Add event framework based on epoll, kqueue and select

CMakeLists.txt

@@ -319,6 +319,7 @@ install(
   COMPONENT dev
 )
 
+add_subdirectory(compat)
 add_subdirectory(src)
 if(BUILD_EXAMPLES)
   add_subdirectory(examples)

cmake/Modules/GenerateExportHeader.cmake

@@ -36,6 +36,7 @@ if(_include_file)
 
     cmake_parse_arguments(_GEHW "${_opts}" "${_single_opts}" "${_multi_opts}" ${ARGN})
 
+    string(MAKE_C_IDENTIFIER "${TARGET_LIBRARY}" _target_name)
     set(_prefix_name "${_GEHW_PREFIX_NAME}")
     set(_base_name "${TARGET_LIBRARY}")
 
@@ -56,7 +57,7 @@ if(_include_file)
     set(_custom_content
 "
 #ifndef ${_prefix_name}${_base_name_upper}_INLINE_EXPORT
-#  if __MINGW32__ && (!defined(__clang__) || !defined(${TARGET_LIBRARY}_EXPORTS))
+#  if __MINGW32__ && (!defined(__clang__) || !defined(${_target_name}_EXPORTS))
 #    define ${_prefix_name}${_base_name_upper}_INLINE_EXPORT
 #  else
 #    define ${_prefix_name}${_base_name_upper}_INLINE_EXPORT ${_prefix_name}${_base_name_upper}_EXPORT

compat/CMakeLists.txt

@@ -0,0 +1,10 @@
+include(CheckIncludeFile)
+
+check_include_file(getopt.h HAVE_GETOPT_H)
+if(WIN32 OR NOT HAVE_GETOPT_H)
+  add_library(compat OBJECT)
+  target_include_directories(compat INTERFACE "${CMAKE_CURRENT_SOURCE_DIR}")
+  target_sources(compat PRIVATE "${CMAKE_CURRENT_SOURCE_DIR}/getopt.c")
+else()
+  add_library(compat INTERFACE)
+endif()

src/ddsrt/include/getopt.h.in → compat/getopt.h

@@ -12,13 +12,11 @@
 #ifndef GETOPT_H
 #define GETOPT_H
 
-#include "dds/export.h"
+extern int opterr;
+extern int optind;
+extern int optopt;
+extern char *optarg;
 
-DDS_EXPORT extern int opterr;
-DDS_EXPORT extern int optind;
-DDS_EXPORT extern int optopt;
-DDS_EXPORT extern char *optarg;
-
-DDS_EXPORT int getopt(int argc, char **argv, const char *opts);
+int getopt(int argc, char **argv, const char *opts);
 
 #endif /* GETOPT_H */

src/CMakeLists.txt

@@ -22,61 +22,34 @@ function(PREPEND var prefix)
   set(${var} "${listVar}" PARENT_SCOPE)
 endfunction()
 
-# Generate a header file listing compile-time options relevant to the API.  Define to
-# "1" if enabled so that the generated features.h ends up having either
-#
-# - #define DDS_HAS_SECURITY 1
-# or
-# - /* #undef DDS_HAS_SECURITY */
-#
-# which caters both for those who prefer #ifdef DDS_HAS_SECURITY and for those who prefer
-# #if DDS_HAS_SECURITY.
 option(ENABLE_SECURITY "Enable OMG DDS Security support" ON)
 option(ENABLE_LIFESPAN "Enable Lifespan QoS support" ON)
 option(ENABLE_DEADLINE_MISSED "Enable Deadline Missed QoS support" ON)
 option(ENABLE_NETWORK_PARTITIONS "Enable network partition support" ON)
 option(ENABLE_SOURCE_SPECIFIC_MULTICAST "Enable support for source-specific multicast" ON)
 option(ENABLE_TYPE_DISCOVERY "Enable Type Discovery support" OFF)
 option(ENABLE_TOPIC_DISCOVERY "Enable Topic Discovery support" OFF)
-option(ENABLE_SHM "Enable shared memory support" ON)
-if(ENABLE_SECURITY)
-  set(DDS_HAS_SECURITY "1")
-endif()
-if(ENABLE_LIFESPAN)
-  set(DDS_HAS_LIFESPAN "1")
-endif()
-if(ENABLE_DEADLINE_MISSED)
-  set(DDS_HAS_DEADLINE_MISSED "1")
-endif()
-if(ENABLE_NETWORK_PARTITIONS)
-  set(DDS_HAS_NETWORK_PARTITIONS "1")
-endif()
-if(ENABLE_SOURCE_SPECIFIC_MULTICAST)
-  set(DDS_HAS_SSM "1")
-endif()
-if(ENABLE_TYPE_DISCOVERY)
-  set(DDS_HAS_TYPE_DISCOVERY "1")
-endif()
 if(ENABLE_TOPIC_DISCOVERY)
   if(NOT ENABLE_TYPE_DISCOVERY)
     message(FATAL_ERROR "ENABLE_TOPIC_DISCOVERY requires ENABLE_TYPE_DISCOVERY to be enabled")
   endif()
-  set(DDS_HAS_TOPIC_DISCOVERY "1")
 endif()
 
