Provide lifecycle services in the rclc lifecycle nodes #51

norro · 2021-02-17T12:42:04Z

Provides convenience functions for lifecycle nodes to provide lifecycle services.

Adds an additional callback type and handling that allows passing additional service context (void *) to a service callback. ros2#35 Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

* Adds user API to add service with additional context * Tests (copied and adapted from service with request id tests) Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

Declares service callbacks for lifecycle services: get state and get available states #40 Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

#40 Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com>

rclc_lifecycle/src/rclc_lifecycle/rclc_lifecycle.c

…rolling https://build.ros2.org/job/Rpr__rclc__ubuntu_focal_amd64/72/ see also PR ros2#46 and issue ros2#49

Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com>

…vices Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com>

Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com>

codecov-commenter · 2021-08-03T11:28:33Z

Codecov Report

Merging #51 (f29334e) into master (59632f2) will decrease coverage by 0.64%.
The diff coverage is 41.44%.

@@            Coverage Diff             @@
##           master      #51      +/-   ##
==========================================
- Coverage   61.53%   60.89%   -0.65%     
==========================================
  Files          13       13              
  Lines        1378     1427      +49     
  Branches      412      424      +12     
==========================================
+ Hits          848      869      +21     
- Misses        343      371      +28     
  Partials      187      187

Impacted Files	Coverage Δ
rclc/src/rclc/executor.c	`56.45% <0.00%> (+0.24%)`	⬆️
rclc_lifecycle/src/rclc_lifecycle/rclc_lifecycle.c	`48.80% <43.39%> (-1.94%)`	⬇️
...lc_parameter/src/rclc_parameter/parameter_server.c	`68.04% <0.00%> (+2.20%)`	⬆️

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Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com>

* Functions to initialize lifecycle services for nodes * Exemplary lifecycle nodes with services #40 Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com>

Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com>

norro · 2021-08-10T11:03:34Z

@JanStaschulat can you try to sign commit 7b0111a? This commit is complained about by the DCO check

JanStaschulat · 2021-08-10T12:28:53Z

I tried three times. But DCO test did not pass. It seems, that a new commit hash was added instead. I did:

git commit --amend -s -c 7b0111a13552bffbedb9d81971b1f50da0badaac
git push --force-with-lease origin feature/lifecycle-services

I manually set "DCO to pass".

* resolved bug by ignoring RCL_RET_SERVICE_TAKE_FAILED Signed-off-by: Jan Staschulat <jan.staschulat@de.bosch.com> * data_available has to be reset to false, if rcl_take fails - this needs to be updated for subscriptions as well. Signed-off-by: Jan Staschulat <jan.staschulat@de.bosch.com>

JanStaschulat

Looks great to me. Just some minor changes:

add checks for NULL pointer for all pointer arguments in your functions
some functions return void instead of rcl_ret_t. Was this your intention?
some minor improvement in rclc_examples and unit tests (simplification of executor initialization)

rclc_examples/src/example_lifecycle_node.c

rclc_lifecycle/src/rclc_lifecycle/rclc_lifecycle.c

rclc_lifecycle/test/test_lifecycle.cpp

Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com>

norro · 2021-08-19T09:15:35Z

Thank you very much for your thorough review, Jan. I resolved most of the points, just have a question concerning your comment on the return type of my service callbacks.

rclc_lifecycle/src/rclc_lifecycle/rclc_lifecycle.c

JanStaschulat · 2021-08-19T09:48:11Z

Could not signoff the comments, tried it two times (as suggested from "Details" and with

 git commit --amend --no-edit --signoff -C 7b0111a13552bffbedb9d81971b1f50da0badaac
 git push --force-with-lease origin feature/lifecycle-services

both did not add a signoff message to the commit. Do you have any other suggestion?
For now, I manually "set DCO to pass".

…rolling https://build.ros2.org/job/Rpr__rclc__ubuntu_focal_amd64/72/ see also PR ros2#46 and issue ros2#49 Signed-off-by: Jan Staschulat <jan.staschulat@de.bosch.com>

norro · 2021-08-19T10:06:20Z

Unfortunately, I have no better idea. Tried it myself in other PR's as well and failed. So we have to go with setting it manually, I am afraid.

