Update qos profile -- take 2 #25

ivanpauno · 2020-09-01T20:27:33Z

Follow up of #20.

Depends on Add convenient error handling macros #30.

Improve QoSProfile constructors (matching better with rclcpp and rclpy).
Add docs to QoSProfile class.
Add UNKNOWN enum value to policies.
Add fromRCL method to QoSProfile.
Use fromRCL to create the built-in qos profiles.

Some of this changes are required by #26, some are unrelated improvements.

ivanpauno · 2020-09-08T14:21:37Z

Converting to draft until #30 is merged.

* Add documentation to QoSProfile class * Add fromRCL method to QoSProfile * Use fromRCL to create the built-in qos profiles. Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

jacobperron · 2020-09-08T21:45:11Z

rcljava/src/main/cpp/org_ros2_rcljava_qos_QoSProfile.cpp

+    default:
+      std::ostringstream oss{"unknown history policy value: ", std::ios_base::ate};
+      oss << qos.history;
+      rcljava_throw_exception(env, "java/lang/IllegalStateException", oss.str());


It looks like we're only outputting the invalid value for the history policy and not in cases of invalid values for other QoS settings. I would update this (or the other default cases) to be consistent.

Yeah, this is a leftover. I used that while debugging.

rcljava/src/main/java/org/ros2/rcljava/qos/QoSProfile.java

jacobperron · 2020-09-08T21:59:20Z

rcljava/src/main/java/org/ros2/rcljava/qos/QoSProfile.java

+ *    QoSProfile.sensorData();  // get predefined sensor data qos profile
+ */
 public class QoSProfile {
  // TODO(ivanpauno): Update all qos policies in a way that the objects are created from RCL,


I think this is done in this PR, right?

There were two TODOs:

Avoiding to hard code the default profiles, that is being fixed here.

Avoiding to hard code the policies enumeration numbers, that's not being fixed here.

This comment was referring to the second, if it's not clear I can try to rephrase it.

Do you think it's worth doing the second point at all? I don't see an issue using separate enum values within rcljava, though I found a similar TODO in rclpy.

Do you think it's worth doing the second point at all? I don't see an issue using separate enum values within rcljava, though I found a similar TODO in rclpy.

The issue is that you have to keep the numbers synced.
If the numbers get out of sync it might be a pretty hard bug to find, causing unexpected behavior to the user.

rcljava/src/main/java/org/ros2/rcljava/qos/QoSProfile.java

jacobperron · 2020-09-08T22:26:51Z

rcljava/src/main/java/org/ros2/rcljava/qos/QoSProfile.java

+    QoSProfile qos = new QoSProfile();
+    qos.nativeFromRCL(qos.nativeGetHandleFromName("default"));


Is it possible to make nativeFromRCL a static method? It might clean up the implementation a bit, but I'm not sure.
Then this can be rewritten as

return nativeFromRCL(nativeGetHandleFromName("default"));

Further, if there's no other intended use for nativeGetHandleFromName, we could just provide a single native method instead, e.g.

return nativeFromRCL("default");

I'm using the nativeFromRCL that takes a handle in #26:

ros2_java/rcljava/src/main/cpp/org_ros2_rcljava_graph_EndpointInfo.cpp

Lines 102 to 104 in 7bd6cc4

jmethodID qos_from_rcl_mid = env->GetMethodID(qos_clazz, "nativeFromRCL", "(J)V");

env->CallObjectMethod(jqos, qos_from_rcl_mid, &p->qos_profile);

env->SetObjectField(self, qos_fid, jqos);

The difference is that in this way nativeFromRCL can be called in an already constructed QoS object.
Maybe that's not quite useful, but I originally thought that I was going to use that.

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com> Co-authored-by: Jacob Perron <jacob@openrobotics.org>

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

ivanpauno · 2020-09-09T17:51:33Z

Going in, thanks for reviewing @jacobperron !

* Improve QoSProfile constructors * Add documentation to QoSProfile class * Add fromRCL method to QoSProfile * Use fromRCL to create the built-in qos profiles. Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

ivanpauno added the enhancement New feature or request label Sep 1, 2020

ivanpauno requested a review from jacobperron September 1, 2020 20:27

ivanpauno self-assigned this Sep 1, 2020

ivanpauno mentioned this pull request Sep 1, 2020

Add getPublishersInfo method to Node #26

Merged

ivanpauno force-pushed the ivanpauno/update-qos-profile-take-2 branch from 6a7ef48 to 8201da2 Compare September 3, 2020 18:20

ivanpauno changed the base branch from foxy-devel to ivanpauno/add-convenient-error-handling-macros September 3, 2020 18:20

ivanpauno mentioned this pull request Sep 3, 2020

Add convenient error handling macros #30

Merged

ivanpauno marked this pull request as draft September 8, 2020 14:21

ivanpauno force-pushed the ivanpauno/update-qos-profile-take-2 branch from 8201da2 to 2648f10 Compare September 8, 2020 21:13

Base automatically changed from ivanpauno/add-convenient-error-handling-macros to galactic-devel September 8, 2020 21:22

ivanpauno added 2 commits September 8, 2020 18:24

* Improve QoSProfile constructors

092f6bf

* Add documentation to QoSProfile class * Add fromRCL method to QoSProfile * Use fromRCL to create the built-in qos profiles. Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

update to new macro name

0a9fb5f

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

ivanpauno force-pushed the ivanpauno/update-qos-profile-take-2 branch from 2648f10 to 0a9fb5f Compare September 8, 2020 21:26

ivanpauno marked this pull request as ready for review September 8, 2020 21:28

jacobperron reviewed Sep 8, 2020

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ivanpauno and others added 9 commits September 9, 2020 11:18

Fix nit

faffe6e

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com> Co-authored-by: Jacob Perron <jacob@openrobotics.org>

Fix nit

b60d1fd

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com> Co-authored-by: Jacob Perron <jacob@openrobotics.org>

Fix nit

5de779f

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com> Co-authored-by: Jacob Perron <jacob@openrobotics.org>

Fix nit

46b025e

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com> Co-authored-by: Jacob Perron <jacob@openrobotics.org>

more nit fixing

18a7fb4

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com> Co-authored-by: Jacob Perron <jacob@openrobotics.org>

nit

0a4c3fb

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com> Co-authored-by: Jacob Perron <jacob@openrobotics.org>

Improve docblock

77a4ec2

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com> Co-authored-by: Jacob Perron <jacob@openrobotics.org>

Make error messages consistent

0a3f062

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

remove unneaded include

4e3e515

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

ivanpauno requested a review from jacobperron September 9, 2020 14:47

jacobperron approved these changes Sep 9, 2020

View reviewed changes

ivanpauno merged commit a6b5a0b into galactic-devel Sep 9, 2020

ivanpauno deleted the ivanpauno/update-qos-profile-take-2 branch September 9, 2020 17:51

ivanpauno mentioned this pull request Jun 27, 2022

Port many graph introspection features from osrf fork ros2-java/ros2_java#221

Merged

		QoSProfile qos = new QoSProfile();
		qos.nativeFromRCL(qos.nativeGetHandleFromName("default"));

	jmethodID qos_from_rcl_mid = env->GetMethodID(qos_clazz, "nativeFromRCL", "(J)V");
	env->CallObjectMethod(jqos, qos_from_rcl_mid, &p->qos_profile);
	env->SetObjectField(self, qos_fid, jqos);

Update qos profile -- take 2 #25

Update qos profile -- take 2 #25

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