-option(CYCLONE_BUILD_WITH_ICEORYX "iceoryx not found by default" OFF)
+if(ENABLE_SOURCE_SPECIFIC_MULTICAST)
+  set(ENABLE_SSM ON)
+endif()
+
+# Prefer iceoryx integration but do not require it.
+set(ENABLE_SHM "AUTO" CACHE STRING "Enable shared memory support")
+set_property(CACHE ENABLE_SHM PROPERTY STRINGS ON OFF AUTO)
 if(ENABLE_SHM)
-  if(CMAKE_SYSTEM_NAME MATCHES Linux OR CMAKE_SYSTEM_NAME MATCHES Darwin OR CMAKE_SYSTEM_NAME MATCHES QNX)
-    message(STATUS "Linux/MacOS/QNX system found, trying to find iceoryx...")
-    find_package(iceoryx_binding_c QUIET)
-    if(iceoryx_binding_c_FOUND)
-      set(CYCLONE_BUILD_WITH_ICEORYX TRUE CACHE BOOL "Iceoryx found!" FORCE)
-      set(DDS_HAS_SHM "1")
-      message(STATUS "Build CycloneDDS with iceoryx shared memory support!")
-    else()
-      message(STATUS "iceoryx not found, falling back to loopback communication.")
-    endif()
+  if(NOT ENABLE_SHM STREQUAL "AUTO")
+    set(iceoryx_required REQUIRED)
+  else()
+    set(iceoryx_required QUIET)
   endif()
+  find_package(iceoryx_binding_c ${iceoryx_required})
+  set(ENABLE_SHM ${iceoryx_binding_c_FOUND} CACHE STRING "" FORCE)
 endif()
 
 # ones that linger in the sources
@@ -98,7 +71,6 @@ endif()
 if(ENABLE_SSL)
   find_package(OpenSSL)
   if(OPENSSL_FOUND)
-    set(DDS_HAS_SSL "1")
     message(STATUS "Building with OpenSSL support")
   else()
     message(STATUS "Building without OpenSSL support")
@@ -109,8 +81,6 @@ if(NOT ENABLE_SECURITY)
   message(STATUS "Building without OMG DDS Security support")
 endif()
 
-configure_file(features.h.in "${CMAKE_CURRENT_BINARY_DIR}/core/include/dds/features.h")
-
 add_subdirectory(tools)
 add_subdirectory(ddsrt)
 if(BUILD_IDLC)

src/core/CMakeLists.txt

@@ -45,7 +45,7 @@ if(ENABLE_SECURITY)
     $<BUILD_INTERFACE:$<TARGET_PROPERTY:security_api,INTERFACE_INCLUDE_DIRECTORIES>>)
 endif()
 
-if(iceoryx_binding_c_FOUND)
+if(ENABLE_SHM)
   target_link_libraries(ddsc PRIVATE iceoryx_binding_c::iceoryx_binding_c)
 endif()
 

src/core/ddsc/CMakeLists.txt

@@ -44,7 +44,7 @@ prepend(srcs_ddsc "${CMAKE_CURRENT_LIST_DIR}/src/"
   dds_data_allocator.c
   dds_loan.c)
 