JanStaschulat · 2021-08-19T10:44:34Z

@mergify backport galactic foxy

* Adds service callback with service context Adds an additional callback type and handling that allows passing additional service context (void *) to a service callback. #35 Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com> * Fixed service callback handling Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com> * Adds user API and tests * Adds user API to add service with additional context * Tests (copied and adapted from service with request id tests) Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com> * Proper tear-down of msgs Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com> * Fixes service call with context tests Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com> * Adds service callbacks to lifecycle node Declares service callbacks for lifecycle services: get state and get available states micro-ROS#40 Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com> * Adds callback for GetState service micro-ROS#40 Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com> * Provide GetAvailableStates service Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com> * Example lifecycle node proides services Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com> * Implemented ChangeState service Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com> * Linting, documentation, example Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com> * commnted out check for received sequence id - error in build-job for rolling https://build.ros2.org/job/Rpr__rclc__ubuntu_focal_amd64/72/ see also PR #46 and issue #49 * Cmake linting Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com> * Adds missing declaration of callbacks Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com> * Pre-initialize all strings Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com> * Lifecycle services working * Functions to initialize lifecycle services for nodes * Exemplary lifecycle nodes with services micro-ROS#40 Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com> * Tests for service initialization Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com> * commnted out check for received sequence id - error in build-job for rolling https://build.ros2.org/job/Rpr__rclc__ubuntu_focal_amd64/72/ see also PR #46 and issue #49 Signed-off-by: Jan Staschulat <jan.staschulat@de.bosch.com> * commnted out check for received sequence id - error in build-job for rolling https://build.ros2.org/job/Rpr__rclc__ubuntu_focal_amd64/72/ see also PR #46 and issue #49 Signed-off-by: Jan Staschulat <jan.staschulat@de.bosch.com> * Ignoring unsuccessful SERVICE_TAKE (#175) * resolved bug by ignoring RCL_RET_SERVICE_TAKE_FAILED Signed-off-by: Jan Staschulat <jan.staschulat@de.bosch.com> * data_available has to be reset to false, if rcl_take fails - this needs to be updated for subscriptions as well. Signed-off-by: Jan Staschulat <jan.staschulat@de.bosch.com> * Fixes init and cleanup Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com> * commnted out check for received sequence id - error in build-job for rolling https://build.ros2.org/job/Rpr__rclc__ubuntu_focal_amd64/72/ see also PR #46 and issue #49 Signed-off-by: Jan Staschulat <jan.staschulat@de.bosch.com> Co-authored-by: Jan Staschulat <jan.staschulat@de.bosch.com> (cherry picked from commit 865b02b)

* Adds service callback with service context Adds an additional callback type and handling that allows passing additional service context (void *) to a service callback. #35 Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com> * Fixed service callback handling Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com> * Adds user API and tests * Adds user API to add service with additional context * Tests (copied and adapted from service with request id tests) Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com> * Proper tear-down of msgs Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com> * Fixes service call with context tests Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com> * Adds service callbacks to lifecycle node Declares service callbacks for lifecycle services: get state and get available states micro-ROS#40 Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com> * Adds callback for GetState service micro-ROS#40 Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com> * Provide GetAvailableStates service Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com> * Example lifecycle node proides services Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com> * Implemented ChangeState service Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com> * Linting, documentation, example Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com> * commnted out check for received sequence id - error in build-job for rolling https://build.ros2.org/job/Rpr__rclc__ubuntu_focal_amd64/72/ see also PR #46 and issue #49 * Cmake linting Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com> * Adds missing declaration of callbacks Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com> * Pre-initialize all strings Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com> * Lifecycle services working * Functions to initialize lifecycle services for nodes * Exemplary lifecycle nodes with services micro-ROS#40 Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com> * Tests for service initialization Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com> * commnted out check for received sequence id - error in build-job for rolling https://build.ros2.org/job/Rpr__rclc__ubuntu_focal_amd64/72/ see also PR #46 and issue #49 Signed-off-by: Jan Staschulat <jan.staschulat@de.bosch.com> * commnted out check for received sequence id - error in build-job for rolling https://build.ros2.org/job/Rpr__rclc__ubuntu_focal_amd64/72/ see also PR #46 and issue #49 Signed-off-by: Jan Staschulat <jan.staschulat@de.bosch.com> * Ignoring unsuccessful SERVICE_TAKE (#175) * resolved bug by ignoring RCL_RET_SERVICE_TAKE_FAILED Signed-off-by: Jan Staschulat <jan.staschulat@de.bosch.com> * data_available has to be reset to false, if rcl_take fails - this needs to be updated for subscriptions as well. Signed-off-by: Jan Staschulat <jan.staschulat@de.bosch.com> * Fixes init and cleanup Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com> * commnted out check for received sequence id - error in build-job for rolling https://build.ros2.org/job/Rpr__rclc__ubuntu_focal_amd64/72/ see also PR #46 and issue #49 Signed-off-by: Jan Staschulat <jan.staschulat@de.bosch.com> Co-authored-by: Jan Staschulat <jan.staschulat@de.bosch.com> (cherry picked from commit 865b02b) # Conflicts: # rclc_lifecycle/src/rclc_lifecycle/rclc_lifecycle.c # rclc_lifecycle/test/test_lifecycle.cpp

