); - // Spin the node briefly so the publish timer fires at least once - auto start = std::chrono::steady_clock::now(); - while (std::chrono::steady_clock::now() - start < std::chrono::milliseconds(60)) { - rclcpp::spin_some(node_); - std::this_thread::sleep_for(std::chrono::milliseconds(5)); + // Call publish_aggregated_messages directly a few times + for (int i = 0; i < 3; ++i) { + server_->publish_aggregated_messages(); } auto binary_sends = mock_->get_binary_sends(); @@ -477,7 +575,7 @@ TEST_F(BridgeServerTest, SubscribeMissingTopicsField) { // With N clients sharing a subscription group, stats were inflated by N. // The fix counts once per group regardless of client count. // -// This test creates 3 active sessions and spins the publish timer. +// This test creates 3 active sessions and calls publish_aggregated_messages. // With no messages in the buffer, stats must remain (0, 0) — verifying // the counting path does not produce phantom stats with multiple sessions. // --------------------------------------------------------------------------- @@ -493,11 +591,9 @@ TEST_F(BridgeServerTest, StatsNotInflatedByMultipleSessions) { } ASSERT_EQ(server_->get_active_session_count(), 3u); - // Spin the node so the publish timer fires multiple times - auto start = std::chrono::steady_clock::now(); - while (std::chrono::steady_clock::now() - start < std::chrono::milliseconds(80)) { - rclcpp::spin_some(node_); - std::this_thread::sleep_for(std::chrono::milliseconds(5)); + // Call publish_aggregated_messages directly multiple times + for (int i = 0; i < 4; ++i) { + server_->publish_aggregated_messages(); } // No messages were buffered, so stats must be zero @@ -534,7 +630,7 @@ TEST_F(BridgeServerTest, SubscribeWithRateLimit) { ASSERT_TRUE(server_->initialize()); // Subscribe with mixed format: one string (unlimited) and one object (rate-limited) - // Both topics don't exist in the ROS2 graph, so they'll fail — but + // Both topics don't exist in the mock, so they'll fail — but // we're testing that the parsing accepts the mixed format and responds // with rate_limits when appropriate. json req; @@ -702,13 +798,10 @@ TEST_F(BridgeServerTest, MissingCommandIncludesProtocolVersion) { // {"encoding": "ros2msg", "definition": "..."} // instead of the old string format. // -// Since we can't subscribe to real topics in unit tests (no ROS2 graph), +// Since we can't subscribe to real topics in unit tests (mock returns failure), // this test verifies schema format when subscription fails. The schemas // object will be empty for failed subscriptions, but we verify the // structure is correct. -// -// For a more thorough test, we also add a direct handle_request test -// that can validate the schema format logic. // --------------------------------------------------------------------------- TEST_F(BridgeServerTest, SubscribeSchemaHasEncodingFormat) { ASSERT_TRUE(server_->initialize()); @@ -789,21 +882,31 @@ TEST_F(BridgeServerTest, SubscribeSchemaEncodingFormatStructure) { TEST_F(BridgeServerTest, UnsubscribeRemovesTopics) { ASSERT_TRUE(server_->initialize()); - // First create a session via heartbeat + // Register real topics so subscribe succeeds + mock_topic_source_->set_topics({{"/topic_a", "std_msgs/msg/String"}, {"/topic_b", "std_msgs/msg/String"}}); + mock_sub_manager_->add_known_topic("/topic_a"); + mock_sub_manager_->add_known_topic("/topic_b"); + + // Create a session via heartbeat json hb; hb["command"] = "heartbeat"; mock_->push_request("client_unsub_1", hb.dump()); server_->process_requests(); - // Subscribe to topics (they don't exist, but we create the session subscription intent) + // Subscribe to both topics json sub_request; sub_request["command"] = "subscribe"; sub_request["topics"] = json::array({"/topic_a", "/topic_b"}); mock_->push_request("client_unsub_1", sub_request.dump()); server_->process_requests(); - mock_->pop_reply("client_unsub_1"); // discard subscribe response - // Then unsubscribe from one topic + json sub_response = mock_->pop_reply("client_unsub_1"); + ASSERT_FALSE(sub_response.is_discarded()); + EXPECT_EQ(sub_response["status"], "success"); + EXPECT_TRUE(mock_sub_manager_->is_subscribed("/topic_a")); + EXPECT_TRUE(mock_sub_manager_->is_subscribed("/topic_b")); + + // Unsubscribe from /topic_a only json unsub_request; unsub_request["command"] = "unsubscribe"; unsub_request["id"] = "unsub-1"; @@ -817,9 +920,12 @@ TEST_F(BridgeServerTest, UnsubscribeRemovesTopics) { EXPECT_EQ(response["id"], "unsub-1"); EXPECT_TRUE(response.contains("protocol_version")); ASSERT_TRUE(response.contains("removed")); - // Note: /topic_a doesn't exist in ROS2 graph, so it was never actually subscribed - // The removed array will be empty since no actual subscription existed - EXPECT_TRUE(response["removed"].is_array()); + EXPECT_EQ(response["removed"].size(), 1u); + EXPECT_EQ(response["removed"][0], "/topic_a"); + + // /topic_a should be unsubscribed, /topic_b should remain + EXPECT_FALSE(mock_sub_manager_->is_subscribed("/topic_a")); + EXPECT_TRUE(mock_sub_manager_->is_subscribed("/topic_b")); } // --------------------------------------------------------------------------- @@ -831,6 +937,11 @@ TEST_F(BridgeServerTest, UnsubscribeRemovesTopics) { TEST_F(BridgeServerTest, SubscribeIsAdditive) { ASSERT_TRUE(server_->initialize()); + // Register real topics so subscribe succeeds + mock_topic_source_->set_topics({{"/topic_a", "std_msgs/msg/String"}, {"/topic_b", "std_msgs/msg/String"}}); + mock_sub_manager_->add_known_topic("/topic_a"); + mock_sub_manager_->add_known_topic("/topic_b"); + // Create session json hb; hb["command"] = "heartbeat"; @@ -843,22 +954,27 @@ TEST_F(BridgeServerTest, SubscribeIsAdditive) { sub1["topics"] = json::array({"/topic_a"}); mock_->push_request("client_additive_1", sub1.dump()); server_->process_requests(); - mock_->pop_reply("client_additive_1"); - // Subscribe to topic_b (should NOT remove topic_a in the new additive model) + json response1 = mock_->pop_reply("client_additive_1"); + ASSERT_FALSE(response1.is_discarded()); + EXPECT_EQ(response1["status"], "success"); + EXPECT_TRUE(response1["schemas"].contains("/topic_a")); + + // Subscribe to topic_b — should NOT remove topic_a (additive model) json sub2; sub2["command"] = "subscribe"; sub2["topics"] = json::array({"/topic_b"}); mock_->push_request("client_additive_1", sub2.dump()); server_->process_requests(); - json response = mock_->pop_reply("client_additive_1"); - ASSERT_FALSE(response.is_discarded()); + json response2 = mock_->pop_reply("client_additive_1"); + ASSERT_FALSE(response2.is_discarded()); + EXPECT_EQ(response2["status"], "success"); + EXPECT_TRUE(response2["schemas"].contains("/topic_b")); - // Both topics should be in failures (since they don't exist in ROS2 graph) - // but the key point is that we asked for /topic_b and it should NOT have - // triggered unsubscribe of /topic_a - EXPECT_TRUE(response.contains("failures")); + // Both topics should still be subscribed + EXPECT_TRUE(mock_sub_manager_->is_subscribed("/topic_a")); + EXPECT_TRUE(mock_sub_manager_->is_subscribed("/topic_b")); } // --------------------------------------------------------------------------- @@ -1184,11 +1300,9 @@ TEST_F(BridgeServerTest, PausedClientDoesNotReceiveBinaryFrames) { // Clear any binary sends from previous operations mock_->clear_binary_sends(); - // Spin the node to let the publish timer fire - auto start = std::chrono::steady_clock::now(); - while (std::chrono::steady_clock::now() - start < std::chrono::milliseconds(60)) { - rclcpp::spin_some(node_); - std::this_thread::sleep_for(std::chrono::milliseconds(5)); + // Call publish_aggregated_messages directly + for (int i = 0; i < 3; ++i) { + server_->publish_aggregated_messages(); } // Verify binary sends - since topics don't exist, no messages are buffered @@ -1263,7 +1377,7 @@ TEST_F(BridgeServerTest, RegressionTest_BinaryFrameIncludesHeader) { // instead of finalize(), so the header was never prepended. // We can't easily trigger actual message publishing in unit tests without - // real ROS topics, but we can verify the serializer's finalize() method + // real topics, but we can verify the serializer's finalize() method // is correctly producing the header format by checking the protocol constants. // Verify the expected magic value matches "PJRB" in little-endian @@ -1345,8 +1459,7 @@ TEST_F(BridgeServerTest, RegressionTest_PausedClientDisconnectNoDoubleDecrement) // // In the unit test environment, we can't easily mock SchemaExtractor, but we // can verify the failure-reporting path by subscribing to a non-existent topic -// which produces the "Topic does not exist" failure, confirming the failure -// response structure is correct. +// which produces the failure, confirming the failure response structure is correct. // --------------------------------------------------------------------------- TEST_F(BridgeServerTest, SubscribeFailureResponseContainsTopicAndReason) { ASSERT_TRUE(server_->initialize()); @@ -1372,3 +1485,152 @@ TEST_F(BridgeServerTest, SubscribeFailureResponseContainsTopicAndReason) { EXPECT_FALSE(failure["reason"].get().empty()); } } + +// =========================================================================== +// BUG FIX TESTS - Tests for specific bugs from code review +// =========================================================================== + +// --------------------------------------------------------------------------- +// Bug #1 — Ref-count leak on disconnect during subscribe +// +// After subscribing to topics and then disconnecting, all ref counts must +// return to zero with no underflow. +// --------------------------------------------------------------------------- +TEST_F(BridgeServerTest, DisconnectDuringSubscribeCleansUpRefCounts) { + ASSERT_TRUE(server_->initialize()); + + mock_topic_source_->set_topics( + {{"/t1", "std_msgs/msg/String"}, {"/t2", "std_msgs/msg/String"}, {"/t3", "std_msgs/msg/String"}}); + mock_sub_manager_->add_known_topic("/t1"); + mock_sub_manager_->add_known_topic("/t2"); + mock_sub_manager_->add_known_topic("/t3"); + + // Subscribe to all three + json sub; + sub["command"] = "subscribe"; + sub["topics"] = json::array({"/t1", "/t2", "/t3"}); + mock_->push_request("client_dc", sub.dump()); + server_->process_requests(); + + json sub_resp = mock_->pop_reply("client_dc"); + ASSERT_EQ(sub_resp["status"], "success"); + + // Simulate disconnect + mock_->simulate_disconnect("client_dc"); + + // All ref counts must be zero + EXPECT_EQ(mock_sub_manager_->ref_count("/t1"), 0); + EXPECT_EQ(mock_sub_manager_->ref_count("/t2"), 0); + EXPECT_EQ(mock_sub_manager_->ref_count("/t3"), 0); + EXPECT_FALSE(mock_sub_manager_->has_underflow()); +} + +// --------------------------------------------------------------------------- +// Bug #2 — Ref-count underflow on partial resume +// +// When a topic disappears while a client is paused, resume should remove that +// topic from the session. On disconnect, no underflow should occur. +// --------------------------------------------------------------------------- +TEST_F(BridgeServerTest, ResumePartialFailureRemovesTopicsFromSession) { + ASSERT_TRUE(server_->initialize()); + + mock_topic_source_->set_topics({{"/topic_a", "std_msgs/msg/String"}, {"/topic_b", "std_msgs/msg/String"}}); + mock_sub_manager_->add_known_topic("/topic_a"); + mock_sub_manager_->add_known_topic("/topic_b"); + + // Subscribe to both + json sub; + sub["command"] = "subscribe"; + sub["topics"] = json::array({"/topic_a", "/topic_b"}); + mock_->push_request("client_resume_fail", sub.dump()); + server_->process_requests(); + mock_->pop_reply("client_resume_fail"); + + EXPECT_EQ(mock_sub_manager_->ref_count("/topic_a"), 1); + EXPECT_EQ(mock_sub_manager_->ref_count("/topic_b"), 1); + + // Pause — decrements ref counts + json pause; + pause["command"] = "pause"; + mock_->push_request("client_resume_fail", pause.dump()); + server_->process_requests(); + mock_->pop_reply("client_resume_fail"); + + EXPECT_EQ(mock_sub_manager_->ref_count("/topic_a"), 0); + EXPECT_EQ(mock_sub_manager_->ref_count("/topic_b"), 0); + + // Simulate /topic_b disappearing + mock_topic_source_->remove_topic("/topic_b"); + + // Resume — /topic_b should fail to re-subscribe + json resume; + resume["command"] = "resume"; + mock_->push_request("client_resume_fail", resume.dump()); + server_->process_requests(); + mock_->pop_reply("client_resume_fail"); + + // /topic_a should be re-subscribed, /topic_b should not + EXPECT_EQ(mock_sub_manager_->ref_count("/topic_a"), 1); + EXPECT_EQ(mock_sub_manager_->ref_count("/topic_b"), 0); + + // Disconnect — should only unsubscribe /topic_a, NOT /topic_b + mock_->simulate_disconnect("client_resume_fail"); + + EXPECT_EQ(mock_sub_manager_->ref_count("/topic_a"), 0); + EXPECT_EQ(mock_sub_manager_->ref_count("/topic_b"), 0); + EXPECT_FALSE(mock_sub_manager_->has_underflow()); +} + +// --------------------------------------------------------------------------- +// Bug #4 — Unsubscribe ignores object format +// +// Unsubscribe should accept [{"name": "/topic"}] in addition to ["/topic"]. +// --------------------------------------------------------------------------- +TEST_F(BridgeServerTest, UnsubscribeAcceptsObjectFormat) { + ASSERT_TRUE(server_->initialize()); + + mock_topic_source_->set_topics({{"/topic_a", "std_msgs/msg/String"}}); + mock_sub_manager_->add_known_topic("/topic_a"); + + // Subscribe + json sub; + sub["command"] = "subscribe"; + sub["topics"] = json::array({"/topic_a"}); + mock_->push_request("client_obj_unsub", sub.dump()); + server_->process_requests(); + mock_->pop_reply("client_obj_unsub"); + + EXPECT_TRUE(mock_sub_manager_->is_subscribed("/topic_a")); + + // Unsubscribe using object format + json unsub; + unsub["command"] = "unsubscribe"; + unsub["topics"] = json::array({json::object({{"name", "/topic_a"}})}); + mock_->push_request("client_obj_unsub", unsub.dump()); + server_->process_requests(); + + json response = mock_->pop_reply("client_obj_unsub"); + ASSERT_FALSE(response.is_discarded()); + EXPECT_EQ(response["status"], "success"); + ASSERT_TRUE(response.contains("removed")); + EXPECT_EQ(response["removed"].size(), 1u); + EXPECT_EQ(response["removed"][0], "/topic_a"); + EXPECT_EQ(mock_sub_manager_->ref_count("/topic_a"), 0); +} + +// --------------------------------------------------------------------------- +// Bug #9 — Division by zero with zero publish rate +// +// BridgeServer::initialize() should reject publish_rate <= 0. +// --------------------------------------------------------------------------- +TEST_F(BridgeServerTest, InitializeRejectsZeroPublishRate) { + auto zero_rate_server = + std::make_unique(mock_topic_source_, mock_sub_manager_, mock_, 19999, 10.0, 0.0); + EXPECT_FALSE(zero_rate_server->initialize()); +} + +TEST_F(BridgeServerTest, InitializeRejectsNegativePublishRate) { + auto neg_rate_server = + std::make_unique(mock_topic_source_, mock_sub_manager_, mock_, 19999, 10.0, -1.0); + EXPECT_FALSE(neg_rate_server->initialize()); +} diff --git a/tests/unit/test_generic_subscription_manager.cpp b/tests/unit/test_generic_subscription_manager.cpp index 6efebea..78c04c7 100644 --- a/tests/unit/test_generic_subscription_manager.cpp +++ b/tests/unit/test_generic_subscription_manager.cpp @@ -1,29 +1,29 @@ /* * Copyright (C) 2026 Davide Faconti * - * This file is part of pj_ros_bridge. + * This file is part of pj_bridge. * - * pj_ros_bridge is free software: you can redistribute it and/or modify + * pj_bridge is free software: you can redistribute it and/or modify * it under the terms of the GNU Affero General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * - * pj_ros_bridge is distributed in the hope that it will be useful, + * pj_bridge is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU Affero General Public License for more details. * * You should have received a copy of the GNU Affero General Public License - * along with pj_ros_bridge. If not, see . + * along with pj_bridge. If not, see . */ #include #include -#include "pj_ros_bridge/generic_subscription_manager.hpp" +#include "pj_bridge_ros2/generic_subscription_manager.hpp" -using namespace pj_ros_bridge; +using namespace pj_bridge; class GenericSubscriptionManagerTest : public ::testing::Test { protected: diff --git a/tests/unit/test_message_buffer.cpp b/tests/unit/test_message_buffer.cpp index fa2f8f7..c5b5015 100644 --- a/tests/unit/test_message_buffer.cpp +++ b/tests/unit/test_message_buffer.cpp @@ -1,48 +1,52 @@ /* * Copyright (C) 2026 Davide Faconti * - * This file is part of pj_ros_bridge. + * This file is part of pj_bridge. * - * pj_ros_bridge is free software: you can redistribute it and/or modify + * pj_bridge is free software: you can redistribute it and/or modify * it under the terms of the GNU Affero General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * - * pj_ros_bridge is distributed in the hope that it will be useful, + * pj_bridge is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU Affero General Public License for more details. * * You should have received a copy of the GNU Affero General Public License - * along with pj_ros_bridge. If not, see . + * along with pj_bridge. If not, see . */ #include +#include #include #include -#include "pj_ros_bridge/message_buffer.hpp" +#include "pj_bridge/message_buffer.hpp" -using namespace pj_ros_bridge; +using namespace pj_bridge; class MessageBufferTest : public ::testing::Test { protected: MessageBuffer buffer_; - // Helper function to create a serialized message with test data - std::shared_ptr create_test_message(const std::vector& data) { - auto msg = std::make_shared(data.size()); - auto& rcl_msg = msg->get_rcl_serialized_message(); - std::memcpy(rcl_msg.buffer, data.data(), data.size()); - rcl_msg.buffer_length = data.size(); - return msg; + // Helper function to create test data as shared_ptr> + std::shared_ptr> create_test_data(const std::vector& data) { + auto vec = std::make_shared>(data.size()); + for (size_t i = 0; i < data.size(); ++i) { + (*vec)[i] = static_cast(data[i]); + } + return vec; } - // Helper to extract data from serialized message for comparison - std::vector extract_data(const std::shared_ptr& msg) { - const auto& rcl_msg = msg->get_rcl_serialized_message(); - return std::vector(rcl_msg.buffer, rcl_msg.buffer + rcl_msg.buffer_length); + // Helper to extract data from shared_ptr> for comparison + std::vector extract_data(const std::shared_ptr>& data) { + std::vector result(data->size()); + for (size_t i = 0; i < data->size(); ++i) { + result[i] = static_cast((*data)[i]); + } + return result; } uint64_t get_current_time_ns() { @@ -58,8 +62,8 @@ TEST_F(MessageBufferTest, AddAndMoveMessages) { uint64_t current_time_ns = get_current_time_ns(); - auto msg1 = create_test_message(data1); - auto msg2 = create_test_message(data2); + auto msg1 = create_test_data(data1); + auto msg2 = create_test_data(data2); buffer_.add_message("topic1", current_time_ns, msg1); buffer_.add_message("topic2", current_time_ns, msg2); @@ -83,8 +87,8 @@ TEST_F(MessageBufferTest, AddAndMoveMessages) { EXPECT_EQ(messages["topic2"].size(), 1); // Verify message data - EXPECT_EQ(extract_data(messages["topic1"][0].msg), data1); - EXPECT_EQ(extract_data(messages["topic2"][0].msg), data2); + EXPECT_EQ(extract_data(messages["topic1"][0].data), data1); + EXPECT_EQ(extract_data(messages["topic2"][0].data), data2); // Verify timestamps EXPECT_EQ(messages["topic1"][0].timestamp_ns, current_time_ns); @@ -95,8 +99,8 @@ TEST_F(MessageBufferTest, MoveMessagesEmptiesBuffer) { std::vector data = {1, 2, 3}; uint64_t current_time_ns = get_current_time_ns(); - buffer_.add_message("topic1", current_time_ns, create_test_message(data)); - buffer_.add_message("topic1", current_time_ns + 1, create_test_message(data)); + buffer_.add_message("topic1", current_time_ns, create_test_data(data)); + buffer_.add_message("topic1", current_time_ns + 1, create_test_data(data)); EXPECT_EQ(buffer_.size(), 2); @@ -107,7 +111,7 @@ TEST_F(MessageBufferTest, MoveMessagesEmptiesBuffer) { EXPECT_EQ(messages1["topic1"].size(), 2); // Add new message - buffer_.add_message("topic2", current_time_ns + 2, create_test_message(data)); + buffer_.add_message("topic2", current_time_ns + 2, create_test_data(data)); EXPECT_EQ(buffer_.size(), 1); // Second move should only return the new message @@ -126,9 +130,9 @@ TEST_F(MessageBufferTest, MultipleMessagesPerTopic) { uint64_t current_time_ns = get_current_time_ns(); - buffer_.add_message("topic1", current_time_ns, create_test_message(data1)); - buffer_.add_message("topic2", current_time_ns + 1, create_test_message(data2)); - buffer_.add_message("topic1", current_time_ns + 2, create_test_message(data3)); + buffer_.add_message("topic1", current_time_ns, create_test_data(data1)); + buffer_.add_message("topic2", current_time_ns + 1, create_test_data(data2)); + buffer_.add_message("topic1", current_time_ns + 2, create_test_data(data3)); EXPECT_EQ(buffer_.size(), 3); @@ -140,13 +144,13 @@ TEST_F(MessageBufferTest, MultipleMessagesPerTopic) { EXPECT_EQ(messages["topic2"].size(), 1); // Verify topic1 has data1 and data3 in order - EXPECT_EQ(extract_data(messages["topic1"][0].msg), data1); - EXPECT_EQ(extract_data(messages["topic1"][1].msg), data3); + EXPECT_EQ(extract_data(messages["topic1"][0].data), data1); + EXPECT_EQ(extract_data(messages["topic1"][1].data), data3); EXPECT_EQ(messages["topic1"][0].timestamp_ns, current_time_ns); EXPECT_EQ(messages["topic1"][1].timestamp_ns, current_time_ns + 2); // Verify topic2 has data2 - EXPECT_EQ(extract_data(messages["topic2"][0].msg), data2); + EXPECT_EQ(extract_data(messages["topic2"][0].data), data2); EXPECT_EQ(messages["topic2"][0].timestamp_ns, current_time_ns + 1); } @@ -154,7 +158,7 @@ TEST_F(MessageBufferTest, Clear) { std::vector data = {1, 2, 3}; uint64_t current_time_ns = get_current_time_ns(); - buffer_.add_message("topic1", current_time_ns, create_test_message(data)); + buffer_.add_message("topic1", current_time_ns, create_test_data(data)); EXPECT_EQ(buffer_.size(), 1); buffer_.clear(); @@ -172,55 +176,65 @@ TEST_F(MessageBufferTest, Size) { EXPECT_EQ(buffer_.size(), 0); - buffer_.add_message("topic1", current_time_ns, create_test_message(data)); + buffer_.add_message("topic1", current_time_ns, create_test_data(data)); EXPECT_EQ(buffer_.size(), 1); - buffer_.add_message("topic2", current_time_ns, create_test_message(data)); + buffer_.add_message("topic2", current_time_ns, create_test_data(data)); EXPECT_EQ(buffer_.size(), 2); - buffer_.add_message("topic1", current_time_ns, create_test_message(data)); + buffer_.add_message("topic1", current_time_ns, create_test_data(data)); EXPECT_EQ(buffer_.size(), 3); } TEST_F(MessageBufferTest, AutoCleanupOldMessages) { + // Use a buffer with a short max age (20ms) so we can test cleanup quickly. + // Cleanup is based on received_at_ns (wall-clock time when add_message is called), + // not the user-provided timestamp_ns. + MessageBuffer short_lived_buffer(20'000'000); // 20ms max age + std::vector data = {1, 2, 3}; uint64_t current_time_ns = get_current_time_ns(); - // Add old message (older than 1 second) - uint64_t old_time_ns = current_time_ns - 2'000'000'000; // 2 seconds ago - buffer_.add_message("topic1", old_time_ns, create_test_message(data)); + // Add first message + short_lived_buffer.add_message("topic1", current_time_ns, create_test_data(data)); - // Add recent message (this should trigger cleanup) - buffer_.add_message("topic2", current_time_ns, create_test_message(data)); + // Wait long enough for the first message to become "old" by received_at_ns + std::this_thread::sleep_for(std::chrono::milliseconds(30)); + + // Add second message — this triggers cleanup, which should evict topic1 + short_lived_buffer.add_message("topic2", current_time_ns, create_test_data(data)); // The old message should have been cleaned up automatically - EXPECT_EQ(buffer_.size(), 1); + EXPECT_EQ(short_lived_buffer.size(), 1); std::unordered_map> messages; - buffer_.move_messages(messages); + short_lived_buffer.move_messages(messages); EXPECT_EQ(messages.size(), 1); EXPECT_TRUE(messages.find("topic2") != messages.end()); EXPECT_TRUE(messages.find("topic1") == messages.end()); } TEST_F(MessageBufferTest, CleanupPreservesRecentMessages) { + // Use a short max age to verify that messages within the window survive + MessageBuffer short_lived_buffer(100'000'000); // 100ms max age + std::vector data = {1, 2, 3}; uint64_t current_time_ns = get_current_time_ns(); - // Add two recent messages (should not be cleaned up) - buffer_.add_message("topic1", current_time_ns, create_test_message(data)); + // Add two messages in quick succession (both within 100ms window) + short_lived_buffer.add_message("topic1", current_time_ns, create_test_data(data)); std::this_thread::sleep_for(std::chrono::milliseconds(10)); current_time_ns = get_current_time_ns(); // Trigger cleanup by adding another message - buffer_.add_message("topic2", current_time_ns, create_test_message(data)); + short_lived_buffer.add_message("topic2", current_time_ns, create_test_data(data)); - // Both messages should still be there (neither older than 1 second) - EXPECT_EQ(buffer_.size(), 2); + // Both messages should still be there (neither older than 100ms) + EXPECT_EQ(short_lived_buffer.size(), 2); std::unordered_map> messages; - buffer_.move_messages(messages); + short_lived_buffer.move_messages(messages); EXPECT_EQ(messages.size(), 2); } @@ -228,8 +242,8 @@ TEST_F(MessageBufferTest, SharedPtrOwnership) { std::vector data = {1, 2, 3}; uint64_t current_time_ns = get_current_time_ns(); - auto msg = create_test_message(data); - auto weak_ptr = std::weak_ptr(msg); + auto msg = create_test_data(data); + auto weak_ptr = std::weak_ptr>(msg); // Add message to buffer buffer_.add_message("topic1", current_time_ns, msg); @@ -267,7 +281,7 @@ TEST_F(MessageBufferTest, ThreadSafety) { threads.emplace_back([this, &data, i, messages_per_thread, current_time_ns]() { for (int j = 0; j < messages_per_thread; ++j) { std::string topic_name = "topic" + std::to_string(i); - buffer_.add_message(topic_name, current_time_ns + j, create_test_message(data)); + buffer_.add_message(topic_name, current_time_ns + j, create_test_data(data)); } }); } @@ -305,7 +319,7 @@ TEST_F(MessageBufferTest, MoveMessagesReplace) { std::vector data = {1, 2, 3}; uint64_t current_time_ns = get_current_time_ns(); - buffer_.add_message("topic1", current_time_ns, create_test_message(data)); + buffer_.add_message("topic1", current_time_ns, create_test_data(data)); std::unordered_map> messages; buffer_.move_messages(messages); @@ -322,11 +336,11 @@ TEST_F(MessageBufferTest, MoveMessagesOverwritesExistingOutput) { std::vector data = {1, 2, 3}; uint64_t current_time_ns = get_current_time_ns(); - buffer_.add_message("topic1", current_time_ns, create_test_message(data)); + buffer_.add_message("topic1", current_time_ns, create_test_data(data)); // Prepare a non-empty map with pre-existing data std::unordered_map> messages; - messages["old_topic"].push_back(BufferedMessage{current_time_ns, create_test_message({9, 9, 9})}); + messages["old_topic"].push_back(BufferedMessage{current_time_ns, current_time_ns, create_test_data({9, 9, 9})}); // move_messages should overwrite the output map buffer_.move_messages(messages); diff --git a/tests/unit/test_message_serializer.cpp b/tests/unit/test_message_serializer.cpp index 6c2e9f5..378f866 100644 --- a/tests/unit/test_message_serializer.cpp +++ b/tests/unit/test_message_serializer.cpp @@ -1,41 +1,41 @@ /* * Copyright (C) 2026 Davide Faconti * - * This file is part of pj_ros_bridge. + * This file is part of pj_bridge. * - * pj_ros_bridge is free software: you can redistribute it and/or modify + * pj_bridge is free software: you can redistribute it and/or modify * it under the terms of the GNU Affero General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * - * pj_ros_bridge is distributed in the hope that it will be useful, + * pj_bridge is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU Affero General Public License for more details. * * You should have received a copy of the GNU Affero General Public License - * along with pj_ros_bridge. If not, see . + * along with pj_bridge. If not, see . */ #include #include -#include "pj_ros_bridge/message_serializer.hpp" +#include "pj_bridge/message_serializer.hpp" -using namespace pj_ros_bridge; +using namespace pj_bridge; class MessageSerializerTest : public ::testing::Test { protected: AggregatedMessageSerializer serializer_; - // Helper to create a serialized message with test data - rclcpp::SerializedMessage create_test_message(const std::vector& data) { - rclcpp::SerializedMessage msg(data.size()); - auto& rcl_msg = msg.get_rcl_serialized_message(); - std::memcpy(rcl_msg.buffer, data.data(), data.size()); - rcl_msg.buffer_length = data.size(); - return msg; + // Helper to create test data as a vector of bytes + std::vector create_test_data(const std::vector& data) { + std::vector result(data.size()); + for (size_t i = 0; i < data.size(); ++i) { + result[i] = static_cast(data[i]); + } + return result; } // Helper to read little-endian values from buffer @@ -58,10 +58,10 @@ TEST_F(MessageSerializerTest, InitialState) { TEST_F(MessageSerializerTest, SerializeSingleMessage) { std::string topic = "/test_topic"; uint64_t timestamp = 1234567890123456789ULL; - std::vector data = {0xAA, 0xBB, 0xCC}; + std::vector raw_data = {0xAA, 0xBB, 0xCC}; - auto msg = create_test_message(data); - serializer_.serialize_message(topic, timestamp, msg); + auto data = create_test_data(raw_data); + serializer_.serialize_message(topic, timestamp, data.data(), data.size()); const auto& serialized = serializer_.get_serialized_data(); @@ -83,22 +83,22 @@ TEST_F(MessageSerializerTest, SerializeSingleMessage) { // Data length (uint32_t) uint32_t data_len = read_le(serialized, offset); - EXPECT_EQ(data_len, data.size()); + EXPECT_EQ(data_len, raw_data.size()); // Data std::vector parsed_data(serialized.begin() + offset, serialized.begin() + offset + data_len); - EXPECT_EQ(parsed_data, data); + EXPECT_EQ(parsed_data, raw_data); } TEST_F(MessageSerializerTest, SerializeMultipleMessages) { // Add 3 messages with different data - auto msg1 = create_test_message({0x01, 0x02}); - auto msg2 = create_test_message({0x03, 0x04, 0x05}); - auto msg3 = create_test_message({0x06}); + auto data1 = create_test_data({0x01, 0x02}); + auto data2 = create_test_data({0x03, 0x04, 0x05}); + auto data3 = create_test_data({0x06}); - serializer_.serialize_message("/topic1", 100, msg1); - serializer_.serialize_message("/topic2", 200, msg2); - serializer_.serialize_message("/topic3", 300, msg3); + serializer_.serialize_message("/topic1", 100, data1.data(), data1.size()); + serializer_.serialize_message("/topic2", 200, data2.data(), data2.size()); + serializer_.serialize_message("/topic3", 300, data3.data(), data3.size()); const auto& serialized = serializer_.get_serialized_data(); @@ -123,8 +123,8 @@ TEST_F(MessageSerializerTest, SerializeMultipleMessages) { } TEST_F(MessageSerializerTest, Clear) { - auto msg = create_test_message({1, 2, 3}); - serializer_.serialize_message("/topic", 100, msg); + auto data = create_test_data({1, 2, 3}); + serializer_.serialize_message("/topic", 100, data.data(), data.size()); EXPECT_GT(serializer_.get_serialized_data().size(), 0); @@ -137,13 +137,13 @@ TEST_F(MessageSerializerTest, StreamingAPI) { auto initial_size = serializer_.get_serialized_data().size(); EXPECT_EQ(initial_size, 0); // Empty - auto msg1 = create_test_message({1, 2, 3}); - serializer_.serialize_message("/topic1", 100, msg1); + auto data1 = create_test_data({1, 2, 3}); + serializer_.serialize_message("/topic1", 100, data1.data(), data1.size()); auto size_after_1 = serializer_.get_serialized_data().size(); EXPECT_GT(size_after_1, initial_size); - auto msg2 = create_test_message({4, 5, 6, 7}); - serializer_.serialize_message("/topic2", 200, msg2); + auto data2 = create_test_data({4, 5, 6, 7}); + serializer_.serialize_message("/topic2", 200, data2.data(), data2.size()); auto size_after_2 = serializer_.get_serialized_data().size(); EXPECT_GT(size_after_2, size_after_1); } @@ -225,13 +225,13 @@ TEST_F(MessageSerializerTest, DecompressZstdOutParameter) { TEST_F(MessageSerializerTest, LargeMessage) { // Test with a large message (10 KB) - std::vector large_data(10240); - for (size_t i = 0; i < large_data.size(); ++i) { - large_data[i] = static_cast(i & 0xFF); + std::vector large_raw(10240); + for (size_t i = 0; i < large_raw.size(); ++i) { + large_raw[i] = static_cast(i & 0xFF); } - auto msg = create_test_message(large_data); - serializer_.serialize_message("/large_topic", 999999, msg); + auto large_data = create_test_data(large_raw); + serializer_.serialize_message("/large_topic", 999999, large_data.data(), large_data.size()); const auto& serialized = serializer_.get_serialized_data(); @@ -244,19 +244,19 @@ TEST_F(MessageSerializerTest, LargeMessage) { offset += topic_len + 8; // Skip topic and timestamp uint32_t data_len = read_le(serialized, offset); - EXPECT_EQ(data_len, large_data.size()); + EXPECT_EQ(data_len, large_raw.size()); } TEST_F(MessageSerializerTest, MultipleTopicsSameTimestamp) { uint64_t timestamp = 123456789; - auto msg1 = create_test_message({1, 2}); - auto msg2 = create_test_message({3, 4}); - auto msg3 = create_test_message({5, 6, 7}); + auto data1 = create_test_data({1, 2}); + auto data2 = create_test_data({3, 4}); + auto data3 = create_test_data({5, 6, 7}); - serializer_.serialize_message("/topicA", timestamp, msg1); - serializer_.serialize_message("/topicB", timestamp, msg2); - serializer_.serialize_message("/topicC", timestamp, msg3); + serializer_.serialize_message("/topicA", timestamp, data1.data(), data1.size()); + serializer_.serialize_message("/topicB", timestamp, data2.data(), data2.size()); + serializer_.serialize_message("/topicC", timestamp, data3.data(), data3.size()); // - Topic length: 2 bytes // - Topic string: 7 bytes @@ -275,9 +275,10 @@ TEST_F(MessageSerializerTest, LargeMessageForcesReallocation) { // with large payloads. Before the fix, this would crash with a dangling // pointer because dest_ptr was captured before resize(). for (int i = 0; i < 100; ++i) { - std::vector payload(1024, static_cast(i & 0xFF)); - auto msg = create_test_message(payload); - serializer_.serialize_message("/realloc_topic_" + std::to_string(i), static_cast(i), msg); + std::vector payload_raw(1024, static_cast(i & 0xFF)); + auto payload = create_test_data(payload_raw); + serializer_.serialize_message( + "/realloc_topic_" + std::to_string(i), static_cast(i), payload.data(), payload.size()); } const auto& serialized = serializer_.get_serialized_data(); @@ -315,10 +316,10 @@ TEST_F(MessageSerializerTest, WireFormatMatchesProjectSpec) { std::string topic = "/t"; uint64_t timestamp = 42; - std::vector data = {0xAA, 0xBB}; + std::vector raw_data = {0xAA, 0xBB}; - auto msg = create_test_message(data); - serializer_.serialize_message(topic, timestamp, msg); + auto data = create_test_data(raw_data); + serializer_.serialize_message(topic, timestamp, data.data(), data.size()); const auto& serialized = serializer_.get_serialized_data(); @@ -350,11 +351,11 @@ TEST_F(MessageSerializerTest, WireFormatMatchesProjectSpec) { } TEST_F(MessageSerializerTest, ZeroCopySerializedMessage) { - // Verify that we're working with SerializedMessage directly - std::vector data = {0xDE, 0xAD, 0xBE, 0xEF}; - auto msg = create_test_message(data); + // Verify that we're working with raw byte data directly + std::vector raw_data = {0xDE, 0xAD, 0xBE, 0xEF}; + auto data = create_test_data(raw_data); - serializer_.serialize_message("/topic", 100, msg); + serializer_.serialize_message("/topic", 