Merge pull request #21 from orecham/rmw-iox2-16-organize-codebase

[#16] Reorganization and refactoring

doc/release-notes/unreleased.md

@@ -27,6 +27,8 @@
     conflicts when merging.
 -->
 
+* Organize code base to separate rmw api and implementation details [#16](https://github.com/ekxide/rmw_iceoryx2/issues/16)
+
 ### Workflow
 
 <!--

rmw_iceoryx2_cxx/CMakeLists.txt

@@ -56,16 +56,17 @@ endforeach()
 # ----------------------------------------------------------------------------
 
 add_library(${PROJECT_NAME} SHARED
-  src/iox2/context_impl.cpp
-  src/iox2/guard_condition_impl.cpp
-  src/iox2/iceoryx2.cpp
-  src/iox2/names.cpp
-  src/iox2/node_impl.cpp
-  src/iox2/publisher_impl.cpp
-  src/iox2/subscriber_impl.cpp
-  src/iox2/waitset_impl.cpp
-  src/message/introspect.cpp
-  src/message/serialize.cpp
+  src/impl/common/names.cpp
+  src/impl/message/introspection.cpp
+  src/impl/message/serialization.cpp
+  src/impl/middleware/iceoryx2.cpp
+  src/impl/runtime/context.cpp
+  src/impl/runtime/guard_condition.cpp
+  src/impl/runtime/node.cpp
+  src/impl/runtime/publisher.cpp
+  src/impl/runtime/subscriber.cpp
+  src/impl/runtime/waitset.cpp
+
   src/rmw/client.cpp
   src/rmw/event.cpp
   src/rmw/feature.cpp
@@ -149,14 +150,14 @@ if(BUILD_TESTING)
 
   ament_add_gtest(test_rmw_iceoryx2_cxx
     test/testing/base.cpp
-    test/test_iox2_context_impl.cpp
-    test/test_iox2_guard_condition_impl.cpp
-    test/test_iox2_message_introspection.cpp
-    test/test_iox2_node_impl.cpp
-    test/test_iox2_publisher_impl.cpp
-    test/test_iox2_sample_registry.cpp
-    test/test_iox2_subscriber_impl.cpp
-    test/test_iox2_waitset_impl.cpp
+    test/test_impl_context.cpp
+    test/test_impl_guard_condition.cpp
+    test/test_impl_message_introspection.cpp
+    test/test_impl_node.cpp
+    test/test_impl_publisher.cpp
+    test/test_impl_sample_registry.cpp
+    test/test_impl_subscriber.cpp
+    test/test_impl_waitset.cpp
     test/test_rmw_allocator.cpp
     test/test_rmw_gid.cpp
     test/test_rmw_graph.cpp

rmw_iceoryx2_cxx/include/rmw_iceoryx2_cxx/allocator.hpp → rmw_iceoryx2_cxx/include/rmw_iceoryx2_cxx/impl/common/allocator.hpp

@@ -7,14 +7,14 @@
 //
 // SPDX-License-Identifier: Apache-2.0 OR MIT
 
-#ifndef RMW_IOX2_ALLOCATOR_HELPERS_HPP_
-#define RMW_IOX2_ALLOCATOR_HELPERS_HPP_
+#ifndef RMW_IOX2_COMMON_ALLOCATOR_HPP_
+#define RMW_IOX2_COMMON_ALLOCATOR_HPP_
 
 #include "iox/expected.hpp"
 #include "rmw/allocators.h"
 #include "rmw/visibility_control.h"
-#include "rmw_iceoryx2_cxx/error.hpp"
-#include "rmw_iceoryx2_cxx/error_message.hpp"
+#include "rmw_iceoryx2_cxx/impl/common/error.hpp"
+#include "rmw_iceoryx2_cxx/impl/common/error_message.hpp"
 
 #include <cstring>
 

rmw_iceoryx2_cxx/include/rmw_iceoryx2_cxx/create.hpp → rmw_iceoryx2_cxx/include/rmw_iceoryx2_cxx/impl/common/create.hpp