mergify · 2021-08-19T10:45:22Z

Command backport galactic foxy: success

Backports have been created

#191 Provide lifecycle services in the rclc lifecycle nodes (backport #51) has been created for branch galactic

#192 Provide lifecycle services in the rclc lifecycle nodes (backport #51) has been created for branch foxy

Hey, I reacted but my real name is @Mergifyio

* Adds service callback with service context Adds an additional callback type and handling that allows passing additional service context (void *) to a service callback. #35 Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com> * Fixed service callback handling Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com> * Adds user API and tests * Adds user API to add service with additional context * Tests (copied and adapted from service with request id tests) Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com> * Proper tear-down of msgs Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com> * Fixes service call with context tests Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com> * Adds service callbacks to lifecycle node Declares service callbacks for lifecycle services: get state and get available states micro-ROS#40 Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com> * Adds callback for GetState service micro-ROS#40 Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com> * Provide GetAvailableStates service Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com> * Example lifecycle node proides services Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com> * Implemented ChangeState service Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com> * Linting, documentation, example Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com> * commnted out check for received sequence id - error in build-job for rolling https://build.ros2.org/job/Rpr__rclc__ubuntu_focal_amd64/72/ see also PR #46 and issue #49 * Cmake linting Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com> * Adds missing declaration of callbacks Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com> * Pre-initialize all strings Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com> * Lifecycle services working * Functions to initialize lifecycle services for nodes * Exemplary lifecycle nodes with services micro-ROS#40 Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com> * Tests for service initialization Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com> * commnted out check for received sequence id - error in build-job for rolling https://build.ros2.org/job/Rpr__rclc__ubuntu_focal_amd64/72/ see also PR #46 and issue #49 Signed-off-by: Jan Staschulat <jan.staschulat@de.bosch.com> * commnted out check for received sequence id - error in build-job for rolling https://build.ros2.org/job/Rpr__rclc__ubuntu_focal_amd64/72/ see also PR #46 and issue #49 Signed-off-by: Jan Staschulat <jan.staschulat@de.bosch.com> * Ignoring unsuccessful SERVICE_TAKE (#175) * resolved bug by ignoring RCL_RET_SERVICE_TAKE_FAILED Signed-off-by: Jan Staschulat <jan.staschulat@de.bosch.com> * data_available has to be reset to false, if rcl_take fails - this needs to be updated for subscriptions as well. Signed-off-by: Jan Staschulat <jan.staschulat@de.bosch.com> * Fixes init and cleanup Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com> * commnted out check for received sequence id - error in build-job for rolling https://build.ros2.org/job/Rpr__rclc__ubuntu_focal_amd64/72/ see also PR #46 and issue #49 Signed-off-by: Jan Staschulat <jan.staschulat@de.bosch.com> Co-authored-by: Jan Staschulat <jan.staschulat@de.bosch.com> (cherry picked from commit 865b02b) Co-authored-by: Arne Nordmann <arne.nordmann@de.bosch.com>

ros-discourse · 2022-05-25T17:21:09Z

This pull request has been mentioned on ROS Discourse. There might be relevant details there:

https://discourse.ros.org/t/ros-2-humble-hawksbill-released/25729/14

* Update CI Syntax Update source Fix * Add pedatic * add rolling from binaries Update Update * Updating to Ralph approach * Added eloquent and dashing * Added dockers Updated

norro added 12 commits January 25, 2021 12:34

Adds service callback with service context

243fee0

Adds an additional callback type and handling that allows passing additional service context (void *) to a service callback. ros2#35 Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