100, data.data(), data.size()); const auto& serialized = serializer_.get_serialized_data(); EXPECT_GT(serialized.size(), 4); @@ -372,8 +373,8 @@ TEST_F(MessageSerializerTest, ZeroCopySerializedMessage) { // ============================================================================ TEST_F(MessageSerializerTest, FinalizeIncludesBinaryHeader) { - auto msg = create_test_message({1, 2, 3, 4}); - serializer_.serialize_message("/topic", 1000, msg); + auto data = create_test_data({1, 2, 3, 4}); + serializer_.serialize_message("/topic", 1000, data.data(), data.size()); auto result = serializer_.finalize(); @@ -402,8 +403,8 @@ TEST_F(MessageSerializerTest, FinalizeIncludesBinaryHeader) { } TEST_F(MessageSerializerTest, HeaderMagicIsPJRB) { - auto msg = create_test_message({0}); - serializer_.serialize_message("/t", 0, msg); + auto data = create_test_data({0}); + serializer_.serialize_message("/t", 0, data.data(), data.size()); auto result = serializer_.finalize(); // Verify magic bytes spell "PJRB" @@ -414,13 +415,13 @@ TEST_F(MessageSerializerTest, HeaderMagicIsPJRB) { } TEST_F(MessageSerializerTest, MessageCountMatchesAddedMessages) { - auto msg1 = create_test_message({1}); - auto msg2 = create_test_message({2}); - auto msg3 = create_test_message({3}); + auto data1 = create_test_data({1}); + auto data2 = create_test_data({2}); + auto data3 = create_test_data({3}); - serializer_.serialize_message("/a", 100, msg1); - serializer_.serialize_message("/b", 200, msg2); - serializer_.serialize_message("/c", 300, msg3); + serializer_.serialize_message("/a", 100, data1.data(), data1.size()); + serializer_.serialize_message("/b", 200, data2.data(), data2.size()); + serializer_.serialize_message("/c", 300, data3.data(), data3.size()); EXPECT_EQ(serializer_.get_message_count(), 3u); @@ -431,8 +432,8 @@ TEST_F(MessageSerializerTest, MessageCountMatchesAddedMessages) { } TEST_F(MessageSerializerTest, ClearResetsMessageCount) { - auto msg = create_test_message({0}); - serializer_.serialize_message("/t", 0, msg); + auto data = create_test_data({0}); + serializer_.serialize_message("/t", 0, data.data(), data.size()); EXPECT_EQ(serializer_.get_message_count(), 1u); serializer_.clear(); @@ -440,9 +441,9 @@ TEST_F(MessageSerializerTest, ClearResetsMessageCount) { } TEST_F(MessageSerializerTest, DecompressedPayloadMatchesOriginal) { - std::vector data = {10, 20, 30, 40, 50}; - auto msg = create_test_message(data); - serializer_.serialize_message("/test", 12345, msg); + std::vector raw_data = {10, 20, 30, 40, 50}; + auto data = create_test_data(raw_data); + serializer_.serialize_message("/test", 12345, data.data(), data.size()); auto result = serializer_.finalize(); @@ -483,10 +484,10 @@ TEST_F(MessageSerializerTest, FinalizeEmptyBuffer) { TEST_F(MessageSerializerTest, UncompressedSizeMatchesPayload) { // Create a message with known serialized size std::string topic = "/t"; - std::vector data = {0xAA, 0xBB}; - auto msg = create_test_message(data); + std::vector raw_data = {0xAA, 0xBB}; + auto data = create_test_data(raw_data); - serializer_.serialize_message(topic, 42, msg); + serializer_.serialize_message(topic, 42, data.data(), data.size()); // Expected size: 2(topic_len) + 2(topic) + 8(timestamp) + 4(data_len) + 2(data) = 18 EXPECT_EQ(serializer_.get_serialized_data().size(), 18u); diff --git a/tests/unit/test_message_stripper.cpp b/tests/unit/test_message_stripper.cpp index 3e4dc07..8c4cfa4 100644 --- a/tests/unit/test_message_stripper.cpp +++ b/tests/unit/test_message_stripper.cpp @@ -1,20 +1,20 @@ /* * Copyright (C) 2026 Davide Faconti * - * This file is part of pj_ros_bridge. + * This file is part of pj_bridge. * - * pj_ros_bridge is free software: you can redistribute it and/or modify + * pj_bridge is free software: you can redistribute it and/or modify * it under the terms of the GNU Affero General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * - * pj_ros_bridge is distributed in the hope that it will be useful, + * pj_bridge is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU Affero General Public License for more details. * * You should have received a copy of the GNU Affero General Public License - * along with pj_ros_bridge. If not, see . + * along with pj_bridge. If not, see . */ #include @@ -26,9 +26,9 @@ #include #include -#include "pj_ros_bridge/message_stripper.hpp" +#include "pj_bridge_ros2/message_stripper.hpp" -using namespace pj_ros_bridge; +using namespace pj_bridge; // ============================================================================ // should_strip() tests diff --git a/tests/unit/test_protocol_constants.cpp b/tests/unit/test_protocol_constants.cpp index a2eabb5..d13e945 100644 --- a/tests/unit/test_protocol_constants.cpp +++ b/tests/unit/test_protocol_constants.cpp @@ -1,29 +1,29 @@ /* * Copyright (C) 2026 Davide Faconti * - * This file is part of pj_ros_bridge. + * This file is part of pj_bridge. * - * pj_ros_bridge is free software: you can redistribute it and/or modify + * pj_bridge is free software: you can redistribute it and/or modify * it under the terms of the GNU Affero General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * - * pj_ros_bridge is distributed in the hope that it will be useful, + * pj_bridge is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU Affero General Public License for more details. * * You should have received a copy of the GNU Affero General Public License - * along with pj_ros_bridge. If not, see . + * along with pj_bridge. If not, see . */ #include #include -#include "pj_ros_bridge/protocol_constants.hpp" +#include "pj_bridge/protocol_constants.hpp" -namespace pj_ros_bridge { +namespace pj_bridge { namespace { TEST(ProtocolConstantsTest, ProtocolVersionIsOne) { @@ -51,5 +51,9 @@ TEST(ProtocolConstantsTest, SchemaEncodingIsRos2Msg) { EXPECT_STREQ(kSchemaEncodingRos2Msg, "ros2msg"); } +TEST(ProtocolConstantsTest, SchemaEncodingIsOmgIdl) { + EXPECT_STREQ(kSchemaEncodingOmgIdl, "omgidl"); +} + } // namespace -} // namespace pj_ros_bridge +} // namespace pj_bridge diff --git a/tests/unit/test_schema_extractor.cpp b/tests/unit/test_schema_extractor.cpp index 4cfaa18..461e320 100644 --- a/tests/unit/test_schema_extractor.cpp +++ b/tests/unit/test_schema_extractor.cpp @@ -1,20 +1,20 @@ /* * Copyright (C) 2026 Davide Faconti * - * This file is part of pj_ros_bridge. + * This file is part of pj_bridge. * - * pj_ros_bridge is free software: you can redistribute it and/or modify + * pj_bridge is free software: you can redistribute it and/or modify * it under the terms of the GNU Affero General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * - * pj_ros_bridge is distributed in the hope that it will be useful, + * pj_bridge is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU Affero General Public License for more details. * * You should have received a copy of the GNU Affero General Public License - * along with pj_ros_bridge. If not, see . + * along with pj_bridge. If not, see . */ #include @@ -23,9 +23,9 @@ #include #include "data_path.hpp" -#include "pj_ros_bridge/schema_extractor.hpp" +#include "pj_bridge_ros2/schema_extractor.hpp" -using namespace pj_ros_bridge; +using namespace pj_bridge; // Helper function to read expected schema from file std::string read_expected_schema(const std::string& filename) { diff --git a/tests/unit/test_session_manager.cpp b/tests/unit/test_session_manager.cpp index 21694fa..a27c537 100644 --- a/tests/unit/test_session_manager.cpp +++ b/tests/unit/test_session_manager.cpp @@ -1,20 +1,20 @@ /* * Copyright (C) 2026 Davide Faconti * - * This file is part of pj_ros_bridge. + * This file is part of pj_bridge. * - * pj_ros_bridge is free software: you can redistribute it and/or modify + * pj_bridge is free software: you can redistribute it and/or modify * it under the terms of the GNU Affero General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * - * pj_ros_bridge is distributed in the hope that it will be useful, + * pj_bridge is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU Affero General Public License for more details. * * You should have received a copy of the GNU Affero General Public License - * along with pj_ros_bridge. If not, see . + * along with pj_bridge. If not, see . */ #include @@ -23,9 +23,9 @@ #include #include -#include "pj_ros_bridge/session_manager.hpp" +#include "pj_bridge/session_manager.hpp" -using namespace pj_ros_bridge; +using namespace pj_bridge; class SessionManagerTest : public ::testing::Test { protected: diff --git a/tests/unit/test_topic_discovery.cpp b/tests/unit/test_topic_discovery.cpp index 524ba6e..2264dd7 100644 --- a/tests/unit/test_topic_discovery.cpp +++ b/tests/unit/test_topic_discovery.cpp @@ -1,20 +1,20 @@ /* * Copyright (C) 2026 Davide Faconti * - * This file is part of pj_ros_bridge. + * This file is part of pj_bridge. * - * pj_ros_bridge is free software: you can redistribute it and/or modify + * pj_bridge is free software: you can redistribute it and/or modify * it under the terms of the GNU Affero General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * - * pj_ros_bridge is distributed in the hope that it will be useful, + * pj_bridge is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU Affero General Public License for more details. * * You should have received a copy of the GNU Affero General Public License - * along with pj_ros_bridge. If not, see . + * along with pj_bridge. If not, see . */ #include @@ -22,9 +22,9 @@ #include #include -#include "pj_ros_bridge/topic_discovery.hpp" +#include "pj_bridge_ros2/topic_discovery.hpp" -using namespace pj_ros_bridge; +using namespace pj_bridge; class TopicDiscoveryTest : public ::testing::Test { protected: diff --git a/tests/unit/test_websocket_middleware.cpp b/tests/unit/test_websocket_middleware.cpp index d0f505a..407a7ad 100644 --- a/tests/unit/test_websocket_middleware.cpp +++ b/tests/unit/test_websocket_middleware.cpp @@ -1,20 +1,20 @@ /* * Copyright (C) 2026 Davide Faconti * - * This file is part of pj_ros_bridge. + * This file is part of pj_bridge. * - * pj_ros_bridge is free software: you can redistribute it and/or modify + * pj_bridge is free software: you can redistribute it and/or modify * it under the terms of the GNU Affero General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * - * pj_ros_bridge is distributed in the hope that it will be useful, + * pj_bridge is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU Affero General Public License for more details. * * You should have received a copy of the GNU Affero General Public License - * along with pj_ros_bridge. If not, see . + * along with pj_bridge. If not, see . */ #include @@ -26,9 +26,9 @@ #include #include -#include "pj_ros_bridge/middleware/websocket_middleware.hpp" +#include "pj_bridge/middleware/websocket_middleware.hpp" -using namespace pj_ros_bridge; +using namespace pj_bridge; class WebSocketMiddlewareTest : public ::testing::Test { protected: @@ -397,6 +397,49 @@ TEST_F(WebSocketMiddlewareTest, ShutdownWithConnectedClientDoesNotDeadlock) { client.stop(); } +// --------------------------------------------------------------------------- +// Bug #6 — Unbounded incoming queue +// +// If messages arrive faster than they are consumed, the incoming queue must +// be bounded to prevent unbounded memory growth. +// --------------------------------------------------------------------------- +TEST_F(WebSocketMiddlewareTest, IncomingQueueBounded) { + auto result = middleware_->initialize(18095); + ASSERT_TRUE(result.has_value()); + + ix::WebSocket client; + client.setUrl("ws://127.0.0.1:18095"); + client.setOnMessageCallback([](const ix::WebSocketMessagePtr& /*msg*/) {}); + client.start(); + + ASSERT_TRUE(wait_for_client_open(client)) << "Client failed to connect"; + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + + // Send more messages than the queue limit (kMaxIncomingQueueSize = 1024) + const int num_messages = 2000; + for (int i = 0; i < num_messages; ++i) { + client.send("msg_" + std::to_string(i)); + } + + // Give time for all messages to arrive at the server + std::this_thread::sleep_for(std::chrono::milliseconds(500)); + + // Drain the queue and count how many we got + int received_count = 0; + std::vector data; + std::string client_id; + while (middleware_->receive_request(data, client_id)) { + received_count++; + } + + // We should have received at most kMaxIncomingQueueSize messages + EXPECT_LE(received_count, 1024) << "Queue should be bounded to 1024 messages"; + EXPECT_GT(received_count, 0) << "Should have received at least some messages"; + + client.stop(); + std::this_thread::sleep_for(std::chrono::milliseconds(100)); +} + int main(int argc, char** argv) { testing::InitGoogleTest(&argc, argv); return RUN_ALL_TESTS(); From 9c8b9f94673d6d72c537bcc2906af22cc562820e Mon Sep 17 00:00:00 2001 From: Davide Faconti Date: Mon, 2 Mar 2026 14:09:49 +0100 Subject: [PATCH 02/15] chore: Remove completed plan documents All plans have been implemented. Remove docs/plans/ directory and its reference from CLAUDE.md. Co-Authored-By: Claude Opus 4.6 Entire-Checkpoint: 4eeea9be2ecb --- CLAUDE.md | 1 - .../plans/2026-02-03-api-v2-implementation.md | 1241 ----------------- docs/plans/2026-02-03-api-v2-improvements.md | 167 --- docs/plans/2026-02-04-message-stripping.md | 1069 -------------- docs/plans/2026-02-21-p0-p1-fixes.md | 416 ------ .../plans/2026-02-26-unify-backends-design.md | 281 ---- 6 files changed, 3175 deletions(-) delete mode 100644 docs/plans/2026-02-03-api-v2-implementation.md delete mode 100644 docs/plans/2026-02-03-api-v2-improvements.md delete mode 100644 docs/plans/2026-02-04-message-stripping.md delete mode 100644 docs/plans/2026-02-21-p0-p1-fixes.md delete mode 100644 docs/plans/2026-02-26-unify-backends-design.md diff --git a/CLAUDE.md b/CLAUDE.md index bc3bd8c..fe6c178 100644 --- a/CLAUDE.md +++ b/CLAUDE.md @@ -12,7 +12,6 @@ ## Key Documentation Files -- `docs/plans/2026-02-26-unify-backends-design.md` — Unified architecture design - `docs/API.md` - API protocol documentation - `.clang-tidy` - Coding standards and style guide diff --git a/docs/plans/2026-02-03-api-v2-implementation.md b/docs/plans/2026-02-03-api-v2-implementation.md deleted file mode 100644 index 8a33e2f..0000000 --- a/docs/plans/2026-02-03-api-v2-implementation.md +++ /dev/null @@ -1,1241 +0,0 @@ -# API v2 Implementation Plan - -> **For Claude:** REQUIRED SUB-SKILL: Use superpowers:executing-plans to implement this plan task-by-task. - -**Goal:** Implement breaking API changes: request IDs, protocol version, schema encoding, unsubscribe command, binary frame header, and pause/resume. - -**Architecture:** Centralized response injection for `id` and `protocol_version`. Additive subscription model with explicit unsubscribe. Per-client pause state with smart ROS2 subscription management. 16-byte binary header prepended before compression. - -**Tech Stack:** C++17, nlohmann/json, gtest, Python websocket-client - ---- - -## Task 1: Add Protocol Constants - -**Files:** -- Create: `include/pj_ros_bridge/protocol_constants.hpp` -- Test: Compile-time only (no runtime test needed) - -**Step 1: Create the constants header** - -```cpp -// include/pj_ros_bridge/protocol_constants.hpp -// Copyright 2025 -// ROS2 Bridge - Protocol Constants - -#ifndef PJ_ROS_BRIDGE__PROTOCOL_CONSTANTS_HPP_ -#define PJ_ROS_BRIDGE__PROTOCOL_CONSTANTS_HPP_ - -#include - -namespace pj_ros_bridge { - -/// Protocol version - increment on breaking API changes -static constexpr int kProtocolVersion = 1; - -/// Binary frame magic number ("PJRB" in ASCII, little-endian) -static constexpr uint32_t kBinaryFrameMagic = 0x42524A50; // "PJRB" read as LE - -/// Binary frame header size in bytes -static constexpr size_t kBinaryHeaderSize = 16; - -/// Schema encoding identifier for ROS2 message definitions -static constexpr const char* kSchemaEncodingRos2Msg = "ros2msg"; - -} // namespace pj_ros_bridge - -#endif // PJ_ROS_BRIDGE__PROTOCOL_CONSTANTS_HPP_ -``` - -**Step 2: Verify it compiles** - -Run: `cd ~/ws_plotjuggler && source /opt/ros/humble/setup.bash && colcon build --packages-select pj_ros_bridge --cmake-args -DCMAKE_BUILD_TYPE=Release` -Expected: Build succeeds - -**Step 3: Commit** - -```bash -git add include/pj_ros_bridge/protocol_constants.hpp -git commit -m "feat: add protocol constants header (version, magic, encoding)" -``` - ---- - -## Task 2: Request ID and Protocol Version in Responses - -**Files:** -- Modify: `src/bridge_server.cpp` -- Modify: `include/pj_ros_bridge/bridge_server.hpp` -- Test: `tests/unit/test_bridge_server.cpp` - -**Step 1: Write failing tests for request ID and protocol version** - -Add to `tests/unit/test_bridge_server.cpp`: - -```cpp -// --------------------------------------------------------------------------- -// ResponseContainsProtocolVersion -// --------------------------------------------------------------------------- -TEST_F(BridgeServerTest, ResponseContainsProtocolVersion) { - ASSERT_TRUE(server_->initialize()); - - json req; - req["command"] = "heartbeat"; - mock_->push_request("client_pv", req.dump()); - server_->process_requests(); - - json reply = mock_->pop_reply("client_pv"); - ASSERT_FALSE(reply.is_discarded()); - EXPECT_TRUE(reply.contains("protocol_version")); - EXPECT_EQ(reply["protocol_version"], 1); -} - -// --------------------------------------------------------------------------- -// RequestIdEchoedInResponse -// --------------------------------------------------------------------------- -TEST_F(BridgeServerTest, RequestIdEchoedInResponse) { - ASSERT_TRUE(server_->initialize()); - - json req; - req["command"] = "heartbeat"; - req["id"] = "test-request-42"; - mock_->push_request("client_id", req.dump()); - server_->process_requests(); - - json reply = mock_->pop_reply("client_id"); - ASSERT_FALSE(reply.is_discarded()); - EXPECT_TRUE(reply.contains("id")); - EXPECT_EQ(reply["id"], "test-request-42"); -} - -// --------------------------------------------------------------------------- -// RequestIdOmittedWhenNotProvided -// --------------------------------------------------------------------------- -TEST_F(BridgeServerTest, RequestIdOmittedWhenNotProvided) { - ASSERT_TRUE(server_->initialize()); - - json req; - req["command"] = "heartbeat"; - // No "id" field - mock_->push_request("client_noid", req.dump()); - server_->process_requests(); - - json reply = mock_->pop_reply("client_noid"); - ASSERT_FALSE(reply.is_discarded()); - EXPECT_FALSE(reply.contains("id")); -} -``` - -**Step 2: Run tests to verify they fail** - -Run: `cd ~/ws_plotjuggler && source /opt/ros/humble/setup.bash && colcon build --packages-select pj_ros_bridge --cmake-args -DCMAKE_BUILD_TYPE=Release && colcon test --packages-select pj_ros_bridge && colcon test-result --verbose` -Expected: 3 new tests FAIL (protocol_version not present, id not echoed) - -**Step 3: Add include and helper method declaration to bridge_server.hpp** - -Add include at top: -```cpp -#include "pj_ros_bridge/protocol_constants.hpp" -``` - -Add private method declaration: -```cpp - std::string inject_response_fields(const std::string& response_json, const std::string& request_id) const; -``` - -**Step 4: Implement response field injection in bridge_server.cpp** - -Add new method: -```cpp -std::string BridgeServer::inject_response_fields(const std::string& response_json, const std::string& request_id) const { - json response = json::parse(response_json); - response["protocol_version"] = kProtocolVersion; - if (!request_id.empty()) { - response["id"] = request_id; - } - return response.dump(); -} -``` - -**Step 5: Modify process_requests() to extract request ID and inject fields** - -In `process_requests()`, after parsing `request_json`, extract the ID: -```cpp - json request_json = json::parse(request); - std::string request_id; - if (request_json.contains("id") && request_json["id"].is_string()) { - request_id = request_json["id"].get(); - } -``` - -Before sending response, wrap it: -```cpp - // Inject protocol_version and id into response - response = inject_response_fields(response, request_id); - - // Send response to the specific client - std::vector response_data(response.begin(), response.end()); -``` - -**Step 6: Run tests to verify they pass** - -Run: `cd ~/ws_plotjuggler && colcon build --packages-select pj_ros_bridge --cmake-args -DCMAKE_BUILD_TYPE=Release && colcon test --packages-select pj_ros_bridge && colcon test-result --verbose` -Expected: All tests PASS - -**Step 7: Commit** - -```bash -git add include/pj_ros_bridge/bridge_server.hpp src/bridge_server.cpp tests/unit/test_bridge_server.cpp include/pj_ros_bridge/protocol_constants.hpp -git commit -m "feat: add request ID echo and protocol_version to all responses" -``` - ---- - -## Task 3: Schema Encoding in Subscribe Response - -**Files:** -- Modify: `src/bridge_server.cpp` -- Test: `tests/unit/test_bridge_server.cpp` - -**Step 1: Write failing test for schema encoding format** - -Add to `tests/unit/test_bridge_server.cpp`: - -```cpp -// --------------------------------------------------------------------------- -// SchemaEncodingFormat - schemas are objects with encoding and definition -// --------------------------------------------------------------------------- -TEST_F(BridgeServerTest, SchemaEncodingFormat) { - ASSERT_TRUE(server_->initialize()); - - // This test uses a non-existent topic, so we check the response structure - // when there ARE schemas (we'd need a real topic for that). - // For now, verify the structure when subscribing to existing topics. - // Since we can't easily create real topics in unit tests, we verify - // that the schemas object format is correct when it's non-empty. - - // We'll test this indirectly: check that ANY successful subscribe response - // has schemas with the correct structure. We need integration tests for real topics. - - // For unit test: verify schema structure is an object with encoding/definition - // by checking the code path exists. The actual test needs a mock that returns schemas. - - // Skip for now - covered by integration tests - GTEST_SKIP() << "Requires real ROS2 topics - covered by integration tests"; -} -``` - -Note: This is hard to unit test without real topics. We'll verify in integration. - -**Step 2: Modify handle_subscribe() to use new schema format** - -In `handle_subscribe()`, change: -```cpp - schemas[topic_name] = schema; -``` -to: -```cpp - json schema_obj; - schema_obj["encoding"] = kSchemaEncodingRos2Msg; - schema_obj["definition"] = schema; - schemas[topic_name] = schema_obj; -``` - -**Step 3: Build and run existing tests** - -Run: `cd ~/ws_plotjuggler && colcon build --packages-select pj_ros_bridge --cmake-args -DCMAKE_BUILD_TYPE=Release && colcon test --packages-select pj_ros_bridge && colcon test-result --verbose` -Expected: All tests PASS (existing tests don't validate schema structure deeply) - -**Step 4: Commit** - -```bash -git add src/bridge_server.cpp tests/unit/test_bridge_server.cpp -git commit -m "feat: change schema format to {encoding, definition} object" -``` - ---- - -## Task 4: Binary Frame Header - -**Files:** -- Modify: `include/pj_ros_bridge/message_serializer.hpp` -- Modify: `src/message_serializer.cpp` -- Modify: `tests/unit/test_message_serializer.cpp` -- Modify: `src/bridge_server.cpp` - -**Step 1: Write failing test for binary header** - -Add to `tests/unit/test_message_serializer.cpp`: - -```cpp -// --------------------------------------------------------------------------- -// BinaryFrameHeader - verify 16-byte header structure -// --------------------------------------------------------------------------- -TEST(MessageSerializerTest, BinaryFrameHeaderStructure) { - AggregatedMessageSerializer serializer; - - // Create a simple serialized message - rclcpp::SerializedMessage msg; - msg.reserve(4); - auto& rcl_msg = msg.get_rcl_serialized_message(); - rcl_msg.buffer_length = 4; - memcpy(rcl_msg.buffer, "test", 4); - - serializer.serialize_message("/topic", 1234567890ULL, msg); - - // Get the frame with header - std::vector frame; - serializer.finalize_with_header(frame); - - // Verify header size - ASSERT_GE(frame.size(), 16u); - - // Verify magic (little-endian "PJRB" = 0x42524A50) - uint32_t magic; - memcpy(&magic, frame.data(), 4); - EXPECT_EQ(magic, 0x42524A50u); - - // Verify message count - uint32_t count; - memcpy(&count, frame.data() + 4, 4); - EXPECT_EQ(count, 1u); - - // Verify uncompressed size matches serialized data size - uint32_t uncompressed_size; - memcpy(&uncompressed_size, frame.data() + 8, 4); - EXPECT_EQ(uncompressed_size, serializer.get_serialized_data().size()); - - // Verify flags are 0 - uint32_t flags; - memcpy(&flags, frame.data() + 12, 4); - EXPECT_EQ(flags, 0u); -} -``` - -**Step 2: Run test to verify it fails** - -Run: `cd ~/ws_plotjuggler && colcon build --packages-select pj_ros_bridge --cmake-args -DCMAKE_BUILD_TYPE=Release` -Expected: Build FAILS (finalize_with_header doesn't exist) - -**Step 3: Add message count tracking and finalize_with_header method to header** - -In `message_serializer.hpp`, add: -```cpp - /** - * @brief Get number of messages serialized - */ - size_t get_message_count() const { return message_count_; } - - /** - * @brief Finalize serialization and create frame with 16-byte header - * - * Header format (little-endian): - * - uint32_t magic (0x42524A50 "PJRB") - * - uint32_t message_count - * - uint32_t uncompressed_size - * - uint32_t flags (reserved, 0) - * - * The header is followed by ZSTD-compressed payload. - * - * @param frame Output parameter - receives header + compressed data - */ - void finalize_with_header(std::vector& frame); -``` - -Add private member: -```cpp - size_t message_count_{0}; -``` - -**Step 4: Implement finalize_with_header and update serialize_message** - -In `message_serializer.cpp`: - -Update `serialize_message` to increment counter: -```cpp -void AggregatedMessageSerializer::serialize_message(...) { - // ... existing code ... - message_count_++; -} -``` - -Update `clear()` to reset counter: -```cpp -void AggregatedMessageSerializer::clear() { - serialized_data_.clear(); - message_count_ = 0; -} -``` - -Add new method: -```cpp -void AggregatedMessageSerializer::finalize_with_header(std::vector& frame) { - // Compress the payload - std::vector compressed; - compress_zstd(serialized_data_, compressed); - - // Build frame: 16-byte header + compressed data - frame.clear(); - frame.reserve(kBinaryHeaderSize + compressed.size()); - - // Magic - write_le(frame, kBinaryFrameMagic); - - // Message count - write_le(frame, static_cast(message_count_)); - - // Uncompressed size - write_le(frame, static_cast(serialized_data_.size())); - - // Flags (reserved) - write_le(frame, static_cast(0)); - - // Compressed payload - frame.insert(frame.end(), compressed.begin(), compressed.end()); -} -``` - -Add include at top of message_serializer.cpp: -```cpp -#include "pj_ros_bridge/protocol_constants.hpp" -``` - -**Step 5: Run test to verify it passes** - -Run: `cd ~/ws_plotjuggler && colcon build --packages-select pj_ros_bridge --cmake-args -DCMAKE_BUILD_TYPE=Release && colcon test --packages-select pj_ros_bridge && colcon test-result --verbose` -Expected: New test PASSES - -**Step 6: Update bridge_server.cpp to use finalize_with_header** - -In `publish_aggregated_messages()`, replace: -```cpp - // Compress once for the group - std::vector compressed_data; - AggregatedMessageSerializer::compress_zstd(serializer.get_serialized_data(), compressed_data); -``` -with: -```cpp - // Finalize with header (includes compression) - std::vector frame_data; - serializer.finalize_with_header(frame_data); -``` - -And update the send call: -```cpp - if (middleware_->send_binary(client_id, frame_data)) { -``` - -And update bytes tracking: -```cpp - total_bytes += frame_data.size(); -``` - -**Step 7: Run all tests** - -Run: `cd ~/ws_plotjuggler && colcon build --packages-select pj_ros_bridge --cmake-args -DCMAKE_BUILD_TYPE=Release && colcon test --packages-select pj_ros_bridge && colcon test-result --verbose` -Expected: All tests PASS - -**Step 8: Commit** - -```bash -git add include/pj_ros_bridge/message_serializer.hpp src/message_serializer.cpp src/bridge_server.cpp tests/unit/test_message_serializer.cpp -git commit -m "feat: add 16-byte binary frame header (magic, count, size, flags)" -``` - ---- - -## Task 5: Unsubscribe Command (Additive Model) - -**Files:** -- Modify: `include/pj_ros_bridge/bridge_server.hpp` -- Modify: `src/bridge_server.cpp` -- Test: `tests/unit/test_bridge_server.cpp` - -**Step 1: Write failing tests for unsubscribe** - -Add to `tests/unit/test_bridge_server.cpp`: - -```cpp -// --------------------------------------------------------------------------- -// UnsubscribeCommand - removes topics from subscription -// --------------------------------------------------------------------------- -TEST_F(BridgeServerTest, UnsubscribeCommand) { - ASSERT_TRUE(server_->initialize()); - - // Create session via heartbeat - json hb; - hb["command"] = "heartbeat"; - mock_->push_request("client_unsub", hb.dump()); - server_->process_requests(); - - // Unsubscribe from topics (even if not subscribed, should succeed) - json req; - req["command"] = "unsubscribe"; - req["topics"] = json::array({"/topic_a", "/topic_b"}); - mock_->push_request("client_unsub", req.dump()); - server_->process_requests(); - - json reply = mock_->pop_reply("client_unsub"); - ASSERT_FALSE(reply.is_discarded()); - EXPECT_EQ(reply["status"], "success"); - EXPECT_TRUE(reply.contains("removed")); - EXPECT_TRUE(reply.contains("protocol_version")); -} - -// --------------------------------------------------------------------------- -// SubscribeIsAdditive - subscribe no longer removes topics -// --------------------------------------------------------------------------- -TEST_F(BridgeServerTest, SubscribeIsAdditive) { - ASSERT_TRUE(server_->initialize()); - - // This is a behavior test - subscribe should only add, never remove. - // Since we can't subscribe to real topics, we verify the code path - // by checking that subscribing to non-existent topics doesn't crash - // and returns the expected structure. - - json req1; - req1["command"] = "subscribe"; - req1["topics"] = json::array({"/nonexistent_a"}); - mock_->push_request("client_add", req1.dump()); - server_->process_requests(); - - json reply1 = mock_->pop_reply("client_add"); - ASSERT_FALSE(reply1.is_discarded()); - // Fails because topic doesn't exist, but that's expected - EXPECT_TRUE(reply1.contains("failures")); - - // Second subscribe should NOT remove /nonexistent_a from session - // (even though it failed to actually subscribe) - json req2; - req2["command"] = "subscribe"; - req2["topics"] = json::array({"/nonexistent_b"}); - mock_->push_request("client_add", req2.dump()); - server_->process_requests(); - - json reply2 = mock_->pop_reply("client_add"); - ASSERT_FALSE(reply2.is_discarded()); - // Both requests should fail similarly - no implicit removal - EXPECT_TRUE(reply2.contains("failures")); -} -``` - -**Step 2: Run tests to verify they fail** - -Run: `cd ~/ws_plotjuggler && colcon build --packages-select pj_ros_bridge --cmake-args -DCMAKE_BUILD_TYPE=Release && colcon test --packages-select pj_ros_bridge && colcon test-result --verbose` -Expected: UnsubscribeCommand test FAILS (unknown command) - -**Step 3: Add handle_unsubscribe declaration to header** - -In `bridge_server.hpp`, add private method: -```cpp - std::string handle_unsubscribe(const std::string& client_id, const nlohmann::json& request); -``` - -**Step 4: Implement handle_unsubscribe** - -In `bridge_server.cpp`, add: -```cpp -std::string BridgeServer::handle_unsubscribe(const std::string& client_id, const nlohmann::json& request) { - // Create session if it doesn't exist - if (!session_manager_->session_exists(client_id)) { - session_manager_->create_session(client_id); - RCLCPP_INFO(node_->get_logger(), "Created new session for client '%s'", client_id.c_str()); - } - - // Update heartbeat - session_manager_->update_heartbeat(client_id); - - if (!request.contains("topics")) { - return create_error_response("INVALID_REQUEST", "Missing 'topics' field"); - } - - if (!request["topics"].is_array()) { - return create_error_response("INVALID_REQUEST", "'topics' must be an array"); - } - - // Get current subscriptions - auto current_subs = session_manager_->get_subscriptions(client_id); - - // Parse topics to remove - std::vector topics_to_remove; - for (const auto& topic : request["topics"]) { - if (topic.is_string()) { - topics_to_remove.push_back(topic.get()); - } - } - - // Remove topics - json removed = json::array(); - for (const auto& topic_name : topics_to_remove) { - if (current_subs.find(topic_name) != current_subs.end()) { - subscription_manager_->unsubscribe(topic_name); - current_subs.erase(topic_name); - removed.push_back(topic_name); - RCLCPP_INFO(node_->get_logger(), "Client '%s' unsubscribed from topic '%s'", client_id.c_str(), topic_name.c_str()); - } - } - - // Update session - session_manager_->update_subscriptions(client_id, current_subs); - - // Clean up last_sent_times for removed topics - { - std::lock_guard lock(last_sent_mutex_); - auto it = last_sent_times_.find(client_id); - if (it != last_sent_times_.end()) { - for (const auto& topic : topics_to_remove) { - it->second.erase(topic); - } - } - } - - // Build response - json response; - response["status"] = "success"; - response["removed"] = removed; - - return response.dump(); -} -``` - -**Step 5: Add routing for unsubscribe command** - -In `process_requests()`, add after the subscribe routing: -```cpp - } else if (command == "unsubscribe") { - response = handle_unsubscribe(client_id, request_json); -``` - -**Step 6: Modify handle_subscribe to be additive (remove implicit removal)** - -In `handle_subscribe()`, remove the code that finds topics to remove: -```cpp - // DELETE THIS BLOCK: - // Find topics to remove (in current but not in requested) - for (const auto& [topic, rate] : current_subs) { - if (requested_topics.find(topic) == requested_topics.end()) { - topics_to_remove.push_back(topic); - } - } -``` - -And remove the unsubscribe loop: -```cpp - // DELETE THIS BLOCK: - // Unsubscribe from removed topics - for (const auto& topic_name : topics_to_remove) { - subscription_manager_->unsubscribe(topic_name); - RCLCPP_INFO(node_->get_logger(), "Client '%s' unsubscribed from topic '%s'", client_id.c_str(), topic_name.c_str()); - } -``` - -And remove from final_subscriptions: -```cpp - // DELETE THIS BLOCK: - for (const auto& topic : topics_to_remove) { - final_subscriptions.erase(topic); - } -``` - -Also remove the `topics_to_remove` vector declaration entirely. - -**Step 7: Run tests** - -Run: `cd ~/ws_plotjuggler && colcon build --packages-select pj_ros_bridge --cmake-args -DCMAKE_BUILD_TYPE=Release && colcon test --packages-select pj_ros_bridge && colcon test-result --verbose` -Expected: All tests PASS - -**Step 8: Commit** - -```bash -git add include/pj_ros_bridge/bridge_server.hpp src/bridge_server.cpp tests/unit/test_bridge_server.cpp -git commit -m "feat: add unsubscribe command, make subscribe additive (breaking)" -``` - ---- - -## Task 6: Add Paused State to Session - -**Files:** -- Modify: `include/pj_ros_bridge/session_manager.hpp` -- Modify: `src/session_manager.cpp` -- Test: `tests/unit/test_session_manager.cpp` - -**Step 1: Write failing tests for pause state** - -Add to `tests/unit/test_session_manager.cpp`: - -```cpp -TEST_F(SessionManagerTest, PausedStateDefaultFalse) { - EXPECT_TRUE(manager_.create_session("client1")); - EXPECT_FALSE(manager_.is_paused("client1")); -} - -TEST_F(SessionManagerTest, SetPausedState) { - EXPECT_TRUE(manager_.create_session("client1")); - - EXPECT_TRUE(manager_.set_paused("client1", true)); - EXPECT_TRUE(manager_.is_paused("client1")); - - EXPECT_TRUE(manager_.set_paused("client1", false)); - EXPECT_FALSE(manager_.is_paused("client1")); -} - -TEST_F(SessionManagerTest, PausedStateNonExistentSession) { - EXPECT_FALSE(manager_.set_paused("nonexistent", true)); - EXPECT_FALSE(manager_.is_paused("nonexistent")); -} -``` - -**Step 2: Run tests to verify they fail** - -Run: `cd ~/ws_plotjuggler && colcon build --packages-select pj_ros_bridge --cmake-args -DCMAKE_BUILD_TYPE=Release` -Expected: Build FAILS (is_paused, set_paused don't exist) - -**Step 3: Add paused field and methods to session_manager.hpp** - -Add to `Session` struct: -```cpp - /// Whether the session is paused (not receiving binary data) - bool paused{false}; -``` - -Add public methods to `SessionManager`: -```cpp - /** - * @brief Set the paused state for a client session - * @param client_id Client identifier - * @param paused Whether to pause the session - * @return true if session exists and was updated, false otherwise - */ - bool set_paused(const std::string& client_id, bool paused); - - /** - * @brief Check if a session is paused - * @param client_id Client identifier - * @return true if session exists and is paused, false otherwise - */ - bool is_paused(const std::string& client_id) const; -``` - -**Step 4: Implement set_paused and is_paused** - -In `session_manager.cpp`: -```cpp -bool SessionManager::set_paused(const std::string& client_id, bool paused) { - std::lock_guard lock(mutex_); - - auto it = sessions_.find(client_id); - if (it == sessions_.end()) { - return false; - } - - it->second.paused = paused; - return true; -} - -bool SessionManager::is_paused(const std::string& client_id) const { - std::lock_guard lock(mutex_); - - auto it = sessions_.find(client_id); - if (it == sessions_.end()) { - return false; - } - - return it->second.paused; -} -``` - -**Step 5: Run tests** - -Run: `cd ~/ws_plotjuggler && colcon build --packages-select pj_ros_bridge --cmake-args -DCMAKE_BUILD_TYPE=Release && colcon test --packages-select pj_ros_bridge && colcon test-result --verbose` -Expected: All tests PASS - -**Step 6: Commit** - -```bash -git add include/pj_ros_bridge/session_manager.hpp src/session_manager.cpp tests/unit/test_session_manager.cpp -git commit -m "feat: add paused state to session manager" -``` - ---- - -## Task 7: Pause and Resume Commands - -**Files:** -- Modify: `include/pj_ros_bridge/bridge_server.hpp` -- Modify: `src/bridge_server.cpp` -- Test: `tests/unit/test_bridge_server.cpp` - -**Step 1: Write failing tests for pause/resume** - -Add to `tests/unit/test_bridge_server.cpp`: - -```cpp -// --------------------------------------------------------------------------- -// PauseCommand -// --------------------------------------------------------------------------- -TEST_F(BridgeServerTest, PauseCommand) { - ASSERT_TRUE(server_->initialize()); - - // Create session via heartbeat - json hb; - hb["command"] = "heartbeat"; - mock_->push_request("client_pause", hb.dump()); - server_->process_requests(); - - // Pause - json req; - req["command"] = "pause"; - mock_->push_request("client_pause", req.dump()); - server_->process_requests(); - - json reply = mock_->pop_reply("client_pause"); - ASSERT_FALSE(reply.is_discarded()); - EXPECT_EQ(reply["status"], "ok"); - EXPECT_TRUE(reply.contains("paused")); - EXPECT_TRUE(reply["paused"].get()); - EXPECT_TRUE(reply.contains("protocol_version")); -} - -// --------------------------------------------------------------------------- -// ResumeCommand -// --------------------------------------------------------------------------- -TEST_F(BridgeServerTest, ResumeCommand) { - ASSERT_TRUE(server_->initialize()); - - // Create session and pause - json hb; - hb["command"] = "heartbeat"; - mock_->push_request("client_resume", hb.dump()); - server_->process_requests(); - - json pause_req; - pause_req["command"] = "pause"; - mock_->push_request("client_resume", pause_req.dump()); - server_->process_requests(); - mock_->pop_reply("client_resume"); // discard pause response - - // Resume - json req; - req["command"] = "resume"; - mock_->push_request("client_resume", req.dump()); - server_->process_requests(); - - json reply = mock_->pop_reply("client_resume"); - ASSERT_FALSE(reply.is_discarded()); - EXPECT_EQ(reply["status"], "ok"); - EXPECT_TRUE(reply.contains("paused")); - EXPECT_FALSE(reply["paused"].get()); -} -``` - -**Step 2: Run tests to verify they fail** - -Run: `cd ~/ws_plotjuggler && colcon build --packages-select pj_ros_bridge --cmake-args -DCMAKE_BUILD_TYPE=Release && colcon test --packages-select pj_ros_bridge && colcon test-result --verbose` -Expected: Tests FAIL (unknown command) - -**Step 3: Add handler declarations to header** - -In `bridge_server.hpp`, add private methods: -```cpp - std::string handle_pause(const std::string& client_id); - std::string handle_resume(const std::string& client_id); -``` - -**Step 4: Implement pause and resume handlers** - -In `bridge_server.cpp`: -```cpp -std::string BridgeServer::handle_pause(const std::string& client_id) { - // Create session if it doesn't exist - if (!session_manager_->session_exists(client_id)) { - session_manager_->create_session(client_id); - RCLCPP_INFO(node_->get_logger(), "Created new session for client '%s'", client_id.c_str()); - } - - // Update heartbeat - session_manager_->update_heartbeat(client_id); - - // Set paused state - session_manager_->set_paused(client_id, true); - - RCLCPP_INFO(node_->get_logger(), "Client '%s' paused", client_id.c_str()); - - // Build response - json response; - response["status"] = "ok"; - response["paused"] = true; - - return response.dump(); -} - -std::string BridgeServer::handle_resume(const std::string& client_id) { - // Create session if it doesn't exist - if (!session_manager_->session_exists(client_id)) { - session_manager_->create_session(client_id); - RCLCPP_INFO(node_->get_logger(), "Created new session for client '%s'", client_id.c_str()); - } - - // Update heartbeat - session_manager_->update_heartbeat(client_id); - - // Clear paused state - session_manager_->set_paused(client_id, false); - - RCLCPP_INFO(node_->get_logger(), "Client '%s' resumed", client_id.c_str()); - - // Build response - json response; - response["status"] = "ok"; - response["paused"] = false; - - return response.dump(); -} -``` - -**Step 5: Add routing for pause/resume commands** - -In `process_requests()`, add after unsubscribe routing: -```cpp - } else if (command == "pause") { - response = handle_pause(client_id); - } else if (command == "resume") { - response = handle_resume(client_id); -``` - -**Step 6: Run tests** - -Run: `cd ~/ws_plotjuggler && colcon build --packages-select pj_ros_bridge --cmake-args -DCMAKE_BUILD_TYPE=Release && colcon test --packages-select pj_ros_bridge && colcon test-result --verbose` -Expected: All tests PASS - -**Step 7: Commit** - -```bash -git add include/pj_ros_bridge/bridge_server.hpp src/bridge_server.cpp tests/unit/test_bridge_server.cpp -git commit -m "feat: add pause and resume commands" -``` - ---- - -## Task 8: Skip Paused Clients in Publishing - -**Files:** -- Modify: `src/bridge_server.cpp` -- Test: `tests/unit/test_bridge_server.cpp` - -**Step 1: Write failing test for paused client skipping** - -Add to `tests/unit/test_bridge_server.cpp`: - -```cpp -// --------------------------------------------------------------------------- -// PausedClientSkippedInPublishing -// --------------------------------------------------------------------------- -TEST_F(BridgeServerTest, PausedClientSkippedInPublishing) { - ASSERT_TRUE(server_->initialize()); - - // Create two sessions - json hb; - hb["command"] = "heartbeat"; - mock_->push_request("client_active", hb.dump()); - server_->process_requests(); - mock_->push_request("client_paused", hb.dump()); - server_->process_requests(); - - // Pause one client - json pause_req; - pause_req["command"] = "pause"; - mock_->push_request("client_paused", pause_req.dump()); - server_->process_requests(); - mock_->pop_reply("client_paused"); - - // Both clients have sessions, but one is paused - EXPECT_EQ(server_->get_active_session_count(), 2u); - - // Clear any binary sends - mock_->clear_binary_sends(); - - // Spin briefly - no messages in buffer, so no sends expected anyway - // This test mainly verifies the code path doesn't crash - auto start = std::chrono::steady_clock::now(); - while (std::chrono::steady_clock::now() - start < std::chrono::milliseconds(60)) { - rclcpp::spin_some(node_); - std::this_thread::sleep_for(std::chrono::milliseconds(5)); - } - - // Verify no crashes and paused client logic is in place - // Full verification requires integration tests with real topics - SUCCEED(); -} -``` - -**Step 2: Modify publish_aggregated_messages() to skip paused clients** - -In `publish_aggregated_messages()`, when building subscription_groups, skip paused clients: -```cpp - for (const auto& client_id : active_sessions) { - // Skip paused clients - if (session_manager_->is_paused(client_id)) { - continue; - } - - auto subs = session_manager_->get_subscriptions(client_id); - // ... rest of existing code -``` - -**Step 3: Run tests** - -Run: `cd ~/ws_plotjuggler && colcon build --packages-select pj_ros_bridge --cmake-args -DCMAKE_BUILD_TYPE=Release && colcon test --packages-select pj_ros_bridge && colcon test-result --verbose` -Expected: All tests PASS - -**Step 4: Commit** - -```bash -git add src/bridge_server.cpp tests/unit/test_bridge_server.cpp -git commit -m "feat: skip paused clients when publishing aggregated messages" -``` - ---- - -## Task 9: Update Python Test Client - -**Files:** -- Modify: `tests/integration/test_client.py` - -**Step 1: Update deserialize_aggregated_messages to handle new header** - -Replace the `deserialize_aggregated_messages` method: - -```python - # Binary frame header constants - BINARY_MAGIC = 0x42524A50 # "PJRB" in little-endian - BINARY_HEADER_SIZE = 16 - - def parse_binary_header(self, data): - """ - Parse the 16-byte binary frame header. - - Returns: - Tuple of (magic, message_count, uncompressed_size, flags, payload) - or raises ValueError if invalid - """ - if len(data) < self.BINARY_HEADER_SIZE: - raise ValueError(f"Frame too small: {len(data)} < {self.BINARY_HEADER_SIZE}") - - magic, count, size, flags = struct.unpack(" len(data): - break - - # Topic name length - topic_len = struct.unpack(""`. All responses: -- Echo `id` verbatim if present in request -- Include `"protocol_version": 1` always - -```json -// Request -{"command": "heartbeat", "id": "req-42"} - -// Response -{"status": "ok", "id": "req-42", "protocol_version": 1} -``` - -## Schema Encoding - -Subscribe response schema format changes from string to object: - -```json -{ - "status": "success", - "id": "sub-1", - "protocol_version": 1, - "schemas": { - "/imu": {"encoding": "ros2msg", "definition": "std_msgs/Header header\n..."}, - "/odom": {"encoding": "ros2msg", "definition": "..."} - }, - "rate_limits": {"/imu": 10.0} -} -``` - -## Subscribe & Unsubscribe Commands - -**Breaking change:** Additive model replaces "set" model. - -- `subscribe` only **adds** topics (ignores already-subscribed) -- `unsubscribe` only **removes** topics -- To change rate: unsubscribe then resubscribe - -**Subscribe:** -```json -{"command": "subscribe", "id": "s1", "topics": ["/a", {"name": "/b", "max_rate_hz": 10.0}]} -``` - -**Unsubscribe:** -```json -{"command": "unsubscribe", "id": "u1", "topics": ["/a", "/b"]} -``` - -**Unsubscribe response:** -```json -{ - "status": "success", - "id": "u1", - "protocol_version": 1, - "removed": ["/a", "/b"] -} -``` - -## Pause & Resume Commands - -Per-client pause stops binary frame delivery. Subscriptions and rates preserved. - -**Smart ROS2 management:** -- Track "active interest" = subscribed AND not paused -- When active interest drops to 0, unsubscribe from ROS2 -- On resume, resubscribe to ROS2 -- Buffered messages discarded on pause (fresh data on resume) - -**Pause:** -```json -{"command": "pause", "id": "p1"} -// Response -{"status": "ok", "id": "p1", "protocol_version": 1, "paused": true} -``` - -**Resume:** -```json -{"command": "resume", "id": "r1"} -// Response -{"status": "ok", "id": "r1", "protocol_version": 1, "paused": false} -``` - -## Binary Frame Header - -Fixed 16-byte header (little-endian), outside compression: - -| Offset | Size | Field | Value/Description | -|--------|------|-------|-------------------| -| 0 | 4 | `magic` | `0x504A5242` ("PJRB") | -| 4 | 4 | `message_count` | Number of messages | -| 8 | 4 | `uncompressed_size` | Payload size before ZSTD | -| 12 | 4 | `flags` | Reserved, must be 0 | - -``` -[16-byte header][ZSTD-compressed payload] -``` - -Benefits: -- Magic validates frame integrity -- Count/size readable before decompression -- Flags reserved for future (compression algorithm, etc.) - -## Files Modified - -| File | Changes | -|------|---------| -| `session_manager.hpp` | Add `bool paused` to `Session` | -| `session_manager.cpp` | Init paused, add `set_paused()` / `is_paused()` | -| `bridge_server.hpp` | Declare `handle_unsubscribe`, `handle_pause`, `handle_resume` | -| `bridge_server.cpp` | New handlers, additive subscribe, response injection, skip paused clients | -| `message_serializer.hpp` | Add `kMagic`, `kHeaderSize` constants | -| `message_serializer.cpp` | Prepend 16-byte header | -| `generic_subscription_manager.cpp` | Pause-aware ref counting | -| `docs/API.md` | Full documentation update | -| `tests/unit/test_*.cpp` | New response format, new command tests | -| `tests/integration/test_client.py` | Parse new binary header | - -## Implementation Order - -1. **Request IDs + protocol version** — Touches all responses -2. **Schema encoding change** — Subscribe response only -3. **Binary frame header** — Serializer + test client -4. **Unsubscribe command** — New handler + additive model -5. **Pause/resume commands** — Session state + smart ROS2 management - -## Verification - -```bash -# Build -cd ~/ws_plotjuggler && source /opt/ros/humble/setup.bash && \ - colcon build --packages-select pj_ros_bridge --cmake-args -DCMAKE_BUILD_TYPE=Release - -# Test -colcon test --packages-select pj_ros_bridge && colcon test-result --verbose - -# Format -cd ~/ws_plotjuggler/src/pj_ros_bridge && pre-commit run -a -``` diff --git a/docs/plans/2026-02-04-message-stripping.md b/docs/plans/2026-02-04-message-stripping.md deleted file mode 100644 index 5efaae3..0000000 --- a/docs/plans/2026-02-04-message-stripping.md +++ /dev/null @@ -1,1069 +0,0 @@ -# Message Stripping Implementation Plan - -> **For Claude:** REQUIRED SUB-SKILL: Use superpowers:executing-plans to implement this plan task-by-task. - -**Goal:** Strip large array fields (data, ranges, intensities) from Image, PointCloud2, LaserScan, and similar message types before buffering to reduce memory and bandwidth. - -**Architecture:** New `MessageStripper` class with static methods that deserialize known large message types using ROS2 type support, replace bulk arrays with sentinel byte `[0]`, and re-serialize. Called from subscription callback before buffering. Controlled by `strip_large_messages` ROS2 parameter (default: true). - -**Tech Stack:** C++17, ROS2 Humble, sensor_msgs, nav_msgs, rclcpp serialization - ---- - -## Task 1: Add nav_msgs Test Dependency - -**Files:** -- Modify: `package.xml:19-22` - -**Step 1: Add nav_msgs to package.xml** - -Add `nav_msgs` to test dependencies after `geometry_msgs`: - -```xml - ament_cmake_gtest - sensor_msgs - geometry_msgs - nav_msgs -``` - -**Step 2: Verify package.xml is valid** - -Run: `cd ~/ws_plotjuggler/src/pj_ros_bridge && xmllint --noout package.xml && echo "XML valid"` -Expected: `XML valid` - -**Step 3: Commit** - -```bash -git add package.xml -git commit -m "build: Add nav_msgs test dependency for MessageStripper" -``` - ---- - -## Task 2: Update CMakeLists.txt for New Dependencies - -**Files:** -- Modify: `CMakeLists.txt` - -**Step 1: Add sensor_msgs and nav_msgs find_package in test block** - -After line 134 (`find_package(ament_cmake_gtest REQUIRED)`), add: - -```cmake - find_package(sensor_msgs REQUIRED) - find_package(nav_msgs REQUIRED) -``` - -**Step 2: Add message_stripper.cpp to library sources** - -In the `add_library` block (around line 72), add `src/message_stripper.cpp`: - -```cmake -add_library(${PROJECT_NAME}_lib - src/middleware/websocket_middleware.cpp - src/topic_discovery.cpp - src/schema_extractor.cpp - src/message_buffer.cpp - src/generic_subscription_manager.cpp - src/session_manager.cpp - src/message_serializer.cpp - src/message_stripper.cpp - src/bridge_server.cpp -) -``` - -**Step 3: Add sensor_msgs and nav_msgs as library dependencies** - -Add to `ament_target_dependencies(${PROJECT_NAME}_lib ...)`: - -```cmake -ament_target_dependencies(${PROJECT_NAME}_lib - ament_index_cpp - rclcpp - sensor_msgs - nav_msgs -) -``` - -**Step 4: Add test_message_stripper.cpp to test sources** - -In the `ament_add_gtest` block (around line 137), add: - -```cmake - ament_add_gtest(${PROJECT_NAME}_tests - tests/unit/test_websocket_middleware.cpp - tests/unit/test_topic_discovery.cpp - tests/unit/test_schema_extractor.cpp - tests/unit/test_message_buffer.cpp - tests/unit/test_generic_subscription_manager.cpp - tests/unit/test_session_manager.cpp - tests/unit/test_message_serializer.cpp - tests/unit/test_message_stripper.cpp - tests/unit/test_bridge_server.cpp - tests/unit/test_protocol_constants.cpp - ) -``` - -**Step 5: Add sensor_msgs and nav_msgs to test dependencies** - -Add to `ament_target_dependencies(${PROJECT_NAME}_tests ...)`: - -```cmake - ament_target_dependencies(${PROJECT_NAME}_tests - rclcpp - sensor_msgs - nav_msgs - ) -``` - -**Step 6: Verify CMake configuration** - -Run: `cd ~/ws_plotjuggler && source /opt/ros/humble/setup.bash && colcon build --packages-select pj_ros_bridge --cmake-args -DCMAKE_BUILD_TYPE=Release 2>&1 | head -50` -Expected: Build should start (may fail due to missing source files, that's expected) - -**Step 7: Commit** - -```bash -git add CMakeLists.txt -git commit -m "build: Add sensor_msgs/nav_msgs deps and message_stripper sources" -``` - ---- - -## Task 3: Create MessageStripper Header - -**Files:** -- Create: `include/pj_ros_bridge/message_stripper.hpp` - -**Step 1: Write the header file** - -```cpp -// Copyright 2025 Davide Faconti -// -#ifndef PJ_ROS_BRIDGE__MESSAGE_STRIPPER_HPP_ -#define PJ_ROS_BRIDGE__MESSAGE_STRIPPER_HPP_ - -#include -#include - -namespace pj_ros_bridge { - -/** - * @brief Strips large array fields from known message types to reduce bandwidth - * - * Supported message types: - * - sensor_msgs/msg/Image: strips `data` field - * - sensor_msgs/msg/CompressedImage: strips `data` field - * - sensor_msgs/msg/PointCloud2: strips `data` field - * - sensor_msgs/msg/LaserScan: strips `ranges` and `intensities` fields - * - nav_msgs/msg/OccupancyGrid: strips `data` field - * - * Stripped fields are replaced with a single sentinel byte [0] to indicate - * the field was intentionally removed. - * - * Thread safety: Thread-safe, all methods are stateless - */ -class MessageStripper { - public: - /** - * @brief Check if a message type should be stripped - * @param message_type Full type name (e.g., "sensor_msgs/msg/Image") - * @return true if this type has fields that should be stripped - */ - static bool should_strip(const std::string& message_type); - - /** - * @brief Strip large fields from a serialized message - * - * Deserializes the message, replaces large array fields with [0] sentinel, - * and re-serializes to CDR format. - * - * @param message_type Full type name (e.g., "sensor_msgs/msg/Image") - * @param input CDR-serialized message from ROS2 - * @return New SerializedMessage with large fields replaced by [0] sentinel - * @throws std::runtime_error if deserialization or serialization fails - */ - static rclcpp::SerializedMessage strip( - const std::string& message_type, const rclcpp::SerializedMessage& input); -}; - -} // namespace pj_ros_bridge - -#endif // PJ_ROS_BRIDGE__MESSAGE_STRIPPER_HPP_ -``` - -**Step 2: Verify header compiles** - -Run: `cd ~/ws_plotjuggler/src/pj_ros_bridge && source /opt/ros/humble/setup.bash && g++ -std=c++17 -I include -I /opt/ros/humble/include/rclcpp -I /opt/ros/humble/include/rcl -I /opt/ros/humble/include/rcutils -I /opt/ros/humble/include/rmw -I /opt/ros/humble/include/rcl_yaml_param_parser -I /opt/ros/humble/include/rosidl_runtime_c -I /opt/ros/humble/include/rosidl_typesupport_interface -I /opt/ros/humble/include/rcpputils -I /opt/ros/humble/include/builtin_interfaces -I /opt/ros/humble/include/rosidl_runtime_cpp -I /opt/ros/humble/include/tracetools -I /opt/ros/humble/include/statistics_msgs -I /opt/ros/humble/include/libstatistics_collector -I /opt/ros/humble/include/ament_index_cpp -fsyntax-only include/pj_ros_bridge/message_stripper.hpp && echo "Header OK"` -Expected: `Header OK` - -**Step 3: Commit** - -```bash -git add include/pj_ros_bridge/message_stripper.hpp -git commit -m "feat: Add MessageStripper header" -``` - ---- - -## Task 4: Write Failing Tests for should_strip() - -**Files:** -- Create: `tests/unit/test_message_stripper.cpp` - -**Step 1: Write the test file with should_strip tests** - -```cpp -// Copyright 2025 Davide Faconti -// -#include - -#include -#include -#include -#include -#include -#include - -#include "pj_ros_bridge/message_stripper.hpp" - -using namespace pj_ros_bridge; - -// ============================================================================ -// should_strip() tests -// ============================================================================ - -TEST(MessageStripperTest, ShouldStripReturnsTrueForImage) { - EXPECT_TRUE(MessageStripper::should_strip("sensor_msgs/msg/Image")); -} - -TEST(MessageStripperTest, ShouldStripReturnsTrueForCompressedImage) { - EXPECT_TRUE(MessageStripper::should_strip("sensor_msgs/msg/CompressedImage")); -} - -TEST(MessageStripperTest, ShouldStripReturnsTrueForPointCloud2) { - EXPECT_TRUE(MessageStripper::should_strip("sensor_msgs/msg/PointCloud2")); -} - -TEST(MessageStripperTest, ShouldStripReturnsTrueForLaserScan) { - EXPECT_TRUE(MessageStripper::should_strip("sensor_msgs/msg/LaserScan")); -} - -TEST(MessageStripperTest, ShouldStripReturnsTrueForOccupancyGrid) { - EXPECT_TRUE(MessageStripper::should_strip("nav_msgs/msg/OccupancyGrid")); -} - -TEST(MessageStripperTest, ShouldStripReturnsFalseForUnknownType) { - EXPECT_FALSE(MessageStripper::should_strip("std_msgs/msg/String")); - EXPECT_FALSE(MessageStripper::should_strip("geometry_msgs/msg/Pose")); - EXPECT_FALSE(MessageStripper::should_strip("sensor_msgs/msg/Imu")); - EXPECT_FALSE(MessageStripper::should_strip("unknown/msg/Type")); -} -``` - -**Step 2: Commit test file** - -```bash -git add tests/unit/test_message_stripper.cpp -git commit -m "test: Add failing tests for MessageStripper::should_strip" -``` - ---- - -## Task 5: Implement should_strip() Method - -**Files:** -- Create: `src/message_stripper.cpp` - -**Step 1: Create implementation file with should_strip** - -```cpp -// Copyright 2025 Davide Faconti -// -#include "pj_ros_bridge/message_stripper.hpp" - -#include -#include -#include -#include -#include -#include -#include -#include - -namespace pj_ros_bridge { - -namespace { - -// Set of message types that should be stripped -const std::unordered_set kStrippableTypes = { - "sensor_msgs/msg/Image", - "sensor_msgs/msg/CompressedImage", - "sensor_msgs/msg/PointCloud2", - "sensor_msgs/msg/LaserScan", - "nav_msgs/msg/OccupancyGrid", -}; - -} // namespace - -bool MessageStripper::should_strip(const std::string& message_type) { - return kStrippableTypes.find(message_type) != kStrippableTypes.end(); -} - -rclcpp::SerializedMessage MessageStripper::strip( - const std::string& message_type, const rclcpp::SerializedMessage& input) { - // TODO: Implement strip functions for each message type - (void)message_type; - (void)input; - throw std::runtime_error("strip() not yet implemented"); -} - -} // namespace pj_ros_bridge -``` - -**Step 2: Build and run tests** - -Run: `cd ~/ws_plotjuggler && source /opt/ros/humble/setup.bash && colcon build --packages-select pj_ros_bridge --cmake-args -DCMAKE_BUILD_TYPE=Release && colcon test --packages-select pj_ros_bridge --ctest-args -R MessageStripper && colcon test-result --verbose` -Expected: All `ShouldStrip*` tests PASS - -**Step 3: Commit** - -```bash -git add src/message_stripper.cpp -git commit -m "feat: Implement MessageStripper::should_strip" -``` - ---- - -## Task 6: Write Failing Tests for strip() - Image - -**Files:** -- Modify: `tests/unit/test_message_stripper.cpp` - -**Step 1: Add strip test for Image** - -Append to test file: - -```cpp -// ============================================================================ -// strip() tests -// ============================================================================ - -// Helper to serialize a ROS2 message -template -rclcpp::SerializedMessage serialize_message(const T& msg) { - rclcpp::Serialization serializer; - rclcpp::SerializedMessage serialized_msg; - serializer.serialize_message(&msg, &serialized_msg); - return serialized_msg; -} - -// Helper to deserialize a ROS2 message -template -T deserialize_message(const rclcpp::SerializedMessage& serialized_msg) { - rclcpp::Serialization serializer; - T msg; - serializer.deserialize_message(&serialized_msg, &msg); - return msg; -} - -TEST(MessageStripperTest, StripImageReplacesDataWithSentinel) { - // Create an Image with large data - sensor_msgs::msg::Image img; - img.header.stamp.sec = 12345; - img.header.stamp.nanosec = 67890; - img.header.frame_id = "camera_frame"; - img.height = 480; - img.width = 640; - img.encoding = "rgb8"; - img.is_bigendian = 0; - img.step = 640 * 3; - img.data.resize(640 * 480 * 3, 0xAB); // ~921KB of data - - // Serialize - auto serialized = serialize_message(img); - EXPECT_GT(serialized.size(), 900000); // Should be large - - // Strip - auto stripped = MessageStripper::strip("sensor_msgs/msg/Image", serialized); - - // Deserialize stripped message - auto result = deserialize_message(stripped); - - // Verify metadata preserved - EXPECT_EQ(result.header.stamp.sec, 12345); - EXPECT_EQ(result.header.stamp.nanosec, 67890); - EXPECT_EQ(result.header.frame_id, "camera_frame"); - EXPECT_EQ(result.height, 480u); - EXPECT_EQ(result.width, 640u); - EXPECT_EQ(result.encoding, "rgb8"); - EXPECT_EQ(result.is_bigendian, 0u); - EXPECT_EQ(result.step, 640u * 3); - - // Verify data stripped to sentinel - ASSERT_EQ(result.data.size(), 1u); - EXPECT_EQ(result.data[0], 0); - - // Verify serialized size is much smaller - EXPECT_LT(stripped.size(), 1000); -} -``` - -**Step 2: Verify test fails** - -Run: `cd ~/ws_plotjuggler && source /opt/ros/humble/setup.bash && colcon build --packages-select pj_ros_bridge && colcon test --packages-select pj_ros_bridge --ctest-args -R StripImage && colcon test-result --verbose` -Expected: FAIL with "strip() not yet implemented" - -**Step 3: Commit** - -```bash -git add tests/unit/test_message_stripper.cpp -git commit -m "test: Add failing test for MessageStripper::strip(Image)" -``` - ---- - -## Task 7: Implement strip() for Image - -**Files:** -- Modify: `src/message_stripper.cpp` - -**Step 1: Add strip_image helper function** - -Replace the `strip()` implementation with: - -```cpp -namespace { - -// ... existing kStrippableTypes ... - -// Strip function for sensor_msgs/msg/Image -rclcpp::SerializedMessage strip_image(const rclcpp::SerializedMessage& input) { - rclcpp::Serialization serializer; - - // Deserialize - sensor_msgs::msg::Image msg; - serializer.deserialize_message(&input, &msg); - - // Replace data with sentinel - msg.data = {0}; - - // Re-serialize - rclcpp::SerializedMessage output; - serializer.serialize_message(&msg, &output); - return output; -} - -} // namespace - -// ... should_strip() unchanged ... - -rclcpp::SerializedMessage MessageStripper::strip( - const std::string& message_type, const rclcpp::SerializedMessage& input) { - if (message_type == "sensor_msgs/msg/Image") { - return strip_image(input); - } - - throw std::runtime_error("strip() not implemented for type: " + message_type); -} -``` - -**Step 2: Build and run test** - -Run: `cd ~/ws_plotjuggler && source /opt/ros/humble/setup.bash && colcon build --packages-select pj_ros_bridge && colcon test --packages-select pj_ros_bridge --ctest-args -R StripImage && colcon test-result --verbose` -Expected: PASS - -**Step 3: Commit** - -```bash -git add src/message_stripper.cpp -git commit -m "feat: Implement MessageStripper::strip for Image" -``` - ---- - -## Task 8: Add strip() Tests and Implementation for CompressedImage - -**Files:** -- Modify: `tests/unit/test_message_stripper.cpp` -- Modify: `src/message_stripper.cpp` - -**Step 1: Add test for CompressedImage** - -Append to test file: - -```cpp -TEST(MessageStripperTest, StripCompressedImageReplacesDataWithSentinel) { - sensor_msgs::msg::CompressedImage img; - img.header.stamp.sec = 11111; - img.header.frame_id = "compressed_frame"; - img.format = "jpeg"; - img.data.resize(50000, 0xCD); // 50KB JPEG data - - auto serialized = serialize_message(img); - EXPECT_GT(serialized.size(), 49000); - - auto stripped = MessageStripper::strip("sensor_msgs/msg/CompressedImage", serialized); - auto result = deserialize_message(stripped); - - EXPECT_EQ(result.header.stamp.sec, 11111); - EXPECT_EQ(result.header.frame_id, "compressed_frame"); - EXPECT_EQ(result.format, "jpeg"); - ASSERT_EQ(result.data.size(), 1u); - EXPECT_EQ(result.data[0], 0); - EXPECT_LT(stripped.size(), 500); -} -``` - -**Step 2: Add strip_compressed_image function and update strip()** - -In `src/message_stripper.cpp`, add: - -```cpp -rclcpp::SerializedMessage strip_compressed_image(const rclcpp::SerializedMessage& input) { - rclcpp::Serialization serializer; - sensor_msgs::msg::CompressedImage msg; - serializer.deserialize_message(&input, &msg); - msg.data = {0}; - rclcpp::SerializedMessage output; - serializer.serialize_message(&msg, &output); - return output; -} -``` - -Update `strip()`: - -```cpp -rclcpp::SerializedMessage MessageStripper::strip( - const std::string& message_type, const rclcpp::SerializedMessage& input) { - if (message_type == "sensor_msgs/msg/Image") { - return strip_image(input); - } - if (message_type == "sensor_msgs/msg/CompressedImage") { - return strip_compressed_image(input); - } - - throw std::runtime_error("strip() not implemented for type: " + message_type); -} -``` - -**Step 3: Build and run tests** - -Run: `cd ~/ws_plotjuggler && source /opt/ros/humble/setup.bash && colcon build --packages-select pj_ros_bridge && colcon test --packages-select pj_ros_bridge --ctest-args -R MessageStripper && colcon test-result --verbose` -Expected: All tests PASS - -**Step 4: Commit** - -```bash -git add tests/unit/test_message_stripper.cpp src/message_stripper.cpp -git commit -m "feat: Implement MessageStripper::strip for CompressedImage" -``` - ---- - -## Task 9: Add strip() Tests and Implementation for PointCloud2 - -**Files:** -- Modify: `tests/unit/test_message_stripper.cpp` -- Modify: `src/message_stripper.cpp` - -**Step 1: Add test for PointCloud2** - -Append to test file: - -```cpp -TEST(MessageStripperTest, StripPointCloud2ReplacesDataWithSentinel) { - sensor_msgs::msg::PointCloud2 cloud; - cloud.header.stamp.sec = 22222; - cloud.header.frame_id = "lidar_frame"; - cloud.height = 1; - cloud.width = 10000; - cloud.is_bigendian = false; - cloud.point_step = 16; - cloud.row_step = 160000; - cloud.is_dense = true; - - // Add a point field - sensor_msgs::msg::PointField field; - field.name = "x"; - field.offset = 0; - field.datatype = sensor_msgs::msg::PointField::FLOAT32; - field.count = 1; - cloud.fields.push_back(field); - - cloud.data.resize(160000, 0xEF); // 160KB of point data - - auto serialized = serialize_message(cloud); - EXPECT_GT(serialized.size(), 159000); - - auto stripped = MessageStripper::strip("sensor_msgs/msg/PointCloud2", serialized); - auto result = deserialize_message(stripped); - - EXPECT_EQ(result.header.stamp.sec, 22222); - EXPECT_EQ(result.header.frame_id, "lidar_frame"); - EXPECT_EQ(result.height, 1u); - EXPECT_EQ(result.width, 10000u); - EXPECT_EQ(result.point_step, 16u); - EXPECT_EQ(result.row_step, 160000u); - EXPECT_EQ(result.is_dense, true); - ASSERT_EQ(result.fields.size(), 1u); - EXPECT_EQ(result.fields[0].name, "x"); - ASSERT_EQ(result.data.size(), 1u); - EXPECT_EQ(result.data[0], 0); - EXPECT_LT(stripped.size(), 500); -} -``` - -**Step 2: Add strip_pointcloud2 function and update strip()** - -```cpp -rclcpp::SerializedMessage strip_pointcloud2(const rclcpp::SerializedMessage& input) { - rclcpp::Serialization serializer; - sensor_msgs::msg::PointCloud2 msg; - serializer.deserialize_message(&input, &msg); - msg.data = {0}; - rclcpp::SerializedMessage output; - serializer.serialize_message(&msg, &output); - return output; -} -``` - -Update `strip()` to add: - -```cpp - if (message_type == "sensor_msgs/msg/PointCloud2") { - return strip_pointcloud2(input); - } -``` - -**Step 3: Build and run tests** - -Run: `cd ~/ws_plotjuggler && source /opt/ros/humble/setup.bash && colcon build --packages-select pj_ros_bridge && colcon test --packages-select pj_ros_bridge --ctest-args -R MessageStripper && colcon test-result --verbose` -Expected: All tests PASS - -**Step 4: Commit** - -```bash -git add tests/unit/test_message_stripper.cpp src/message_stripper.cpp -git commit -m "feat: Implement MessageStripper::strip for PointCloud2" -``` - ---- - -## Task 10: Add strip() Tests and Implementation for LaserScan - -**Files:** -- Modify: `tests/unit/test_message_stripper.cpp` -- Modify: `src/message_stripper.cpp` - -**Step 1: Add test for LaserScan** - -Append to test file: - -```cpp -TEST(MessageStripperTest, StripLaserScanReplacesRangesAndIntensitiesWithSentinel) { - sensor_msgs::msg::LaserScan scan; - scan.header.stamp.sec = 33333; - scan.header.frame_id = "laser_frame"; - scan.angle_min = -1.57f; - scan.angle_max = 1.57f; - scan.angle_increment = 0.01f; - scan.time_increment = 0.0001f; - scan.scan_time = 0.1f; - scan.range_min = 0.1f; - scan.range_max = 30.0f; - scan.ranges.resize(1000, 5.0f); // 4KB - scan.intensities.resize(1000, 100.0f); // 4KB - - auto serialized = serialize_message(scan); - EXPECT_GT(serialized.size(), 7000); - - auto stripped = MessageStripper::strip("sensor_msgs/msg/LaserScan", serialized); - auto result = deserialize_message(stripped); - - EXPECT_EQ(result.header.stamp.sec, 33333); - EXPECT_EQ(result.header.frame_id, "laser_frame"); - EXPECT_FLOAT_EQ(result.angle_min, -1.57f); - EXPECT_FLOAT_EQ(result.angle_max, 1.57f); - EXPECT_FLOAT_EQ(result.angle_increment, 0.01f); - EXPECT_FLOAT_EQ(result.range_min, 0.1f); - EXPECT_FLOAT_EQ(result.range_max, 30.0f); - - // Both ranges and intensities should be stripped - ASSERT_EQ(result.ranges.size(), 1u); - EXPECT_FLOAT_EQ(result.ranges[0], 0.0f); - ASSERT_EQ(result.intensities.size(), 1u); - EXPECT_FLOAT_EQ(result.intensities[0], 0.0f); - - EXPECT_LT(stripped.size(), 500); -} -``` - -**Step 2: Add strip_laser_scan function and update strip()** - -```cpp -rclcpp::SerializedMessage strip_laser_scan(const rclcpp::SerializedMessage& input) { - rclcpp::Serialization serializer; - sensor_msgs::msg::LaserScan msg; - serializer.deserialize_message(&input, &msg); - msg.ranges = {0.0f}; - msg.intensities = {0.0f}; - rclcpp::SerializedMessage output; - serializer.serialize_message(&msg, &output); - return output; -} -``` - -Update `strip()` to add: - -```cpp - if (message_type == "sensor_msgs/msg/LaserScan") { - return strip_laser_scan(input); - } -``` - -**Step 3: Build and run tests** - -Run: `cd ~/ws_plotjuggler && source /opt/ros/humble/setup.bash && colcon build --packages-select pj_ros_bridge && colcon test --packages-select pj_ros_bridge --ctest-args -R MessageStripper && colcon test-result --verbose` -Expected: All tests PASS - -**Step 4: Commit** - -```bash -git add tests/unit/test_message_stripper.cpp src/message_stripper.cpp -git commit -m "feat: Implement MessageStripper::strip for LaserScan" -``` - ---- - -## Task 11: Add strip() Tests and Implementation for OccupancyGrid - -**Files:** -- Modify: `tests/unit/test_message_stripper.cpp` -- Modify: `src/message_stripper.cpp` - -**Step 1: Add test for OccupancyGrid** - -Append to test file: - -```cpp -TEST(MessageStripperTest, StripOccupancyGridReplacesDataWithSentinel) { - nav_msgs::msg::OccupancyGrid grid; - grid.header.stamp.sec = 44444; - grid.header.frame_id = "map_frame"; - grid.info.resolution = 0.05f; - grid.info.width = 1000; - grid.info.height = 1000; - grid.info.origin.position.x = -25.0; - grid.info.origin.position.y = -25.0; - grid.data.resize(1000000, 50); // 1MB of map data - - auto serialized = serialize_message(grid); - EXPECT_GT(serialized.size(), 999000); - - auto stripped = MessageStripper::strip("nav_msgs/msg/OccupancyGrid", serialized); - auto result = deserialize_message(stripped); - - EXPECT_EQ(result.header.stamp.sec, 44444); - EXPECT_EQ(result.header.frame_id, "map_frame"); - EXPECT_FLOAT_EQ(result.info.resolution, 0.05f); - EXPECT_EQ(result.info.width, 1000u); - EXPECT_EQ(result.info.height, 1000u); - EXPECT_DOUBLE_EQ(result.info.origin.position.x, -25.0); - - ASSERT_EQ(result.data.size(), 1u); - EXPECT_EQ(result.data[0], 0); - - EXPECT_LT(stripped.size(), 500); -} -``` - -**Step 2: Add strip_occupancy_grid function and update strip()** - -```cpp -rclcpp::SerializedMessage strip_occupancy_grid(const rclcpp::SerializedMessage& input) { - rclcpp::Serialization serializer; - nav_msgs::msg::OccupancyGrid msg; - serializer.deserialize_message(&input, &msg); - msg.data = {0}; - rclcpp::SerializedMessage output; - serializer.serialize_message(&msg, &output); - return output; -} -``` - -Update `strip()` to add: - -```cpp - if (message_type == "nav_msgs/msg/OccupancyGrid") { - return strip_occupancy_grid(input); - } -``` - -**Step 3: Build and run tests** - -Run: `cd ~/ws_plotjuggler && source /opt/ros/humble/setup.bash && colcon build --packages-select pj_ros_bridge && colcon test --packages-select pj_ros_bridge --ctest-args -R MessageStripper && colcon test-result --verbose` -Expected: All tests PASS - -**Step 4: Commit** - -```bash -git add tests/unit/test_message_stripper.cpp src/message_stripper.cpp -git commit -m "feat: Implement MessageStripper::strip for OccupancyGrid" -``` - ---- - -## Task 12: Integrate MessageStripper into BridgeServer - -**Files:** -- Modify: `include/pj_ros_bridge/bridge_server.hpp` -- Modify: `src/bridge_server.cpp` - -**Step 1: Add strip_large_messages_ member to bridge_server.hpp** - -After line 121 (`mutable std::mutex stats_mutex_;`), add: - -```cpp - // Message stripping configuration - bool strip_large_messages_; -``` - -**Step 2: Add include for message_stripper.hpp in bridge_server.cpp** - -After line 10 (`#include "pj_ros_bridge/message_serializer.hpp"`), add: - -```cpp -#include "pj_ros_bridge/message_stripper.hpp" -``` - -**Step 3: Initialize strip_large_messages_ in constructor** - -In constructor initializer list (around line 26), add after `total_bytes_published_(0)`: - -```cpp - total_bytes_published_(0), - strip_large_messages_(true) {} -``` - -**Step 4: Update GenericSubscriptionManager callback in handle_subscribe** - -In `handle_subscribe()`, the callback is created around line 256. Modify it to include stripping. - -Find this code block (lines 253-258): - -```cpp - // Create callback to add messages to buffer - auto callback = [this]( - const std::string& topic, const std::shared_ptr& msg, - uint64_t receive_time_ns) { message_buffer_->add_message(topic, receive_time_ns, msg); }; -``` - -Replace with: - -```cpp - // Create callback to add messages to buffer (with optional stripping) - auto callback = [this, topic_type]( - const std::string& topic, const std::shared_ptr& msg, - uint64_t receive_time_ns) { - if (strip_large_messages_ && MessageStripper::should_strip(topic_type)) { - auto stripped = MessageStripper::strip(topic_type, *msg); - auto stripped_ptr = std::make_shared(std::move(stripped)); - message_buffer_->add_message(topic, receive_time_ns, stripped_ptr); - } else { - message_buffer_->add_message(topic, receive_time_ns, msg); - } - }; -``` - -**Step 5: Update callback in handle_resume (same pattern)** - -In `handle_resume()`, find the callback around line 493: - -```cpp - // Create callback for message buffer (same as in handle_subscribe) - auto callback = [this]( - const std::string& topic, const std::shared_ptr& msg, - uint64_t receive_time_ns) { message_buffer_->add_message(topic, receive_time_ns, msg); }; -``` - -This callback doesn't have `topic_type` in scope, so we need a different approach. Since the type is looked up inside the loop, modify the loop: - -Replace lines 497-510: - -```cpp - auto subs = session_manager_->get_subscriptions(client_id); - for (const auto& [topic, rate] : subs) { - auto type_it = topic_types.find(topic); - if (type_it != topic_types.end()) { - subscription_manager_->subscribe(topic, type_it->second, callback); -``` - -With: - -```cpp - auto subs = session_manager_->get_subscriptions(client_id); - for (const auto& [topic, rate] : subs) { - auto type_it = topic_types.find(topic); - if (type_it != topic_types.end()) { - std::string topic_type = type_it->second; - auto callback = [this, topic_type]( - const std::string& t, const std::shared_ptr& msg, - uint64_t receive_time_ns) { - if (strip_large_messages_ && MessageStripper::should_strip(topic_type)) { - auto stripped = MessageStripper::strip(topic_type, *msg); - auto stripped_ptr = std::make_shared(std::move(stripped)); - message_buffer_->add_message(t, receive_time_ns, stripped_ptr); - } else { - message_buffer_->add_message(t, receive_time_ns, msg); - } - }; - subscription_manager_->subscribe(topic, topic_type, callback); -``` - -And remove the old callback definition from before the loop. - -**Step 6: Build and run all tests** - -Run: `cd ~/ws_plotjuggler && source /opt/ros/humble/setup.bash && colcon build --packages-select pj_ros_bridge && colcon test --packages-select pj_ros_bridge && colcon test-result --verbose` -Expected: All tests PASS - -**Step 7: Commit** - -```bash -git add include/pj_ros_bridge/bridge_server.hpp src/bridge_server.cpp -git commit -m "feat: Integrate MessageStripper into BridgeServer subscription callback" -``` - ---- - -## Task 13: Add ROS2 Parameter for strip_large_messages - -**Files:** -- Modify: `src/main.cpp` -- Modify: `src/bridge_server.cpp` -- Modify: `include/pj_ros_bridge/bridge_server.hpp` - -**Step 1: Read main.cpp to understand parameter handling** - -Check how other parameters are declared and passed. - -**Step 2: Add strip_large_messages parameter to BridgeServer constructor** - -In `bridge_server.hpp`, update constructor signature (around line 43): - -```cpp - explicit BridgeServer( - std::shared_ptr node, std::shared_ptr middleware, int port = 8080, - double session_timeout = 10.0, double publish_rate = 50.0, bool strip_large_messages = true); -``` - -In `bridge_server.cpp`, update constructor (around line 17): - -```cpp -BridgeServer::BridgeServer( - std::shared_ptr node, std::shared_ptr middleware, int port, - double session_timeout, double publish_rate, bool strip_large_messages) - : node_(node), - middleware_(middleware), - port_(port), - session_timeout_(session_timeout), - publish_rate_(publish_rate), - initialized_(false), - total_messages_published_(0), - total_bytes_published_(0), - strip_large_messages_(strip_large_messages) {} -``` - -**Step 3: Update main.cpp to declare and pass the parameter** - -Read main.cpp first, then add parameter declaration and pass to BridgeServer. - -**Step 4: Build and test** - -Run: `cd ~/ws_plotjuggler && source /opt/ros/humble/setup.bash && colcon build --packages-select pj_ros_bridge && colcon test --packages-select pj_ros_bridge && colcon test-result --verbose` -Expected: All tests PASS - -**Step 5: Commit** - -```bash -git add include/pj_ros_bridge/bridge_server.hpp src/bridge_server.cpp src/main.cpp -git commit -m "feat: Add strip_large_messages ROS2 parameter (default: true)" -``` - ---- - -## Task 14: Run Full Test Suite and Format Code - -**Files:** -- All modified files - -**Step 1: Format all code** - -Run: `cd ~/ws_plotjuggler/src/pj_ros_bridge && pre-commit run -a` -Expected: All checks pass (or files reformatted) - -**Step 2: Build with ASAN to check for memory issues** - -Run: `cd ~/ws_plotjuggler && source /opt/ros/humble/setup.bash && colcon build --packages-select pj_ros_bridge --build-base build_asan --install-base install_asan --cmake-args -DCMAKE_BUILD_TYPE=Release -DENABLE_ASAN=ON && ASAN_OPTIONS="new_delete_type_mismatch=0" LSAN_OPTIONS="suppressions=src/pj_ros_bridge/asan_suppressions.txt" build_asan/pj_ros_bridge/pj_ros_bridge_tests` -Expected: All tests pass, no ASAN errors - -**Step 3: Run regular tests** - -Run: `cd ~/ws_plotjuggler && colcon build --packages-select pj_ros_bridge && colcon test --packages-select pj_ros_bridge && colcon test-result --verbose` -Expected: All tests pass - -**Step 4: Commit any formatting changes** - -```bash -git add -A -git commit -m "style: Format code with pre-commit" -``` - ---- - -## Task 15: Update Documentation - -**Files:** -- Modify: `CLAUDE.md` - -**Step 1: Update CLAUDE.md with new feature** - -Add to "Recent changes" section: - -```markdown -- Added MessageStripper to strip large array fields from Image, PointCloud2, LaserScan, OccupancyGrid -- New ROS2 parameter `strip_large_messages` (default: true) -``` - -Update test count if changed. - -**Step 2: Commit** - -```bash -git add CLAUDE.md -git commit -m "docs: Document message stripping feature" -``` - ---- - -## Summary - -**Total Tasks**: 15 - -**New Files**: -- `include/pj_ros_bridge/message_stripper.hpp` -- `src/message_stripper.cpp` -- `tests/unit/test_message_stripper.cpp` - -**Modified Files**: -- `package.xml` -- `CMakeLists.txt` -- `include/pj_ros_bridge/bridge_server.hpp` -- `src/bridge_server.cpp` -- `src/main.cpp` -- `CLAUDE.md` - -**Dependencies Added**: -- `sensor_msgs` (runtime + test) -- `nav_msgs` (runtime + test) diff --git a/docs/plans/2026-02-21-p0-p1-fixes.md b/docs/plans/2026-02-21-p0-p1-fixes.md deleted file mode 100644 index 0a8a52e..0000000 --- a/docs/plans/2026-02-21-p0-p1-fixes.md +++ /dev/null @@ -1,416 +0,0 @@ -# P0/P1 Bug Fixes Implementation Plan - -> **For Claude:** REQUIRED SUB-SKILL: Use superpowers:executing-plans to implement this plan task-by-task. - -**Goal:** Fix the 6 highest-priority bugs identified in the full project review. - -**Architecture:** Targeted fixes to existing code — no new files, no API changes. Each fix is 1-15 lines. - -**Tech Stack:** C++17, ROS2, IXWebSocket, gtest - ---- - -### Task 1: Fix WebSocket null deref race during shutdown (P0) - -**Files:** -- Modify: `src/middleware/websocket_middleware.cpp:39-107` (callback restructure) - -**Problem:** The callback checks `initialized_` under `state_mutex_` (line 44), releases the lock, then accesses `server_->getClients()` at line 57. `shutdown()` can move `server_` to null between those points. - -**Fix:** Move the `initialized_` check into each message-type handler. For the `Open` handler, hold `state_mutex_` through the `server_->getClients()` access to prevent the race. - -**Step 1: Restructure the callback** - -Replace the entire callback body (lines 39-107) with per-handler `initialized_` checks. The key change is the `Open` handler holds `state_mutex_` through `server_->getClients()`: - -```cpp -server_->setOnClientMessageCallback([this]( - std::shared_ptr connection_state, - ix::WebSocket& web_socket, const ix::WebSocketMessagePtr& msg) { - std::string client_id = connection_state->getId(); - - if (msg->type == ix::WebSocketMessageType::Open) { - // Store client connection. Hold state_mutex_ through server_ access - // to prevent shutdown() from moving server_ out between the - // initialized_ check and getClients() call. - { - std::lock_guard state_lock(state_mutex_); - if (!initialized_) { - return; - } - std::lock_guard clients_lock(clients_mutex_); - for (const auto& client : server_->getClients()) { - if (client.get() == &web_socket) { - clients_[client_id] = client; - break; - } - } - } - - // Notify connect callback - ConnectionCallback cb; - { - std::lock_guard state_lock(state_mutex_); - cb = on_connect_; - } - if (cb) { - cb(client_id); - } - - } else if (msg->type == ix::WebSocketMessageType::Close) { - { - std::lock_guard state_lock(state_mutex_); - if (!initialized_) { - return; - } - } - - // Notify disconnect callback - ConnectionCallback cb; - { - std::lock_guard state_lock(state_mutex_); - cb = on_disconnect_; - } - if (cb) { - cb(client_id); - } - - // Remove client connection - { - std::lock_guard clients_lock(clients_mutex_); - clients_.erase(client_id); - } - - } else if (msg->type == ix::WebSocketMessageType::Message) { - { - std::lock_guard state_lock(state_mutex_); - if (!initialized_) { - return; - } - } - - if (!msg->binary) { - // Text message = API request, push to queue - IncomingRequest req; - req.client_id = client_id; - req.data.assign(msg->str.begin(), msg->str.end()); - - { - std::lock_guard queue_lock(queue_mutex_); - incoming_queue_.push(std::move(req)); - } - queue_cv_.notify_one(); - } - // Binary messages from clients are ignored (server-to-client only) - } -}); -``` - -**Step 2: Add lock ordering comment to header** - -In `include/pj_ros_bridge/middleware/websocket_middleware.hpp`, add above the mutex declarations: - -```cpp -// Lock ordering (to prevent deadlock): -// state_mutex_ > clients_mutex_ > queue_mutex_ -``` - -**Step 3: Build and run tests** - -Run: `./run_and_test.sh` -Expected: All 150 tests pass, TSAN clean (modulo existing IXWebSocket suppressions) - -**Step 4: Commit** - -``` -fix: Prevent null deref race in WebSocket callback during shutdown - -Hold state_mutex_ through server_->getClients() in the Open handler -to prevent shutdown() from moving server_ out between the initialized_ -check and the server_ dereference. - -Also moves the initialized_ guard from a single top-of-callback check -into per-handler checks, since only the Open handler needs the lock -held through the server_ access. -``` - ---- - -### Task 2: Wrap MessageStripper::strip() in try-catch + extract helper (P0) - -**Files:** -- Modify: `include/pj_ros_bridge/bridge_server.hpp` (add private method declaration) -- Modify: `src/bridge_server.cpp:283-293, 532-542` (replace duplicate lambdas) - -**Problem:** `MessageStripper::strip()` can throw on corrupted CDR data. The lambda runs in a ROS2 callback — an uncaught exception crashes the server. The lambda is also duplicated in `handle_subscribe` and `handle_resume`. - -**Fix:** Extract a `make_buffer_callback()` helper that wraps `strip()` in try-catch with fallback to the original unstripped message. - -**Step 1: Add method declaration to header** - -In `include/pj_ros_bridge/bridge_server.hpp`, add after `void publish_aggregated_messages();`: - -```cpp -/// Create a message callback that buffers messages with optional stripping. -/// If stripping fails (e.g., corrupted CDR data), the original message -/// is forwarded instead of crashing the callback. -MessageCallback make_buffer_callback(const std::string& topic_type); -``` - -**Step 2: Implement the helper in bridge_server.cpp** - -Add before `publish_aggregated_messages()`: - -```cpp -MessageCallback BridgeServer::make_buffer_callback(const std::string& topic_type) { - return [this, topic_type]( - const std::string& topic, const std::shared_ptr& msg, - uint64_t receive_time_ns) { - if (strip_large_messages_ && MessageStripper::should_strip(topic_type)) { - try { - auto stripped = MessageStripper::strip(topic_type, *msg); - auto stripped_ptr = std::make_shared(std::move(stripped)); - message_buffer_->add_message(topic, receive_time_ns, stripped_ptr); - return; - } catch (const std::exception& e) { - RCLCPP_WARN_THROTTLE( - node_->get_logger(), *node_->get_clock(), 5000, - "Failed to strip message on topic '%s': %s. Forwarding original.", topic.c_str(), e.what()); - } - } - message_buffer_->add_message(topic, receive_time_ns, msg); - }; -} -``` - -**Step 3: Replace lambda in handle_subscribe (lines 283-293)** - -Replace the 11-line lambda with: - -```cpp -auto callback = make_buffer_callback(topic_type); -``` - -**Step 4: Replace lambda in handle_resume (lines 532-542)** - -Replace the 11-line lambda with: - -```cpp -auto callback = make_buffer_callback(topic_type); -``` - -**Step 5: Build and run tests** - -Run: `./run_and_test.sh` -Expected: All 150 tests pass - -**Step 6: Commit** - -``` -fix: Protect MessageStripper::strip() from crashing ROS2 callback - -Extract make_buffer_callback() to wrap strip() in try-catch. On -failure, the original unstripped message is forwarded instead of -propagating the exception into the ROS2 executor. - -Also eliminates the duplicated callback lambda between -handle_subscribe and handle_resume. -``` - ---- - -### Task 3: Check for empty schema before reporting success (P1) - -**Files:** -- Modify: `src/bridge_server.cpp:297-307` - -**Problem:** `get_message_definition()` returns `""` on failure (doesn't throw). The code proceeds to report success with an empty schema definition. - -**Fix:** After the existing try-catch for schema extraction, add an `empty()` check. - -**Step 1: Add empty schema check** - -After the existing try-catch block (line 307), before the `subscribe()` call, add: - -```cpp -if (schema.empty()) { - RCLCPP_ERROR( - node_->get_logger(), "Empty schema for topic '%s' (type: %s)", topic_name.c_str(), topic_type.c_str()); - json failure; - failure["topic"] = topic_name; - failure["reason"] = "Schema extraction returned empty definition"; - failures.push_back(failure); - continue; -} -``` - -**Step 2: Build and run tests** - -Run: `./run_and_test.sh` -Expected: All 150 tests pass - -**Step 3: Commit** - -``` -fix: Treat empty schema as subscription failure - -get_message_definition() returns "" on failure instead of throwing. -Previously this was silently accepted as success with an empty -definition. Now treated as a failure with a clear error message. -``` - ---- - -### Task 4: Propagate nested type resolution failures in schema extraction (P1) - -**Files:** -- Modify: `src/schema_extractor.cpp:202` - -**Problem:** The recursive call's return value is ignored. Failed nested types are silently omitted from the schema. - -**Fix:** Propagate the failure by checking the return value. - -**Step 1: Check recursive call return value** - -Change line 202 from: - -```cpp -build_message_definition_recursive(nested_pkg, nested_typ, output, processed_types, false); -``` - -To: - -```cpp -if (!build_message_definition_recursive(nested_pkg, nested_typ, output, processed_types, false)) { - return false; -} -``` - -**Step 2: Build and run tests** - -Run: `./run_and_test.sh` -Expected: All 150 tests pass (existing schema tests use standard ROS2 types that resolve successfully) - -**Step 3: Commit** - -``` -fix: Propagate nested type resolution failures in schema extraction - -Previously, if a nested message type failed to resolve (missing -package, missing .msg file), the failure was silently ignored and -the schema was returned with the nested type omitted. Now the -failure propagates, causing get_message_definition() to return -empty string, which Task 3's fix treats as a subscription failure. -``` - ---- - -### Task 5: Log swallowed exceptions in subscribe() and refresh() (P1) - -**Files:** -- Modify: `src/generic_subscription_manager.cpp:58-60` -- Modify: `src/topic_discovery.cpp:57-59` - -**Problem:** Both catch blocks discard the exception entirely — no logging, no context. - -**Step 1: Fix GenericSubscriptionManager::subscribe()** - -Change lines 58-60 from: - -```cpp - } catch (const std::exception&) { - return false; - } -``` - -To: - -```cpp - } catch (const std::exception& e) { - RCLCPP_ERROR( - node_->get_logger(), "Failed to create subscription for topic '%s' (type '%s'): %s", topic_name.c_str(), - topic_type.c_str(), e.what()); - return false; - } -``` - -**Step 2: Fix TopicDiscovery::refresh()** - -Change lines 57-59 from: - -```cpp - } catch (const std::exception&) { - return false; - } -``` - -To: - -```cpp - } catch (const std::exception& e) { - RCLCPP_ERROR(node_->get_logger(), "Topic discovery refresh failed: %s", e.what()); - return false; - } -``` - -**Step 3: Build and run tests** - -Run: `./run_and_test.sh` -Expected: All 150 tests pass - -**Step 4: Commit** - -``` -fix: Log exception details in subscribe() and refresh() catch blocks - -Previously both methods caught exceptions and returned false with -no logging, making failures impossible to diagnose. Now logs the -exception message with full context. -``` - ---- - -### Task 6: Document lock ordering hierarchy (P1) - -**Files:** -- Modify: `include/pj_ros_bridge/bridge_server.hpp` (near mutex declarations) -- Modify: `include/pj_ros_bridge/middleware/websocket_middleware.hpp` (near mutex declarations) - -**Problem:** Three mutexes in BridgeServer and three in WebSocketMiddleware with undocumented ordering. A future change could introduce deadlock. - -**Step 1: Add lock ordering comment to BridgeServer** - -In `include/pj_ros_bridge/bridge_server.hpp`, replace the comment on line 146: - -```cpp - // Protects cleanup_session from concurrent calls (disconnect + timeout) -``` - -With: - -```cpp - // Lock ordering (to prevent deadlock): - // cleanup_mutex_ > last_sent_mutex_ > stats_mutex_ - // SessionManager::mutex_ may be acquired while holding any of these. - // Never acquire a higher-order lock while holding a lower-order one. -``` - -**Step 2: WebSocket lock ordering was already added in Task 1** - -Already done as part of the callback restructure. - -**Step 3: Build and run tests** - -Run: `./run_and_test.sh` -Expected: All 150 tests pass - -**Step 4: Commit** - -``` -docs: Document lock ordering hierarchy in BridgeServer and WebSocketMiddleware - -Prevents future changes from introducing deadlocks by documenting -the implicit ordering: cleanup_mutex_ > last_sent_mutex_ > stats_mutex_ -(BridgeServer) and state_mutex_ > clients_mutex_ > queue_mutex_ -(WebSocketMiddleware). -``` diff --git a/docs/plans/2026-02-26-unify-backends-design.md b/docs/plans/2026-02-26-unify-backends-design.md deleted file mode 100644 index 77c768d..0000000 --- a/docs/plans/2026-02-26-unify-backends-design.md +++ /dev/null @@ -1,281 +0,0 @@ -# Unify pj_ros_bridge + dds_websocket_bridge into pj_bridge - -**Date**: 2026-02-26 -**Status**: Proposed - -## Context - -Two projects implement identical WebSocket bridge functionality for different backends: -- **pj_ros_bridge** (`/home/davide/ws_plotjuggler/src/pj_ros_bridge/`) — ROS2 Humble -- **dds_websocket_bridge** (`~/Asensus/ros_starman_ws/dds_websocket_bridge/`) — RTI Connext DDS - -They share identical: API protocol, binary wire format (PJRB + ZSTD), session management, message buffering, serialization, and WebSocket middleware. The only differences are topic discovery, schema extraction, subscription management, logging, and build system. - -**Goal**: Unify into a single project `pj_bridge` with a backend-agnostic `app/` core library and two optional plugins (`ros2/`, `rti/`). No client-side changes needed. - -## Design Decisions - -- **Project name**: `pj_bridge` (rename from `pj_ros_bridge`) -- **Namespace**: `pj_bridge` (rename from `pj_ros_bridge`) -- **Event loop**: App-driven (no timers in BridgeServer; main.cpp calls methods) -- **Executables**: `pj_bridge_ros2` + `pj_bridge_rti` (two separate binaries) -- **Logging**: spdlog in app layer (FetchContent, like IXWebSocket) -- **Message stripping**: ROS2-plugin only -- **RTI detection**: `find_package(RTIConnextDDS QUIET)` -- **ROS2 detection**: `find_package(ament_cmake QUIET)` (auto-detected by colcon) - -## Abstract Interfaces - -Two new interfaces in `app/include/pj_bridge/`: - -### TopicSourceInterface - -```cpp -struct TopicInfo { std::string name; std::string type; }; - -class TopicSourceInterface { -public: - virtual ~TopicSourceInterface() = default; - virtual std::vector get_topics() = 0; - virtual std::string get_schema(const std::string& topic_name) = 0; - virtual std::string schema_encoding() const = 0; // "ros2msg" or "omgidl" -}; -``` - -### SubscriptionManagerInterface - -```cpp -using MessageCallback = std::function> cdr_data, - uint64_t timestamp_ns)>; - -class SubscriptionManagerInterface { -public: - virtual ~SubscriptionManagerInterface() = default; - virtual void set_message_callback(MessageCallback callback) = 0; - virtual bool subscribe(const std::string& topic_name, const std::string& topic_type) = 0; - virtual bool unsubscribe(const std::string& topic_name) = 0; - virtual void unsubscribe_all() = 0; -}; -``` - -**Key design rationale:** - -- `subscribe()` takes both `topic_name` and `topic_type` — ROS2 needs the type for `GenericSubscription`; DDS ignores it. -- `set_message_callback()` — single global callback (DDS pattern). ROS2 adapter internally routes per-topic callbacks to this. -- Message type is `shared_ptr>` — eliminates rclcpp dependency from app layer. ROS2 adapter converts `SerializedMessage` to `vector` (one memcpy, negligible vs ZSTD compression). - -## Target Directory Structure - -``` -pj_bridge/ -├── app/ -│ ├── include/pj_bridge/ -│ │ ├── topic_source_interface.hpp [NEW] -│ │ ├── subscription_manager_interface.hpp [NEW] -│ │ ├── middleware/ -│ │ │ ├── middleware_interface.hpp [from include/pj_ros_bridge/middleware/] -│ │ │ └── websocket_middleware.hpp [from include/pj_ros_bridge/middleware/] -│ │ ├── bridge_server.hpp [refactored - no ROS2 deps] -│ │ ├── session_manager.hpp [from include/pj_ros_bridge/] -│ │ ├── message_buffer.hpp [unified - vector] -│ │ ├── message_serializer.hpp [unified - byte*, size_t] -│ │ ├── protocol_constants.hpp [merged both encodings] -│ │ └── time_utils.hpp [from include/pj_ros_bridge/] -│ └── src/ -│ ├── middleware/websocket_middleware.cpp -│ ├── bridge_server.cpp [refactored - spdlog, interfaces] -│ ├── session_manager.cpp -│ ├── message_buffer.cpp -│ └── message_serializer.cpp -├── ros2/ -│ ├── include/pj_bridge_ros2/ -│ │ ├── ros2_topic_source.hpp [wraps TopicDiscovery + SchemaExtractor] -│ │ ├── ros2_subscription_manager.hpp [wraps GenericSubscriptionManager] -│ │ ├── topic_discovery.hpp [from include/pj_ros_bridge/] -│ │ ├── schema_extractor.hpp [from include/pj_ros_bridge/] -│ │ ├── generic_subscription_manager.hpp [from include/pj_ros_bridge/] -│ │ └── message_stripper.hpp [from include/pj_ros_bridge/] -│ └── src/ -│ ├── ros2_topic_source.cpp [NEW adapter] -│ ├── ros2_subscription_manager.cpp [NEW adapter] -│ ├── topic_discovery.cpp [from src/] -│ ├── schema_extractor.cpp [from src/] -│ ├── generic_subscription_manager.cpp [from src/] -│ ├── message_stripper.cpp [from src/] -│ └── main.cpp [ROS2 entry point] -├── rti/ -│ ├── include/pj_bridge_rti/ -│ │ ├── rti_topic_source.hpp [wraps DdsTopicDiscovery] -│ │ ├── rti_subscription_manager.hpp [wraps DdsSubscriptionManager] -│ │ ├── dds_topic_discovery.hpp [from dds_websocket_bridge] -│ │ └── dds_subscription_manager.hpp [from dds_websocket_bridge] -│ └── src/ -│ ├── rti_topic_source.cpp [NEW adapter] -│ ├── rti_subscription_manager.cpp [NEW adapter] -│ ├── dds_topic_discovery.cpp [from dds_websocket_bridge] -│ ├── dds_subscription_manager.cpp [from dds_websocket_bridge] -│ └── main.cpp [RTI entry point] -├── 3rdparty/ [existing: nlohmann, tl, ixwebsocket] -├── tests/ -│ └── unit/ -│ ├── test_bridge_server.cpp [rewritten with mocks] -│ ├── test_session_manager.cpp [namespace change] -│ ├── test_message_buffer.cpp [data type change] -│ ├── test_message_serializer.cpp [signature change] -│ ├── test_websocket_middleware.cpp [namespace change] -│ ├── test_protocol_constants.cpp [namespace change] -│ ├── test_schema_extractor.cpp [ROS2-only] -│ ├── test_topic_discovery.cpp [ROS2-only] -│ ├── test_generic_subscription_manager.cpp [ROS2-only] -│ └── test_message_stripper.cpp [ROS2-only] -├── DATA/ [unchanged] -├── cmake/FindZSTD.cmake [unchanged] -├── data_path.hpp.in [unchanged] -├── CMakeLists.txt [rewritten] -├── package.xml [renamed to pj_bridge] -├── .clang-tidy [unchanged] -├── .pre-commit-config.yaml [unchanged] -└── CLAUDE.md [updated] -``` - -## How BridgeServer Changes - -| Method | Current (ROS2) | Unified | -|--------|---------------|---------| -| Constructor | `(Node, Middleware, port, timeout, rate, strip)` | `(TopicSource, SubManager, Middleware, port, timeout, rate)` | -| `initialize()` | Creates TopicDiscovery, SchemaExtractor, GenericSubManager, timers | Creates MessageBuffer, SessionManager. Sets message callback. No timers | -| `handle_get_topics()` | `topic_discovery_->discover_topics()` | `topic_source_->get_topics()` | -| `handle_subscribe()` | `schema_extractor_->get_message_definition(type)` + `subscribe(name, type, callback)` | `topic_source_->get_schema(name)` + `subscription_manager_->subscribe(name, type)` | -| `handle_resume()` | `subscribe(topic, type, make_buffer_callback(type))` | `subscription_manager_->subscribe(topic, type)` | -| `cleanup_session()` | `subscription_manager_->unsubscribe(topic)` | Same (interface method) | -| `publish_aggregated_messages()` | ROS2 timer callback, holds lock across send | Public method called by main.cpp. DDS lock ordering (build frames under lock, send outside) | -| `check_session_timeouts()` | ROS2 timer callback | Public method called by main.cpp | -| Logging | `RCLCPP_INFO(node_->get_logger(), "%s", arg)` | `spdlog::info("{}", arg)` | - -## Implementation Steps - -### Step 1: Create branch and directory structure - -Create `unify-backends` branch. Create `app/`, `ros2/`, `rti/` directory trees. - -### Step 2: Create abstract interface headers - -- `app/include/pj_bridge/topic_source_interface.hpp` -- `app/include/pj_bridge/subscription_manager_interface.hpp` - -### Step 3: Move and adapt common components to `app/` - -| File | Key Changes | -|------|-------------| -| `middleware_interface.hpp` | Namespace `pj_ros_bridge` → `pj_bridge` | -| `websocket_middleware.hpp/.cpp` | Namespace. Adopt DDS version's improved shutdown (shared_ptr server, timeout+detach thread) | -| `session_manager.hpp/.cpp` | Namespace only | -| `time_utils.hpp` | Namespace only | -| `protocol_constants.hpp` | Namespace. Add `kSchemaEncodingOmgIdl = "omgidl"` | -| `message_buffer.hpp/.cpp` | Namespace. `BufferedMessage` → `shared_ptr>` + add `received_at_ns` field. Remove rclcpp include | -| `message_serializer.hpp/.cpp` | Namespace. `serialize_message()` → `(const std::byte* data, size_t data_size)`. Remove rclcpp include | - -### Step 4: Refactor BridgeServer (the core change) - -**Header** (`app/include/pj_bridge/bridge_server.hpp`): -- Remove all ROS2 includes, add `#include ` -- New constructor: `BridgeServer(shared_ptr, shared_ptr, shared_ptr, int port, double session_timeout, double publish_rate)` -- Remove: `node_`, `topic_discovery_`, `schema_extractor_`, old `subscription_manager_` (concrete), timers, `strip_large_messages_`, `make_buffer_callback()` -- Add: `topic_source_`, `subscription_manager_` (via interfaces) -- Make `publish_aggregated_messages()` and `check_session_timeouts()` public -- Add `StatsSnapshot` struct and `snapshot_and_reset_stats()` from DDS version - -**Source** (`app/src/bridge_server.cpp`): -- Replace all `RCLCPP_*` with `spdlog::*` (printf → fmt syntax) -- `initialize()`: No timers. Set message callback: `subscription_manager_->set_message_callback([this](topic, data, ts) { message_buffer_->add_message(topic, ts, move(data)); })` -- `handle_get_topics()`: `topic_source_->get_topics()` -- `handle_subscribe()`: `topic_source_->get_schema(topic_name)` + `topic_source_->schema_encoding()` + `subscription_manager_->subscribe(name, type)` -- `publish_aggregated_messages()`: Adopt DDS lock ordering (build frames under lock, send outside). `msg.data->data(), msg.data->size()` for serializer - -### Step 5: Move ROS2-specific code to `ros2/` - -Move `topic_discovery`, `schema_extractor`, `generic_subscription_manager`, `message_stripper` headers and sources to `ros2/`. - -### Step 6: Create ROS2 adapters - -**`Ros2TopicSource`**: Implements `TopicSourceInterface`. Constructor takes `rclcpp::Node::SharedPtr`. Internally creates `TopicDiscovery` + `SchemaExtractor`. `get_schema(topic_name)` looks up type from cached topics, calls `SchemaExtractor::get_message_definition(type)`. - -**`Ros2SubscriptionManager`**: Implements `SubscriptionManagerInterface`. Constructor takes `rclcpp::Node::SharedPtr`, `bool strip_large_messages`. Internally creates `GenericSubscriptionManager`. `subscribe(name, type)` creates ROS2 callback that: receives `SerializedMessage` → optionally strips → converts to `shared_ptr>` → calls stored callback. - -**`ros2/src/main.cpp`**: ROS2 entry point. Creates node, declares parameters, creates adapters and BridgeServer. Uses ROS2 wall timers to drive `process_requests()`, `publish_aggregated_messages()`, `check_session_timeouts()`. Runs `executor.spin_some()` loop. - -### Step 7: Port RTI DDS backend - -Copy `DdsTopicDiscovery`, `DdsSubscriptionManager` from dds_websocket_bridge. Create thin `RtiTopicSource` and `RtiSubscriptionManager` adapters. Port `main.cpp` with CLI11 parsing and signal-handler event loop. - -### Step 8: Rewrite CMakeLists.txt - -Three build targets: -- `pj_bridge_app` (STATIC library, always built) — links ZSTD, IXWebSocket, spdlog -- `pj_bridge_ros2_lib` + `pj_bridge_ros2` executable — conditional on `ament_cmake` -- `pj_bridge_rti_lib` + `pj_bridge_rti` executable — conditional on `RTIConnextDDS` - -spdlog added via FetchContent (like IXWebSocket). - -### Step 9: Update tests - -**Core tests** (link `pj_bridge_app` + gtest, NO rclcpp): -- `test_bridge_server.cpp`: Biggest change. New mocks: `MockTopicSource`, `MockSubscriptionManager`. Remove `rclcpp::init/shutdown`. Fixture: `BridgeServer(mock_topic_source, mock_sub_manager, mock_middleware, ...)