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Add Action graph API #411

Merged
merged 16 commits into from
Apr 14, 2019
Merged

Add Action graph API #411

merged 16 commits into from
Apr 14, 2019

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jacobperron
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Connects to ros2/ros2cli#202

@jacobperron jacobperron added in progress Actively being worked on (Kanban column) in review Waiting for review (Kanban column) and removed in progress Actively being worked on (Kanban column) labels Apr 2, 2019
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CI up to rcl_action:

  • Linux Build Status
  • Linux-aarch64 Build Status
  • macOS Build Status
  • Windows Build Status

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I forgot this was based on top of #404, which should be reviewed/merged first.

@jacobperron jacobperron mentioned this pull request Apr 3, 2019
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@jacobperron
Add action graph API
2fb614e 
Builds on top of the rcl graph API.
A list of action names associated with action clients can be constructed by
looking for subscriber topic names that have the suffix "/_action/feedback".
Likewise, action servers are associated with publisher topic names with the same suffix.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
@jacobperron
Enable multiple rmw action graph API tests
6207578 
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
@jacobperron
Use ament_target_dependencies for osrf_testing_tools_cpp
11f3229 
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
@jacobperron
Fix lint errors
fdcfe29 
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
@jacobperron
Refactor
ec69e91 
* Move graph API common implementation to local function
* Refactor tests

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
@jacobperron
Disable graph tests with OpenSplice
1f77808 
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
@jacobperron
Include graph.h in rcl_action.h
689a051 
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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Ready for review.

@sloretz sloretz self-requested a review April 11, 2019 17:39
sloretz
sloretz reviewed Apr 11, 2019
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Haven't reviewed test_graph.cpp yet, will do later today

rcl_action/CMakeLists.txt Outdated Show resolved Hide resolved
rcl_action/src/rcl_action/graph.c Outdated Show resolved Hide resolved
rcl_action/src/rcl_action/graph.c Outdated Show resolved Hide resolved
rcl_action/src/rcl_action/graph.c Outdated Show resolved Hide resolved
rcl_action/src/rcl_action/graph.c Outdated Show resolved Hide resolved
rcl_action/src/rcl_action/graph.c Show resolved Hide resolved
@sloretz sloretz self-requested a review April 11, 2019 18:49
@jacobperron
Remove duplicate test
f9c7161 
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
@jacobperron
Prefix increment operators
e738aaa 
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
@jacobperron
Rename 'suffix' -> 'identifier'
91c10ca 
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
@jacobperron
Add missing finalize calls and remove redundant branch
2923012 
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
sloretz
sloretz reviewed Apr 11, 2019
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rcl_action/test/rcl_action/test_graph.cpp Outdated Show resolved Hide resolved
rcl_action/test/rcl_action/test_graph.cpp Outdated Show resolved Hide resolved
rcl_action/test/rcl_action/test_graph.cpp Show resolved Hide resolved
rcl_action/test/rcl_action/test_graph.cpp Outdated Show resolved Hide resolved
rcl_action/test/rcl_action/test_graph.cpp Outdated Show resolved Hide resolved
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rcl_action/test/rcl_action/test_graph.cpp
{
public:
const char * remote_node_name = "remote_graph_node";
const char * action_name = "/test_action_info_functions__";
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http://design.ros2.org/articles/topic_and_service_names.html forbids __

  • must not contain any number of repeated underscores (_)

I'm surprised the action topics and services are created successfully. This might be worth opening a bug for.

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I didn't realize, I copied this from what's done in the rcl graph tests:

rcl/rcl/test/rcl/test_graph.cpp

Line 737 in d810f12

std::string topic_name = "/test_node_info_functions__";

@jacobperron
Finalize names and types struct on error
57e2280 
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
@jacobperron
Fix bugs in tests
a70eac7 
Pass valid names and types struct and update expected error code.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
@jacobperron
Add zero allocator tests
3adab6b 
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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  • Linux Build Status
  • Linux-aarch64 Build Status
  • macOS Build Status
  • Windows Build Status

@jacobperron
Fix indentation
9e9c238 
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
@jacobperron
Check if action identifiers are the suffix
661cab0 
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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  • Linux Build Status
  • Linux-aarch64 Build Status
  • macOS Build Status
  • Windows Build Status

@jacobperron jacobperron merged commit b5039d2 into master Apr 14, 2019
@jacobperron jacobperron deleted the action_graph branch April 14, 2019 14:30
@jacobperron jacobperron removed the in review Waiting for review (Kanban column) label Apr 14, 2019
nuclearsandwich added a commit to ros/rosdistro that referenced this pull request Apr 15, 2019
@nuclearsandwich
rcl: 0.7.0-3 in 'dashing/distribution.yaml' [bloom] (#20938)
70aa5ce 
Increasing version of package(s) in repository `rcl` to `0.7.0-3`:

- upstream repository: https://github.com/ros2/rcl.git
- release repository: https://github.com/ros2-gbp/rcl-release.git
-   file: `dashing/distribution.yaml`
- bloom version: `0.8.0`
- previous version for package: `0.7.0-2`

## rcl

```
* Added more test cases for graph API + fix bug. (#404 <ros2/rcl#404>)
* Fixed missing include. (#413 <ros2/rcl#413>)
* Updated to use pedantic. (#412 <ros2/rcl#412>)
* Added function to get publisher actual qos settings. (#406 <ros2/rcl#406>)
* Refactored graph API docs. (#401 <ros2/rcl#401>)
* Updated to use ament_target_dependencies where possible. (#400 <ros2/rcl#400>)
* Fixed regression around fully qualified node name. (#402 <ros2/rcl#402>)
* Added function rcl_names_and_types_init. (#403 <ros2/rcl#403>)
* Fixed uninitialize sequence number of client. (#395 <ros2/rcl#395>)
* Added launch along with launch_testing as test dependencies. (#393 <ros2/rcl#393>)
* Set symbol visibility to hidden for rcl. (#391 <ros2/rcl#391>)
* Updated to split test_token to avoid compiler note. (#392 <ros2/rcl#392>)
* Dropped legacy launch API usage. (#387 <ros2/rcl#387>)
* Improved security directory lookup. (#332 <ros2/rcl#332>)
* Enforce non-null argv values on rcl_init(). (#388 <ros2/rcl#388>)
* Removed incorrect argument documentation. (#361 <ros2/rcl#361>)
* Changed error to warning for multiple loggers. (#384 <ros2/rcl#384>)
* Added rcl_node_get_fully_qualified_name. (#255 <ros2/rcl#255>)
* Updated rcl_remap_t to use the PIMPL pattern. (#377 <ros2/rcl#377>)
* Fixed documentation typo. (#376 <ros2/rcl#376>)
* Removed test circumvention now that a bug is fixed in rmw_opensplice. (#368 <ros2/rcl#368>)
* Updated to pass context to wait set, and fini rmw context. (#373 <ros2/rcl#373>)
* Updated to publish logs to Rosout. (#350 <ros2/rcl#350>)
* Contributors: AAlon, Dirk Thomas, Jacob Perron, M. M, Michael Carroll, Michel Hidalgo, Mikael Arguedas, Nick Burek, RARvolt, Ross Desmond, Sachin Suresh Bhat, Shane Loretz, William Woodall, ivanpauno
```

## rcl_action

```
* Added Action graph API (#411 <ros2/rcl#411>)
* Updated to use ament_target_dependencies where possible. (#400 <ros2/rcl#400>)
* Fixed typo in Doxyfile. (#398 <ros2/rcl#398>)
* Updated tests to use separated action types. (#340 <ros2/rcl#340>)
* Fixed minor documentation issues. (#397 <ros2/rcl#397>)
* Set symbol visibility to hidden for rcl. (#391 <ros2/rcl#391>)
* Fixed rcl_action documentation. (#380 <ros2/rcl#380>)
* Removed now unused test executable . (#382 <ros2/rcl#382>)
* Removed unused action server option 'clock_type'. (#382 <ros2/rcl#382>)
* Set error message when there is an invalid goal transition. (#382 <ros2/rcl#382>)
* Updated to pass context to wait set, and fini rmw context (#373 <ros2/rcl#373>)
* Contributors: Dirk Thomas, Jacob Perron, Sachin Suresh Bhat, William Woodall, ivanpauno
```

## rcl_lifecycle

```
* Updated to use ament_target_dependencies where possible. (#400 <ros2/rcl#400>)
* Set symbol visibility to hidden for rcl. (#391 <ros2/rcl#391>)
* Contributors: Sachin Suresh Bhat, ivanpauno
```

## rcl_yaml_param_parser

```
* Corrected bool reading from yaml files. (#415 <ros2/rcl#415>)
* Added launch along with launch_testing as test dependencies. (#393 <ros2/rcl#393>)
* Set symbol visibility to hidden for rcl. (#391 <ros2/rcl#391>)
* Contributors: Michel Hidalgo, Sachin Suresh Bhat, ivanpauno
```
andre-rosa pushed a commit to andre-rosa/rosdistro that referenced this pull request May 3, 2019
@nuclearsandwich @andre-rosa
rcl: 0.7.0-3 in 'dashing/distribution.yaml' [bloom] (ros#20938)
4d7dfa8 
Increasing version of package(s) in repository `rcl` to `0.7.0-3`:

- upstream repository: https://github.com/ros2/rcl.git
- release repository: https://github.com/ros2-gbp/rcl-release.git
-   file: `dashing/distribution.yaml`
- bloom version: `0.8.0`
- previous version for package: `0.7.0-2`

## rcl

```
* Added more test cases for graph API + fix bug. (ros#404 <ros2/rcl#404>)
* Fixed missing include. (ros#413 <ros2/rcl#413>)
* Updated to use pedantic. (ros#412 <ros2/rcl#412>)
* Added function to get publisher actual qos settings. (ros#406 <ros2/rcl#406>)
* Refactored graph API docs. (ros#401 <ros2/rcl#401>)
* Updated to use ament_target_dependencies where possible. (ros#400 <ros2/rcl#400>)
* Fixed regression around fully qualified node name. (ros#402 <ros2/rcl#402>)
* Added function rcl_names_and_types_init. (ros#403 <ros2/rcl#403>)
* Fixed uninitialize sequence number of client. (ros#395 <ros2/rcl#395>)
* Added launch along with launch_testing as test dependencies. (ros#393 <ros2/rcl#393>)
* Set symbol visibility to hidden for rcl. (ros#391 <ros2/rcl#391>)
* Updated to split test_token to avoid compiler note. (ros#392 <ros2/rcl#392>)
* Dropped legacy launch API usage. (ros#387 <ros2/rcl#387>)
* Improved security directory lookup. (ros#332 <ros2/rcl#332>)
* Enforce non-null argv values on rcl_init(). (ros#388 <ros2/rcl#388>)
* Removed incorrect argument documentation. (ros#361 <ros2/rcl#361>)
* Changed error to warning for multiple loggers. (ros#384 <ros2/rcl#384>)
* Added rcl_node_get_fully_qualified_name. (ros#255 <ros2/rcl#255>)
* Updated rcl_remap_t to use the PIMPL pattern. (ros#377 <ros2/rcl#377>)
* Fixed documentation typo. (ros#376 <ros2/rcl#376>)
* Removed test circumvention now that a bug is fixed in rmw_opensplice. (ros#368 <ros2/rcl#368>)
* Updated to pass context to wait set, and fini rmw context. (ros#373 <ros2/rcl#373>)
* Updated to publish logs to Rosout. (ros#350 <ros2/rcl#350>)
* Contributors: AAlon, Dirk Thomas, Jacob Perron, M. M, Michael Carroll, Michel Hidalgo, Mikael Arguedas, Nick Burek, RARvolt, Ross Desmond, Sachin Suresh Bhat, Shane Loretz, William Woodall, ivanpauno
```

## rcl_action

```
* Added Action graph API (ros#411 <ros2/rcl#411>)
* Updated to use ament_target_dependencies where possible. (ros#400 <ros2/rcl#400>)
* Fixed typo in Doxyfile. (ros#398 <ros2/rcl#398>)
* Updated tests to use separated action types. (ros#340 <ros2/rcl#340>)
* Fixed minor documentation issues. (ros#397 <ros2/rcl#397>)
* Set symbol visibility to hidden for rcl. (ros#391 <ros2/rcl#391>)
* Fixed rcl_action documentation. (ros#380 <ros2/rcl#380>)
* Removed now unused test executable . (ros#382 <ros2/rcl#382>)
* Removed unused action server option 'clock_type'. (ros#382 <ros2/rcl#382>)
* Set error message when there is an invalid goal transition. (ros#382 <ros2/rcl#382>)
* Updated to pass context to wait set, and fini rmw context (ros#373 <ros2/rcl#373>)
* Contributors: Dirk Thomas, Jacob Perron, Sachin Suresh Bhat, William Woodall, ivanpauno
```

## rcl_lifecycle

```
* Updated to use ament_target_dependencies where possible. (ros#400 <ros2/rcl#400>)
* Set symbol visibility to hidden for rcl. (ros#391 <ros2/rcl#391>)
* Contributors: Sachin Suresh Bhat, ivanpauno
```

## rcl_yaml_param_parser

```
* Corrected bool reading from yaml files. (ros#415 <ros2/rcl#415>)
* Added launch along with launch_testing as test dependencies. (ros#393 <ros2/rcl#393>)
* Set symbol visibility to hidden for rcl. (ros#391 <ros2/rcl#391>)
* Contributors: Michel Hidalgo, Sachin Suresh Bhat, ivanpauno
```
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@sloretz sloretz sloretz approved these changes

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