@@ -7,16 +7,15 @@
 //
 // SPDX-License-Identifier: Apache-2.0 OR MIT
 
-#ifndef RMW_IOX2_CREATE_HPP_
-#define RMW_IOX2_CREATE_HPP_
+#ifndef RMW_IOX2_COMMON_CREATE_HPP_
+#define RMW_IOX2_COMMON_CREATE_HPP_
 
 #include "iox/expected.hpp"
 #include "iox/optional.hpp"
-#include "iox2/service_builder_publish_subscribe_error.hpp"
 #include "rmw/visibility_control.h"
-#include "rmw_iceoryx2_cxx/creation_lock.hpp"
-#include "rmw_iceoryx2_cxx/error.hpp"
-#include "rmw_iceoryx2_cxx/error_message.hpp"
+#include "rmw_iceoryx2_cxx/impl/common/creation_lock.hpp"
+#include "rmw_iceoryx2_cxx/impl/common/error.hpp"
+#include "rmw_iceoryx2_cxx/impl/common/error_message.hpp"
 
 namespace rmw::iox2
 {

rmw_iceoryx2_cxx/include/rmw_iceoryx2_cxx/creation_lock.hpp → rmw_iceoryx2_cxx/include/rmw_iceoryx2_cxx/impl/common/creation_lock.hpp

@@ -7,8 +7,8 @@
 //
 // SPDX-License-Identifier: Apache-2.0 OR MIT
 
-#ifndef RMW_IOX2_CREATION_LOCK_HPP_
-#define RMW_IOX2_CREATION_LOCK_HPP_
+#ifndef RMW_IOX2_COMMON_CREATION_LOCK_HPP_
+#define RMW_IOX2_COMMON_CREATION_LOCK_HPP_
 
 #include "iox/expected.hpp"
 

rmw_iceoryx2_cxx/include/rmw_iceoryx2_cxx/defaults.hpp → rmw_iceoryx2_cxx/include/rmw_iceoryx2_cxx/impl/common/defaults.hpp

@@ -9,8 +9,8 @@
 
 #include "rcutils/types/string_array.h"
 
-#ifndef RMW_IOX2_DEFAULTS_HPP_
-#define RMW_IOX2_DEFAULTS_HPP_
+#ifndef RMW_IOX2_COMMON_DEFAULTS_HPP_
+#define RMW_IOX2_COMMON_DEFAULTS_HPP_
 
 constexpr rcutils_string_array_t RCUTILS_STRING_ARRAY_ZERO = {
     0,                                            // size

rmw_iceoryx2_cxx/include/rmw_iceoryx2_cxx/ensure.hpp → rmw_iceoryx2_cxx/include/rmw_iceoryx2_cxx/impl/common/ensure.hpp

@@ -7,12 +7,12 @@
 //
 // SPDX-License-Identifier: Apache-2.0 OR MIT
 
-#ifndef RMW_IOX2_ENSURE_HPP_
-#define RMW_IOX2_ENSURE_HPP_
+#ifndef RMW_IOX2_COMMON_ENSURE_HPP_
+#define RMW_IOX2_COMMON_ENSURE_HPP_
 
-#include "rmw_iceoryx2_cxx/defaults.hpp"
-#include "rmw_iceoryx2_cxx/error_message.hpp"
-#include "rmw_iceoryx2_cxx/message/typesupport.hpp"
+#include "rmw_iceoryx2_cxx/impl/common/defaults.hpp"
+#include "rmw_iceoryx2_cxx/impl/common/error_message.hpp"
+#include "rmw_iceoryx2_cxx/impl/message/typesupport.hpp"
 
 #define RMW_IOX2_ENSURE_VALID_ALLOCATOR(allocator, return_value) RCUTILS_CHECK_ALLOCATOR(allocator, return return_value)
 

rmw_iceoryx2_cxx/include/rmw_iceoryx2_cxx/error.hpp → rmw_iceoryx2_cxx/include/rmw_iceoryx2_cxx/impl/common/error.hpp

@@ -7,8 +7,8 @@
 //
 // SPDX-License-Identifier: Apache-2.0 OR MIT
 
-#ifndef RMW_IOX2_ERROR_HPP_
-#define RMW_IOX2_ERROR_HPP_
+#ifndef RMW_IOX2_COMMON_ERROR_HPP_
+#define RMW_IOX2_COMMON_ERROR_HPP_
 