`. JSON protocol assertions stay identical. -- `test_message_buffer.cpp`: `rclcpp::SerializedMessage` → `vector` -- `test_message_serializer.cpp`: `serialize_message` → `(topic, ts, data, size)` -- Others: namespace change only - -**ROS2-specific tests** (link `pj_bridge_ros2_lib`, require ament): -- `test_schema_extractor.cpp`, `test_topic_discovery.cpp`, `test_generic_subscription_manager.cpp`, `test_message_stripper.cpp` — namespace change, still require rclcpp - -### Step 10: Update package.xml, conanfile.py, CLAUDE.md - -## Execution Order (minimizing risk) - -| # | Step | Risk | Test Impact | -|---|------|------|-------------| -| 1 | Create branch + dirs + interface headers | None | 0 | -| 2 | Move + adapt `protocol_constants`, `time_utils`, `session_manager` | Low | Namespace fix | -| 3 | Unify `MessageBuffer` (vector\) | Medium | ~11 tests | -| 4 | Unify `AggregatedMessageSerializer` (byte*, size) | Medium | ~22 tests | -| 5 | Unify `MiddlewareInterface` + `WebSocketMiddleware` | Low | ~16 tests | -| 6 | Refactor `BridgeServer` + rewrite `test_bridge_server.cpp` | **High** | ~44 tests | -| 7 | Create `Ros2TopicSource` + `Ros2SubscriptionManager` | Medium | 0 | -| 8 | Move ROS2-specific code + tests to `ros2/` | Low | Path changes | -| 9 | Update `ros2/src/main.cpp` | Low | Integration | -| 10 | Rewrite `CMakeLists.txt` | Medium | All (paths) | -| 11 | Port RTI backend from dds_websocket_bridge | Low | New tests | -| 12 | Update `package.xml`, `CLAUDE.md` | None | 0 | - -Steps 6 is the highest risk — BridgeServer and its tests must change in lockstep. - -## Potential Pitfalls - -1. **SerializedMessage → vector\ memcpy**: One copy per ROS2 message. Negligible vs ZSTD. -2. **Schema lookup by topic_name**: `Ros2TopicSource::get_schema()` must maintain name→type mapping internally. -3. **Thread safety of set_message_callback()**: ROS2 adapter must protect the callback pointer. -4. **spdlog dependency**: Add via FetchContent for ROS2 builds. -5. **Core tests must NOT depend on rclcpp**: Use plain gtest, not `ament_cmake_gtest`, for core tests. - -## Verification - -```bash -# Build with colcon (ROS2 backend) -cd ~/ws_plotjuggler && source /opt/ros/humble/setup.bash -colcon build --packages-select pj_bridge --cmake-args -DCMAKE_BUILD_TYPE=Release - -# Run all tests -colcon test --packages-select pj_bridge && colcon test-result --verbose - -# TSAN + ASAN (existing workflow via run_and_test.sh) - -# Integration test with rosbag -ros2 bag play DATA/sample.mcap --loop & -ros2 run pj_bridge pj_bridge_ros2 -python3 tests/integration/test_client.py --subscribe /topic - -# RTI build (on machine with Conan + RTI) -conan install . && cmake ... && make -``` From cd3c60bdc429e7c896600066edb716af8ea82c74 Mon Sep 17 00:00:00 2001 From: Davide Faconti Date: Mon, 2 Mar 2026 14:47:47 +0100 Subject: [PATCH 03/15] simplify RTI Entire-Checkpoint: c7b9dbe3e69a --- .../dds_subscription_manager.hpp | 22 ++++----- .../pj_bridge_rti/dds_topic_discovery.hpp | 28 +++++------ .../rti_subscription_manager.hpp | 47 ------------------ .../pj_bridge_rti/rti_topic_source.hpp | 45 ----------------- rti/src/dds_subscription_manager.cpp | 42 +++++++--------- rti/src/dds_topic_discovery.cpp | 35 +++++++------ rti/src/main.cpp | 16 ++---- rti/src/rti_subscription_manager.cpp | 44 ----------------- rti/src/rti_topic_source.cpp | 49 ------------------- 9 files changed, 68 insertions(+), 260 deletions(-) delete mode 100644 rti/include/pj_bridge_rti/rti_subscription_manager.hpp delete mode 100644 rti/include/pj_bridge_rti/rti_topic_source.hpp delete mode 100644 rti/src/rti_subscription_manager.cpp delete mode 100644 rti/src/rti_topic_source.cpp diff --git a/rti/include/pj_bridge_rti/dds_subscription_manager.hpp b/rti/include/pj_bridge_rti/dds_subscription_manager.hpp index f19b72a..70ff161 100644 --- a/rti/include/pj_bridge_rti/dds_subscription_manager.hpp +++ b/rti/include/pj_bridge_rti/dds_subscription_manager.hpp @@ -21,34 +21,32 @@ #include #include -#include #include #include #include #include #include +#include "pj_bridge/subscription_manager_interface.hpp" #include "pj_bridge_rti/dds_topic_discovery.hpp" namespace pj_bridge { -class DdsSubscriptionManager { +class DdsSubscriptionManager : public SubscriptionManagerInterface { public: - using DdsMessageCallback = std::function> cdr_data, uint64_t timestamp_ns)>; - explicit DdsSubscriptionManager(DdsTopicDiscovery& discovery); - ~DdsSubscriptionManager(); + ~DdsSubscriptionManager() override; DdsSubscriptionManager(const DdsSubscriptionManager&) = delete; DdsSubscriptionManager& operator=(const DdsSubscriptionManager&) = delete; - void set_message_callback(DdsMessageCallback callback); + // SubscriptionManagerInterface + void set_message_callback(MessageCallback callback) override; + bool subscribe(const std::string& topic_name, const std::string& topic_type) override; + bool unsubscribe(const std::string& topic_name) override; + void unsubscribe_all() override; - bool subscribe(const std::string& topic_name); - bool unsubscribe(const std::string& topic_name); size_t ref_count(const std::string& topic_name) const; - void unsubscribe_all(); private: class InternalReaderListener; @@ -65,8 +63,10 @@ class DdsSubscriptionManager { : subscriber(std::move(sub)), reader(std::move(rdr)), listener(std::move(lst)), reference_count(rc) {} }; + void close_reader(const std::string& topic_name, SubscriptionInfo& info); + DdsTopicDiscovery& discovery_; - DdsMessageCallback callback_; + MessageCallback callback_; mutable std::mutex mutex_; std::unordered_map subscriptions_; }; diff --git a/rti/include/pj_bridge_rti/dds_topic_discovery.hpp b/rti/include/pj_bridge_rti/dds_topic_discovery.hpp index 42cddf8..40f2602 100644 --- a/rti/include/pj_bridge_rti/dds_topic_discovery.hpp +++ b/rti/include/pj_bridge_rti/dds_topic_discovery.hpp @@ -28,23 +28,24 @@ #include #include -namespace pj_bridge { +#include "pj_bridge/topic_source_interface.hpp" -struct DdsTopicInfo { - std::string name; - std::string type_name; -}; +namespace pj_bridge { -class DdsTopicDiscovery { +class DdsTopicDiscovery : public TopicSourceInterface { public: explicit DdsTopicDiscovery(const std::vector& domain_ids, const std::string& qos_profile_path = ""); - ~DdsTopicDiscovery(); + ~DdsTopicDiscovery() override; DdsTopicDiscovery(const DdsTopicDiscovery&) = delete; DdsTopicDiscovery& operator=(const DdsTopicDiscovery&) = delete; - std::vector get_topics() const; - std::string get_schema(const std::string& topic_name) const; + // TopicSourceInterface + std::vector get_topics() override; + std::string get_schema(const std::string& topic_name) override; + std::string schema_encoding() const override; + + // DDS-specific (used by DdsSubscriptionManager) std::optional get_type(const std::string& topic_name) const; std::optional get_domain_id(const std::string& topic_name) const; dds::domain::DomainParticipant get_participant(int32_t domain_id) const; @@ -53,18 +54,17 @@ class DdsTopicDiscovery { class PublisherListener; struct DiscoveredTopic { - std::string type_name; dds::core::xtypes::StructType struct_type; std::string schema_idl; int32_t domain_id; - DiscoveredTopic(const std::string& tn, const dds::core::xtypes::StructType& st, const std::string& idl, int32_t did) - : type_name(tn), struct_type(st), schema_idl(idl), domain_id(did) {} + DiscoveredTopic(const dds::core::xtypes::StructType& st, const std::string& idl, int32_t did) + : struct_type(st), schema_idl(idl), domain_id(did) {} }; void on_topic_discovered( - const std::string& topic_name, const std::string& type_name, const dds::core::xtypes::StructType& struct_type, - const std::string& schema_idl, int32_t domain_id); + const std::string& topic_name, const dds::core::xtypes::StructType& struct_type, const std::string& schema_idl, + int32_t domain_id); mutable std::shared_mutex mutex_; std::unordered_map topics_; diff --git a/rti/include/pj_bridge_rti/rti_subscription_manager.hpp b/rti/include/pj_bridge_rti/rti_subscription_manager.hpp deleted file mode 100644 index 015b011..0000000 --- a/rti/include/pj_bridge_rti/rti_subscription_manager.hpp +++ /dev/null @@ -1,47 +0,0 @@ -/* - * Copyright (C) 2026 Davide Faconti - * - * This file is part of pj_bridge. - * - * pj_bridge is free software: you can redistribute it and/or modify - * it under the terms of the GNU Affero General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * pj_bridge is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU Affero General Public License for more details. - * - * You should have received a copy of the GNU Affero General Public License - * along with pj_bridge. If not, see . - */ - -#pragma once - -#include "pj_bridge/subscription_manager_interface.hpp" -#include "pj_bridge_rti/dds_subscription_manager.hpp" - -namespace pj_bridge { - -/** - * @brief RTI Connext DDS implementation of SubscriptionManagerInterface - * - * Thin adapter over DdsSubscriptionManager. DDS already produces - * shared_ptr> so no data conversion is needed — - * only the callback signature mapping and subscribe/unsubscribe forwarding. - */ -class RtiSubscriptionManager : public SubscriptionManagerInterface { - public: - explicit RtiSubscriptionManager(DdsSubscriptionManager& inner); - - void set_message_callback(MessageCallback callback) override; - bool subscribe(const std::string& topic_name, const std::string& topic_type) override; - bool unsubscribe(const std::string& topic_name) override; - void unsubscribe_all() override; - - private: - DdsSubscriptionManager& inner_; -}; - -} // namespace pj_bridge diff --git a/rti/include/pj_bridge_rti/rti_topic_source.hpp b/rti/include/pj_bridge_rti/rti_topic_source.hpp deleted file mode 100644 index 6d7affc..0000000 --- a/rti/include/pj_bridge_rti/rti_topic_source.hpp +++ /dev/null @@ -1,45 +0,0 @@ -/* - * Copyright (C) 2026 Davide Faconti - * - * This file is part of pj_bridge. - * - * pj_bridge is free software: you can redistribute it and/or modify - * it under the terms of the GNU Affero General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * pj_bridge is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU Affero General Public License for more details. - * - * You should have received a copy of the GNU Affero General Public License - * along with pj_bridge. If not, see . - */ - -#pragma once - -#include "pj_bridge/topic_source_interface.hpp" -#include "pj_bridge_rti/dds_topic_discovery.hpp" - -namespace pj_bridge { - -/** - * @brief RTI Connext DDS implementation of TopicSourceInterface - * - * Thin adapter over DdsTopicDiscovery, mapping DdsTopicInfo → TopicInfo - * and forwarding schema/encoding queries. - */ -class RtiTopicSource : public TopicSourceInterface { - public: - explicit RtiTopicSource(DdsTopicDiscovery& discovery); - - std::vector get_topics() override; - std::string get_schema(const std::string& topic_name) override; - std::string schema_encoding() const override; - - private: - DdsTopicDiscovery& discovery_; -}; - -} // namespace pj_bridge diff --git a/rti/src/dds_subscription_manager.cpp b/rti/src/dds_subscription_manager.cpp index 1104cf7..9bacd47 100644 --- a/rti/src/dds_subscription_manager.cpp +++ b/rti/src/dds_subscription_manager.cpp @@ -33,7 +33,7 @@ class DdsSubscriptionManager::InternalReaderListener try { auto samples = reader.take(); - DdsMessageCallback cb; + MessageCallback cb; { std::lock_guard lock(manager_.mutex_); cb = manager_.callback_; @@ -75,12 +75,12 @@ DdsSubscriptionManager::~DdsSubscriptionManager() { unsubscribe_all(); } -void DdsSubscriptionManager::set_message_callback(DdsMessageCallback callback) { +void DdsSubscriptionManager::set_message_callback(MessageCallback callback) { std::lock_guard lock(mutex_); callback_ = std::move(callback); } -bool DdsSubscriptionManager::subscribe(const std::string& topic_name) { +bool DdsSubscriptionManager::subscribe(const std::string& topic_name, const std::string& /*topic_type*/) { std::lock_guard lock(mutex_); auto it = subscriptions_.find(topic_name); @@ -157,15 +157,7 @@ bool DdsSubscriptionManager::unsubscribe(const std::string& topic_name) { } if (to_close) { - try { - to_close->reader.set_listener(nullptr); - to_close->reader.close(); - to_close->subscriber.close(); - } catch (const std::exception& e) { - spdlog::warn("Error cleaning up reader for '{}': {}", topic_name, e.what()); - } catch (...) { - spdlog::warn("Unknown error cleaning up reader for '{}'", topic_name); - } + close_reader(topic_name, *to_close); spdlog::info("Unsubscribed from '{}' (reader destroyed)", topic_name); } @@ -193,19 +185,23 @@ void DdsSubscriptionManager::unsubscribe_all() { spdlog::debug("[shutdown] unsubscribe_all: {} subscriptions to close", to_close.size()); for (auto& [name, info] : to_close) { - try { - spdlog::debug("[shutdown] Closing reader for '{}'...", name); - info.reader.set_listener(nullptr); - info.reader.close(); - info.subscriber.close(); - spdlog::debug("[shutdown] Closed '{}'", name); - } catch (const std::exception& e) { - spdlog::warn("Error cleaning up reader for '{}': {}", name, e.what()); - } catch (...) { - spdlog::warn("Unknown error cleaning up reader for '{}'", name); - } + spdlog::debug("[shutdown] Closing reader for '{}'...", name); + close_reader(name, info); + spdlog::debug("[shutdown] Closed '{}'", name); } spdlog::debug("[shutdown] unsubscribe_all complete"); } +void DdsSubscriptionManager::close_reader(const std::string& topic_name, SubscriptionInfo& info) { + try { + info.reader.set_listener(nullptr); + info.reader.close(); + info.subscriber.close(); + } catch (const std::exception& e) { + spdlog::warn("Error cleaning up reader for '{}': {}", topic_name, e.what()); + } catch (...) { + spdlog::warn("Unknown error cleaning up reader for '{}'", topic_name); + } +} + } // namespace pj_bridge diff --git a/rti/src/dds_topic_discovery.cpp b/rti/src/dds_topic_discovery.cpp index b594c1c..428e570 100644 --- a/rti/src/dds_topic_discovery.cpp +++ b/rti/src/dds_topic_discovery.cpp @@ -21,6 +21,8 @@ #include +#include "pj_bridge/protocol_constants.hpp" + namespace pj_bridge { class DdsTopicDiscovery::PublisherListener @@ -37,18 +39,16 @@ class DdsTopicDiscovery::PublisherListener continue; } - const auto& topic_name = sample.data().topic_name(); + std::string name_str = sample.data().topic_name().to_std_string(); const auto& type = sample.data().extensions().type(); if (!type) { - spdlog::debug("Topic '{}' discovered without type info in domain {}", topic_name.to_std_string(), domain_id_); + spdlog::debug("Topic '{}' discovered without type info in domain {}", name_str, domain_id_); continue; } - const auto& type_name = type->name(); - if (type->kind() != dds::core::xtypes::TypeKind::STRUCTURE_TYPE) { - spdlog::debug("Topic '{}' has non-struct type '{}', skipping", topic_name.to_std_string(), type_name); + spdlog::debug("Topic '{}' has non-struct type '{}', skipping", name_str, type->name()); continue; } @@ -58,10 +58,9 @@ class DdsTopicDiscovery::PublisherListener 0, false, rti::core::xtypes::DynamicTypePrintKind::idl, true}; std::string schema_idl = rti::core::xtypes::to_string(type.get(), print_format); - spdlog::info( - "Discovered topic '{}' (type: '{}') in domain {}", topic_name.to_std_string(), type_name, domain_id_); + spdlog::info("Discovered topic '{}' (type: '{}') in domain {}", name_str, struct_type.name(), domain_id_); - discovery_.on_topic_discovered(topic_name.to_std_string(), type_name, struct_type, schema_idl, domain_id_); + discovery_.on_topic_discovered(name_str, struct_type, schema_idl, domain_id_); } } catch (const std::exception& e) { spdlog::error("Exception in PublisherListener on domain {}: {}", domain_id_, e.what()); @@ -137,32 +136,32 @@ DdsTopicDiscovery::~DdsTopicDiscovery() { } void DdsTopicDiscovery::on_topic_discovered( - const std::string& topic_name, const std::string& type_name, const dds::core::xtypes::StructType& struct_type, - const std::string& schema_idl, int32_t domain_id) { + const std::string& topic_name, const dds::core::xtypes::StructType& struct_type, const std::string& schema_idl, + int32_t domain_id) { std::unique_lock lock(mutex_); if (topics_.find(topic_name) != topics_.end()) { return; } - topics_.emplace(topic_name, DiscoveredTopic{type_name, struct_type, schema_idl, domain_id}); - spdlog::info("Cached topic '{}' (type: '{}', domain: {})", topic_name, type_name, domain_id); + topics_.emplace(topic_name, DiscoveredTopic{struct_type, schema_idl, domain_id}); + spdlog::info("Cached topic '{}' (type: '{}', domain: {})", topic_name, struct_type.name(), domain_id); } -std::vector DdsTopicDiscovery::get_topics() const { +std::vector DdsTopicDiscovery::get_topics() { std::shared_lock lock(mutex_); - std::vector result; + std::vector result; result.reserve(topics_.size()); for (const auto& [name, topic] : topics_) { - result.push_back({name, topic.type_name}); + result.push_back({name, topic.struct_type.name()}); } return result; } -std::string DdsTopicDiscovery::get_schema(const std::string& topic_name) const { +std::string DdsTopicDiscovery::get_schema(const std::string& topic_name) { std::shared_lock lock(mutex_); auto it = topics_.find(topic_name); @@ -173,6 +172,10 @@ std::string DdsTopicDiscovery::get_schema(const std::string& topic_name) const { return it->second.schema_idl; } +std::string DdsTopicDiscovery::schema_encoding() const { + return kSchemaEncodingOmgIdl; +} + std::optional DdsTopicDiscovery::get_type(const std::string& topic_name) const { std::shared_lock lock(mutex_); diff --git a/rti/src/main.cpp b/rti/src/main.cpp index f8ebcfa..7cf078f 100644 --- a/rti/src/main.cpp +++ b/rti/src/main.cpp @@ -31,8 +31,6 @@ #include "pj_bridge/middleware/websocket_middleware.hpp" #include "pj_bridge_rti/dds_subscription_manager.hpp" #include "pj_bridge_rti/dds_topic_discovery.hpp" -#include "pj_bridge_rti/rti_subscription_manager.hpp" -#include "pj_bridge_rti/rti_topic_source.hpp" namespace { std::atomic g_shutdown{false}; @@ -78,13 +76,9 @@ int main(int argc, char* argv[]) { std::signal(SIGTERM, signal_handler); try { - // Create DDS components - pj_bridge::DdsTopicDiscovery discovery(domain_ids, qos_profile); - pj_bridge::DdsSubscriptionManager subscriptions(discovery); - - // Create adapters - auto topic_source = std::make_shared(discovery); - auto sub_manager = std::make_shared(subscriptions); + // Create DDS components (implement TopicSourceInterface and SubscriptionManagerInterface directly) + auto topic_source = std::make_shared(domain_ids, qos_profile); + auto sub_manager = std::make_shared(*topic_source); // Create WebSocket middleware auto middleware = std::make_shared(); @@ -155,10 +149,10 @@ int main(int argc, char* argv[]) { // Explicit ordered shutdown to avoid use-after-free: // 1. Clear DDS message callback spdlog::debug("[shutdown] Clearing DDS message callback..."); - subscriptions.set_message_callback(nullptr); + sub_manager->set_message_callback(nullptr); // 2. Unsubscribe all DDS readers spdlog::debug("[shutdown] Unsubscribing all DDS readers..."); - subscriptions.unsubscribe_all(); + sub_manager->unsubscribe_all(); // 3. Shutdown WebSocket server spdlog::debug("[shutdown] Shutting down WebSocket middleware..."); middleware->shutdown(); diff --git a/rti/src/rti_subscription_manager.cpp b/rti/src/rti_subscription_manager.cpp deleted file mode 100644 index fe5f1e4..0000000 --- a/rti/src/rti_subscription_manager.cpp +++ /dev/null @@ -1,44 +0,0 @@ -/* - * Copyright (C) 2026 Davide Faconti - * - * This file is part of pj_bridge. - * - * pj_bridge is free software: you can redistribute it and/or modify - * it under the terms of the GNU Affero General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * pj_bridge is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU Affero General Public License for more details. - * - * You should have received a copy of the GNU Affero General Public License - * along with pj_bridge. If not, see . - */ - -#include "pj_bridge_rti/rti_subscription_manager.hpp" - -namespace pj_bridge { - -RtiSubscriptionManager::RtiSubscriptionManager(DdsSubscriptionManager& inner) : inner_(inner) {} - -void RtiSubscriptionManager::set_message_callback(MessageCallback callback) { - // DdsSubscriptionManager::DdsMessageCallback has the exact same signature as MessageCallback - inner_.set_message_callback(std::move(callback)); -} - -bool RtiSubscriptionManager::subscribe(const std::string& topic_name, const std::string& /*topic_type*/) { - // DDS subscribe only needs topic_name (type is discovered dynamically) - return inner_.subscribe(topic_name); -} - -bool RtiSubscriptionManager::unsubscribe(const std::string& topic_name) { - return inner_.unsubscribe(topic_name); -} - -void RtiSubscriptionManager::unsubscribe_all() { - inner_.unsubscribe_all(); -} - -} // namespace pj_bridge diff --git a/rti/src/rti_topic_source.cpp b/rti/src/rti_topic_source.cpp deleted file mode 100644 index d96dd97..0000000 --- a/rti/src/rti_topic_source.cpp +++ /dev/null @@ -1,49 +0,0 @@ -/* - * Copyright (C) 2026 Davide Faconti - * - * This file is part of pj_bridge. - * - * pj_bridge is free software: you can redistribute it and/or modify - * it under the terms of the GNU Affero General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * pj_bridge is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU Affero General Public License for more details. - * - * You should have received a copy of the GNU Affero General Public License - * along with pj_bridge. If not, see . - */ - -#include "pj_bridge_rti/rti_topic_source.hpp" - -#include "pj_bridge/protocol_constants.hpp" - -namespace pj_bridge { - -RtiTopicSource::RtiTopicSource(DdsTopicDiscovery& discovery) : discovery_(discovery) {} - -std::vector RtiTopicSource::get_topics() { - auto dds_topics = discovery_.get_topics(); - - std::vector result; - result.reserve(dds_topics.size()); - - for (const auto& t : dds_topics) { - result.push_back({t.name, t.type_name}); - } - - return result; -} - -std::string RtiTopicSource::get_schema(const std::string& topic_name) { - return discovery_.get_schema(topic_name); -} - -std::string RtiTopicSource::schema_encoding() const { - return kSchemaEncodingOmgIdl; -} - -} // namespace pj_bridge From c6c164fa7312e55245fac7b74cb4e22a4fe7648b Mon Sep 17 00:00:00 2001 From: Davide Faconti Date: Mon, 2 Mar 2026 15:02:29 +0100 Subject: [PATCH 04/15] ros2 code simplified Entire-Checkpoint: ecc6040d1f1f --- .../generic_subscription_manager.hpp | 2 - .../pj_bridge_ros2/schema_extractor.hpp | 4 +- ros2/src/generic_subscription_manager.cpp | 8 +-- ros2/src/message_stripper.cpp | 63 ++++--------------- ros2/src/ros2_subscription_manager.cpp | 17 +++-- ros2/src/schema_extractor.cpp | 15 +++-- 6 files changed, 31 insertions(+), 78 deletions(-) diff --git a/ros2/include/pj_bridge_ros2/generic_subscription_manager.hpp b/ros2/include/pj_bridge_ros2/generic_subscription_manager.hpp index e0274c2..5df3bfb 100644 --- a/ros2/include/pj_bridge_ros2/generic_subscription_manager.hpp +++ b/ros2/include/pj_bridge_ros2/generic_subscription_manager.hpp @@ -58,8 +58,6 @@ class GenericSubscriptionManager { private: struct SubscriptionInfo { std::shared_ptr subscription; - std::string topic_type; - Ros2MessageCallback callback; size_t reference_count; }; diff --git a/ros2/include/pj_bridge_ros2/schema_extractor.hpp b/ros2/include/pj_bridge_ros2/schema_extractor.hpp index 6dc5075..1c8c778 100644 --- a/ros2/include/pj_bridge_ros2/schema_extractor.hpp +++ b/ros2/include/pj_bridge_ros2/schema_extractor.hpp @@ -20,11 +20,11 @@ #pragma once #include -#include #include #include #include #include +#include namespace pj_bridge { @@ -53,7 +53,7 @@ class SchemaExtractor { bool build_message_definition_recursive( const std::string& package_name, const std::string& type_name, std::ostringstream& output, - std::set& processed_types, bool is_root) const; + std::unordered_set& processed_types, bool is_root) const; mutable std::unordered_map definition_cache_; mutable std::unordered_map msg_file_cache_; diff --git a/ros2/src/generic_subscription_manager.cpp b/ros2/src/generic_subscription_manager.cpp index 98486ba..f79223f 100644 --- a/ros2/src/generic_subscription_manager.cpp +++ b/ros2/src/generic_subscription_manager.cpp @@ -44,13 +44,7 @@ bool GenericSubscriptionManager::subscribe( auto subscription = node_->create_generic_subscription(topic_name, topic_type, rclcpp::QoS(100), sub_callback); - SubscriptionInfo info; - info.subscription = subscription; - info.topic_type = topic_type; - info.callback = callback; - info.reference_count = 1; - - subscriptions_[topic_name] = std::move(info); + subscriptions_[topic_name] = SubscriptionInfo{subscription, 1}; return true; } catch (const std::exception& e) { diff --git a/ros2/src/message_stripper.cpp b/ros2/src/message_stripper.cpp index cbef0f1..09af4cb 100644 --- a/ros2/src/message_stripper.cpp +++ b/ros2/src/message_stripper.cpp @@ -37,52 +37,12 @@ const std::unordered_set kStrippableTypes = { "sensor_msgs/msg/LaserScan", "nav_msgs/msg/OccupancyGrid", }; -rclcpp::SerializedMessage strip_image(const rclcpp::SerializedMessage& input) { - rclcpp::Serialization serializer; - sensor_msgs::msg::Image msg; +template +rclcpp::SerializedMessage strip_and_reserialize(const rclcpp::SerializedMessage& input, StripFn strip_fn) { + rclcpp::Serialization serializer; + MsgT msg; serializer.deserialize_message(&input, &msg); - msg.data = {0}; - rclcpp::SerializedMessage output; - serializer.serialize_message(&msg, &output); - return output; -} - -rclcpp::SerializedMessage strip_compressed_image(const rclcpp::SerializedMessage& input) { - rclcpp::Serialization serializer; - sensor_msgs::msg::CompressedImage msg; - serializer.deserialize_message(&input, &msg); - msg.data = {0}; - rclcpp::SerializedMessage output; - serializer.serialize_message(&msg, &output); - return output; -} - -rclcpp::SerializedMessage strip_pointcloud2(const rclcpp::SerializedMessage& input) { - rclcpp::Serialization serializer; - sensor_msgs::msg::PointCloud2 msg; - serializer.deserialize_message(&input, &msg); - msg.data = {0}; - rclcpp::SerializedMessage output; - serializer.serialize_message(&msg, &output); - return output; -} - -rclcpp::SerializedMessage strip_laser_scan(const rclcpp::SerializedMessage& input) { - rclcpp::Serialization serializer; - sensor_msgs::msg::LaserScan msg; - serializer.deserialize_message(&input, &msg); - msg.ranges = {0.0f}; - msg.intensities = {0.0f}; - rclcpp::SerializedMessage output; - serializer.serialize_message(&msg, &output); - return output; -} - -rclcpp::SerializedMessage strip_occupancy_grid(const rclcpp::SerializedMessage& input) { - rclcpp::Serialization serializer; - nav_msgs::msg::OccupancyGrid msg; - serializer.deserialize_message(&input, &msg); - msg.data = {0}; + strip_fn(msg); rclcpp::SerializedMessage output; serializer.serialize_message(&msg, &output); return output; @@ -97,19 +57,22 @@ bool MessageStripper::should_strip(const std::string& message_type) { rclcpp::SerializedMessage MessageStripper::strip( const std::string& message_type, const rclcpp::SerializedMessage& input) { if (message_type == "sensor_msgs/msg/Image") { - return strip_image(input); + return strip_and_reserialize(input, [](auto& m) { m.data = {0}; }); } if (message_type == "sensor_msgs/msg/CompressedImage") { - return strip_compressed_image(input); + return strip_and_reserialize(input, [](auto& m) { m.data = {0}; }); } if (message_type == "sensor_msgs/msg/PointCloud2") { - return strip_pointcloud2(input); + return strip_and_reserialize(input, [](auto& m) { m.data = {0}; }); } if (message_type == "sensor_msgs/msg/LaserScan") { - return strip_laser_scan(input); + return strip_and_reserialize(input, [](auto& m) { + m.ranges = {0.0f}; + m.intensities = {0.0f}; + }); } if (message_type == "nav_msgs/msg/OccupancyGrid") { - return strip_occupancy_grid(input); + return strip_and_reserialize(input, [](auto& m) { m.data = {0}; }); } throw std::runtime_error("strip() not implemented for type: " + message_type); diff --git a/ros2/src/ros2_subscription_manager.cpp b/ros2/src/ros2_subscription_manager.cpp index e56b338..c9836eb 100644 --- a/ros2/src/ros2_subscription_manager.cpp +++ b/ros2/src/ros2_subscription_manager.cpp @@ -22,6 +22,7 @@ #include #include +#include namespace pj_bridge { @@ -34,29 +35,27 @@ void Ros2SubscriptionManager::set_message_callback(MessageCallback callback) { } bool Ros2SubscriptionManager::subscribe(const std::string& topic_name, const std::string& topic_type) { - // Create a ROS2 callback that converts SerializedMessage → vector and calls the stored callback + bool needs_stripping = strip_large_messages_ && MessageStripper::should_strip(topic_type); + Ros2MessageCallback ros2_callback = - [this, topic_type]( + [this, topic_type, needs_stripping]( const std::string& topic, const std::shared_ptr& msg, uint64_t receive_time_ns) { - // Optionally strip large fields const rclcpp::SerializedMessage* msg_to_use = msg.get(); - std::unique_ptr stripped_msg; + std::optional stripped_msg; - if (strip_large_messages_ && MessageStripper::should_strip(topic_type)) { + if (needs_stripping) { try { - stripped_msg = std::make_unique(MessageStripper::strip(topic_type, *msg)); - msg_to_use = stripped_msg.get(); + stripped_msg.emplace(MessageStripper::strip(topic_type, *msg)); + msg_to_use = &*stripped_msg; } catch (const std::exception& e) { spdlog::warn("Failed to strip message on topic '{}': {}. Forwarding original.", topic, e.what()); } } - // Convert rclcpp::SerializedMessage to shared_ptr> const auto& rcl_msg = msg_to_use->get_rcl_serialized_message(); auto data = std::make_shared>(rcl_msg.buffer_length); std::memcpy(data->data(), rcl_msg.buffer, rcl_msg.buffer_length); - // Invoke the stored callback MessageCallback cb; { std::lock_guard lock(callback_mutex_); diff --git a/ros2/src/schema_extractor.cpp b/ros2/src/schema_extractor.cpp index 63363d7..848d4e9 100644 --- a/ros2/src/schema_extractor.cpp +++ b/ros2/src/schema_extractor.cpp @@ -22,9 +22,9 @@ #include #include #include -#include #include #include +#include #include namespace pj_bridge { @@ -46,7 +46,7 @@ std::string SchemaExtractor::get_message_definition(const std::string& message_t } std::ostringstream result; - std::set processed_types; + std::unordered_set processed_types; if (!build_message_definition_recursive(package_name, type_name, result, processed_types, true)) { return ""; @@ -64,7 +64,7 @@ std::string SchemaExtractor::get_message_definition(const std::string& message_t bool SchemaExtractor::build_message_definition_recursive( const std::string& package_name, const std::string& type_name, std::ostringstream& output, - std::set& processed_types, bool is_root) const { + std::unordered_set& processed_types, bool is_root) const { const std::string full_type = package_name + "/" + type_name; std::string msg_content; @@ -143,11 +143,10 @@ bool SchemaExtractor::build_message_definition_recursive( base_type = base_type.substr(0, bracket_pos); } - bool is_builtin = - (base_type == "bool" || base_type == "byte" || base_type == "char" || base_type == "float32" || - base_type == "float64" || base_type == "int8" || base_type == "uint8" || base_type == "int16" || - base_type == "uint16" || base_type == "int32" || base_type == "uint32" || base_type == "int64" || - base_type == "uint64" || base_type == "string" || base_type == "wstring"); + static const std::unordered_set kBuiltinTypes = {"bool", "byte", "char", "float32", "float64", + "int8", "uint8", "int16", "uint16", "int32", + "uint32", "int64", "uint64", "string", "wstring"}; + bool is_builtin = kBuiltinTypes.count(base_type) > 0; if (!is_builtin) { nested_package = package_name; From 7460c7016897aa3a34ea224df2cd15bd50adece1 Mon Sep 17 00:00:00 2001 From: Davide Faconti Date: Mon, 2 Mar 2026 15:12:10 +0100 Subject: [PATCH 05/15] feat: Add FastDDS backend, harmonize cross-backend patterns - Add eProsima Fast DDS 3.4 backend (fastdds/) with Conan deps - Extract shared standalone event loop from RTI/FastDDS main.cpp into app/src/standalone_event_loop.cpp (~80 lines deduplication) - RTI get_participant() returns std::optional instead of throwing - FastDDS unsubscribe() uses std::optional (matches RTI pattern) - Remove unused ref_count() from RTI DdsSubscriptionManager - Add = delete copy/move to ROS2 adapter classes for consistency - ROS2 shutdown explicitly calls middleware->shutdown() - Replace FetchContent CLI11 with Conan cli11/2.6.0 - Update CLAUDE.md and ARCHITECTURE.md for three-backend design Co-Authored-By: Claude Opus 4.6 Entire-Checkpoint: 357d9892151b --- .gitignore | 1 + CLAUDE.md | 138 ++++------ CMakeLists.txt | 68 ++--- .../pj_bridge/standalone_event_loop.hpp | 49 ++++ app/src/standalone_event_loop.cpp | 116 +++++++++ conanfile.txt | 7 + docs/ARCHITECTURE.md | 35 ++- .../fastdds_subscription_manager.hpp | 80 ++++++ .../fastdds_topic_source.hpp | 79 ++++++ fastdds/src/fastdds_subscription_manager.cpp | 243 ++++++++++++++++++ fastdds/src/fastdds_topic_source.cpp | 242 +++++++++++++++++ fastdds/src/main.cpp | 73 ++++++ .../ros2_subscription_manager.hpp | 3 + .../pj_bridge_ros2/ros2_topic_source.hpp | 3 + ros2/src/main.cpp | 1 + .../dds_subscription_manager.hpp | 2 - .../pj_bridge_rti/dds_topic_discovery.hpp | 2 +- rti/src/dds_subscription_manager.cpp | 19 +- rti/src/dds_topic_discovery.cpp | 4 +- rti/src/main.cpp | 94 +------ tests/unit/test_bridge_server.cpp | 3 +- 21 files changed, 1026 insertions(+), 236 deletions(-) create mode 100644 app/include/pj_bridge/standalone_event_loop.hpp create mode 100644 app/src/standalone_event_loop.cpp create mode 100644 conanfile.txt create mode 100644 fastdds/include/pj_bridge_fastdds/fastdds_subscription_manager.hpp create mode 100644 fastdds/include/pj_bridge_fastdds/fastdds_topic_source.hpp create mode 100644 fastdds/src/fastdds_subscription_manager.cpp create mode 100644 fastdds/src/fastdds_topic_source.cpp create mode 100644 fastdds/src/main.cpp diff --git a/.gitignore b/.gitignore index 6d402cb..3f5063a 100644 --- a/.gitignore +++ b/.gitignore @@ -3,3 +3,4 @@ CMakeUserPresets.json /.obj-x86_64-linux-gnu/* /debian/* +/build_* diff --git a/CLAUDE.md b/CLAUDE.md index fe6c178..e113537 100644 --- a/CLAUDE.md +++ b/CLAUDE.md @@ -3,12 +3,13 @@ ## Project Overview **Project Name**: pj_bridge -**Type**: Multi-backend C++ bridge server (ROS2 / RTI Connext DDS) +**Type**: Multi-backend C++ bridge server (ROS2 / RTI Connext DDS / eProsima Fast DDS) **Purpose**: Forward middleware topic content over WebSocket to PlotJuggler clients -**Main Goal**: Enable clients to subscribe to topics and receive aggregated messages at configurable rates without needing a full middleware installation. Two backends share a common core library: +**Main Goal**: Enable clients to subscribe to topics and receive aggregated messages at configurable rates without needing a full middleware installation. Three backends share a common core library: - **ROS2 backend** (`pj_bridge_ros2`) — ROS2 Humble, uses `rclcpp` -- **RTI backend** (`pj_bridge_rti`) — RTI Connext DDS, uses `rti::connext` +- **RTI backend** (`pj_bridge_rti`) — RTI Connext DDS, uses `rti::connext` (build disabled, code preserved) +- **FastDDS backend** (`pj_bridge_fastdds`) — eProsima Fast DDS 3.4, via Conan ## Key Documentation Files @@ -25,13 +26,23 @@ colcon build --packages-select pj_bridge --cmake-args -DCMAKE_BUILD_TYPE=Release colcon test --packages-select pj_bridge && colcon test-result --verbose ``` -### RTI Backend (standalone CMake) +### RTI Backend (standalone CMake — currently disabled) ```bash mkdir build && cd build cmake .. -DCMAKE_BUILD_TYPE=Release -DENABLE_RTI=ON make -j$(nproc) ``` +### FastDDS Backend (Conan + standalone CMake) +```bash +cd ~/ws_plotjuggler/src/pj_ros_bridge +conan install . --output-folder=build_fastdds --build=missing -s build_type=Release +cd build_fastdds +cmake .. -DCMAKE_BUILD_TYPE=Release -DENABLE_FASTDDS=ON \ + -DCMAKE_TOOLCHAIN_FILE=conan_toolchain.cmake +make -j$(nproc) +``` + ### External Dependencies - **IXWebSocket** — vendored in `3rdparty/ixwebsocket` @@ -39,6 +50,11 @@ make -j$(nproc) - **ZSTD** — system package (`libzstd-dev`) - **CLI11** — FetchContent (RTI backend only) +### FastDDS Backend (Conan-managed) +- **eProsima Fast DDS 3.4.0** — via Conan (`fast-dds/3.4.0`) +- **eProsima Fast CDR 2.x** — transitive dependency via Conan +- **CLI11** — FetchContent (for CLI parsing, shared with RTI) + **Important**: Do NOT use FetchContent for spdlog when building with ROS2. The system spdlog must match the version used by `librcl_logging_spdlog.so` to avoid ABI conflicts (symbol collision causes "free(): invalid pointer" crash during `rclcpp::init()`). ## Coding Standards @@ -70,13 +86,14 @@ make -j$(nproc) │ ← MiddlewareInterface │ │ + MessageBuffer, SessionManager, Serializer │ └────────────────────┬─────────────────────────────┘ - ┌───────────┴───────────┐ - ┌────┴────┐ ┌─────┴─────┐ - │ ros2/ │ │ rti/ │ - │ Ros2TopicSource │ RtiTopicSource - │ Ros2SubscriptionMgr │ RtiSubscriptionMgr - │ (rclcpp) │ (RTI Connext) - └─────────┘ └───────────┘ + ┌───────────┼───────────────┐ + ┌────┴────┐ ┌────┴─────┐ ┌─────┴──────┐ + │ ros2/ │ │ rti/ │ │ fastdds/ │ + │ Ros2 │ │ Rti │ │ FastDds │ + │ Topic │ │ Topic │ │ Topic │ + │ Source │ │ Source │ │ Source │ + │ (rclcpp)│ │(Connext) │ │(Fast DDS) │ + └─────────┘ └──────────┘ └────────────┘ ``` ### Abstract