AP_DDS: replace ref interface with binary interface in uxr create entity methods

.pre-commit-config.yaml

@@ -41,11 +41,6 @@ repos:
         -   id: check-xml
         -   id: check-yaml
 
-  -   repo: https://github.com/lsst-ts/pre-commit-xmllint
-      rev: 6f36260b537bf9a42b6ea5262c915ae50786296e
-      hooks:
-        - id: format-xmllint
-          files: libraries/AP_DDS/dds_xrce_profile.xml
   -   repo: https://github.com/psf/black
       rev: 23.7.0
       hooks:

Tools/ros2/README.md

@@ -191,7 +191,7 @@ socat -d -d pty,raw,echo=0,link=./dev/ttyROS0 pty,raw,echo=0,link=./dev/ttyROS1
 ```
 
 ```bash
-ros2 run micro_ros_agent micro_ros_agent serial --baudrate 115200 --dev ./dev/ttyROS0 --refs $(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/dds_xrce_profile.xml
+ros2 run micro_ros_agent micro_ros_agent serial --baudrate 115200 --dev ./dev/ttyROS0
 ```
 
 ```bash
@@ -209,7 +209,7 @@ ros2 launch ardupilot_sitl virtual_ports.launch.py tty0:=./dev/ttyROS0 tty1:=./d
 ```
 
 ```bash
-ros2 launch ardupilot_sitl micro_ros_agent.launch.py transport:=serial refs:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/dds_xrce_profile.xml baudrate:=115200 device:=./dev/ttyROS0
+ros2 launch ardupilot_sitl micro_ros_agent.launch.py transport:=serial baudrate:=115200 device:=./dev/ttyROS0
 ```
 
 ```bash
@@ -229,7 +229,6 @@ tty0:=./dev/ttyROS0 \
 tty1:=./dev/ttyROS1 \
 \
 transport:=serial \
-refs:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/dds_xrce_profile.xml \
 baudrate:=115200 \
 device:=./dev/ttyROS0 \
 \
@@ -250,5 +249,5 @@ sitl:=127.0.0.1:5501
 UDP version
 
 ```
-ros2 launch ardupilot_sitl sitl_dds_udp.launch.py transport:=udp4 refs:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/dds_xrce_profile.xml synthetic_clock:=True wipe:=False model:=quad speedup:=1 slave:=0 instance:=0 defaults:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/copter.parm,$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/dds_udp.parm sim_address:=127.0.0.1 master:=tcp:127.0.0.1:5760 sitl:=127.0.0.1:5501
+ros2 launch ardupilot_sitl sitl_dds_udp.launch.py transport:=udp4 synthetic_clock:=True wipe:=False model:=quad speedup:=1 slave:=0 instance:=0 defaults:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/copter.parm,$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/dds_udp.parm sim_address:=127.0.0.1 master:=tcp:127.0.0.1:5760 sitl:=127.0.0.1:5501
 ```

Tools/ros2/ardupilot_dds_tests/config/ardupilot_dds.yaml

@@ -3,7 +3,6 @@
     middleware: dds
     serial_baud: 115200
     serial_device: ./dev/ttyROS0
-    refs_file: ./src/ardupilot/libraries/AP_DDS/dds_xrce_profile.xml
 
 /ardupilot:
     sim_vehicle_cmd: ./src/ardupilot/Tools/autotest/sim_vehicle.py

Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/conftest.py

@@ -74,13 +74,6 @@ def micro_ros_agent_serial(device_dir):
         LaunchDescriptionSource(mra_ld),
         launch_arguments={
             "transport": "serial",
-            "refs": PathJoinSubstitution(
-                [
-                    FindPackageShare("ardupilot_sitl"),
-                    "config",
-                    "dds_xrce_profile.xml",
-                ]
-            ),
             "baudrate": "115200",
             "device": str(tty0),
         }.items(),
@@ -97,13 +90,6 @@ def micro_ros_agent_udp():
         LaunchDescriptionSource(mra_ld),
         launch_arguments={
             "transport": "udp4",
-            "refs": PathJoinSubstitution(
-                [
-                    FindPackageShare("ardupilot_sitl"),
-                    "config",
-                    "dds_xrce_profile.xml",
-                ]
-            ),
         }.items(),
     )
     yield ld, mra_actions

Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/param_loader_wip.py

@@ -24,7 +24,6 @@
 #         # default params
 #         self.mra_serial_device = f"./dev/ttyROS0"
 #         self.mra_serial_baud = 115200
-#         self.mra_refs_file = "dds_xrce_profile.xml"
 #
 #         self.ap_sim_vehicle_cmd = "sim_vehicle.py"
 #         self.ap_serial_device = f"./dev/ttyROS1"

Tools/ros2/ardupilot_sitl/CMakeLists.txt

@@ -81,12 +81,6 @@ install(DIRECTORY
   DESTINATION share/${PROJECT_NAME}/
 )
 