-if (DDS_HAS_SHM)
+if(ENABLE_SHM)
   list(APPEND srcs_ddsc "${CMAKE_CURRENT_LIST_DIR}/src/shm_monitor.c")
 endif()
 
@@ -91,7 +91,7 @@ prepend(hdrs_public_ddsc "$<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/include>$<
   ddsc/dds_data_allocator.h
   ddsc/dds_loan_api.h)
 
-if (DDS_HAS_SHM)
+if(ENABLE_SHM)
   list(APPEND hdrs_private_ddsc "${CMAKE_CURRENT_LIST_DIR}/src/shm__monitor.h")
 endif()
 
@@ -104,8 +104,7 @@ target_sources(ddsc
     ${hdrs_private_ddsc}
   PUBLIC
     ${hdrs_public_ddsc}
-    "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>$<INSTALL_INTERFACE:include>/dds/export.h"
-)
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>$<INSTALL_INTERFACE:include>/dds/export.h")
 
 target_include_directories(ddsc
   PUBLIC

src/core/ddsc/tests/CMakeLists.txt

@@ -105,7 +105,7 @@ target_include_directories(
   "$<BUILD_INTERFACE:${CMAKE_BINARY_DIR}/src/include/>"
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../../ddsc/src>"
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../../ddsi/include>")
-if(iceoryx_binding_c_FOUND)
+if(ENABLE_SHM)
   target_include_directories(
     cunit_ddsc PRIVATE
     "$<BUILD_INTERFACE:$<TARGET_PROPERTY:iceoryx_binding_c::iceoryx_binding_c,INTERFACE_INCLUDE_DIRECTORIES>>")
@@ -139,7 +139,7 @@ target_include_directories(
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../../ddsc/src>"
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../../ddsi/include>")
 
-if(iceoryx_binding_c_FOUND)
+if(ENABLE_SHM)
   target_include_directories(
     oneliner PRIVATE
     "$<BUILD_INTERFACE:$<TARGET_PROPERTY:iceoryx_binding_c::iceoryx_binding_c,INTERFACE_INCLUDE_DIRECTORIES>>")
@@ -150,7 +150,7 @@ target_link_libraries(oneliner PRIVATE RoundTrip Space ddsc)
 # Iceoryx itself isn't really supported yet on Windows, so it
 # better not be part of the tests.  That also saves us from
 # having to figure out now how to start/stop RouDi on Windows.
-if(iceoryx_binding_c_FOUND AND NOT WIN32)
+if(ENABLE_SHM)
   idlc_generate(TARGET Array100 FILES Array100.idl)
   idlc_generate(TARGET DynamicData FILES DynamicData.idl)
 

src/core/ddsi/CMakeLists.txt

@@ -74,7 +74,6 @@ set(srcs_ddsi
   q_qosmatch.c
   q_radmin.c
   q_receive.c
-  q_sockwaitset.c
   q_thread.c
   q_transmit.c
   q_inverse_uint32_set.c
@@ -152,14 +151,14 @@ set(hdrs_private_ddsi
   q_radmin.h
   q_receive.h
   q_rtps.h
-  q_sockwaitset.h
   q_thread.h
   q_transmit.h
   q_inverse_uint32_set.h
   q_unused.h
   q_whc.h
   q_xevent.h
   q_xmsg.h
+  q_receive.h
   sysdeps.h)
 
 if(ENABLE_LIFESPAN)
@@ -178,7 +177,7 @@ if(ENABLE_SECURITY)
   list(APPEND srcs_ddsi ddsi_security_msg.c ddsi_security_exchange.c)
   list(APPEND hdrs_private_ddsi ddsi_security_msg.h ddsi_security_exchange.h)
 endif()
-if(iceoryx_binding_c_FOUND)
+if(ENABLE_SHM)
   list(APPEND srcs_ddsi ddsi_shm_transport.c) 
   list(APPEND hdrs_private_ddsi ddsi_shm_transport.h)
 endif()

src/core/ddsi/include/dds/ddsi/ddsi_domaingv.h

@@ -22,11 +22,11 @@
 #include "dds/ddsrt/sync.h"
 #include "dds/ddsrt/fibheap.h"
 #include "dds/ddsrt/avl.h"
+#include "dds/ddsrt/event.h"
 