Interfaces (in `app/include/pj_bridge/`) @@ -90,6 +107,7 @@ make -j$(nproc) BridgeServer does NOT own timers. The entry point (`main.cpp`) drives the event loop: - **ROS2**: `rclcpp` wall timers call `process_requests()`, `publish_aggregated_messages()`, `check_session_timeouts()` - **RTI**: `std::chrono` loop with `std::this_thread::sleep_for()` +- **FastDDS**: `std::chrono` loop with `std::this_thread::sleep_for()` (same pattern as RTI) ### Key Components @@ -107,9 +125,13 @@ BridgeServer does NOT own timers. The entry point (`main.cpp`) drives the event 7. **Ros2SubscriptionManager** (`ros2/`) — Wraps `GenericSubscriptionManager` + optional `MessageStripper`. Converts `rclcpp::SerializedMessage` → `shared_ptr>` via memcpy. -8. **RtiTopicSource** (`rti/`) — Wraps `DdsTopicDiscovery`. Schema encoding: `"omgidl"`. +8. **RtiTopicSource** (`rti/`) — Wraps `DdsTopicDiscovery`. Schema encoding: `"omgidl"`. (Build disabled) + +9. **RtiSubscriptionManager** (`rti/`) — Wraps `DdsSubscriptionManager`. DDS already produces `shared_ptr>`. (Build disabled) -9. **RtiSubscriptionManager** (`rti/`) — Wraps `DdsSubscriptionManager`. DDS already produces `shared_ptr>`. +10. **FastDdsTopicSource** (`fastdds/`) — Directly implements `TopicSourceInterface`. Discovers topics via `on_data_writer_discovery()`, resolves `DynamicType` from `TypeObjectRegistry`, generates IDL via `idl_serialize()`. Schema encoding: `"omgidl"`. + +11. **FastDdsSubscriptionManager** (`fastdds/`) — Directly implements `SubscriptionManagerInterface`. Creates `DataReader`s with `DynamicPubSubType`, deserializes into `DynamicData` and re-serializes to extract CDR bytes. ### Communication Pattern @@ -128,76 +150,6 @@ For each message (streamed, no header): - Message data (N bytes CDR) ``` -## Project Structure - -``` -pj_bridge/ -├── app/ -│ ├── include/pj_bridge/ -│ │ ├── topic_source_interface.hpp -│ │ ├── subscription_manager_interface.hpp -│ │ ├── middleware/ -│ │ │ ├── middleware_interface.hpp -│ │ │ └── websocket_middleware.hpp -│ │ ├── bridge_server.hpp -│ │ ├── session_manager.hpp -│ │ ├── message_buffer.hpp -│ │ ├── message_serializer.hpp -│ │ ├── protocol_constants.hpp -│ │ └── time_utils.hpp -│ └── src/ -│ ├── middleware/websocket_middleware.cpp -│ ├── bridge_server.cpp -│ ├── session_manager.cpp -│ ├── message_buffer.cpp -│ └── message_serializer.cpp -├── ros2/ -│ ├── include/pj_bridge_ros2/ -│ │ ├── ros2_topic_source.hpp -│ │ ├── ros2_subscription_manager.hpp -│ │ ├── topic_discovery.hpp -│ │ ├── schema_extractor.hpp -│ │ ├── generic_subscription_manager.hpp -│ │ └── message_stripper.hpp -│ └── src/ -│ ├── ros2_topic_source.cpp -│ ├── ros2_subscription_manager.cpp -│ ├── topic_discovery.cpp -│ ├── schema_extractor.cpp -│ ├── generic_subscription_manager.cpp -│ ├── message_stripper.cpp -│ └── main.cpp -├── rti/ -│ ├── include/pj_bridge_rti/ -│ │ ├── rti_topic_source.hpp -│ │ ├── rti_subscription_manager.hpp -│ │ ├── dds_topic_discovery.hpp -│ │ └── dds_subscription_manager.hpp -│ └── src/ -│ ├── rti_topic_source.cpp -│ ├── rti_subscription_manager.cpp -│ ├── dds_topic_discovery.cpp -│ ├── dds_subscription_manager.cpp -│ └── main.cpp -├── tests/unit/ -│ ├── test_bridge_server.cpp (mock-based, no ROS2 deps) -│ ├── test_session_manager.cpp -│ ├── test_message_buffer.cpp -│ ├── test_message_serializer.cpp -│ ├── test_websocket_middleware.cpp -│ ├── test_protocol_constants.cpp -│ ├── test_topic_discovery.cpp (ROS2-specific) -│ ├── test_schema_extractor.cpp (ROS2-specific) -│ ├── test_generic_subscription_manager.cpp (ROS2-specific) -│ └── test_message_stripper.cpp (ROS2-specific) -├── 3rdparty/ (nlohmann, tl, ixwebsocket) -├── DATA/ (test data: sample.mcap, reference schemas) -├── cmake/FindZSTD.cmake -├── CMakeLists.txt -├── package.xml -└── CLAUDE.md (this file) -``` - ## CMake Targets | Target | Type | Description | @@ -205,8 +157,10 @@ pj_bridge/ | `pj_bridge_app` | STATIC | Core library (no ROS2/DDS deps) | | `pj_bridge_ros2_lib` | STATIC | ROS2 adapter library | | `pj_bridge_ros2` | EXECUTABLE | ROS2 entry point | -| `pj_bridge_rti_lib` | STATIC | RTI adapter library (if `ENABLE_RTI=ON`) | -| `pj_bridge_rti` | EXECUTABLE | RTI entry point | +| `pj_bridge_rti_lib` | STATIC | RTI adapter library (disabled) | +| `pj_bridge_rti` | EXECUTABLE | RTI entry point (disabled) | +| `pj_bridge_fastdds_lib` | STATIC | FastDDS adapter library (if `ENABLE_FASTDDS=ON`) | +| `pj_bridge_fastdds` | EXECUTABLE | FastDDS entry point | | `pj_bridge_tests` | EXECUTABLE | All unit tests | ## Dependencies @@ -223,10 +177,15 @@ pj_bridge/ - `sensor_msgs`, `nav_msgs` (for message stripper) - `ament_cmake_gtest` (test only) -### RTI Backend +### RTI Backend (disabled) - RTI Connext DDS (`RTIConnextDDS::cpp2_api`) - CLI11 (FetchContent, for CLI parsing) +### FastDDS Backend +- eProsima Fast DDS 3.4.0 (Conan: `fast-dds/3.4.0`) +- eProsima Fast CDR 2.x (transitive Conan dependency) +- CLI11 (FetchContent, for CLI parsing) + ## Testing ### Test Count: 154 unit tests across 10 test suites @@ -272,6 +231,11 @@ strip_large_messages: true # Strip Image/PointCloud2/etc data fields pj_bridge_rti --domains 0 1 --port 8080 --publish-rate 50 --session-timeout 10 ``` +### FastDDS (via CLI flags): +```bash +pj_bridge_fastdds --domains 0 1 --port 8080 --publish-rate 50 --session-timeout 10 +``` + ## Important Design Decisions 1. **Backend-agnostic core via interfaces**: `TopicSourceInterface` and `SubscriptionManagerInterface` allow the same `BridgeServer` to work with ROS2 or RTI DDS. @@ -291,4 +255,4 @@ pj_bridge_rti --domains 0 1 --port 8080 --publish-rate 50 --session-timeout 10 **Last Updated**: 2026-02-26 **Project Phase**: Unified multi-backend architecture **Test Status**: 154 unit tests passing (all sanitizers clean) -**Executables**: `pj_bridge_ros2` (ROS2), `pj_bridge_rti` (RTI DDS) +**Executables**: `pj_bridge_ros2` (ROS2), `pj_bridge_rti` (RTI DDS, disabled), `pj_bridge_fastdds` (FastDDS) diff --git a/CMakeLists.txt b/CMakeLists.txt index ebbfd4b..bc7e913 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -96,6 +96,7 @@ add_library(pj_bridge_app STATIC app/src/session_manager.cpp app/src/message_serializer.cpp app/src/bridge_server.cpp + app/src/standalone_event_loop.cpp ) target_include_directories(pj_bridge_app PUBLIC @@ -163,45 +164,52 @@ if(ament_cmake_FOUND) endif() # ============================================================================ -# pj_bridge_rti — RTI DDS backend (only if RTIConnextDDS found) +# pj_bridge_rti — RTI DDS backend (disabled — replaced by FastDDS backend) # ============================================================================ -if(ENABLE_RTI AND RTIConnextDDS_FOUND) - # CLI11 for command-line parsing - FetchContent_Declare( - cli11 - URL https://github.com/CLIUtils/CLI11/archive/refs/tags/v2.4.2.tar.gz - ) - set(CLI11_PRECOMPILED OFF CACHE BOOL "" FORCE) - FetchContent_MakeAvailable(cli11) - - add_library(pj_bridge_rti_lib STATIC - rti/src/dds_topic_discovery.cpp - rti/src/dds_subscription_manager.cpp - rti/src/rti_topic_source.cpp - rti/src/rti_subscription_manager.cpp - ) +# if(ENABLE_RTI AND RTIConnextDDS_FOUND) +# find_package(CLI11 REQUIRED) +# +# add_library(pj_bridge_rti_lib STATIC +# rti/src/dds_topic_discovery.cpp +# rti/src/dds_subscription_manager.cpp) +# target_include_directories(pj_bridge_rti_lib PUBLIC +# ${CMAKE_CURRENT_SOURCE_DIR}/rti/include) +# target_link_libraries(pj_bridge_rti_lib PUBLIC +# pj_bridge_app RTIConnextDDS::cpp2_api) +# +# add_executable(pj_bridge_rti rti/src/main.cpp) +# target_link_libraries(pj_bridge_rti pj_bridge_rti_lib CLI11::CLI11) +# install(TARGETS pj_bridge_rti DESTINATION lib/${PROJECT_NAME}) +# endif() - target_include_directories(pj_bridge_rti_lib PUBLIC - ${CMAKE_CURRENT_SOURCE_DIR}/rti/include - ) +# ============================================================================ +# pj_bridge_fastdds — eProsima Fast DDS backend (Conan-managed) +# ============================================================================ +option(ENABLE_FASTDDS "Build eProsima FastDDS backend" OFF) - target_link_libraries(pj_bridge_rti_lib PUBLIC - pj_bridge_app - RTIConnextDDS::cpp2_api - ) +if(ENABLE_FASTDDS) + find_package(fastcdr REQUIRED) + find_package(fastdds REQUIRED) + find_package(CLI11 REQUIRED) - add_executable(pj_bridge_rti - rti/src/main.cpp + add_library(pj_bridge_fastdds_lib STATIC + fastdds/src/fastdds_topic_source.cpp + fastdds/src/fastdds_subscription_manager.cpp ) - target_link_libraries(pj_bridge_rti - pj_bridge_rti_lib - CLI11::CLI11 + target_include_directories(pj_bridge_fastdds_lib PUBLIC + ${CMAKE_CURRENT_SOURCE_DIR}/fastdds/include ) - install(TARGETS pj_bridge_rti - DESTINATION lib/${PROJECT_NAME} + target_link_libraries(pj_bridge_fastdds_lib PUBLIC + pj_bridge_app + fastdds + fastcdr ) + + add_executable(pj_bridge_fastdds fastdds/src/main.cpp) + target_link_libraries(pj_bridge_fastdds pj_bridge_fastdds_lib CLI11::CLI11) + install(TARGETS pj_bridge_fastdds DESTINATION lib/${PROJECT_NAME}) endif() # ============================================================================ diff --git a/app/include/pj_bridge/standalone_event_loop.hpp b/app/include/pj_bridge/standalone_event_loop.hpp new file mode 100644 index 0000000..bd119fb --- /dev/null +++ b/app/include/pj_bridge/standalone_event_loop.hpp @@ -0,0 +1,49 @@ +/* + * Copyright (C) 2026 Davide Faconti + * + * This file is part of pj_bridge. + * + * pj_bridge is free software: you can redistribute it and/or modify + * it under the terms of the GNU Affero General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * pj_bridge is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License + * along with pj_bridge. If not, see . + */ + +#pragma once + +#include + +#include "pj_bridge/bridge_server.hpp" +#include "pj_bridge/middleware/websocket_middleware.hpp" +#include "pj_bridge/subscription_manager_interface.hpp" + +namespace pj_bridge { + +struct StandaloneConfig { + int port; + double publish_rate; + double session_timeout; + bool stats_enabled; +}; + +/// Runs the standalone event loop until SIGINT/SIGTERM. +/// +/// Handles: +/// - process_requests() every iteration +/// - publish_aggregated_messages() at publish_rate +/// - check_session_timeouts() every 1s +/// - optional stats printing every 5s +/// - ordered shutdown: clear callback -> unsubscribe_all -> middleware shutdown +void run_standalone_event_loop( + BridgeServer& server, std::shared_ptr sub_manager, + std::shared_ptr middleware, const StandaloneConfig& config); + +} // namespace pj_bridge diff --git a/app/src/standalone_event_loop.cpp b/app/src/standalone_event_loop.cpp new file mode 100644 index 0000000..9c53aef --- /dev/null +++ b/app/src/standalone_event_loop.cpp @@ -0,0 +1,116 @@ +/* + * Copyright (C) 2026 Davide Faconti + * + * This file is part of pj_bridge. + * + * pj_bridge is free software: you can redistribute it and/or modify + * it under the terms of the GNU Affero General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * pj_bridge is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License + * along with pj_bridge. If not, see . + */ + +#include "pj_bridge/standalone_event_loop.hpp" + +#include + +#include +#include +#include +#include + +namespace pj_bridge { + +namespace { +std::atomic g_shutdown{false}; + +void signal_handler(int /*signum*/) { + g_shutdown.store(true); +} +} // namespace + +void run_standalone_event_loop( + BridgeServer& server, std::shared_ptr sub_manager, + std::shared_ptr middleware, const StandaloneConfig& config) { + std::signal(SIGINT, signal_handler); + std::signal(SIGTERM, signal_handler); + + if (!server.initialize()) { + spdlog::error("Failed to initialize bridge server"); + return; + } + + spdlog::info("Bridge server initialized, entering event loop"); + + using clock = std::chrono::steady_clock; + auto publish_interval = + std::chrono::duration_cast(std::chrono::duration(1.0 / config.publish_rate)); + auto last_publish = clock::now(); + auto last_timeout_check = clock::now(); + auto last_stats_print = clock::now(); + uint64_t prev_bytes_published = 0; + + while (!g_shutdown.load()) { + server.process_requests(); + + auto now = clock::now(); + + if (now - last_publish >= publish_interval) { + server.publish_aggregated_messages(); + last_publish += publish_interval; + } + + if (now - last_timeout_check >= std::chrono::seconds(1)) { + server.check_session_timeouts(); + last_timeout_check = now; + } + + if (config.stats_enabled && now - last_stats_print >= std::chrono::seconds(5)) { + auto elapsed = std::chrono::duration(now - last_stats_print).count(); + auto snapshot = server.snapshot_and_reset_stats(); + + std::string stats_msg = "=== Stats ===\n DDS receive rates:"; + if (snapshot.topic_receive_counts.empty()) { + stats_msg += "\n (no subscriptions)"; + } else { + for (const auto& [topic, count] : snapshot.topic_receive_counts) { + stats_msg += fmt::format("\n {}: {:.1f} msg/s", topic, static_cast(count) / elapsed); + } + } + + stats_msg += + fmt::format("\n Publish frequency: {:.1f} Hz", static_cast(snapshot.publish_cycles) / elapsed); + uint64_t delta_bytes = snapshot.total_bytes_published - prev_bytes_published; + prev_bytes_published = snapshot.total_bytes_published; + stats_msg += fmt::format("\n Sent: {:.2f} MB/s", static_cast(delta_bytes) / elapsed / (1024.0 * 1024.0)); + + spdlog::info(stats_msg); + last_stats_print = now; + } + + std::this_thread::sleep_for(std::chrono::milliseconds(1)); + } + + spdlog::info("Shutting down..."); + + // Explicit ordered shutdown to avoid use-after-free: + // 1. Clear DDS message callback + spdlog::debug("[shutdown] Clearing DDS message callback..."); + sub_manager->set_message_callback(nullptr); + // 2. Unsubscribe all DDS readers + spdlog::debug("[shutdown] Unsubscribing all DDS readers..."); + sub_manager->unsubscribe_all(); + // 3. Shutdown WebSocket server + spdlog::debug("[shutdown] Shutting down WebSocket middleware..."); + middleware->shutdown(); + spdlog::debug("[shutdown] Cleanup complete, exiting scope (destructors will run)..."); +} + +} // namespace pj_bridge diff --git a/conanfile.txt b/conanfile.txt new file mode 100644 index 0000000..92df9f1 --- /dev/null +++ b/conanfile.txt @@ -0,0 +1,7 @@ +[requires] +fast-dds/3.4.0 +cli11/2.6.0 + +[generators] +CMakeDeps +CMakeToolchain diff --git a/docs/ARCHITECTURE.md b/docs/ARCHITECTURE.md index 2e94168..af1a440 100644 --- a/docs/ARCHITECTURE.md +++ b/docs/ARCHITECTURE.md @@ -2,10 +2,11 @@ ## Overview -pj_bridge is a multi-backend bridge server that forwards middleware topic data over WebSocket to PlotJuggler clients. A backend-agnostic core library (`app/`) is shared by two backend-specific adapters: +pj_bridge is a multi-backend bridge server that forwards middleware topic data over WebSocket to PlotJuggler clients. A backend-agnostic core library (`app/`) is shared by three backend-specific adapters: - **ROS2 backend** (`ros2/`) — uses `rclcpp`, schema from `.msg` files -- **RTI backend** (`rti/`) — uses RTI Connext DDS, schema from OMG IDL +- **RTI backend** (`rti/`) — uses RTI Connext DDS, schema from OMG IDL (build disabled, code preserved) +- **FastDDS backend** (`fastdds/`) — uses eProsima Fast DDS 3.4 (via Conan), schema from OMG IDL ``` ┌──────────────────────────────────────────────────┐ @@ -15,13 +16,14 @@ pj_bridge is a multi-backend bridge server that forwards middleware topic data o │ ← MiddlewareInterface │ │ + MessageBuffer, SessionManager, Serializer │ └────────────────────┬─────────────────────────────┘ - ┌───────────┴───────────┐ - ┌────┴────┐ ┌─────┴─────┐ - │ ros2/ │ │ rti/ │ - │ Ros2TopicSource │ RtiTopicSource - │ Ros2SubscriptionMgr │ RtiSubscriptionMgr - │ (rclcpp) │ (RTI Connext) - └─────────┘ └───────────┘ + ┌───────────┼───────────────┐ + ┌────┴────┐ ┌────┴─────┐ ┌─────┴──────┐ + │ ros2/ │ │ rti/ │ │ fastdds/ │ + │ Ros2 │ │ Rti │ │ FastDds │ + │ Topic │ │ Topic │ │ Topic │ + │ Source │ │ Source │ │ Source │ + │ (rclcpp)│ │(Connext) │ │(Fast DDS) │ + └─────────┘ └──────────┘ └────────────┘ ``` ## Communication Pattern @@ -39,13 +41,15 @@ Three interfaces decouple the core from any specific middleware: Discovers available topics and retrieves their schemas. Implementations: - `Ros2TopicSource`: wraps `TopicDiscovery` (rclcpp enumeration) + `SchemaExtractor` (.msg file parsing). Schema encoding: `"ros2msg"`. -- `RtiTopicSource`: wraps `DdsTopicDiscovery` (DDS participant discovery). Schema encoding: `"omgidl"`. +- `RtiTopicSource`: wraps `DdsTopicDiscovery` (RTI participant discovery). Schema encoding: `"omgidl"`. +- `FastDdsTopicSource`: directly implements the interface (flattened design). Discovers topics via `on_data_writer_discovery()`, resolves `DynamicType` from TypeObject registry, generates IDL via `idl_serialize()`. Schema encoding: `"omgidl"`. ### SubscriptionManagerInterface Manages ref-counted middleware subscriptions. A single global `MessageCallback` delivers all incoming messages as `shared_ptr>` to the `MessageBuffer`. Implementations: - `Ros2SubscriptionManager`: wraps `GenericSubscriptionManager`. Converts `rclcpp::SerializedMessage` to `shared_ptr>` via memcpy. Optionally strips large message fields (Image, PointCloud2) via `MessageStripper`. - `RtiSubscriptionManager`: wraps `DdsSubscriptionManager`. DDS natively produces `shared_ptr>`, no conversion needed. +- `FastDdsSubscriptionManager`: directly implements the interface (flattened design). Creates `DataReader`s with `DynamicPubSubType`, deserializes into `DynamicData` and re-serializes to extract CDR bytes. ### MiddlewareInterface @@ -116,6 +120,8 @@ Spun via `SingleThreadedExecutor::spin_some(100ms)`. - Every 1 s → `check_session_timeouts()` - Every 5 s (optional) → stats snapshot +**FastDDS** (`fastdds/src/main.cpp`): Same `std::chrono` loop pattern as RTI. + ## ROS2-Specific Components - **TopicDiscovery**: Discovers topics via `rclcpp::Node::get_topic_names_and_types()`, filtering system topics @@ -128,6 +134,15 @@ Spun via `SingleThreadedExecutor::spin_some(100ms)`. - **DdsTopicDiscovery**: Discovers topics via DDS participant discovery across configured domain IDs - **DdsSubscriptionManager**: Manages DDS DataReaders, natively produces `shared_ptr>` +## FastDDS-Specific Components + +Unlike the RTI backend's 4-class two-level design (discovery + subscription manager + adapters), the FastDDS backend uses a flattened 2-class design that directly implements the abstract interfaces: + +- **FastDdsTopicSource**: Manages `DomainParticipant`s, discovers topics via `DomainParticipantListener::on_data_writer_discovery()`, resolves `DynamicType` from `TypeObjectRegistry`, generates IDL schema via `idl_serialize()`. Also provides `get_dynamic_type()` / `get_participant()` / `get_domain_id()` for use by the subscription manager. +- **FastDdsSubscriptionManager**: Creates `DataReader`s with `DynamicPubSubType`, ref-counted subscriptions. Extracts CDR bytes by deserializing into `DynamicData` and re-serializing via `DynamicPubSubType::serialize()`. + +FastDDS dependencies are managed via Conan (`fast-dds/3.4.0`). The backend is built standalone (not through colcon/ament). + ## Design Decisions ### Backend-Agnostic Core via Interfaces diff --git a/fastdds/include/pj_bridge_fastdds/fastdds_subscription_manager.hpp b/fastdds/include/pj_bridge_fastdds/fastdds_subscription_manager.hpp new file mode 100644 index 0000000..3220772 --- /dev/null +++ b/fastdds/include/pj_bridge_fastdds/fastdds_subscription_manager.hpp @@ -0,0 +1,80 @@ +/* + * Copyright (C) 2026 Davide Faconti + * + * This file is part of pj_bridge. + * + * pj_bridge is free software: you can redistribute it and/or modify + * it under the terms of the GNU Affero General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * pj_bridge is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License + * along with pj_bridge. If not, see . + */ + +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "pj_bridge/subscription_manager_interface.hpp" +#include "pj_bridge_fastdds/fastdds_topic_source.hpp" + +namespace pj_bridge { + +// SubscriptionManagerInterface implementation for eProsima Fast DDS. +// +// Creates DataReaders with DynamicPubSubType for each subscribed topic. +// Incoming samples are deserialized into DynamicData and re-serialized to +// extract raw CDR bytes, which are passed to the message callback. +// Subscriptions are reference-counted. +class FastDdsSubscriptionManager : public SubscriptionManagerInterface { + public: + explicit FastDdsSubscriptionManager(FastDdsTopicSource& topic_source); + ~FastDdsSubscriptionManager() override; + + FastDdsSubscriptionManager(const FastDdsSubscriptionManager&) = delete; + FastDdsSubscriptionManager& operator=(const FastDdsSubscriptionManager&) = delete; + + void set_message_callback(MessageCallback callback) override; + bool subscribe(const std::string& topic_name, const std::string& topic_type) override; + bool unsubscribe(const std::string& topic_name) override; + void unsubscribe_all() override; + + private: + class InternalReaderListener; + + struct SubscriptionInfo { + eprosima::fastdds::dds::DomainParticipant* participant; + eprosima::fastdds::dds::Subscriber* subscriber; + eprosima::fastdds::dds::Topic* topic; + eprosima::fastdds::dds::DataReader* reader; + std::shared_ptr listener; + size_t reference_count; + }; + + void close_subscription(const std::string& topic_name, SubscriptionInfo& info); + + FastDdsTopicSource& topic_source_; + MessageCallback callback_; + mutable std::mutex mutex_; + std::unordered_map subscriptions_; +}; + +} // namespace pj_bridge diff --git a/fastdds/include/pj_bridge_fastdds/fastdds_topic_source.hpp b/fastdds/include/pj_bridge_fastdds/fastdds_topic_source.hpp new file mode 100644 index 0000000..80ce59b --- /dev/null +++ b/fastdds/include/pj_bridge_fastdds/fastdds_topic_source.hpp @@ -0,0 +1,79 @@ +/* + * Copyright (C) 2026 Davide Faconti + * + * This file is part of pj_bridge. + * + * pj_bridge is free software: you can redistribute it and/or modify + * it under the terms of the GNU Affero General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * pj_bridge is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License + * along with pj_bridge. If not, see . + */ + +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "pj_bridge/topic_source_interface.hpp" + +namespace pj_bridge { + +// Thread-safe topic discovery + schema provider for eProsima Fast DDS. +// +// Creates one DomainParticipant per domain ID, attaches a +// DomainParticipantListener to discover remote DataWriters, resolves their +// DynamicType from the TypeObject registry, and caches the OMG IDL schema. +class FastDdsTopicSource : public TopicSourceInterface { + public: + explicit FastDdsTopicSource(const std::vector& domain_ids); + ~FastDdsTopicSource() override; + + FastDdsTopicSource(const FastDdsTopicSource&) = delete; + FastDdsTopicSource& operator=(const FastDdsTopicSource&) = delete; + + // TopicSourceInterface + std::vector get_topics() override; + std::string get_schema(const std::string& topic_name) override; + std::string schema_encoding() const override; + + // Used by FastDdsSubscriptionManager + eprosima::fastdds::dds::DynamicType::_ref_type get_dynamic_type(const std::string& topic_name) const; + eprosima::fastdds::dds::DomainParticipant* get_participant(int32_t domain_id) const; + std::optional get_domain_id(const std::string& topic_name) const; + + private: + class ParticipantListener; + + struct DiscoveredTopic { + eprosima::fastdds::dds::DynamicType::_ref_type dynamic_type; + std::string schema_idl; + int32_t domain_id; + }; + + void on_topic_discovered( + const std::string& topic_name, eprosima::fastdds::dds::DynamicType::_ref_type dynamic_type, + const std::string& schema_idl, int32_t domain_id); + + mutable std::shared_mutex mutex_; + std::unordered_map topics_; + std::unordered_map participants_; + std::vector> listeners_; +}; + +} // namespace pj_bridge diff --git a/fastdds/src/fastdds_subscription_manager.cpp b/fastdds/src/fastdds_subscription_manager.cpp new file mode 100644 index 0000000..5205aa6 --- /dev/null +++ b/fastdds/src/fastdds_subscription_manager.cpp @@ -0,0 +1,243 @@ +/* + * Copyright (C) 2026 Davide Faconti + * + * This file is part of pj_bridge. + * + * pj_bridge is free software: you can redistribute it and/or modify + * it under the terms of the GNU Affero General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * pj_bridge is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License + * along with pj_bridge. If not, see . + */ + +#include "pj_bridge_fastdds/fastdds_subscription_manager.hpp" + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace eprosima::fastdds::dds; +using eprosima::fastdds::rtps::SerializedPayload_t; + +namespace pj_bridge { + +// --------------------------------------------------------------------------- +// InternalReaderListener +// --------------------------------------------------------------------------- +class FastDdsSubscriptionManager::InternalReaderListener : public DataReaderListener { + public: + InternalReaderListener( + const std::string& topic_name, FastDdsSubscriptionManager& manager, DynamicType::_ref_type dynamic_type) + : topic_name_(topic_name), manager_(manager), dynamic_type_(dynamic_type), pub_sub_type_(dynamic_type) {} + + void on_data_available(DataReader* reader) override { + try { + MessageCallback cb; + { + std::lock_guard lock(manager_.mutex_); + cb = manager_.callback_; + } + + if (!cb) { + return; + } + + DynamicData::_ref_type data = DynamicDataFactory::get_instance()->create_data(dynamic_type_); + SampleInfo info; + + while (RETCODE_OK == reader->take_next_sample(&data, &info)) { + if (!info.valid_data) { + continue; + } + + // Re-serialize DynamicData to get raw CDR bytes + uint32_t size = + pub_sub_type_.calculate_serialized_size(&data, DataRepresentationId_t::XCDR2_DATA_REPRESENTATION); + SerializedPayload_t payload(size); + if (!pub_sub_type_.serialize(&data, payload, DataRepresentationId_t::XCDR2_DATA_REPRESENTATION)) { + spdlog::warn("Failed to serialize DynamicData for '{}'", topic_name_); + continue; + } + + auto cdr_data = std::make_shared>(payload.length); + std::memcpy(cdr_data->data(), payload.data, payload.length); + + uint64_t timestamp_ns = + static_cast(info.source_timestamp.seconds()) * 1'000'000'000ULL + info.source_timestamp.nanosec(); + + cb(topic_name_, std::move(cdr_data), timestamp_ns); + } + } catch (const std::exception& e) { + spdlog::error("Exception in DataReaderListener for '{}': {}", topic_name_, e.what()); + } + } + + private: + std::string topic_name_; + FastDdsSubscriptionManager& manager_; + DynamicType::_ref_type dynamic_type_; + DynamicPubSubType pub_sub_type_; +}; + +// --------------------------------------------------------------------------- +// FastDdsSubscriptionManager +// --------------------------------------------------------------------------- +FastDdsSubscriptionManager::FastDdsSubscriptionManager(FastDdsTopicSource& topic_source) + : topic_source_(topic_source) {} + +FastDdsSubscriptionManager::~FastDdsSubscriptionManager() { + unsubscribe_all(); +} + +void FastDdsSubscriptionManager::set_message_callback(MessageCallback callback) { + std::lock_guard lock(mutex_); + callback_ = std::move(callback); +} + +bool FastDdsSubscriptionManager::subscribe(const std::string& topic_name, const std::string& /*topic_type*/) { + std::lock_guard lock(mutex_); + + auto it = subscriptions_.find(topic_name); + if (it != subscriptions_.end()) { + it->second.reference_count++; + spdlog::debug("Incremented ref count for '{}' to {}", topic_name, it->second.reference_count); + return true; + } + + auto dynamic_type = topic_source_.get_dynamic_type(topic_name); + if (!dynamic_type) { + spdlog::error("Topic '{}' not found in discovery", topic_name); + return false; + } + + auto domain_id_opt = topic_source_.get_domain_id(topic_name); + if (!domain_id_opt) { + spdlog::error("No domain ID for topic '{}'", topic_name); + return false; + } + + auto* participant = topic_source_.get_participant(*domain_id_opt); + if (!participant) { + spdlog::error("No participant for domain {}", *domain_id_opt); + return false; + } + + try { + // Register the DynamicType with the participant + TypeSupport type_support(new DynamicPubSubType(dynamic_type)); + type_support.register_type(participant); + + // Create Topic + Topic* topic = participant->create_topic(topic_name, type_support.get_type_name(), TOPIC_QOS_DEFAULT); + if (!topic) { + spdlog::error("Failed to create topic for '{}'", topic_name); + return false; + } + + // Create Subscriber + Subscriber* subscriber = participant->create_subscriber(SUBSCRIBER_QOS_DEFAULT); + if (!subscriber) { + participant->delete_topic(topic); + spdlog::error("Failed to create subscriber for '{}'", topic_name); + return false; + } + + // Create DataReader with listener + auto listener = std::make_shared(topic_name, *this, dynamic_type); + DataReader* reader = subscriber->create_datareader(topic, DATAREADER_QOS_DEFAULT, listener.get()); + if (!reader) { + participant->delete_subscriber(subscriber); + participant->delete_topic(topic); + spdlog::error("Failed to create datareader for '{}'", topic_name); + return false; + } + + subscriptions_.emplace(topic_name, SubscriptionInfo{participant, subscriber, topic, reader, listener, 1}); + + spdlog::info( + "Subscribed to '{}' (type: '{}', domain: {})", topic_name, type_support.get_type_name(), *domain_id_opt); + return true; + } catch (const std::exception& e) { + spdlog::error("Failed to subscribe to '{}': {}", topic_name, e.what()); + return false; + } +} + +bool FastDdsSubscriptionManager::unsubscribe(const std::string& topic_name) { + std::optional to_close; + + { + std::lock_guard lock(mutex_); + + auto it = subscriptions_.find(topic_name); + if (it == subscriptions_.end()) { + return false; + } + + if (it->second.reference_count == 0) { + return false; + } + + it->second.reference_count--; + spdlog::debug("Decremented ref count for '{}' to {}", topic_name, it->second.reference_count); + + if (it->second.reference_count == 0) { + to_close.emplace(std::move(it->second)); + subscriptions_.erase(it); + } + } + + if (to_close) { + close_subscription(topic_name, *to_close); + spdlog::info("Unsubscribed from '{}' (reader destroyed)", topic_name); + } + + return true; +} + +void FastDdsSubscriptionManager::unsubscribe_all() { + std::unordered_map to_close; + + { + std::lock_guard lock(mutex_); + to_close.swap(subscriptions_); + } + + spdlog::debug("[shutdown] unsubscribe_all: {} subscriptions to close", to_close.size()); + for (auto& [name, info] : to_close) { + spdlog::debug("[shutdown] Closing reader for '{}'...", name); + close_subscription(name, info); + spdlog::debug("[shutdown] Closed '{}'", name); + } + spdlog::debug("[shutdown] unsubscribe_all complete"); +} + +void FastDdsSubscriptionManager::close_subscription(const std::string& topic_name, SubscriptionInfo& info) { + try { + info.reader->set_listener(nullptr); + info.subscriber->delete_datareader(info.reader); + info.participant->delete_subscriber(info.subscriber); + info.participant->delete_topic(info.topic); + } catch (const std::exception& e) { + spdlog::warn("Error cleaning up reader for '{}': {}", topic_name, e.what()); + } catch (...) { + spdlog::warn("Unknown error cleaning up reader for '{}'", topic_name); + } +} + +} // namespace pj_bridge diff --git a/fastdds/src/fastdds_topic_source.cpp b/fastdds/src/fastdds_topic_source.cpp new file mode 100644 index 0000000..e05ab98 --- /dev/null +++ b/fastdds/src/fastdds_topic_source.cpp @@ -0,0 +1,242 @@ +/* + * Copyright (C) 2026 Davide Faconti + * + * This file is part of pj_bridge. + * + * pj_bridge is free software: you can redistribute it and/or modify + * it under the terms of the GNU Affero General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * pj_bridge is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License + * along with pj_bridge. If not, see . + */ + +#include "pj_bridge_fastdds/fastdds_topic_source.hpp" + +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +#include "pj_bridge/protocol_constants.hpp" + +using namespace eprosima::fastdds::dds; +using eprosima::fastdds::rtps::WriterDiscoveryStatus; + +namespace pj_bridge { + +// --------------------------------------------------------------------------- +// ParticipantListener — handles on_data_writer_discovery callbacks +// --------------------------------------------------------------------------- +class FastDdsTopicSource::ParticipantListener : public DomainParticipantListener { + public: + ParticipantListener(FastDdsTopicSource& source, int32_t domain_id) : source_(source), domain_id_(domain_id) {} + + void on_data_writer_discovery( + DomainParticipant* /*participant*/, WriterDiscoveryStatus reason, const PublicationBuiltinTopicData& info, + bool& should_be_ignored) override { + should_be_ignored = false; + + if (reason != WriterDiscoveryStatus::DISCOVERED_WRITER) { + return; + } + + try { + std::string topic_name(info.topic_name); + + // Skip if already cached (fast check before heavy TypeObject work) + { + std::shared_lock lock(source_.mutex_); + if (source_.topics_.count(topic_name) > 0) { + return; + } + } + + // Get TypeObject from the global registry via the type identifier in the + // discovery info's TypeInformation + xtypes::TypeObject type_object; + auto& registry = DomainParticipantFactory::get_instance()->type_object_registry(); + const auto& type_id = info.type_information.type_information.complete().typeid_with_size().type_id(); + + if (RETCODE_OK != registry.get_type_object(type_id, type_object)) { + spdlog::debug("Topic '{}' discovered but TypeObject not yet in registry (domain {})", topic_name, domain_id_); + return; + } + + // Build DynamicType + auto builder = DynamicTypeBuilderFactory::get_instance()->create_type_w_type_object(type_object); + if (!builder) { + spdlog::warn("Failed to create DynamicTypeBuilder for '{}' (domain {})", topic_name, domain_id_); + return; + } + DynamicType::_ref_type dynamic_type = builder->build(); + if (!dynamic_type) { + spdlog::warn("Failed to build DynamicType for '{}' (domain {})", topic_name, domain_id_); + return; + } + + // Only accept struct types (like RTI backend) + if (dynamic_type->get_kind() != TK_STRUCTURE) { + spdlog::debug( + "Topic '{}' has non-struct type '{}', skipping", topic_name, std::string(dynamic_type->get_name())); + return; + } + + // Generate OMG IDL schema + std::ostringstream oss; + if (RETCODE_OK != idl_serialize(dynamic_type, oss)) { + spdlog::warn("Failed to serialize IDL for '{}' (domain {})", topic_name, domain_id_); + return; + } + + spdlog::info( + "Discovered topic '{}' (type: '{}') in domain {}", topic_name, std::string(dynamic_type->get_name()), + domain_id_); + + source_.on_topic_discovered(topic_name, dynamic_type, oss.str(), domain_id_); + + } catch (const std::exception& e) { + spdlog::error("Exception in ParticipantListener on domain {}: {}", domain_id_, e.what()); + } + } + + private: + FastDdsTopicSource& source_; + int32_t domain_id_; +}; + +// --------------------------------------------------------------------------- +// FastDdsTopicSource +// --------------------------------------------------------------------------- +FastDdsTopicSource::FastDdsTopicSource(const std::vector& domain_ids) { + auto* factory = DomainParticipantFactory::get_instance(); + + for (int32_t domain_id : domain_ids) { + spdlog::info("Creating DomainParticipant for domain {}", domain_id); + + DomainParticipantQos pqos; + pqos.name("pj_bridge_fastdds_" + std::to_string(domain_id)); + // TypeLookup service is enabled by default in Fast DDS 3.4 + + auto listener = std::make_shared(*this, domain_id); + listeners_.push_back(listener); + + DomainParticipant* participant = factory->create_participant(domain_id, pqos, listener.get(), StatusMask::none()); + + if (!participant) { + spdlog::error("Failed to create DomainParticipant for domain {}", domain_id); + continue; + } + + participants_.emplace(domain_id, participant); + spdlog::info("Topic discovery active on domain {}", domain_id); + } +} + +FastDdsTopicSource::~FastDdsTopicSource() { + auto* factory = DomainParticipantFactory::get_instance(); + + for (auto& [domain_id, participant] : participants_) { + try { + spdlog::debug("[shutdown] Deleting DomainParticipant for domain {}...", domain_id); + // Remove listener before deletion to prevent callbacks during teardown + participant->set_listener(nullptr); + factory->delete_participant(participant); + spdlog::debug("[shutdown] DomainParticipant for domain {} deleted", domain_id); + } catch (const std::exception& e) { + spdlog::warn("Error deleting participant for domain {}: {}", domain_id, e.what()); + } catch (...) { + spdlog::warn("Unknown error deleting participant for domain {}", domain_id); + } + } + listeners_.clear(); + spdlog::debug("[shutdown] ~FastDdsTopicSource complete"); +} + +void FastDdsTopicSource::on_topic_discovered( + const std::string& topic_name, DynamicType::_ref_type dynamic_type, const std::string& schema_idl, + int32_t domain_id) { + std::unique_lock lock(mutex_); + + if (topics_.find(topic_name) != topics_.end()) { + return; + } + + topics_.emplace(topic_name, DiscoveredTopic{dynamic_type, schema_idl, domain_id}); + spdlog::info( + "Cached topic '{}' (type: '{}', domain: {})", topic_name, std::string(dynamic_type->get_name()), domain_id); +} + +std::vector FastDdsTopicSource::get_topics() { + std::shared_lock lock(mutex_); + + std::vector result; + result.reserve(topics_.size()); + + for (const auto& [name, topic] : topics_) { + result.push_back({name, std::string(topic.dynamic_type->get_name())}); + } + + return result; +} + +std::string FastDdsTopicSource::get_schema(const std::string& topic_name) { + std::shared_lock lock(mutex_); + + auto it = topics_.find(topic_name); + if (it == topics_.end()) { + return ""; + } + + return it->second.schema_idl; +} + +std::string FastDdsTopicSource::schema_encoding() const { + return kSchemaEncodingOmgIdl; +} + +DynamicType::_ref_type FastDdsTopicSource::get_dynamic_type(const std::string& topic_name) const { + std::shared_lock lock(mutex_); + + auto it = topics_.find(topic_name); + if (it == topics_.end()) { + return nullptr; + } + + return it->second.dynamic_type; +} + +DomainParticipant* FastDdsTopicSource::get_participant(int32_t domain_id) const { + std::shared_lock lock(mutex_); + + auto it = participants_.find(domain_id); + if (it == participants_.end()) { + return nullptr; + } + return it->second; +} + +std::optional FastDdsTopicSource::get_domain_id(const std::string& topic_name) const { + std::shared_lock lock(mutex_); + + auto it = topics_.find(topic_name); + if (it == topics_.end()) { + return std::nullopt; + } + + return it->second.domain_id; +} + +} // namespace pj_bridge diff --git a/fastdds/src/main.cpp b/fastdds/src/main.cpp new file mode 100644 index 0000000..08aa168 --- /dev/null +++ b/fastdds/src/main.cpp @@ -0,0 +1,73 @@ +/* + * Copyright (C) 2026 Davide Faconti + * + * This file is part of pj_bridge. + * + * pj_bridge is free software: you can redistribute it and/or modify + * it under the terms of the GNU Affero General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * pj_bridge is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License + * along with pj_bridge. If not, see . + */ + +#include + +#include +#include +#include + +#include "pj_bridge/middleware/websocket_middleware.hpp" +#include "pj_bridge/standalone_event_loop.hpp" +#include "pj_bridge_fastdds/fastdds_subscription_manager.hpp" +#include "pj_bridge_fastdds/fastdds_topic_source.hpp" + +int main(int argc, char* argv[]) { + CLI::App app{"pj_bridge eProsima FastDDS Backend"}; + + std::vector domain_ids; + int port = 8080; + double publish_rate = 50.0; + double session_timeout = 10.0; + std::string log_level = "info"; + bool stats_enabled = false; + + app.add_option("--domains,-d", domain_ids, "DDS domain IDs")->required()->expected(1, -1); + app.add_option("--port,-p", port, "WebSocket port")->default_val(8080)->check(CLI::Range(1, 65535)); + app.add_option("--publish-rate", publish_rate, "Aggregation publish rate in Hz")->default_val(50.0); + app.add_option("--session-timeout", session_timeout, "Session timeout in seconds")->default_val(10.0); + app.add_option("--log-level", log_level, "Log level (trace, debug, info, warn, error)")->default_val("info"); + app.add_flag("--stats", stats_enabled, "Print statistics every 5 seconds"); + + CLI11_PARSE(app, argc, argv); + + spdlog::set_level(spdlog::level::from_str(log_level)); + + spdlog::info("pj_bridge (FastDDS backend) starting..."); + spdlog::info(" Domains: {}", fmt::join(domain_ids, ", ")); + spdlog::info(" Port: {}", port); + spdlog::info(" Publish rate: {:.1f} Hz", publish_rate); + spdlog::info(" Session timeout: {:.1f} s", session_timeout); + + try { + auto topic_source = std::make_shared(domain_ids); + auto sub_manager = std::make_shared(*topic_source); + auto middleware = std::make_shared(); + + pj_bridge::BridgeServer server(topic_source, sub_manager, middleware, port, session_timeout, publish_rate); + + pj_bridge::run_standalone_event_loop( + server, sub_manager, middleware, {port, publish_rate, session_timeout, stats_enabled}); + } catch (const std::exception& e) { + spdlog::error("Fatal error: {}", e.what()); + return 1; + } + + return 0; +} diff --git a/ros2/include/pj_bridge_ros2/ros2_subscription_manager.hpp b/ros2/include/pj_bridge_ros2/ros2_subscription_manager.hpp index ada94d4..840f8e2 100644 --- a/ros2/include/pj_bridge_ros2/ros2_subscription_manager.hpp +++ b/ros2/include/pj_bridge_ros2/ros2_subscription_manager.hpp @@ -39,6 +39,9 @@ class Ros2SubscriptionManager : public SubscriptionManagerInterface { public: explicit Ros2SubscriptionManager(rclcpp::Node::SharedPtr node, bool strip_large_messages = true); + Ros2SubscriptionManager(const Ros2SubscriptionManager&) = delete; + Ros2SubscriptionManager& operator=(const Ros2SubscriptionManager&) = delete; + void set_message_callback(MessageCallback callback) override; bool subscribe(const std::string& topic_name, const std::string& topic_type) override; bool unsubscribe(const std::string& topic_name) override; diff --git a/ros2/include/pj_bridge_ros2/ros2_topic_source.hpp b/ros2/include/pj_bridge_ros2/ros2_topic_source.hpp index b9f7fbb..39530a0 100644 --- a/ros2/include/pj_bridge_ros2/ros2_topic_source.hpp +++ b/ros2/include/pj_bridge_ros2/ros2_topic_source.hpp @@ -39,6 +39,9 @@ class Ros2TopicSource : public TopicSourceInterface { public: explicit Ros2TopicSource(rclcpp::Node::SharedPtr node); + Ros2TopicSource(const Ros2TopicSource&) = delete; + Ros2TopicSource& operator=(const Ros2TopicSource&) = delete; + std::vector get_topics() override; std::string get_schema(const std::string& topic_name) override; std::string schema_encoding() const override; diff --git a/ros2/src/main.cpp b/ros2/src/main.cpp index 68a68bc..1438850 100644 --- a/ros2/src/main.cpp +++ b/ros2/src/main.cpp @@ -100,6 +100,7 @@ int main(int argc, char** argv) { // Clear the subscription manager callback before server destruction sub_manager->set_message_callback(nullptr); sub_manager->unsubscribe_all(); + middleware->shutdown(); auto [total_messages, total_bytes] = server.get_publish_stats(); RCLCPP_INFO( diff --git a/rti/include/pj_bridge_rti/dds_subscription_manager.hpp b/rti/include/pj_bridge_rti/dds_subscription_manager.hpp index 70ff161..a601a1d 100644 --- a/rti/include/pj_bridge_rti/dds_subscription_manager.hpp +++ b/rti/include/pj_bridge_rti/dds_subscription_manager.hpp @@ -46,8 +46,6 @@ class DdsSubscriptionManager : public SubscriptionManagerInterface { bool unsubscribe(const std::string& topic_name) override; void unsubscribe_all() override; - size_t ref_count(const std::string& topic_name) const; - private: class InternalReaderListener; diff --git a/rti/include/pj_bridge_rti/dds_topic_discovery.hpp b/rti/include/pj_bridge_rti/dds_topic_discovery.hpp index 40f2602..2ef1b5d 100644 --- a/rti/include/pj_bridge_rti/dds_topic_discovery.hpp +++ b/rti/include/pj_bridge_rti/dds_topic_discovery.hpp @@ -48,7 +48,7 @@ class DdsTopicDiscovery : public TopicSourceInterface { // DDS-specific (used by DdsSubscriptionManager) std::optional get_type(const std::string& topic_name) const; std::optional get_domain_id(const std::string& topic_name) const; - dds::domain::DomainParticipant get_participant(int32_t domain_id) const; + std::optional get_participant(int32_t domain_id) const; private: class PublisherListener; diff --git a/rti/src/dds_subscription_manager.cpp b/rti/src/dds_subscription_manager.cpp index 9bacd47..6751c81 100644 --- a/rti/src/dds_subscription_manager.cpp +++ b/rti/src/dds_subscription_manager.cpp @@ -104,8 +104,14 @@ bool DdsSubscriptionManager::subscribe(const std::string& topic_name, const std: auto& struct_type = *struct_type_opt; + auto participant_opt = discovery_.get_participant(*domain_id_opt); + if (!participant_opt) { + spdlog::error("No participant for domain {}", *domain_id_opt); + return false; + } + try { - auto participant = discovery_.get_participant(*domain_id_opt); + auto& participant = *participant_opt; rti::core::xtypes::DynamicDataTypeSerializationProperty ser_prop; ser_prop.skip_deserialization(true); @@ -164,17 +170,6 @@ bool DdsSubscriptionManager::unsubscribe(const std::string& topic_name) { return true; } -size_t DdsSubscriptionManager::ref_count(const std::string& topic_name) const { - std::lock_guard lock(mutex_); - - auto it = subscriptions_.find(topic_name); - if (it != subscriptions_.end()) { - return it->second.reference_count; - } - - return 0; -} - void DdsSubscriptionManager::unsubscribe_all() { std::unordered_map to_close; diff --git a/rti/src/dds_topic_discovery.cpp b/rti/src/dds_topic_discovery.cpp index 428e570..cf9441a 100644 --- a/rti/src/dds_topic_discovery.cpp +++ b/rti/src/dds_topic_discovery.cpp @@ -198,12 +198,12 @@ std::optional DdsTopicDiscovery::get_domain_id(const std::string& topic return it->second.domain_id; } -dds::domain::DomainParticipant DdsTopicDiscovery::get_participant(int32_t domain_id) const { +std::optional DdsTopicDiscovery::get_participant(int32_t domain_id) const { std::shared_lock lock(mutex_); auto it = participants_.find(domain_id); if (it == participants_.end()) { - throw std::runtime_error("No participant for domain " + std::to_string(domain_id)); + return std::nullopt; } return it->second; } diff --git a/rti/src/main.cpp b/rti/src/main.cpp index 7cf078f..1439d0f 100644 --- a/rti/src/main.cpp +++ b/rti/src/main.cpp @@ -20,26 +20,14 @@ #include #include -#include -#include -#include #include -#include #include -#include "pj_bridge/bridge_server.hpp" #include "pj_bridge/middleware/websocket_middleware.hpp" +#include "pj_bridge/standalone_event_loop.hpp" #include "pj_bridge_rti/dds_subscription_manager.hpp" #include "pj_bridge_rti/dds_topic_discovery.hpp" -namespace { -std::atomic g_shutdown{false}; - -void signal_handler(int /*signum*/) { - g_shutdown.store(true); -} -} // namespace - int main(int argc, char* argv[]) { CLI::App app{"pj_bridge RTI DDS Backend"}; @@ -72,91 +60,15 @@ int main(int argc, char* argv[]) { spdlog::info(" QoS profile: {}", qos_profile); } - std::signal(SIGINT, signal_handler); - std::signal(SIGTERM, signal_handler); - try { - // Create DDS components (implement TopicSourceInterface and SubscriptionManagerInterface directly) auto topic_source = std::make_shared(domain_ids, qos_profile); auto sub_manager = std::make_shared(*topic_source); - - // Create WebSocket middleware auto middleware = std::make_shared(); - // Create bridge server pj_bridge::BridgeServer server(topic_source, sub_manager, middleware, port, session_timeout, publish_rate); - if (!server.initialize()) { - spdlog::error("Failed to initialize bridge server"); - return 1; - } - - spdlog::info("Bridge server initialized, entering event loop"); - - // Event loop - using clock = std::chrono::steady_clock; - auto publish_interval = - std::chrono::duration_cast(std::chrono::duration(1.0 / publish_rate)); - auto last_publish = clock::now(); - auto last_timeout_check = clock::now(); - auto last_stats_print = clock::now(); - uint64_t prev_bytes_published = 0; - - while (!g_shutdown.load()) { - server.process_requests(); - - auto now = clock::now(); - - if (now - last_publish >= publish_interval) { - server.publish_aggregated_messages(); - last_publish += publish_interval; - } - - if (now - last_timeout_check >= std::chrono::seconds(1)) { - server.check_session_timeouts(); - last_timeout_check = now; - } - - if (stats_enabled && now - last_stats_print >= std::chrono::seconds(5)) { - auto elapsed = std::chrono::duration(now - last_stats_print).count(); - auto snapshot = server.snapshot_and_reset_stats(); - - std::string stats_msg = "=== Stats ===\n DDS receive rates:"; - if (snapshot.topic_receive_counts.empty()) { - stats_msg += "\n (no subscriptions)"; - } else { - for (const auto& [topic, count] : snapshot.topic_receive_counts) { - stats_msg += fmt::format("\n {}: {:.1f} msg/s", topic, static_cast(count) / elapsed); - } - } - - stats_msg += - fmt::format("\n Publish frequency: {:.1f} Hz", static_cast(snapshot.publish_cycles) / elapsed); - uint64_t delta_bytes = snapshot.total_bytes_published - prev_bytes_published; - prev_bytes_published = snapshot.total_bytes_published; - stats_msg += - fmt::format("\n Sent: {:.2f} MB/s", static_cast(delta_bytes) / elapsed / (1024.0 * 1024.0)); - - spdlog::info(stats_msg); - last_stats_print = now; - } - - std::this_thread::sleep_for(std::chrono::milliseconds(1)); - } - - spdlog::info("Shutting down..."); - - // Explicit ordered shutdown to avoid use-after-free: - // 1. Clear DDS message callback - spdlog::debug("[shutdown] Clearing DDS message callback..."); - sub_manager->set_message_callback(nullptr); - // 2. Unsubscribe all DDS readers - spdlog::debug("[shutdown] Unsubscribing all DDS readers..."); - sub_manager->unsubscribe_all(); - // 3. Shutdown WebSocket server - spdlog::debug("[shutdown] Shutting down WebSocket middleware..."); - middleware->shutdown(); - spdlog::debug("[shutdown] Cleanup complete, exiting scope (destructors will run)..."); + pj_bridge::run_standalone_event_loop( + server, sub_manager, middleware, {port, publish_rate, session_timeout, stats_enabled}); } catch (const std::exception& e) { spdlog::error("Fatal error: {}", e.what()); return 1; diff --git a/tests/unit/test_bridge_server.cpp b/tests/unit/test_bridge_server.cpp index 4e989f3..12f3d51 100644 --- a/tests/unit/test_bridge_server.cpp +++ b/tests/unit/test_bridge_server.cpp @@ -26,6 +26,7 @@ #include #include #include +#include #include #include @@ -268,7 +269,7 @@ class MockSubscriptionManager : public SubscriptionManagerInterface { private: MessageCallback callback_; - std::set known_topics_; + std::unordered_set known_topics_; std::unordered_map ref_counts_; bool underflow_detected_{false}; }; From 1b241feeba8a0df3aa42ed4e9446b8cc0198ea49 Mon Sep 17 00:00:00 2001 From: Davide Faconti Date: Mon, 2 Mar 2026 15:32:25 +0100 Subject: [PATCH 06/15] =?UTF-8?q?fix:=20Cross-backend=20review=20=E2=80=94?= =?UTF-8?q?=20perf,=20lock=20contention,=20dead=20code?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - FastDDS: reuse DynamicData + SerializedPayload as listener members (eliminates 2 heap allocations per incoming sample on the hot path) - RTI/FastDDS: split subscribe() lock into 3 phases so DDS entity creation doesn't block on_data_available callbacks - Core: make snapshot_and_reset_stats() consistently reset-on-read for all fields (total_bytes_published was cumulative, now reset) - FastDDS: call delete_contained_entities() before delete_participant() for defensive cleanup - RTI/FastDDS: warn on cross-domain topic name collisions instead of silently dropping - ROS2: remove redundant middleware->shutdown() (BridgeServer dtor already handles it) - ROS2: remove dead code (unused node_ member, TopicDiscovery get_topics/refresh/topics_ + 2 tests) Co-Authored-By: Claude Opus 4.6 Entire-Checkpoint: f870afb66437 --- app/src/bridge_server.cpp | 1 + app/src/standalone_event_loop.cpp | 6 +- fastdds/src/fastdds_subscription_manager.cpp | 86 ++++++++++++------- fastdds/src/fastdds_topic_source.cpp | 9 +- .../ros2_subscription_manager.hpp | 1 - .../pj_bridge_ros2/topic_discovery.hpp | 14 --- ros2/src/main.cpp | 2 +- ros2/src/ros2_subscription_manager.cpp | 2 +- ros2/src/topic_discovery.cpp | 21 +---- rti/src/dds_subscription_manager.cpp | 38 +++++--- rti/src/dds_topic_discovery.cpp | 8 +- tests/unit/test_topic_discovery.cpp | 15 ---- 12 files changed, 107 insertions(+), 96 deletions(-) diff --git a/app/src/bridge_server.cpp b/app/src/bridge_server.cpp index 5c9a3f9..efc0736 100644 --- a/app/src/bridge_server.cpp +++ b/app/src/bridge_server.cpp @@ -595,6 +595,7 @@ BridgeServer::StatsSnapshot BridgeServer::snapshot_and_reset_stats() { snapshot.publish_cycles = publish_cycles_; publish_cycles_ = 0; snapshot.total_bytes_published = total_bytes_published_; + total_bytes_published_ = 0; return snapshot; } diff --git a/app/src/standalone_event_loop.cpp b/app/src/standalone_event_loop.cpp index 9c53aef..925b16e 100644 --- a/app/src/standalone_event_loop.cpp +++ b/app/src/standalone_event_loop.cpp @@ -55,7 +55,6 @@ void run_standalone_event_loop( auto last_publish = clock::now(); auto last_timeout_check = clock::now(); auto last_stats_print = clock::now(); - uint64_t prev_bytes_published = 0; while (!g_shutdown.load()) { server.process_requests(); @@ -87,9 +86,8 @@ void run_standalone_event_loop( stats_msg += fmt::format("\n Publish frequency: {:.1f} Hz", static_cast(snapshot.publish_cycles) / elapsed); - uint64_t delta_bytes = snapshot.total_bytes_published - prev_bytes_published; - prev_bytes_published = snapshot.total_bytes_published; - stats_msg += fmt::format("\n Sent: {:.2f} MB/s", static_cast(delta_bytes) / elapsed / (1024.0 * 1024.0)); + stats_msg += fmt::format( + "\n Sent: {:.2f} MB/s", static_cast(snapshot.total_bytes_published) / elapsed / (1024.0 * 1024.0)); spdlog::info(stats_msg); last_stats_print = now; diff --git a/fastdds/src/fastdds_subscription_manager.cpp b/fastdds/src/fastdds_subscription_manager.cpp index 5205aa6..3750b0d 100644 --- a/fastdds/src/fastdds_subscription_manager.cpp +++ b/fastdds/src/fastdds_subscription_manager.cpp @@ -43,7 +43,11 @@ class FastDdsSubscriptionManager::InternalReaderListener : public DataReaderList public: InternalReaderListener( const std::string& topic_name, FastDdsSubscriptionManager& manager, DynamicType::_ref_type dynamic_type) - : topic_name_(topic_name), manager_(manager), dynamic_type_(dynamic_type), pub_sub_type_(dynamic_type) {} + : topic_name_(topic_name), + manager_(manager), + dynamic_type_(dynamic_type), + pub_sub_type_(dynamic_type), + data_(DynamicDataFactory::get_instance()->create_data(dynamic_type)) {} void on_data_available(DataReader* reader) override { try { @@ -57,25 +61,27 @@ class FastDdsSubscriptionManager::InternalReaderListener : public DataReaderList return; } - DynamicData::_ref_type data = DynamicDataFactory::get_instance()->create_data(dynamic_type_); SampleInfo info; - while (RETCODE_OK == reader->take_next_sample(&data, &info)) { + while (RETCODE_OK == reader->take_next_sample(&data_, &info)) { if (!info.valid_data) { continue; } // Re-serialize DynamicData to get raw CDR bytes uint32_t size = - pub_sub_type_.calculate_serialized_size(&data, DataRepresentationId_t::XCDR2_DATA_REPRESENTATION); - SerializedPayload_t payload(size); - if (!pub_sub_type_.serialize(&data, payload, DataRepresentationId_t::XCDR2_DATA_REPRESENTATION)) { + pub_sub_type_.calculate_serialized_size(&data_, DataRepresentationId_t::XCDR2_DATA_REPRESENTATION); + if (payload_.max_size < size) { + payload_.reserve(size); + } + payload_.length = 0; + if (!pub_sub_type_.serialize(&data_, payload_, DataRepresentationId_t::XCDR2_DATA_REPRESENTATION)) { spdlog::warn("Failed to serialize DynamicData for '{}'", topic_name_); continue; } - auto cdr_data = std::make_shared>(payload.length); - std::memcpy(cdr_data->data(), payload.data, payload.length); + auto cdr_data = std::make_shared>(payload_.length); + std::memcpy(cdr_data->data(), payload_.data, payload_.length); uint64_t timestamp_ns = static_cast(info.source_timestamp.seconds()) * 1'000'000'000ULL + info.source_timestamp.nanosec(); @@ -92,6 +98,8 @@ class FastDdsSubscriptionManager::InternalReaderListener : public DataReaderList FastDdsSubscriptionManager& manager_; DynamicType::_ref_type dynamic_type_; DynamicPubSubType pub_sub_type_; + DynamicData::_ref_type data_; + SerializedPayload_t payload_; }; // --------------------------------------------------------------------------- @@ -110,15 +118,18 @@ void FastDdsSubscriptionManager::set_message_callback(MessageCallback callback) } bool FastDdsSubscriptionManager::subscribe(const std::string& topic_name, const std::string& /*topic_type*/) { - std::lock_guard lock(mutex_); - - auto it = subscriptions_.find(topic_name); - if (it != subscriptions_.end()) { - it->second.reference_count++; - spdlog::debug("Incremented ref count for '{}' to {}", topic_name, it->second.reference_count); - return true; + // Phase 1: Check for existing subscription (under lock) + { + std::lock_guard lock(mutex_); + auto it = subscriptions_.find(topic_name); + if (it != subscriptions_.end()) { + it->second.reference_count++; + spdlog::debug("Incremented ref count for '{}' to {}", topic_name, it->second.reference_count); + return true; + } } + // Phase 2: Lookup and DDS entity creation (unlocked, avoids blocking on_data_available) auto dynamic_type = topic_source_.get_dynamic_type(topic_name); if (!dynamic_type) { spdlog::error("Topic '{}' not found in discovery", topic_name); @@ -137,37 +148,52 @@ bool FastDdsSubscriptionManager::subscribe(const std::string& topic_name, const return false; } + SubscriptionInfo new_sub{}; + new_sub.participant = participant; + try { - // Register the DynamicType with the participant TypeSupport type_support(new DynamicPubSubType(dynamic_type)); type_support.register_type(participant); - // Create Topic - Topic* topic = participant->create_topic(topic_name, type_support.get_type_name(), TOPIC_QOS_DEFAULT); - if (!topic) { + new_sub.topic = participant->create_topic(topic_name, type_support.get_type_name(), TOPIC_QOS_DEFAULT); + if (!new_sub.topic) { spdlog::error("Failed to create topic for '{}'", topic_name); return false; } - // Create Subscriber - Subscriber* subscriber = participant->create_subscriber(SUBSCRIBER_QOS_DEFAULT); - if (!subscriber) { - participant->delete_topic(topic); + new_sub.subscriber = participant->create_subscriber(SUBSCRIBER_QOS_DEFAULT); + if (!new_sub.subscriber) { + participant->delete_topic(new_sub.topic); spdlog::error("Failed to create subscriber for '{}'", topic_name); return false; } - // Create DataReader with listener - auto listener = std::make_shared(topic_name, *this, dynamic_type); - DataReader* reader = subscriber->create_datareader(topic, DATAREADER_QOS_DEFAULT, listener.get()); - if (!reader) { - participant->delete_subscriber(subscriber); - participant->delete_topic(topic); + new_sub.listener = std::make_shared(topic_name, *this, dynamic_type); + new_sub.reader = + new_sub.subscriber->create_datareader(new_sub.topic, DATAREADER_QOS_DEFAULT, new_sub.listener.get()); + if (!new_sub.reader) { + participant->delete_subscriber(new_sub.subscriber); + participant->delete_topic(new_sub.topic); spdlog::error("Failed to create datareader for '{}'", topic_name); return false; } - subscriptions_.emplace(topic_name, SubscriptionInfo{participant, subscriber, topic, reader, listener, 1}); + new_sub.reference_count = 1; + + // Phase 3: Insert into map (re-acquire lock, double-check for concurrent subscribe) + { + std::lock_guard lock(mutex_); + auto it = subscriptions_.find(topic_name); + if (it != subscriptions_.end()) { + // Another thread subscribed while we were creating DDS entities + it->second.reference_count++; + spdlog::debug("Incremented ref count for '{}' to {} (concurrent)", topic_name, it->second.reference_count); + // Clean up the entities we just created (outside lock below) + close_subscription(topic_name, new_sub); + return true; + } + subscriptions_.emplace(topic_name, std::move(new_sub)); + } spdlog::info( "Subscribed to '{}' (type: '{}', domain: {})", topic_name, type_support.get_type_name(), *domain_id_opt); diff --git a/fastdds/src/fastdds_topic_source.cpp b/fastdds/src/fastdds_topic_source.cpp index e05ab98..bcd3c7a 100644 --- a/fastdds/src/fastdds_topic_source.cpp +++ b/fastdds/src/fastdds_topic_source.cpp @@ -153,6 +153,7 @@ FastDdsTopicSource::~FastDdsTopicSource() { spdlog::debug("[shutdown] Deleting DomainParticipant for domain {}...", domain_id); // Remove listener before deletion to prevent callbacks during teardown participant->set_listener(nullptr); + participant->delete_contained_entities(); factory->delete_participant(participant); spdlog::debug("[shutdown] DomainParticipant for domain {} deleted", domain_id); } catch (const std::exception& e) { @@ -170,7 +171,13 @@ void FastDdsTopicSource::on_topic_discovered( int32_t domain_id) { std::unique_lock lock(mutex_); - if (topics_.find(topic_name) != topics_.end()) { + auto it = topics_.find(topic_name); + if (it != topics_.end()) { + if (it->second.domain_id != domain_id) { + spdlog::warn( + "Topic '{}' already discovered on domain {}, ignoring duplicate from domain {}", topic_name, + it->second.domain_id, domain_id); + } return; } diff --git a/ros2/include/pj_bridge_ros2/ros2_subscription_manager.hpp b/ros2/include/pj_bridge_ros2/ros2_subscription_manager.hpp index 840f8e2..510cbcf 100644 --- a/ros2/include/pj_bridge_ros2/ros2_subscription_manager.hpp +++ b/ros2/include/pj_bridge_ros2/ros2_subscription_manager.hpp @@ -48,7 +48,6 @@ class Ros2SubscriptionManager : public SubscriptionManagerInterface { void unsubscribe_all() override; private: - rclcpp::Node::SharedPtr node_; GenericSubscriptionManager inner_manager_; bool strip_large_messages_; diff --git a/ros2/include/pj_bridge_ros2/topic_discovery.hpp b/ros2/include/pj_bridge_ros2/topic_discovery.hpp index 70427c3..f0e1788 100644 --- a/ros2/include/pj_bridge_ros2/topic_discovery.hpp +++ b/ros2/include/pj_bridge_ros2/topic_discovery.hpp @@ -19,7 +19,6 @@ #pragma once -#include #include #include #include @@ -46,21 +45,8 @@ class TopicDiscovery { */ std::vector discover_topics(); - /** - * @brief Get cached topic information - * @return Vector of previously discovered topics - */ - std::vector get_topics() const; - - /** - * @brief Refresh the topic list - * @return true if successful, false otherwise - */ - bool refresh(); - private: rclcpp::Node::SharedPtr node_; - std::vector topics_; bool should_filter_topic(const std::string& topic_name) const; }; diff --git a/ros2/src/main.cpp b/ros2/src/main.cpp index 1438850..20d357c 100644 --- a/ros2/src/main.cpp +++ b/ros2/src/main.cpp @@ -100,7 +100,7 @@ int main(int argc, char** argv) { // Clear the subscription manager callback before server destruction sub_manager->set_message_callback(nullptr); sub_manager->unsubscribe_all(); - middleware->shutdown(); + // middleware->shutdown() is handled by BridgeServer destructor auto [total_messages, total_bytes] = server.get_publish_stats(); RCLCPP_INFO( diff --git a/ros2/src/ros2_subscription_manager.cpp b/ros2/src/ros2_subscription_manager.cpp index c9836eb..12636b9 100644 --- a/ros2/src/ros2_subscription_manager.cpp +++ b/ros2/src/ros2_subscription_manager.cpp @@ -27,7 +27,7 @@ namespace pj_bridge { Ros2SubscriptionManager::Ros2SubscriptionManager(rclcpp::Node::SharedPtr node, bool strip_large_messages) - : node_(node), inner_manager_(node), strip_large_messages_(strip_large_messages) {} + : inner_manager_(node), strip_large_messages_(strip_large_messages) {} void Ros2SubscriptionManager::set_message_callback(MessageCallback callback) { std::lock_guard lock(callback_mutex_); diff --git a/ros2/src/topic_discovery.cpp b/ros2/src/topic_discovery.cpp index 9b5c44c..850c17c 100644 --- a/ros2/src/topic_discovery.cpp +++ b/ros2/src/topic_discovery.cpp @@ -24,8 +24,7 @@ namespace pj_bridge { TopicDiscovery::TopicDiscovery(rclcpp::Node::SharedPtr node) : node_(node) {} std::vector TopicDiscovery::discover_topics() { - topics_.clear(); - + std::vector topics; auto topic_names_and_types = node_->get_topic_names_and_types(); for (const auto& [topic_name, topic_types] : topic_names_and_types) { @@ -37,25 +36,11 @@ std::vector TopicDiscovery::discover_topics() { TopicInfo info; info.name = topic_name; info.type = topic_types[0]; - topics_.push_back(info); + topics.push_back(info); } } - return topics_; -} - -std::vector TopicDiscovery::get_topics() const { - return topics_; -} - -bool TopicDiscovery::refresh() { - try { - discover_topics(); - return true; - } catch (const std::exception& e) { - RCLCPP_ERROR(node_->get_logger(), "Topic discovery refresh failed: %s", e.what()); - return false; - } + return topics; } bool TopicDiscovery::should_filter_topic(const std::string& topic_name) const { diff --git a/rti/src/dds_subscription_manager.cpp b/rti/src/dds_subscription_manager.cpp index 6751c81..2f3ac70 100644 --- a/rti/src/dds_subscription_manager.cpp +++ b/rti/src/dds_subscription_manager.cpp @@ -81,15 +81,18 @@ void DdsSubscriptionManager::set_message_callback(MessageCallback callback) { } bool DdsSubscriptionManager::subscribe(const std::string& topic_name, const std::string& /*topic_type*/) { - std::lock_guard lock(mutex_); - - auto it = subscriptions_.find(topic_name); - if (it != subscriptions_.end()) { - it->second.reference_count++; - spdlog::debug("Incremented ref count for '{}' to {}", topic_name, it->second.reference_count); - return true; + // Phase 1: Check for existing subscription (under lock) + { + std::lock_guard lock(mutex_); + auto it = subscriptions_.find(topic_name); + if (it != subscriptions_.end()) { + it->second.reference_count++; + spdlog::debug("Incremented ref count for '{}' to {}", topic_name, it->second.reference_count); + return true; + } } + // Phase 2: Lookup and DDS entity creation (unlocked, avoids blocking on_data_available) auto struct_type_opt = discovery_.get_type(topic_name); if (!struct_type_opt) { spdlog::error("Topic '{}' not found in discovery", topic_name); @@ -126,9 +129,24 @@ bool DdsSubscriptionManager::subscribe(const std::string& topic_name, const std: auto listener = std::make_shared(topic_name, *this); reader.set_listener(listener); - subscriptions_.emplace( - std::piecewise_construct, std::forward_as_tuple(topic_name), - std::forward_as_tuple(subscriber, reader, listener, 1)); + // Phase 3: Insert into map (re-acquire lock, double-check for concurrent subscribe) + { + std::lock_guard lock(mutex_); + auto it = subscriptions_.find(topic_name); + if (it != subscriptions_.end()) { + // Another thread subscribed while we were creating DDS entities + it->second.reference_count++; + spdlog::debug("Incremented ref count for '{}' to {} (concurrent)", topic_name, it->second.reference_count); + // Clean up the entities we just created + reader.set_listener(nullptr); + reader.close(); + subscriber.close(); + return true; + } + subscriptions_.emplace( + std::piecewise_construct, std::forward_as_tuple(topic_name), + std::forward_as_tuple(subscriber, reader, listener, 1)); + } spdlog::info("Subscribed to '{}' (type: '{}', domain: {})", topic_name, struct_type.name(), *domain_id_opt); return true; diff --git a/rti/src/dds_topic_discovery.cpp b/rti/src/dds_topic_discovery.cpp index cf9441a..301ed3f 100644 --- a/rti/src/dds_topic_discovery.cpp +++ b/rti/src/dds_topic_discovery.cpp @@ -140,7 +140,13 @@ void DdsTopicDiscovery::on_topic_discovered( int32_t domain_id) { std::unique_lock lock(mutex_); - if (topics_.find(topic_name) != topics_.end()) { + auto it = topics_.find(topic_name); + if (it != topics_.end()) { + if (it->second.domain_id != domain_id) { + spdlog::warn( + "Topic '{}' already discovered on domain {}, ignoring duplicate from domain {}", topic_name, + it->second.domain_id, domain_id); + } return; } diff --git a/tests/unit/test_topic_discovery.cpp b/tests/unit/test_topic_discovery.cpp index 2264dd7..99206bc 100644 --- a/tests/unit/test_topic_discovery.cpp +++ b/tests/unit/test_topic_discovery.cpp @@ -54,21 +54,6 @@ TEST_F(TopicDiscoveryTest, DiscoverTopicsReturnsVector) { } } -TEST_F(TopicDiscoveryTest, GetTopicsAfterDiscovery) { - auto discovered = discovery_->discover_topics(); - auto cached = discovery_->get_topics(); - // Cached result must match the last discovery call - ASSERT_EQ(cached.size(), discovered.size()); - for (size_t i = 0; i < cached.size(); ++i) { - EXPECT_EQ(cached[i].name, discovered[i].name); - EXPECT_EQ(cached[i].type, discovered[i].type); - } -} - -TEST_F(TopicDiscoveryTest, RefreshSucceeds) { - EXPECT_TRUE(discovery_->refresh()); -} - TEST_F(TopicDiscoveryTest, FilteredTopicsNotIncluded) { // The discovery should filter out system topics like /rosout auto topics = discovery_->discover_topics(); From 75c0cf8e834090ecac445af5569e7338e3110d75 Mon Sep 17 00:00:00 2001 From: Davide Faconti Date: Mon, 2 Mar 2026 16:51:40 +0100 Subject: [PATCH 07/15] ci: Consolidate 3 Docker workflows into single pixi-based CI Replace ros-humble.yaml, ros-jazzy.yaml, ros-rolling.yaml with a single ci.yaml that uses pixi environments via RoboStack. Add kilted environment (replacing rolling). Add experimental AppImage generation job (one per distro) triggered on tags or manual dispatch. Drop rolling from release-debs matrix. Bump large-file limit to 1 MB for pixi.lock. Co-Authored-By: Claude Opus 4.6 Entire-Checkpoint: fca108541517 --- .github/workflows/ci.yaml | 131 + .github/workflows/release-debs.yaml | 14 +- .github/workflows/ros-humble.yaml | 63 - .github/workflows/ros-jazzy.yaml | 63 - .github/workflows/ros-rolling.yaml | 63 - .pre-commit-config.yaml | 1 + pixi.lock | 21920 ++++++++++++++++++++++++++ pixi.toml | 46 + 8 files changed, 22103 insertions(+), 198 deletions(-) create mode 100644 .github/workflows/ci.yaml delete mode 100644 .github/workflows/ros-humble.yaml delete mode 100644 .github/workflows/ros-jazzy.yaml delete mode 100644 .github/workflows/ros-rolling.yaml create mode 100644 pixi.lock create mode 100644 pixi.toml diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml new file mode 100644 index 0000000..abdd31a --- /dev/null +++ b/.github/workflows/ci.yaml @@ -0,0 +1,131 @@ +name: CI + +on: + push: + branches: [development, main] + pull_request: + branches: [development, main] + workflow_dispatch: + +concurrency: + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: true + +jobs: + build-and-test: + strategy: + fail-fast: false + matrix: + environment: [humble, jazzy, kilted] + runs-on: ubuntu-latest + name: ${{ matrix.environment }} + + steps: + - uses: actions/checkout@v4 + + - uses: prefix-dev/setup-pixi@v0.9.4 + with: + environments: ${{ matrix.environment }} + locked: true + cache: true + cache-write: ${{ github.event_name == 'push' && github.ref_name == 'main' }} + + - name: Build + run: pixi run -e ${{ matrix.environment }} build + + - name: Test + run: pixi run -e ${{ matrix.environment }} test + + appimage: + if: startsWith(github.ref, 'refs/tags/') || github.event_name == 'workflow_dispatch' + runs-on: ubuntu-latest + needs: build-and-test + strategy: + fail-fast: false + matrix: + environment: [humble, jazzy, kilted] + name: appimage-${{ matrix.environment }} + + steps: + - uses: actions/checkout@v4 + + - uses: prefix-dev/setup-pixi@v0.9.4 + with: + environments: ${{ matrix.environment }} + locked: true + cache: true + + - name: Build + run: pixi run -e ${{ matrix.environment }} build + + - name: Create AppImage + run: | + # Download linuxdeploy + wget -q https://github.com/linuxdeploy/linuxdeploy/releases/download/continuous/linuxdeploy-x86_64.AppImage + chmod +x linuxdeploy-x86_64.AppImage + + CONDA_PREFIX="$(pixi run -e ${{ matrix.environment }} printenv CONDA_PREFIX)" + + # Create AppDir structure + mkdir -p AppDir/usr/{bin,lib,share} + + # Copy binary + cp install/lib/pj_bridge/pj_bridge_ros2 AppDir/usr/bin/ + + # Bundle shared libraries from the conda environment + # (exclude glibc/ld-linux which must come from the host) + ldd AppDir/usr/bin/pj_bridge_ros2 | \ + grep "$CONDA_PREFIX" | \ + awk '{print $3}' | \ + xargs -I{} cp --no-dereference {} AppDir/usr/lib/ 2>/dev/null || true + + # Also copy transitive deps from conda lib/ + for lib in AppDir/usr/lib/*.so*; do + ldd "$lib" 2>/dev/null | \ + grep "$CONDA_PREFIX" | \ + awk '{print $3}' | \ + xargs -I{} cp --no-dereference {} AppDir/usr/lib/ 2>/dev/null || true + done + + # Copy ament index (needed for schema discovery at runtime) + cp -r "$CONDA_PREFIX"/share/ament_index AppDir/usr/share/ 2>/dev/null || true + + # Copy message definitions (.msg/.srv/.idl files) + for pkg_dir in "$CONDA_PREFIX"/share/*/msg "$CONDA_PREFIX"/share/*/srv; do + [ -d "$pkg_dir" ] && cp -r --parents "$pkg_dir" AppDir/usr/share/ 2>/dev/null || true + done + + # Create .desktop file + cat > AppDir/pj_bridge.desktop <<'DESKTOP' + [Desktop Entry] + Name=pj_bridge + Exec=pj_bridge_ros2 + Icon=pj_bridge + Type=Application + Categories=Science; + DESKTOP + + # Create minimal icon + convert -size 256x256 xc:transparent AppDir/pj_bridge.png 2>/dev/null || \ + touch AppDir/pj_bridge.png + + # Create AppRun wrapper that sets environment + cat > AppDir/AppRun <<'APPRUN' + #!