Fixed service callback handling

7d76156

Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

Adds user API and tests

854c016

* Adds user API to add service with additional context * Tests (copied and adapted from service with request id tests) Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

Proper tear-down of msgs

6a750da

Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

Fixes service call with context tests

23a9538

Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

Adds service callbacks to lifecycle node

34f35a6

Declares service callbacks for lifecycle services: get state and get available states #40 Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

Adds callback for GetState service

ec76aec

#40 Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

Merge branch 'master' into feature/lifecycle-services

3563eeb

Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com>

Provide GetAvailableStates service

547bc21

Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com>

Example lifecycle node proides services

834c5d2

Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com>

Implemented ChangeState service

610b7ad

Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com>

Linting, documentation, example

dfc3cf6

Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com>

norro requested a review from JanStaschulat February 17, 2021 12:42

norro commented Feb 17, 2021

View reviewed changes

rclc_lifecycle/src/rclc_lifecycle/rclc_lifecycle.c Outdated Show resolved Hide resolved

JanStaschulat and others added 4 commits February 17, 2021 14:01

commnted out check for received sequence id - error in build-job for …

7b0111a

…rolling https://build.ros2.org/job/Rpr__rclc__ubuntu_focal_amd64/72/ see also PR ros2#46 and issue ros2#49

Merge branch 'master' into feature/lifecycle-services

8565660

Merge branch 'master' into feature/lifecycle-services

9154071

Cmake linting

d56eea0

Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com>

norro mentioned this pull request Mar 26, 2021

Fixes for ros2/rcl PR #882 #66

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JanStaschulat mentioned this pull request Apr 26, 2021

Release rclc for Galactic #86

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norro added 3 commits July 28, 2021 11:33

Merge remote-tracking branch 'ros2/master' into feature/lifecycle-ser…

44daab3

…vices Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com>

Merge branch 'master' into feature/lifecycle-services

8de097a

Adds missing declaration of callbacks

4e33236

Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com>

norro added 3 commits August 4, 2021 15:44

Pre-initialize all strings

3d32616

Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com>

Lifecycle services working

4415cdb

* Functions to initialize lifecycle services for nodes * Exemplary lifecycle nodes with services #40 Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com>

Tests for service initialization

5de86bd

Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com>

norro requested a review from pablogs9 August 10, 2021 08:10

JanStaschulat force-pushed the feature/lifecycle-services branch from 3d3046a to d86393d Compare August 10, 2021 12:15

norro self-assigned this Aug 11, 2021

norro added enhancement New feature or request in review Waiting for review (Kanban column) labels Aug 11, 2021

JanStaschulat requested changes Aug 17, 2021

View reviewed changes

Fixes init and cleanup

cf6aadb

Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com>

norro requested a review from JanStaschulat August 19, 2021 09:18

JanStaschulat force-pushed the feature/lifecycle-services branch from f29334e to 34c1d54 Compare August 19, 2021 09:36

JanStaschulat approved these changes Aug 19, 2021

View reviewed changes

rclc_lifecycle/src/rclc_lifecycle/rclc_lifecycle.c Show resolved Hide resolved

JanStaschulat force-pushed the feature/lifecycle-services branch from 34c1d54 to 2961db5 Compare August 19, 2021 09:50

commnted out check for received sequence id - error in build-job for …

c303e0b

…rolling https://build.ros2.org/job/Rpr__rclc__ubuntu_focal_amd64/72/ see also PR ros2#46 and issue ros2#49 Signed-off-by: Jan Staschulat <jan.staschulat@de.bosch.com>

JanStaschulat force-pushed the feature/lifecycle-services branch from 2961db5 to c303e0b Compare August 19, 2021 09:52

norro added ready Work is about to start (Kanban column) and removed in review Waiting for review (Kanban column) labels Aug 19, 2021

norro linked an issue Aug 19, 2021 that may be closed by this pull request

[lifecycle] provide lifecycle services #54

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JanStaschulat merged commit 865b02b into ros2:master Aug 19, 2021

JanStaschulat deleted the feature/lifecycle-services branch August 19, 2021 10:28

mergify bot mentioned this pull request Aug 19, 2021

Provide lifecycle services in the rclc lifecycle nodes (backport #51) #191

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Provide lifecycle services in the rclc lifecycle nodes (backport #51) #192

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