 #include <cstdint>
 

rmw_iceoryx2_cxx/include/rmw_iceoryx2_cxx/error_message.hpp → rmw_iceoryx2_cxx/include/rmw_iceoryx2_cxx/impl/common/error_message.hpp

@@ -7,8 +7,8 @@
 //
 // SPDX-License-Identifier: Apache-2.0 OR MIT
 
-#ifndef RMW_IOX2_ERROR_HANDLING_HPP_
-#define RMW_IOX2_ERROR_HANDLING_HPP_
+#ifndef RMW_IOX2_COMMON_ERROR_MESSAGE_HPP_
+#define RMW_IOX2_COMMON_ERROR_MESSAGE_HPP_
 
 #include "rmw/allocators.h"
 #include "rmw/error_handling.h"

rmw_iceoryx2_cxx/include/rmw_iceoryx2_cxx/log.hpp → rmw_iceoryx2_cxx/include/rmw_iceoryx2_cxx/impl/common/log.hpp

@@ -7,8 +7,8 @@
 //
 // SPDX-License-Identifier: Apache-2.0 OR MIT
 
-#ifndef RMW_IOX2_LOG_HPP_
-#define RMW_IOX2_LOG_HPP_
+#ifndef RMW_IOX2_COMMON_LOG_HPP_
+#define RMW_IOX2_COMMON_LOG_HPP_
 
 #include "rcutils/logging_macros.h"
 

rmw_iceoryx2_cxx/include/rmw_iceoryx2_cxx/message/typesupport.hpp → rmw_iceoryx2_cxx/include/rmw_iceoryx2_cxx/impl/message/typesupport.hpp

@@ -7,8 +7,8 @@
 //
 // SPDX-License-Identifier: Apache-2.0 OR MIT
 
-#ifndef RMW_IOX2_TYPESUPPORT_HPP_
-#define RMW_IOX2_TYPESUPPORT_HPP_
+#ifndef RMW_IOX2_MESSAGE_TYPESUPPORT_HPP_
+#define RMW_IOX2_MESSAGE_TYPESUPPORT_HPP_
 
 #include "rosidl_typesupport_fastrtps_c/identifier.h"
 #include "rosidl_typesupport_fastrtps_cpp/identifier.hpp"

rmw_iceoryx2_cxx/include/rmw_iceoryx2_cxx/iox2/iceoryx2.hpp → rmw_iceoryx2_cxx/include/rmw_iceoryx2_cxx/impl/middleware/iceoryx2.hpp

@@ -7,8 +7,8 @@
 //
 // SPDX-License-Identifier: Apache-2.0 OR MIT
 
-#ifndef RMW_IOX2_HANDLE_HPP_
-#define RMW_IOX2_HANDLE_HPP_
+#ifndef RMW_IOX2_MIDDLEWARE_ICEORYX2_HPP_
+#define RMW_IOX2_MIDDLEWARE_ICEORYX2_HPP_
 
 #include "iox2/listener.hpp"
 #include "iox2/node.hpp"
@@ -23,8 +23,8 @@
 #include "iox2/subscriber.hpp"
 #include "iox2/waitset.hpp"
 #include "rmw/visibility_control.h"
-#include "rmw_iceoryx2_cxx/creation_lock.hpp"
-#include "rmw_iceoryx2_cxx/error.hpp"
+#include "rmw_iceoryx2_cxx/impl/common/creation_lock.hpp"
+#include "rmw_iceoryx2_cxx/impl/common/error.hpp"
 
 #include <string>
 
@@ -34,7 +34,7 @@ namespace rmw::iox2
 class Iceoryx2;
 
 template <>
-struct Error<Iceoryx2>
+struct Error<::rmw::iox2::Iceoryx2>
 {
     using Type = HandleError;
 };
@@ -55,6 +55,10 @@ struct Error<Iceoryx2>
 ///
 class RMW_PUBLIC Iceoryx2
 {
+    template <typename T>
+    using Error = ::rmw::iox2::Error<T>;
+    using CreationLock = ::rmw::iox2::CreationLock;
+
 public:
     // In iceoryx2, a node is an instance of iceoryx2 with its own lifetime management.
     using InstanceName = ::iox2::NodeName;

rmw_iceoryx2_cxx/include/rmw_iceoryx2_cxx/iox2/context_impl.hpp → rmw_iceoryx2_cxx/include/rmw_iceoryx2_cxx/impl/runtime/context.hpp