-# Install DDS profile.
-install(FILES
-  ${ARDUPILOT_ROOT}/libraries/AP_DDS/dds_xrce_profile.xml
-  DESTINATION share/${PROJECT_NAME}/config
-)
-
 # Install additional default params.
 install(DIRECTORY
   config/default_params

libraries/AP_DDS/AP_DDS_Client.cpp

@@ -798,8 +798,10 @@ bool AP_DDS_Client::create()
         .id = 0x01,
         .type = UXR_PARTICIPANT_ID
     };
-    const char* participant_ref = "participant_profile";
-    const auto participant_req_id = uxr_buffer_create_participant_ref(&session, reliable_out, participant_id,0,participant_ref,UXR_REPLACE);
+    const char* participant_name = "ardupilot_dds";
+    const uint16_t domain_id = 0;
+    const auto participant_req_id = uxr_buffer_create_participant_bin(&session, reliable_out, participant_id,
+                                    domain_id, participant_name, UXR_REPLACE);
 
     //Participant requests
     constexpr uint8_t nRequestsParticipant = 1;
@@ -820,27 +822,27 @@ bool AP_DDS_Client::create()
             .id = topics[i].topic_id,
             .type = UXR_TOPIC_ID
         };
-        const char* topic_ref = topics[i].topic_profile_label;
-        const auto topic_req_id = uxr_buffer_create_topic_ref(&session,reliable_out,topic_id,participant_id,topic_ref,UXR_REPLACE);
+        const auto topic_req_id = uxr_buffer_create_topic_bin(&session, reliable_out, topic_id,
+                                  participant_id, topics[i].topic_name, topics[i].type_name, UXR_REPLACE);
 
         // Status requests
         constexpr uint8_t nRequests = 3;
         uint16_t requests[nRequests];
         constexpr uint16_t requestTimeoutMs = nRequests * maxTimeMsPerRequestMs;
         uint8_t status[nRequests];
 
-        if (strlen(topics[i].dw_profile_label) > 0) {
+        if (topics[i].topic_rw == Topic_rw::DataWriter) {
             // Publisher
             const uxrObjectId pub_id = {
                 .id = topics[i].pub_id,
                 .type = UXR_PUBLISHER_ID
             };
-            const char* pub_xml = "";
-            const auto pub_req_id = uxr_buffer_create_publisher_xml(&session,reliable_out,pub_id,participant_id,pub_xml,UXR_REPLACE);
+            const auto pub_req_id = uxr_buffer_create_publisher_bin(&session, reliable_out, pub_id,
+                                    participant_id, UXR_REPLACE);
 
             // Data Writer
-            const char* data_writer_ref = topics[i].dw_profile_label;
-            const auto dwriter_req_id = uxr_buffer_create_datawriter_ref(&session,reliable_out,topics[i].dw_id,pub_id,data_writer_ref,UXR_REPLACE);
+            const auto dwriter_req_id = uxr_buffer_create_datawriter_bin(&session, reliable_out, topics[i].dw_id,
+                                        pub_id, topic_id, topics[i].qos, UXR_REPLACE);
 
             // save the request statuses
             requests[0] = topic_req_id;
@@ -857,18 +859,18 @@ bool AP_DDS_Client::create()
             } else {
                 GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Topic/Pub/Writer session pass for index '%u'", msg_prefix, i);
             }
-        } else if (strlen(topics[i].dr_profile_label) > 0) {
+        } else if (topics[i].topic_rw == Topic_rw::DataReader) {
             // Subscriber
             const uxrObjectId sub_id = {
                 .id = topics[i].sub_id,
                 .type = UXR_SUBSCRIBER_ID
             };
-            const char* sub_xml = "";
-            const auto sub_req_id = uxr_buffer_create_subscriber_xml(&session,reliable_out,sub_id,participant_id,sub_xml,UXR_REPLACE);
+            const auto sub_req_id = uxr_buffer_create_subscriber_bin(&session, reliable_out, sub_id,
+                                    participant_id, UXR_REPLACE);
 
             // Data Reader
-            const char* data_reader_ref = topics[i].dr_profile_label;
-            const auto dreader_req_id = uxr_buffer_create_datareader_ref(&session,reliable_out,topics[i].dr_id,sub_id,data_reader_ref,UXR_REPLACE);
+            const auto dreader_req_id = uxr_buffer_create_datareader_bin(&session, reliable_out, topics[i].dr_id,
+                                        sub_id, topic_id, topics[i].qos, UXR_REPLACE);
 
             // save the request statuses
             requests[0] = topic_req_id;
@@ -895,13 +897,14 @@ bool AP_DDS_Client::create()
 
         constexpr uint16_t requestTimeoutMs = maxTimeMsPerRequestMs;
 