 #include "dds/ddsi/ddsi_plist.h"
 #include "dds/ddsi/ddsi_ownip.h"
 #include "dds/ddsi/q_protocol.h"
-#include "dds/ddsi/q_sockwaitset.h"
 #include "dds/ddsi/q_config.h"
 
 #if defined (__cplusplus)
@@ -80,7 +80,7 @@ struct recv_thread_arg {
       struct ddsi_tran_conn *conn;
     } single;
     struct {
-      os_sockWaitset ws;
+      ddsrt_loop_t loop;
     } many;
   } u;
 };

src/core/ddsi/include/dds/ddsi/ddsi_tran.h

@@ -14,6 +14,7 @@
 
 /* DDSI Transport module */
 
+#include "dds/ddsrt/event.h"
 #include "dds/ddsrt/ifaddrs.h"
 #include "dds/ddsrt/atomics.h"
 #include "dds/ddsi/ddsi_locator.h"
@@ -50,6 +51,7 @@ typedef ssize_t (*ddsi_tran_write_fn_t) (ddsi_tran_conn_t, const ddsi_locator_t
 typedef int (*ddsi_tran_locator_fn_t) (ddsi_tran_factory_t, ddsi_tran_base_t, ddsi_locator_t *);
 typedef bool (*ddsi_tran_supports_fn_t) (const struct ddsi_tran_factory *, int32_t);
 typedef ddsrt_socket_t (*ddsi_tran_handle_fn_t) (ddsi_tran_base_t);
+typedef ddsrt_event_t *(*ddsi_tran_event_fn_t) (ddsi_tran_base_t);
 typedef int (*ddsi_tran_listen_fn_t) (ddsi_tran_listener_t);
 typedef void (*ddsi_tran_free_fn_t) (ddsi_tran_factory_t);
 typedef void (*ddsi_tran_peer_locator_fn_t) (ddsi_tran_conn_t, ddsi_locator_t *);
@@ -104,6 +106,7 @@ struct ddsi_tran_base
   /* Functions */
 
   ddsi_tran_handle_fn_t m_handle_fn;
+  ddsi_tran_event_fn_t m_event_fn;
 };
 
 struct ddsi_tran_conn
@@ -262,9 +265,15 @@ void ddsi_tran_free (ddsi_tran_base_t base);
 DDS_INLINE_EXPORT inline ddsrt_socket_t ddsi_tran_handle (ddsi_tran_base_t base) {
   return base->m_handle_fn (base);
 }
+DDS_INLINE_EXPORT inline ddsrt_event_t *ddsi_tran_event (ddsi_tran_base_t base) {
+  return base->m_event_fn (base);
+}
 DDS_INLINE_EXPORT inline ddsrt_socket_t ddsi_conn_handle (ddsi_tran_conn_t conn) {
   return conn->m_base.m_handle_fn (&conn->m_base);
 }
+DDS_INLINE_EXPORT inline ddsrt_event_t *ddsi_conn_event (ddsi_tran_conn_t conn) {
+  return conn->m_base.m_event_fn (&conn->m_base);
+}
 DDS_INLINE_EXPORT inline uint32_t ddsi_conn_type (const struct ddsi_tran_conn *conn) {
   return conn->m_base.m_trantype;
 }
@@ -326,6 +335,9 @@ DDS_INLINE_EXPORT inline int ddsi_listener_listen (ddsi_tran_listener_t listener
 DDS_INLINE_EXPORT inline ddsi_tran_conn_t ddsi_listener_accept (ddsi_tran_listener_t listener) {
   return listener->m_accept_fn (listener);
 }
+DDS_INLINE_EXPORT inline ddsrt_event_t *ddsi_listener_event (ddsi_tran_listener_t listener) {
+  return listener->m_base.m_event_fn (&listener->m_base);
+}
 void ddsi_listener_unblock (ddsi_tran_listener_t listener);
 void ddsi_listener_free (ddsi_tran_listener_t listener);