@@ -7,14 +7,14 @@
 //
 // SPDX-License-Identifier: Apache-2.0 OR MIT
 
-#ifndef RMW_IOX2_CONTEXT_IMPL_HPP_
-#define RMW_IOX2_CONTEXT_IMPL_HPP_
+#ifndef RMW_IOX2_RUNTIME_CONTEXT_HPP_
+#define RMW_IOX2_RUNTIME_CONTEXT_HPP_
 
 #include "iox/optional.hpp"
 #include "rmw/visibility_control.h"
-#include "rmw_iceoryx2_cxx/creation_lock.hpp"
-#include "rmw_iceoryx2_cxx/error.hpp"
-#include "rmw_iceoryx2_cxx/iox2/iceoryx2.hpp"
+#include "rmw_iceoryx2_cxx/impl/common/creation_lock.hpp"
+#include "rmw_iceoryx2_cxx/impl/common/error.hpp"
+#include "rmw_iceoryx2_cxx/impl/middleware/iceoryx2.hpp"
 
 #include <atomic>
 
@@ -81,7 +81,7 @@ namespace rmw::iox2
 {
 
 // Used throughout implementation to indicate it is C++
-using ContextImpl = rmw_context_impl_s;
+using Context = rmw_context_impl_s;
 
 } // namespace rmw::iox2
 

rmw_iceoryx2_cxx/include/rmw_iceoryx2_cxx/iox2/guard_condition_impl.hpp → rmw_iceoryx2_cxx/include/rmw_iceoryx2_cxx/impl/runtime/guard_condition.hpp

@@ -7,25 +7,25 @@
 //
 // SPDX-License-Identifier: Apache-2.0 OR MIT
 
-#ifndef RMW_IOX2_GUARD_CONDITION_IMPL_HPP_
-#define RMW_IOX2_GUARD_CONDITION_IMPL_HPP_
+#ifndef RMW_IOX2_RUNTIME_GUARD_CONDITION_HPP_
+#define RMW_IOX2_RUNTIME_GUARD_CONDITION_HPP_
 
 #include "iox/optional.hpp"
 #include "iox2/unique_port_id.hpp"
 #include "rmw/visibility_control.h"
-#include "rmw_iceoryx2_cxx/creation_lock.hpp"
-#include "rmw_iceoryx2_cxx/error.hpp"
-#include "rmw_iceoryx2_cxx/iox2/context_impl.hpp"
-#include "rmw_iceoryx2_cxx/iox2/iceoryx2.hpp"
+#include "rmw_iceoryx2_cxx/impl/common/creation_lock.hpp"
+#include "rmw_iceoryx2_cxx/impl/common/error.hpp"
+#include "rmw_iceoryx2_cxx/impl/middleware/iceoryx2.hpp"
+#include "rmw_iceoryx2_cxx/impl/runtime/context.hpp"
 
 namespace rmw::iox2
 {
 
-class NodeImpl;
-class GuardConditionImpl;
+class Node;
+class GuardCondition;
 
 template <>
-struct Error<GuardConditionImpl>
+struct Error<GuardCondition>
 {
     using Type = GuardConditionError;
 };
@@ -35,21 +35,21 @@ struct Error<GuardConditionImpl>
 ///          wake up a waiting thread. It is used in ROS 2 to signal events between
 ///          different parts of the system. This implementation uses an iceoryx2
 ///          notifier to implement the guard condition functionality.
-class RMW_PUBLIC GuardConditionImpl
+class RMW_PUBLIC GuardCondition
 {
     using RawIdType = ::iox2::RawIdType;
     using IdType = ::iox2::UniquePublisherId;
-    using Notifier = Iceoryx2::Local::Notifier;
+    using IceoryxNotifier = Iceoryx2::Local::Notifier;
 
 public:
-    using ErrorType = Error<GuardConditionImpl>::Type;
+    using ErrorType = Error<GuardCondition>::Type;
 
 public:
     /// @brief Creates a new guard condition
     /// @param[in] lock Creation lock to restrict construction to creation functions
     /// @param[out] error Optional error that is set if construction fails
     /// @param[in] context The context to associate the guard condition with
-    GuardConditionImpl(CreationLock, iox::optional<ErrorType>& error, ContextImpl& context);
+    GuardCondition(CreationLock, iox::optional<ErrorType>& error, Context& context);
 