-        if (strlen(services[i].rep_profile_label) > 0) {
+        if (services[i].service_rr == Service_rr::Replier) {
             const uxrObjectId rep_id = {
                 .id = services[i].rep_id,
                 .type = UXR_REPLIER_ID
             };
-            const char* replier_ref = services[i].rep_profile_label;
-            const auto  replier_req_id = uxr_buffer_create_replier_ref(&session, reliable_out, rep_id, participant_id, replier_ref, UXR_REPLACE);
+            const auto replier_req_id = uxr_buffer_create_replier_bin(&session, reliable_out, rep_id,
+                                        participant_id, services[i].service_name, services[i].request_type, services[i].reply_type,
+                                        services[i].request_topic_name, services[i].reply_topic_name, services[i].qos, UXR_REPLACE);
 
             uint16_t request = replier_req_id;
             uint8_t status;
@@ -916,7 +919,7 @@ bool AP_DDS_Client::create()
                 uxr_buffer_request_data(&session, reliable_out, rep_id, reliable_in, &delivery_control);
             }
 
-        } else if (strlen(services[i].req_profile_label) > 0) {
+        } else if (services[i].service_rr == Service_rr::Requester) {
             // TODO : Add Similar Code for Requester Profile
         }
     }

libraries/AP_DDS/AP_DDS_Client.h

@@ -213,19 +213,32 @@ class AP_DDS_Client
     //! @brief Parameter storage
     static const struct AP_Param::GroupInfo var_info[];
 
+    //! @brief Enum used to mark a topic as a data reader or writer
+    enum class Topic_rw : uint8_t {
+        DataReader = 0,
+        DataWriter = 1,
+    };
+
     //! @brief Convenience grouping for a single "channel" of data
     struct Topic_table {
         const uint8_t topic_id;
         const uint8_t pub_id;
         const uint8_t sub_id;    // added sub_id fields to avoid confusion
         const uxrObjectId dw_id;
         const uxrObjectId dr_id; // added dr_id fields to avoid confusion
-        const char* topic_profile_label;
-        const char* dw_profile_label;
-        const char* dr_profile_label;
+        const Topic_rw topic_rw;
+        const char* topic_name;
+        const char* type_name;
+        const uxrQoS_t qos;
     };
     static const struct Topic_table topics[];
 
+    //! @brief Enum used to mark a service as a requester or replier
+    enum class Service_rr : uint8_t {
+        Requester = 0,
+        Replier = 1,
+    };
+
     //! @brief Convenience grouping for a single "channel" of services
     struct Service_table {
         //! @brief Request ID for the service
@@ -234,11 +247,26 @@ class AP_DDS_Client
         //! @brief Reply ID for the service
         const uint8_t rep_id;
 
-        //! @brief Profile Label for the service requester
-        const char* req_profile_label;
+        //! @brief Service is requester or replier
+        const Service_rr service_rr;
+
+        //! @brief Service name as it appears in ROS
+        const char* service_name;
+
+        //! @brief Service requester message type
+        const char* request_type;
+
+        //! @brief Service replier message type
+        const char* reply_type;
+
+        //! @brief Service requester topic name
+        const char* request_topic_name;
+
+        //! @brief Service replier topic name
+        const char* reply_topic_name;
 
-        //! @brief Profile Label for the service replier
-        const char* rep_profile_label;
+        //! @brief QoS for the service
+        const uxrQoS_t qos;
     };
     static const struct Service_table services[];
 };

libraries/AP_DDS/AP_DDS_Service_Table.h

@@ -15,13 +15,27 @@ constexpr struct AP_DDS_Client::Service_table AP_DDS_Client::services[] = {
     {
         .req_id = to_underlying(ServiceIndex::ARMING_MOTORS),
         .rep_id = to_underlying(ServiceIndex::ARMING_MOTORS),
-        .req_profile_label = "",
-        .rep_profile_label = "arm_motors__replier",
+        .service_rr = Service_rr::Replier,
+        .service_name = "rs/ap/arm_motorsService",
+        .request_type = "ardupilot_msgs::srv::dds_::ArmMotors_Request_",
+        .reply_type = "ardupilot_msgs::srv::dds_::ArmMotors_Response_",
+        .request_topic_name = "rq/ap/arm_motorsRequest",
+        .reply_topic_name = "rr/ap/arm_motorsReply",
+        .qos = {
+            .durability = UXR_DURABILITY_TRANSIENT_LOCAL,
+            .reliability = UXR_RELIABILITY_RELIABLE,
+            .history = UXR_HISTORY_KEEP_LAST,
+            .depth = 5,
+        },
     },
     {
         .req_id = to_underlying(ServiceIndex::MODE_SWITCH),
         .rep_id = to_underlying(ServiceIndex::MODE_SWITCH),
-        .req_profile_label = "",
-        .rep_profile_label = "mode_switch__replier",
+        .service_rr = Service_rr::Replier,
+        .service_name = "rs/ap/mode_switchService",
+        .request_type = "ardupilot_msgs::srv::dds_::ModeSwitch_Request_",
+        .reply_type = "ardupilot_msgs::srv::dds_::ModeSwitch_Response_",
+        .request_topic_name = "rq/ap/mode_switchRequest",
+        .reply_topic_name = "rr/ap/mode_switchReply",
     },
 };