Attach sequence number, publisher GID, and source timestamp to public…

…ations.

That way, the subscriptions can pull them out of the
attachment and pass it to the upper layers.

Signed-off-by: Chris Lalancette <[email protected]>

rmw_zenoh_cpp/CMakeLists.txt

@@ -26,6 +26,7 @@ find_package(zenoh_c_vendor REQUIRED)
 find_package(zenohc REQUIRED)
 
 add_library(rmw_zenoh_cpp SHARED
+  src/detail/attachment_helpers.cpp
   src/detail/identifier.cpp
   src/detail/graph_cache.cpp
   src/detail/guard_condition.cpp

rmw_zenoh_cpp/src/detail/attachment_helpers.cpp

@@ -0,0 +1,93 @@
+// Copyright 2024 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <zenoh.h>
+
+#include <cstdlib>
+#include <cstring>
+#include <string>
+
+#include "rmw/types.h"
+
+#include "attachment_helpers.hpp"
+
+bool get_gid_from_attachment(
+  const z_attachment_t * const attachment, uint8_t gid[RMW_GID_STORAGE_SIZE])
+{
+  if (!z_check(*attachment)) {
+    return false;
+  }
+
+  z_bytes_t index = z_attachment_get(*attachment, z_bytes_new("source_gid"));
+  if (!z_check(index)) {
+    return false;
+  }
+
+  if (index.len != RMW_GID_STORAGE_SIZE) {
+    return false;
+  }
+
+  memcpy(gid, index.start, index.len);
+
+  return true;
+}
+
+int64_t get_int64_from_attachment(
+  const z_attachment_t * const attachment, const std::string & name)
+{
+  if (!z_check(*attachment)) {
+    // A valid request must have had an attachment
+    return -1;
+  }
+
+  z_bytes_t index = z_attachment_get(*attachment, z_bytes_new(name.c_str()));
+  if (!z_check(index)) {
+    return -1;
+  }
+
+  if (index.len < 1) {
+    return -1;
+  }
+
+  if (index.len > 19) {
+    // The number was larger than we expected
+    return -1;
+  }
+
+  // The largest possible int64_t number is INT64_MAX, i.e. 9223372036854775807.
+  // That is 19 characters long, plus one for the trailing \0, means we need 20 bytes.
+  char int64_str[20];
+
+  memcpy(int64_str, index.start, index.len);
+  int64_str[index.len] = '\0';
+
+  errno = 0;
+  char * endptr;
+  int64_t num = strtol(int64_str, &endptr, 10);
+  if (num == 0) {
+    // This is an error regardless; the client should never send this
+    return -1;
+  } else if (endptr == int64_str) {
+    // No values were converted, this is an error
+    return -1;
+  } else if (*endptr != '\0') {
+    // There was junk after the number
+    return -1;
+  } else if (errno != 0) {
+    // Some other error occurred, which may include overflow or underflow
+    return -1;
+  }
+
+  return num;
+}

rmw_zenoh_cpp/src/detail/attachment_helpers.hpp

@@ -0,0 +1,30 @@
+// Copyright 2024 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef DETAIL__ATTACHMENT_HELPERS_HPP_
+#define DETAIL__ATTACHMENT_HELPERS_HPP_
+
+#include <zenoh.h>
+
+#include <string>
+
+#include "rmw/types.h"
+
+bool get_gid_from_attachment(
+  const z_attachment_t * const attachment, uint8_t gid[RMW_GID_STORAGE_SIZE]);
+
+int64_t get_int64_from_attachment(
+  const z_attachment_t * const attachment, const std::string & name);
+
+#endif  // DETAIL__ATTACHMENT_HELPERS_HPP_

rmw_zenoh_cpp/src/detail/rmw_data_types.cpp

@@ -14,28 +14,43 @@
 
 #include <zenoh.h>
 
+#include <condition_variable>
 #include <cstring>
+#include <memory>
 #include <mutex>
 #include <optional>
+#include <string>
 #include <utility>
 
 #include "rcpputils/scope_exit.hpp"
 #include "rcutils/logging_macros.h"
 
+#include "attachment_helpers.hpp"
 #include "rmw_data_types.hpp"
 
 ///==============================================================================
-saved_msg_data::saved_msg_data(zc_owned_payload_t p, uint64_t recv_ts, const uint8_t pub_gid[16])
-: payload(p), recv_timestamp(recv_ts)
+saved_msg_data::saved_msg_data(
+  zc_owned_payload_t p,
+  uint64_t recv_ts,
+  const uint8_t pub_gid[RMW_GID_STORAGE_SIZE],
+  int64_t seqnum,
+  int64_t source_ts)
+: payload(p), recv_timestamp(recv_ts), sequence_number(seqnum), source_timestamp(source_ts)
 {
-  memcpy(publisher_gid, pub_gid, 16);
+  memcpy(publisher_gid, pub_gid, RMW_GID_STORAGE_SIZE);
 }
 
 saved_msg_data::~saved_msg_data()
 {
   z_drop(z_move(payload));
 }
 
+size_t rmw_publisher_data_t::get_next_sequence_number()
+{
+  std::lock_guard<std::mutex> lock(sequence_number_mutex_);
+  return sequence_number_++;
+}
+
 void rmw_subscription_data_t::attach_condition(std::condition_variable * condition_variable)
 {
   std::lock_guard<std::mutex> lock(condition_mutex_);
@@ -232,6 +247,7 @@ std::unique_ptr<ZenohReply> rmw_client_data_t::pop_next_reply()
 }
 