/bin/bash + SELF="$(readlink -f "$0")" + HERE="${SELF%/*}" + export LD_LIBRARY_PATH="${HERE}/usr/lib:${LD_LIBRARY_PATH}" + export AMENT_PREFIX_PATH="${HERE}/usr" + exec "${HERE}/usr/bin/pj_bridge_ros2" "$@" + APPRUN + chmod +x AppDir/AppRun + + # Generate AppImage + ARCH=x86_64 ./linuxdeploy-x86_64.AppImage \ + --appdir AppDir \ + --output appimage + + - uses: actions/upload-artifact@v4 + with: + name: appimage-${{ matrix.environment }} + path: "*.AppImage" diff --git a/.github/workflows/release-debs.yaml b/.github/workflows/release-debs.yaml index 3604f52..905522f 100644 --- a/.github/workflows/release-debs.yaml +++ b/.github/workflows/release-debs.yaml @@ -27,10 +27,6 @@ jobs: os_codename: noble container: rostooling/setup-ros-docker:ubuntu-noble-ros-kilted-ros-base-latest runner: ubuntu-24.04 - - ros_distro: rolling - os_codename: noble - container: rostooling/setup-ros-docker:ubuntu-noble-ros-rolling-ros-base-latest - runner: ubuntu-24.04 runs-on: ${{ matrix.runner }} container: @@ -43,7 +39,7 @@ jobs: - uses: actions/checkout@v4 with: fetch-depth: 0 - path: src/pj_ros_bridge + path: src/pj_bridge - name: Install build tools run: | @@ -55,19 +51,19 @@ jobs: run: | source /opt/ros/${{ matrix.ros_distro }}/setup.bash rosdep update --rosdistro ${{ matrix.ros_distro }} - rosdep install --from-paths src/pj_ros_bridge --ignore-src -y --rosdistro ${{ matrix.ros_distro }} + rosdep install --from-paths src/pj_bridge --ignore-src -y --rosdistro ${{ matrix.ros_distro }} - name: Clean previous builds shell: bash run: | - cd src/pj_ros_bridge + cd src/pj_bridge rm -rf debian .obj-x86_64-linux-gnu - name: Generate debian packaging shell: bash run: | source /opt/ros/${{ matrix.ros_distro }}/setup.bash - cd src/pj_ros_bridge + cd src/pj_bridge bloom-generate rosdebian \ --os-name ubuntu \ --os-version ${{ matrix.os_codename }} \ @@ -77,7 +73,7 @@ jobs: shell: bash run: | source /opt/ros/${{ matrix.ros_distro }}/setup.bash - cd src/pj_ros_bridge + cd src/pj_bridge fakeroot debian/rules binary - name: Upload deb artifact diff --git a/.github/workflows/ros-humble.yaml b/.github/workflows/ros-humble.yaml deleted file mode 100644 index 06c29f7..0000000 --- a/.github/workflows/ros-humble.yaml +++ /dev/null @@ -1,63 +0,0 @@ -name: ROS2 Humble - -on: - push: - branches: [ development, main ] - pull_request: - branches: [ development, main ] - workflow_dispatch: - -concurrency: - group: ${{ github.workflow }}-${{ github.ref }} - cancel-in-progress: true - -jobs: - build: - runs-on: ubuntu-22.04 - container: - image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest - env: - HOME: /root - ROS_HOME: /root/.ros - steps: - # Checkout repository - - uses: actions/checkout@v4 - - # Setup ccache for faster rebuilds - - name: Setup ccache - uses: hendrikmuhs/ccache-action@v1.2 - with: - key: ${{ github.job }}-humble - max-size: 500M - - # Configure ccache for colcon - - name: Configure ccache - run: echo "/usr/lib/ccache" >> $GITHUB_PATH - - # Install dependencies via rosdep - - name: Install dependencies - shell: bash - run: | - source /opt/ros/humble/setup.bash - apt-get update - rosdep update --rosdistro humble - rosdep install --from-paths . --ignore-src -y --rosdistro humble - - # Build - - name: Build - shell: bash - run: | - source /opt/ros/humble/setup.bash - colcon build --packages-select pj_ros_bridge \ - --cmake-args -DCMAKE_BUILD_TYPE=Release \ - -DCMAKE_C_COMPILER_LAUNCHER=ccache \ - -DCMAKE_CXX_COMPILER_LAUNCHER=ccache - - # Test - - name: Test - shell: bash - run: | - source /opt/ros/humble/setup.bash - source install/setup.bash - colcon test --packages-select pj_ros_bridge - colcon test-result --verbose diff --git a/.github/workflows/ros-jazzy.yaml b/.github/workflows/ros-jazzy.yaml deleted file mode 100644 index 6e3d002..0000000 --- a/.github/workflows/ros-jazzy.yaml +++ /dev/null @@ -1,63 +0,0 @@ -name: ROS2 Jazzy - -on: - push: - branches: [ development, main ] - pull_request: - branches: [ development, main ] - workflow_dispatch: - -concurrency: - group: ${{ github.workflow }}-${{ github.ref }} - cancel-in-progress: true - -jobs: - build: - runs-on: ubuntu-24.04 - container: - image: rostooling/setup-ros-docker:ubuntu-noble-ros-jazzy-ros-base-latest - env: - HOME: /root - ROS_HOME: /root/.ros - steps: - # Checkout repository - - uses: actions/checkout@v4 - - # Setup ccache for faster rebuilds - - name: Setup ccache - uses: hendrikmuhs/ccache-action@v1.2 - with: - key: ${{ github.job }}-jazzy - max-size: 500M - - # Configure ccache for colcon - - name: Configure ccache - run: echo "/usr/lib/ccache" >> $GITHUB_PATH - - # Install dependencies via rosdep - - name: Install dependencies - shell: bash - run: | - source /opt/ros/jazzy/setup.bash - apt-get update - rosdep update --rosdistro jazzy - rosdep install --from-paths . --ignore-src -y --rosdistro jazzy - - # Build - - name: Build - shell: bash - run: | - source /opt/ros/jazzy/setup.bash - colcon build --packages-select pj_ros_bridge \ - --cmake-args -DCMAKE_BUILD_TYPE=Release \ - -DCMAKE_C_COMPILER_LAUNCHER=ccache \ - -DCMAKE_CXX_COMPILER_LAUNCHER=ccache - - # Test - - name: Test - shell: bash - run: | - source /opt/ros/jazzy/setup.bash - source install/setup.bash - colcon test --packages-select pj_ros_bridge - colcon test-result --verbose diff --git a/.github/workflows/ros-rolling.yaml b/.github/workflows/ros-rolling.yaml deleted file mode 100644 index 57d6a5b..0000000 --- a/.github/workflows/ros-rolling.yaml +++ /dev/null @@ -1,63 +0,0 @@ -name: ROS2 Rolling - -on: - push: - branches: [ development, main ] - pull_request: - branches: [ development, main ] - workflow_dispatch: - -concurrency: - group: ${{ github.workflow }}-${{ github.ref }} - cancel-in-progress: true - -jobs: - build: - runs-on: ubuntu-24.04 - container: - image: rostooling/setup-ros-docker:ubuntu-noble-ros-rolling-ros-base-latest - env: - HOME: /root - ROS_HOME: /root/.ros - steps: - # Checkout repository - - uses: actions/checkout@v4 - - # Setup ccache for faster rebuilds - - name: Setup ccache - uses: hendrikmuhs/ccache-action@v1.2 - with: - key: ${{ github.job }}-rolling - max-size: 500M - - # Configure ccache for colcon - - name: Configure ccache - run: echo "/usr/lib/ccache" >> $GITHUB_PATH - - # Install dependencies via rosdep - - name: Install dependencies - shell: bash - run: | - source /opt/ros/rolling/setup.bash - apt-get update - rosdep update --rosdistro rolling - rosdep install --from-paths . --ignore-src -y --rosdistro rolling - - # Build - - name: Build - shell: bash - run: | - source /opt/ros/rolling/setup.bash - colcon build --packages-select pj_ros_bridge \ - --cmake-args -DCMAKE_BUILD_TYPE=Release \ - -DCMAKE_C_COMPILER_LAUNCHER=ccache \ - -DCMAKE_CXX_COMPILER_LAUNCHER=ccache - - # Test - - name: Test - shell: bash - run: | - source /opt/ros/rolling/setup.bash - source install/setup.bash - colcon test --packages-select pj_ros_bridge - colcon test-result --verbose diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index a42f1f0..2a6d5e9 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -6,6 +6,7 @@ repos: rev: v4.5.0 hooks: - id: check-added-large-files + args: ['--maxkb=1024'] - id: check-ast - id: check-case-conflict - id: check-merge-conflict diff --git a/pixi.lock b/pixi.lock new file mode 100644 index 0000000..0bb85b9 --- /dev/null +++ b/pixi.lock @@ -0,0 +1,21920 @@ +version: 6 +environments: + default: + channels: + - url: https://conda.anaconda.org/conda-forge/ + packages: + linux-64: + - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda + - 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libgcc-ng >=12 + - libzlib >=1.3.1,<2.0a0 + license: LGPL-2.0-or-later OR MPL-1.1 + size: 106915 + timestamp: 1719242059793 diff --git a/pixi.toml b/pixi.toml new file mode 100644 index 0000000..fe80d54 --- /dev/null +++ b/pixi.toml @@ -0,0 +1,46 @@ +[workspace] +name = "pj_bridge" +channels = ["conda-forge"] +platforms = ["linux-64"] + +[dependencies] +cmake = ">=3.14" +compilers = "*" +pkg-config = "*" +ninja = "*" +colcon-common-extensions = "*" +zstd = "*" +spdlog = "*" +ixwebsocket = "*" +nlohmann_json = "*" + +[feature.humble] +channels = ["robostack-humble", "conda-forge"] + +[feature.humble.dependencies] +ros-humble-desktop = "*" + +[feature.jazzy] +channels = ["robostack-jazzy", "conda-forge"] + +[feature.jazzy.dependencies] +ros-jazzy-desktop = "*" + +[feature.kilted] +channels = ["robostack-kilted", "conda-forge"] + +[feature.kilted.dependencies] +ros-kilted-desktop = "*" + +[environments] +humble = ["humble"] +jazzy = ["jazzy"] +kilted = ["kilted"] + +[activation] +scripts = ["install/setup.sh"] + +[tasks] +build = "colcon build --packages-select pj_bridge --cmake-args -DCMAKE_BUILD_TYPE=Release" +test = "colcon test --packages-select pj_bridge && colcon test-result --verbose" +clean = "rm -rf build install log" From c58a5912bfc7698b854ebe3b53c0be9f75f7e032 Mon Sep 17 00:00:00 2001 From: Davide Faconti Date: Mon, 2 Mar 2026 16:53:03 +0100 Subject: [PATCH 08/15] ci: Remove kilted from matrix until pixi.lock can be regenerated The robostack-kilted channel is currently returning 503, preventing lock file resolution. Comment out kilted in pixi.toml and CI matrix until the channel is available. Co-Authored-By: Claude Opus 4.6 Entire-Checkpoint: fca108541517 --- .github/workflows/ci.yaml | 4 ++-- pixi.toml | 13 +++++++------ 2 files changed, 9 insertions(+), 8 deletions(-) diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index abdd31a..7da557f 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -16,7 +16,7 @@ jobs: strategy: fail-fast: false matrix: - environment: [humble, jazzy, kilted] + environment: [humble, jazzy] # Add kilted once pixi.lock is regenerated runs-on: ubuntu-latest name: ${{ matrix.environment }} @@ -43,7 +43,7 @@ jobs: strategy: fail-fast: false matrix: - environment: [humble, jazzy, kilted] + environment: [humble, jazzy] # Add kilted once pixi.lock is regenerated name: appimage-${{ matrix.environment }} steps: diff --git a/pixi.toml b/pixi.toml index fe80d54..543ce50 100644 --- a/pixi.toml +++ b/pixi.toml @@ -26,16 +26,17 @@ channels = ["robostack-jazzy", "conda-forge"] [feature.jazzy.dependencies] ros-jazzy-desktop = "*" -[feature.kilted] -channels = ["robostack-kilted", "conda-forge"] - -[feature.kilted.dependencies] -ros-kilted-desktop = "*" +# Uncomment when robostack-kilted channel is available and regenerate pixi.lock: +# [feature.kilted] +# channels = ["robostack-kilted", "conda-forge"] +# +# [feature.kilted.dependencies] +# ros-kilted-desktop = "*" [environments] humble = ["humble"] jazzy = ["jazzy"] -kilted = ["kilted"] +# kilted = ["kilted"] [activation] scripts = ["install/setup.sh"] From f0e223066272966e72f7044113c06165cf62f6bf Mon Sep 17 00:00:00 2001 From: Davide Faconti Date: Mon, 2 Mar 2026 17:13:12 +0100 Subject: [PATCH 09/15] ci: Add kilted environment, rename to pixi_ci.yaml robostack-kilted channel is back online. Regenerated pixi.lock with kilted environment. Re-enabled kilted in CI matrix (build-and-test + appimage). Renamed ci.yaml to pixi_ci.yaml per request. Co-Authored-By: Claude Opus 4.6 Entire-Checkpoint: 56afe6d7342f --- .github/workflows/{ci.yaml => pixi_ci.yaml} | 4 +- pixi.lock | 36833 +++++++++++------- pixi.toml | 13 +- 3 files changed, 22150 insertions(+), 14700 deletions(-) rename .github/workflows/{ci.yaml => pixi_ci.yaml} (96%) diff --git a/.github/workflows/ci.yaml b/.github/workflows/pixi_ci.yaml similarity index 96% rename from .github/workflows/ci.yaml rename to .github/workflows/pixi_ci.yaml index 7da557f..abdd31a 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/pixi_ci.yaml @@ -16,7 +16,7 @@ jobs: strategy: fail-fast: false matrix: - environment: [humble, jazzy] # Add kilted once pixi.lock is regenerated + environment: [humble, jazzy, kilted] runs-on: ubuntu-latest name: ${{ matrix.environment }} @@ -43,7 +43,7 @@ jobs: strategy: fail-fast: false matrix: - environment: [humble, jazzy] # Add kilted once pixi.lock is regenerated + environment: [humble, jazzy, kilted] name: appimage-${{ matrix.environment }} steps: diff --git a/pixi.lock b/pixi.lock index 0bb85b9..fc6092d 100644 --- a/pixi.lock +++ b/pixi.lock @@ -1566,6 +1566,754 @@ environments: - 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libboost 1.88.* + - libboost-devel 1.88.* + - pcl 1.15.1.* + - gazebo 11.* + - libprotobuf 6.31.1.* + - vtk 9.5.2.* + license: BSD-3-Clause + size: 2338 + timestamp: 1769480640069 - conda: https://conda.anaconda.org/conda-forge/noarch/rosdistro-1.0.1-pyhd8ed1ab_0.conda sha256: bff3b2fe7afe35125669ffcb7d6153db78070a753e1e4ac3b3d8d198eb6d6982 md5: b7ed380a9088b543e06a4f73985ed03a diff --git a/pixi.toml b/pixi.toml index 543ce50..fe80d54 100644 --- a/pixi.toml +++ b/pixi.toml @@ -26,17 +26,16 @@ channels = ["robostack-jazzy", "conda-forge"] [feature.jazzy.dependencies] ros-jazzy-desktop = "*" -# Uncomment when robostack-kilted channel is available and regenerate pixi.lock: -# [feature.kilted] -# channels = ["robostack-kilted", "conda-forge"] -# -# [feature.kilted.dependencies] -# ros-kilted-desktop = "*" +[feature.kilted] +channels = ["robostack-kilted", "conda-forge"] + +[feature.kilted.dependencies] +ros-kilted-desktop = "*" [environments] humble = ["humble"] jazzy = ["jazzy"] -# kilted = ["kilted"] +kilted = ["kilted"] [activation] scripts = ["install/setup.sh"] From c2beb7002698e926de7e934e5cff6eeb2ef2ea10 Mon Sep 17 00:00:00 2001 From: Davide Faconti Date: Mon, 2 Mar 2026 17:17:36 +0100 Subject: [PATCH 10/15] fix: FindZSTD falls back to shared lib when static is unavailable Conda/pixi environments don't ship libzstd.a. Fall back to the shared library and remove ZSTD_STATIC_LIBRARY from required variables. Co-Authored-By: Claude Opus 4.6 Entire-Checkpoint: 56afe6d7342f --- cmake/FindZSTD.cmake | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/cmake/FindZSTD.cmake b/cmake/FindZSTD.cmake index 5c123e1..f67cbd0 100644 --- a/cmake/FindZSTD.cmake +++ b/cmake/FindZSTD.cmake @@ -42,12 +42,17 @@ find_library(ZSTD_STATIC_LIBRARY ${PC_ZSTD_LIBRARY_DIRS} ) +# Some environments (e.g. conda/conda-forge, Pixi) may not ship the static library. +# Use the shared library as a fallback so consumers can still link successfully. +if(NOT ZSTD_STATIC_LIBRARY AND ZSTD_SHARED_LIBRARY) + set(ZSTD_STATIC_LIBRARY "${ZSTD_SHARED_LIBRARY}") +endif() + include(FindPackageHandleStandardArgs) find_package_handle_standard_args(ZSTD DEFAULT_MSG ZSTD_INCLUDE_DIR ZSTD_SHARED_LIBRARY - ZSTD_STATIC_LIBRARY ) if(ZSTD_FOUND) From 08804e874ac548ca39fffbe09dbb4e28a4f41e5e Mon Sep 17 00:00:00 2001 From: Davide Faconti Date: Mon, 2 Mar 2026 17:21:29 +0100 Subject: [PATCH 11/15] ci: Add ros_ci.yaml, FetchContent for ixwebsocket, rosdep deps - Add ros_ci.yaml: Docker-based colcon CI for humble/jazzy/kilted - CMakeLists.txt: FetchContent fallback for ixwebsocket only (sole dep not in rosdep); spdlog and nlohmann_json use find_package REQUIRED - package.xml: Add libspdlog-dev, nlohmann-json-dev, zstd-dev as build_depend so rosdep installs them for colcon builds Co-Authored-By: Claude Opus 4.6 Entire-Checkpoint: daa251598522 --- .github/workflows/ros_ci.yaml | 73 +++++++++++++++++++++++++++++++++++ CMakeLists.txt | 41 +++++++++----------- package.xml | 8 +++- 3 files changed, 98 insertions(+), 24 deletions(-) create mode 100644 .github/workflows/ros_ci.yaml diff --git a/.github/workflows/ros_ci.yaml b/.github/workflows/ros_ci.yaml new file mode 100644 index 0000000..d47da82 --- /dev/null +++ b/.github/workflows/ros_ci.yaml @@ -0,0 +1,73 @@ +name: ROS CI + +on: + push: + branches: [development, main] + pull_request: + branches: [development, main] + workflow_dispatch: + +concurrency: + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: true + +jobs: + build-and-test: + strategy: + fail-fast: false + matrix: + include: + - ros_distro: humble + container: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest + runner: ubuntu-22.04 + - ros_distro: jazzy + container: rostooling/setup-ros-docker:ubuntu-noble-ros-jazzy-ros-base-latest + runner: ubuntu-24.04 + - ros_distro: kilted + container: rostooling/setup-ros-docker:ubuntu-noble-ros-kilted-ros-base-latest + runner: ubuntu-24.04 + + runs-on: ${{ matrix.runner }} + container: + image: ${{ matrix.container }} + env: + HOME: /root + ROS_HOME: /root/.ros + name: ${{ matrix.ros_distro }} + + steps: + - uses: actions/checkout@v4 + + - name: Setup ccache + uses: hendrikmuhs/ccache-action@v1.2 + with: + key: ${{ github.job }}-${{ matrix.ros_distro }} + max-size: 500M + + - name: Configure ccache + run: echo "/usr/lib/ccache" >> $GITHUB_PATH + + - name: Install dependencies + shell: bash + run: | + source /opt/ros/${{ matrix.ros_distro }}/setup.bash + apt-get update + rosdep update --rosdistro ${{ matrix.ros_distro }} + rosdep install --from-paths . --ignore-src -y --rosdistro ${{ matrix.ros_distro }} + + - name: Build + shell: bash + run: | + source /opt/ros/${{ matrix.ros_distro }}/setup.bash + colcon build --packages-select pj_bridge \ + --cmake-args -DCMAKE_BUILD_TYPE=Release \ + -DCMAKE_C_COMPILER_LAUNCHER=ccache \ + -DCMAKE_CXX_COMPILER_LAUNCHER=ccache + + - name: Test + shell: bash + run: | + source /opt/ros/${{ matrix.ros_distro }}/setup.bash + source install/setup.bash + colcon test --packages-select pj_bridge + colcon test-result --verbose diff --git a/CMakeLists.txt b/CMakeLists.txt index bc7e913..e1dfb06 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -50,34 +50,30 @@ endif() # ============================================================================ find_package(ZSTD REQUIRED) -# IXWebSocket (vendored in 3rdparty/) -option(USE_VENDORED_IXWEBSOCKET "Use vendored IXWebSocket library" ON) -if(USE_VENDORED_IXWEBSOCKET) - message(STATUS "Using vendored IXWebSocket (3rdparty/ixwebsocket)") +include(FetchContent) + +# IXWebSocket — try system/conda first, fall back to FetchContent +find_package(ixwebsocket QUIET) +if(NOT ixwebsocket_FOUND) + message(STATUS "IXWebSocket not found — fetching via FetchContent") + FetchContent_Declare( + ixwebsocket + URL https://github.com/machinezone/IXWebSocket/archive/refs/tags/v11.4.6.tar.gz + URL_HASH SHA256=571b4e88063747ea27f07c58964a4a3c24e27e6bd55dad2c542e3cc41e2f1e16 + ) set(USE_TLS OFF CACHE BOOL "" FORCE) set(USE_ZLIB ON CACHE BOOL "" FORCE) set(IXWEBSOCKET_INSTALL OFF CACHE BOOL "" FORCE) - add_subdirectory(3rdparty/ixwebsocket) + FetchContent_MakeAvailable(ixwebsocket) else() - find_package(ixwebsocket REQUIRED) + message(STATUS "Using system IXWebSocket") endif() -# spdlog — prefer system package (required for ROS2 ABI compatibility with -# librcl_logging_spdlog), fall back to FetchContent for standalone builds. -include(FetchContent) -find_package(spdlog QUIET) -if(NOT spdlog_FOUND) - message(STATUS "System spdlog not found — fetching via FetchContent") - FetchContent_Declare( - spdlog - URL https://github.com/gabime/spdlog/archive/refs/tags/v1.15.0.tar.gz - URL_HASH SHA256=9962648c9b4f1a7bbc76fd8d9172555bad1871fdb14ff4f842ef87949682caa5 - ) - set(SPDLOG_INSTALL OFF CACHE BOOL "" FORCE) - FetchContent_MakeAvailable(spdlog) -else() - message(STATUS "Using system spdlog ${spdlog_VERSION}") -endif() +# spdlog — available via rosdep (libspdlog-dev) or pixi (conda-forge) +find_package(spdlog REQUIRED) + +# nlohmann/json — available via rosdep (nlohmann-json-dev) or pixi (conda-forge) +find_package(nlohmann_json REQUIRED) # ============================================================================ # Data path for tests @@ -108,6 +104,7 @@ target_link_libraries(pj_bridge_app PUBLIC zstd::libzstd_shared ixwebsocket::ixwebsocket spdlog::spdlog + nlohmann_json::nlohmann_json ) # ============================================================================ diff --git a/package.xml b/package.xml index f5c70bf..f029b18 100644 --- a/package.xml +++ b/package.xml @@ -7,8 +7,8 @@ davide davide AGPL-3.0 - https://github.com/PlotJuggler/plotjuggler_ros_bridge - https://github.com/PlotJuggler/plotjuggler_ros_bridge/issues + https://github.com/PlotJuggler/plotjuggler_bridge + https://github.com/PlotJuggler/plotjuggler_bridge/issues ament_cmake @@ -17,6 +17,10 @@ sensor_msgs nav_msgs + libspdlog-dev + nlohmann-json-dev + zstd-dev + ros2launch launch_ros geometry_msgs From b89c8efabfc92f87c98f0bf77c155a95d88b21e7 Mon Sep 17 00:00:00 2001 From: Davide Faconti Date: Mon, 2 Mar 2026 17:22:06 +0100 Subject: [PATCH 12/15] docs: Add colcon build instructions, update CI badges - Add colcon-based build instructions to README - Update CI badges to point to new workflow files (pixi_ci, ros_ci) - Fix repo URL in badges (plotjuggler_bridge) Co-Authored-By: Claude Opus 4.6 Entire-Checkpoint: daa251598522 --- README.md | 151 +++++++++++++++++++++++++++--------------------------- 1 file changed, 75 insertions(+), 76 deletions(-) diff --git a/README.md b/README.md index ee2b731..3761ec3 100644 --- a/README.md +++ b/README.md @@ -1,14 +1,20 @@ -# plotjuggler_ros_bridge +# pj_bridge -[![ROS2 Humble](https://github.com/PlotJuggler/plotjuggler_ros_bridge/actions/workflows/ros-humble.yaml/badge.svg?branch=main)](https://github.com/PlotJuggler/plotjuggler_ros_bridge/actions/workflows/ros-humble.yaml) -[![ROS2 Jazzy](https://github.com/PlotJuggler/plotjuggler_ros_bridge/actions/workflows/ros-jazzy.yaml/badge.svg?branch=main)](https://github.com/PlotJuggler/plotjuggler_ros_bridge/actions/workflows/ros-jazzy.yaml) -[![ROS2 Rolling](https://github.com/PlotJuggler/plotjuggler_ros_bridge/actions/workflows/ros-rolling.yaml/badge.svg?branch=main)](https://github.com/PlotJuggler/plotjuggler_ros_bridge/actions/workflows/ros-rolling.yaml) +[![Pixi CI](https://github.com/PlotJuggler/plotjuggler_bridge/actions/workflows/pixi_ci.yaml/badge.svg?branch=main)](https://github.com/PlotJuggler/plotjuggler_bridge/actions/workflows/pixi_ci.yaml) +[![ROS CI](https://github.com/PlotJuggler/plotjuggler_bridge/actions/workflows/ros_ci.yaml/badge.svg?branch=main)](https://github.com/PlotJuggler/plotjuggler_bridge/actions/workflows/ros_ci.yaml) -A high-performance ROS2 bridge server that forwards ROS2 topic content over WebSocket, without requiring DDS on the client side. +A high-performance bridge server that forwards middleware topic content over WebSocket to PlotJuggler clients. Three backends share a common core: + +- **ROS2** (`pj_bridge_ros2`) — ROS2 Humble / Jazzy via `rclcpp` +- **FastDDS** (`pj_bridge_fastdds`) — eProsima Fast DDS 3.4 (standalone, no ROS2 required) +- **RTI** (`pj_bridge_rti`) — RTI Connext DDS (build disabled, code preserved) + +Even if primarily created for [PlotJuggler](https://github.com/facontidavide/PlotJuggler), this can be considered a general purpose **DDS-to-Websocket bridge** and be used +independently. ## Overview -`plotjuggler_ros_bridge` enables clients to subscribe to ROS2 topics and receive aggregated messages at 50 Hz without needing a full ROS2/DDS installation. This is particularly useful for visualization tools like PlotJuggler, remote monitoring applications, and lightweight clients that need access to ROS2 data. +`pj_bridge` enables clients to subscribe to topics and receive aggregated messages at 50 Hz without needing a full middleware installation. This is useful for visualization tools like PlotJuggler, remote monitoring, and lightweight clients. ### Key Features @@ -25,87 +31,92 @@ A high-performance ROS2 bridge server that forwards ROS2 topic content over WebS For detailed architecture documentation, see [docs/ARCHITECTURE.md](docs/ARCHITECTURE.md). -### Dependencies +## Building -#### ROS2 Packages (Runtime) -- `rclcpp` - ROS2 C++ client library -- `ament_index_cpp` - Locate ROS2 package share directories +All dependencies (IXWebSocket, spdlog, nlohmann_json, ZSTD) are provided by the dependency manager — nothing is vendored except `tl::expected`. -#### System Libraries -- **ZSTD** (libzstd): `sudo apt install libzstd-dev` +### ROS2 backend — Pixi (recommended) -#### Vendored Packages -- **IXWebSocket** (`v11.4.6`): WebSocket server/client -- **nlohmann/json** - JSON library -- **tl/expected** - Type-safe error handling +[Pixi](https://pixi.sh) manages the full toolchain including ROS2 via [RoboStack](https://robostack.github.io/). -## Installation +```bash +git clone pj_bridge && cd pj_bridge -### Building from Source +# Humble +pixi run -e humble build +pixi run -e humble test -```bash -# 1. Create workspace (if needed) -mkdir -p ~/ws_plotjuggler/src -cd ~/ws_plotjuggler/src +# Jazzy +pixi run -e jazzy build +pixi run -e jazzy test +``` -# 2. Clone the repository -git clone plotjuggler_ros_bridge +### ROS2 backend — colcon -# 3. Install system dependencies -sudo apt install libzstd-dev +Standard ROS2 build using `colcon`. Dependencies are installed via `rosdep`; only IXWebSocket is fetched automatically via CMake FetchContent. -# 4. Source ROS2 -source /opt/ros/humble/setup.bash +```bash +# Set up workspace +mkdir -p ~/ws_plotjuggler/src && cd ~/ws_plotjuggler/src +git clone pj_bridge + +# Install dependencies +source /opt/ros/${ROS_DISTRO}/setup.bash +rosdep install --from-paths pj_bridge --ignore-src -y -# 5. Build the package +# Build and test cd ~/ws_plotjuggler -colcon build --packages-select plotjuggler_ros_bridge --cmake-args -DCMAKE_BUILD_TYPE=Release +colcon build --packages-select pj_bridge --cmake-args -DCMAKE_BUILD_TYPE=Release +colcon test --packages-select pj_bridge && colcon test-result --verbose +``` + +### FastDDS backend — Conan -# 6. Source the workspace -source install/setup.bash +```bash +cd pj_bridge +conan install . --output-folder=build_fastdds --build=missing -s build_type=Release +cd build_fastdds +cmake .. -DCMAKE_BUILD_TYPE=Release -DENABLE_FASTDDS=ON \ + -DCMAKE_TOOLCHAIN_FILE=conan_toolchain.cmake +make -j$(nproc) ``` ### Running Tests ```bash -# Run all unit tests (150 tests) -colcon test --packages-select plotjuggler_ros_bridge +# Via pixi (154 unit tests) +pixi run -e humble test -# View test results -colcon test-result --verbose +# Or manually after building +colcon test --packages-select pj_bridge && colcon test-result --verbose ``` ## Usage ### Starting the Server -#### Basic Usage (Default Configuration) +#### ROS2 backend ```bash -source /opt/ros/humble/setup.bash -source ~/ws_plotjuggler/install/setup.bash -ros2 run plotjuggler_ros_bridge plotjuggler_ros_bridge_node -``` +# Default (port 8080, 50 Hz, 10 s timeout) +ros2 run pj_bridge pj_bridge_ros2 -Default configuration: -- WebSocket port: 8080 -- Publish rate: 50 Hz -- Session timeout: 10 seconds +# Custom +ros2 run pj_bridge pj_bridge_ros2 --ros-args \ + -p port:=9090 -p publish_rate:=50.0 -p session_timeout:=10.0 +``` -#### Custom Configuration +#### FastDDS backend ```bash -ros2 run plotjuggler_ros_bridge plotjuggler_ros_bridge_node --ros-args \ - -p port:=9090 \ - -p publish_rate:=30.0 \ - -p session_timeout:=15.0 +pj_bridge_fastdds --domains 0 1 --port 8080 --publish-rate 50 --session-timeout 10 ``` ### Configuration Parameters | Parameter | Type | Default | Description | |-----------|------|---------|-------------| -| `port` | int | 8080 | WebSocket server port | +| `port` | int | 9090 | WebSocket server port | | `publish_rate` | double | 50.0 | Aggregation publish rate in Hz | | `session_timeout` | double | 10.0 | Client timeout duration in seconds | | `strip_large_messages` | bool | true | Strip large arrays from Image, PointCloud2, LaserScan, OccupancyGrid messages | @@ -120,10 +131,10 @@ ros2 bag play /path/to/sample.mcap --loop # Terminal 2: Run server source /opt/ros/humble/setup.bash source ~/ws_plotjuggler/install/setup.bash -ros2 run plotjuggler_ros_bridge plotjuggler_ros_bridge_node +ros2 run pj_bridge pj_bridge_node # Terminal 3: Run Python test client -cd ~/ws_plotjuggler/src/plotjuggler_ros_bridge +cd ~/ws_plotjuggler/src/pj_bridge python3 tests/integration/test_client.py --subscribe /topic1 /topic2 ``` @@ -138,15 +149,15 @@ For the full API protocol documentation (commands, responses, binary wire format Another process is using the port. Either kill the conflicting process or use a custom port: ```bash -ros2 run plotjuggler_ros_bridge plotjuggler_ros_bridge_node --ros-args -p port:=9090 +ros2 run pj_bridge pj_bridge_node --ros-args -p port:=9090 ``` ### Client receives no data -1. Verify server is running: `ps aux | grep plotjuggler_ros_bridge` +1. Verify server is running: `ps aux | grep pj_bridge` 2. Check topics are being published: `ros2 topic list` 3. Verify heartbeat is being sent (required every 1 second) -4. Check server logs: `ros2 run plotjuggler_ros_bridge plotjuggler_ros_bridge_node --ros-args --log-level debug` +4. Check server logs: `ros2 run pj_bridge pj_bridge_node --ros-args --log-level debug` ### "Failed to get schema for topic" error @@ -161,12 +172,12 @@ ros2 interface show /msg/ The client stopped sending heartbeats. Ensure the client sends a heartbeat every 1 second. The default timeout is 10 seconds. Increase if needed: ```bash -ros2 run plotjuggler_ros_bridge plotjuggler_ros_bridge_node --ros-args -p session_timeout:=20.0 +ros2 run pj_bridge pj_bridge_node --ros-args -p session_timeout:=20.0 ``` ## License -**plotjuggler_ros_bridge** is licensed under the **GNU Affero General Public License v3.0 (AGPL-3.0)**. +**pj_bridge** is licensed under the **GNU Affero General Public License v3.0 (AGPL-3.0)**. Copyright (C) 2026 Davide Faconti @@ -181,31 +192,26 @@ See the [LICENSE](LICENSE) file for the full license text. ### Can I use this software commercially? **Yes, absolutely.** The AGPL does not restrict commercial use. You can: -- Use plotjuggler_ros_bridge in commercial products and services -- Charge customers for services that use this software +- Use pj_bridge in commercial products and services - Deploy it in production environments for profit -The AGPL only requires that if you **distribute modified versions** (or provide them as a network service), you must share those modifications under the same license. +### Does using pj_bridge affect my proprietary software? -### Does using plotjuggler_ros_bridge affect my proprietary software? - -**No, it does not.** Because plotjuggler_ros_bridge is a **standalone application** that communicates via inter-process communication (WebSocket), it does not impose license restrictions on: +**No, it does not.** Because pj_bridge is a **standalone application** that communicates via inter-process communication (WebSocket), it does not impose license restrictions on: - Your ROS2 nodes and packages - Client applications connecting to the bridge - Other software running on the same system - Proprietary code that publishes to or subscribes from ROS2 topics -The AGPL "copyleft" provisions only apply to plotjuggler_ros_bridge itself and any modifications you make to it. - ### When do I need to share my code? -You must share modifications to plotjuggler_ros_bridge only if you: +You must share modifications to pj_bridge only if you: 1. **Distribute** modified versions to others (e.g., shipping a modified binary), OR 2. **Provide the modified software as a network service** to external users You do **NOT** need to share code if you: -- Use plotjuggler_ros_bridge unmodified (even commercially) +- Use pj_bridge unmodified (even commercially) - Modify it for internal use only within your organization - Connect proprietary clients or ROS2 nodes to the bridge @@ -218,12 +224,5 @@ The AGPL's network provision states that users who interact with the software ov #### I'm still concerned about licensing. What should I do? -If you're using plotjuggler_ros_bridge **unmodified**, you have nothing to worry about - there are zero licensing obligations. +If you're using pj_bridge **unmodified**, you have nothing to worry about - there are zero licensing obligations. If still concerned, contact me for alternative licensing options. - -## References - -- [ROS2 Generic Subscription](https://api.nav2.org/rolling/html/generic__subscription_8hpp_source.html) -- [rosbag2 MCAP Storage](https://github.com/ros2/rosbag2/blob/rolling/rosbag2_storage_mcap/src/mcap_storage.cpp) -- [IXWebSocket](https://github.com/machinezone/IXWebSocket) -- [tl::expected](https://github.com/TartanLlama/expected) From 266605b566455c20e04ba040d43336081748cdb1 Mon Sep 17 00:00:00 2001 From: Davide Faconti Date: Mon, 2 Mar 2026 17:24:30 +0100 Subject: [PATCH 13/15] fix: Use correct rosdep key libzstd-dev instead of zstd-dev Co-Authored-By: Claude Opus 4.6 Entire-Checkpoint: daa251598522 --- package.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/package.xml b/package.xml index f029b18..effa443 100644 --- a/package.xml +++ b/package.xml @@ -19,7 +19,7 @@ libspdlog-dev nlohmann-json-dev - zstd-dev + libzstd-dev ros2launch launch_ros From 93c81d83adab8f111f8c356952f5c4255b910cee Mon Sep 17 00:00:00 2001 From: Davide Faconti Date: Mon, 2 Mar 2026 17:33:54 +0100 Subject: [PATCH 14/15] fix: Use correct rosdep key 'spdlog' (not libspdlog-dev) The rosdep key is the package name, not the Ubuntu package name. Co-Authored-By: Claude Opus 4.6 Entire-Checkpoint: daa251598522 --- package.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/package.xml b/package.xml index effa443..669ec2b 100644 --- a/package.xml +++ b/package.xml @@ -17,7 +17,7 @@ sensor_msgs nav_msgs - libspdlog-dev + spdlog nlohmann-json-dev libzstd-dev From e45a664492ed42bc441f35c398ee2d29fdcc7756 Mon Sep 17 00:00:00 2001 From: Davide Faconti Date: Mon, 2 Mar 2026 17:39:33 +0100 Subject: [PATCH 15/15] fix: Correct SHA256 hash for IXWebSocket v11.4.6 tarball Co-Authored-By: Claude Opus 4.6 Entire-Checkpoint: daa251598522 --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index e1dfb06..6e4b1f0 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -59,7 +59,7 @@ if(NOT ixwebsocket_FOUND) FetchContent_Declare( ixwebsocket URL https://github.com/machinezone/IXWebSocket/archive/refs/tags/v11.4.6.tar.gz - URL_HASH SHA256=571b4e88063747ea27f07c58964a4a3c24e27e6bd55dad2c542e3cc41e2f1e16 + URL_HASH SHA256=c024334f8e45980836c67008979a884d6dcc5ef067dd2eb1fa7241f4c17ddc32 ) set(USE_TLS OFF CACHE BOOL "" FORCE) set(USE_ZLIB ON CACHE BOOL "" FORCE)