     /// @brief Get the unique id of the guard condition
     /// @return The unique id or empty optional if failing to retrieve it from iceoryx2
@@ -72,7 +72,7 @@ class RMW_PUBLIC GuardConditionImpl
     const std::string m_service_name;
 
     iox::optional<IdType> m_iox2_unique_id;
-    iox::optional<Notifier> m_iox2_notifier;
+    iox::optional<IceoryxNotifier> m_iox2_notifier;
 };
 
 } // namespace rmw::iox2

rmw_iceoryx2_cxx/include/rmw_iceoryx2_cxx/iox2/node_impl.hpp → rmw_iceoryx2_cxx/include/rmw_iceoryx2_cxx/impl/runtime/node.hpp

@@ -7,24 +7,24 @@
 //
 // SPDX-License-Identifier: Apache-2.0 OR MIT
 
-#ifndef RMW_IOX2_NODE_IMPL_HPP_
-#define RMW_IOX2_NODE_IMPL_HPP_
+#ifndef RMW_IOX2_RUNTIME_NODE_HPP_
+#define RMW_IOX2_RUNTIME_NODE_HPP_
 
 #include "iox/optional.hpp"
 #include "rmw/visibility_control.h"
-#include "rmw_iceoryx2_cxx/creation_lock.hpp"
-#include "rmw_iceoryx2_cxx/error.hpp"
-#include "rmw_iceoryx2_cxx/iox2/context_impl.hpp"
-#include "rmw_iceoryx2_cxx/iox2/guard_condition_impl.hpp"
-#include "rmw_iceoryx2_cxx/iox2/iceoryx2.hpp"
+#include "rmw_iceoryx2_cxx/impl/common/creation_lock.hpp"
+#include "rmw_iceoryx2_cxx/impl/common/error.hpp"
+#include "rmw_iceoryx2_cxx/impl/middleware/iceoryx2.hpp"
+#include "rmw_iceoryx2_cxx/impl/runtime/context.hpp"
+#include "rmw_iceoryx2_cxx/impl/runtime/guard_condition.hpp"
 
 namespace rmw::iox2
 {
 
-class NodeImpl;
+class Node;
 
 template <>
-struct Error<NodeImpl>
+struct Error<Node>
 {
     using Type = NodeError;
 };
@@ -36,10 +36,10 @@ struct Error<NodeImpl>
 /// The graph data structure is managed by iceoryx2 directly, related operations can be achived via the handle to
 /// iceoryx2.
 ///
-class RMW_PUBLIC NodeImpl
+class RMW_PUBLIC Node
 {
 public:
-    using ErrorType = Error<NodeImpl>::Type;
+    using ErrorType = Error<Node>::Type;
 
 public:
     /// @brief Constructor for the iceoryx2 implementation of an RMW node
@@ -48,7 +48,7 @@ class RMW_PUBLIC NodeImpl
     /// @param[in] context The context which this node will belong to
     /// @param[in] name The name of the node
     /// @param[in] ns The namespace of the node
-    NodeImpl(CreationLock, iox::optional<ErrorType>& error, ContextImpl& context, const char* name, const char* ns);
+    Node(CreationLock, iox::optional<ErrorType>& error, Context& context, const char* name, const char* ns);
 
     /// @brief Get the name of the node
     /// @return The name of the node
@@ -60,12 +60,12 @@ class RMW_PUBLIC NodeImpl
 
     /// @brief Get the guard condition for notifying of graph events
     /// @return The guard condition for graph events
-    auto graph_guard_condition() -> GuardConditionImpl&;
+    auto graph_guard_condition() -> GuardCondition&;
 
 private:
     const std::string m_name;
     iox::optional<Iceoryx2> m_iox2;
-    iox::optional<GuardConditionImpl> m_graph_guard_condition;
+    iox::optional<GuardCondition> m_graph_guard_condition;
 };
 
 } // namespace rmw::iox2