 //==============================================================================
+
 void sub_data_handler(
   const z_sample_t * sample,
   void * data)
@@ -253,10 +269,36 @@ void sub_data_handler(
     return;
   }
 
+  uint8_t pub_gid[RMW_GID_STORAGE_SIZE];
+  if (!get_gid_from_attachment(&sample->attachment, pub_gid)) {
+    // We failed to get the GID from the attachment.  While this isn't fatal,
+    // it is unusual and so we should report it.
+    memset(pub_gid, 0, RMW_GID_STORAGE_SIZE);
+    RCUTILS_LOG_ERROR_NAMED("rmw_zenoh_cpp", "Unable to obtain publisher GID from the attachment.");
+  }
+
+  int64_t sequence_number = get_int64_from_attachment(&sample->attachment, "sequence_number");
+  if (sequence_number < 0) {
+    // We failed to get the sequence number from the attachment.  While this
+    // isn't fatal, it is unusual and so we should report it.
+    sequence_number = 0;
+    RCUTILS_LOG_ERROR_NAMED(
+      "rmw_zenoh_cpp", "Unable to obtain sequence number from the attachment.");
+  }
+
+  int64_t source_timestamp = get_int64_from_attachment(&sample->attachment, "source_timestamp");
+  if (source_timestamp < 0) {
+    // We failed to get the source timestamp from the attachment.  While this
+    // isn't fatal, it is unusual and so we should report it.
+    source_timestamp = 0;
+    RCUTILS_LOG_ERROR_NAMED(
+      "rmw_zenoh_cpp", "Unable to obtain sequence number from the attachment.");
+  }
+
   sub_data->add_new_message(
     std::make_unique<saved_msg_data>(
       zc_sample_payload_rcinc(sample),
-      sample->timestamp.time, sample->timestamp.id.id), z_loan(keystr));
+      sample->timestamp.time, pub_gid, sequence_number, source_timestamp), z_loan(keystr));
 }
 
 ZenohQuery::ZenohQuery(const z_query_t * query)
@@ -318,8 +360,8 @@ std::optional<z_sample_t> ZenohReply::get_sample() const
 
 size_t rmw_client_data_t::get_next_sequence_number()
 {
-  std::lock_guard<std::mutex> lock(sequence_number_mutex);
-  return sequence_number++;
+  std::lock_guard<std::mutex> lock(sequence_number_mutex_);
+  return sequence_number_++;
 }
 
 //==============================================================================

rmw_zenoh_cpp/src/detail/rmw_data_types.hpp

@@ -71,8 +71,9 @@ struct rmw_node_data_t
 };
 
 ///==============================================================================
-struct rmw_publisher_data_t
+class rmw_publisher_data_t final
 {
+public:
   // An owned publisher.
   z_owned_publisher_t pub;
 
@@ -93,7 +94,13 @@ struct rmw_publisher_data_t
   // Context for memory allocation for messages.
   rmw_context_t * context;
 
-  uint8_t pub_guid[RMW_GID_STORAGE_SIZE];
+  uint8_t pub_gid[RMW_GID_STORAGE_SIZE];
+
+  size_t get_next_sequence_number();
+
+private:
+  std::mutex sequence_number_mutex_;
+  size_t sequence_number_{1};
 };
 
 ///==============================================================================
@@ -111,13 +118,20 @@ void sub_data_handler(const z_sample_t * sample, void * sub_data);
 
 struct saved_msg_data
 {
-  explicit saved_msg_data(zc_owned_payload_t p, uint64_t recv_ts, const uint8_t pub_gid[16]);
+  explicit saved_msg_data(
+    zc_owned_payload_t p,
+    uint64_t recv_ts,
+    const uint8_t pub_gid[RMW_GID_STORAGE_SIZE],
+    int64_t seqnum,
+    int64_t source_ts);
 
   ~saved_msg_data();
 
   zc_owned_payload_t payload;
   uint64_t recv_timestamp;
-  uint8_t publisher_gid[16];
+  uint8_t publisher_gid[RMW_GID_STORAGE_SIZE];
+  int64_t sequence_number;
+  int64_t source_timestamp;
 };
 
 ///==============================================================================
@@ -266,7 +280,7 @@ class rmw_client_data_t final
 
   rmw_context_t * context;
 
-  uint8_t client_guid[RMW_GID_STORAGE_SIZE];
+  uint8_t client_gid[RMW_GID_STORAGE_SIZE];
 
   size_t get_next_sequence_number();
 
@@ -283,8 +297,8 @@ class rmw_client_data_t final
 private:
   void notify();
 
-  size_t sequence_number{1};
-  std::mutex sequence_number_mutex;
+  size_t sequence_number_{1};
+  std::mutex sequence_number_mutex_;
 
   std::condition_variable * condition_{nullptr};
   std::mutex condition_mutex_;