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Dnae adas/serialized ipm #973

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Dnae adas/serialized ipm #973

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Commits on Apr 17, 2020

  1. added "SerializationBase" and "Serialization" to convert a ROS2 messa… 

    …ge to rcl_serialized_message_t and vice versa

Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    @Karsten1987
    Joshua Hampp authored and Karsten1987 committed Apr 17, 2020
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  2. added "SerializedContainer" as container of rcl_serialized_message_t,… 

    … for addind a deleter to ease up memory handling

further features:
 * copy constructor (allowing static memory allocation, e.g. if for static memory allocation in device driver)
 * destructor

Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    @Karsten1987
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  3. extended "IntraProcessManager" for serialized messages: 

     * added flag for serialized communication
 * check for flag in "can_communicate"

Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    @Karsten1987
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  4. extended "SubscriptionIntraProcess" for serialized communication by: 

     * distinguish between content type and callback type
 * use "SerializedContainer" for serialized messages for memory deletion
 * added specialized methods for combinations of (un)serialized content/callback
 * automatically (de)serialize messages
 * allowed communication types are now (MessageT==CallbackMessageT || MessageT==SerializedContainer || CallbackMessageT==rcl_serialized_message_t)

Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    @Karsten1987
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  5. added secon communication channel for intra process communication for… 

    … serialized communication in publisher base and subscriber base (adapted waitables)

Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    @Karsten1987
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  6. extended "Publisher" for serialized messages: 

     * implemented second communication channel for serialized intra process messages
extended "Publisher" for serialized messages:
 * pass message type by argument
 * added constructor for backwards compatibility (moved common code in separate methods "init_setup")
 * added allocator for serialized messages

Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    @Karsten1987
    Joshua Hampp authored and Karsten1987 committed Apr 17, 2020
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  7. extended "Publisher" for serialized messages: 

     * implemented second communication channel for serialized intra process messages
 * extend publish to handle "rcl_serialized_message_t"
 * changed behaviour of serialized message publishing by taking ownership of message (for deletion)

Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    @Karsten1987
    Joshua Hampp authored and Karsten1987 committed Apr 17, 2020
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  8. updated "LifcecylePublisher" for serialized messages 

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    @Karsten1987
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  9. extended "create_publisher" and "create_publisher_factory" to pass me… 

    …ssage type

 * backwards compatible
 * allows creation of publisher with type "rcl_serialized_message_t"

Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    @Karsten1987
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  10. extended "Subscription" for serialized messages: 

     * implemented second communication channel for serialized intra process messages

Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    @Karsten1987
    Joshua Hampp authored and Karsten1987 committed Apr 17, 2020
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  11. extended "create_subscription" and "create_subscriptioncreate_publish… 

    …er_factory" to pass message type

 * backwards compatible
 * allows creation of publisher with type "rcl_serialized_message_t"

Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    @Karsten1987
    Joshua Hampp authored and Karsten1987 committed Apr 17, 2020
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  12. added unit test for serialized intra process communication 

     * test memory (de)allocation
 * test communication channels between serialized and unserialized content

Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    @Karsten1987
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  13. changed include notation 

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
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  14. beautified error output 

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    @Karsten1987
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  15. changed timing 

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
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  16. * fixed code style 

    * updated error messages
* added const modifier

Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    @Karsten1987
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  17. updated test_intra_process_communication: 

     * fixed allocation counter
 * updated data type naming

Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    @Karsten1987
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  18. uncrustified file 

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
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  19. fixed code style 

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    @Karsten1987
    Joshua Hampp authored and Karsten1987 committed Apr 17, 2020
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  20. added missing member from rebase 

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    @Karsten1987
    Joshua Hampp authored and Karsten1987 committed Apr 17, 2020
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  21. removed unnecessary dependency 

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    @Karsten1987
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  22. adapted to multi waitables for ipm 

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    @Karsten1987
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  23. removed unnecessary include 

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    @Karsten1987
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  24. updated to rclcpp::ok 

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    @Karsten1987
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  25. Update rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp 

    Co-Authored-By: Karsten Knese <Karsten1987@users.noreply.github.com>
Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    @DensoADAS @Karsten1987
    DensoADAS and Karsten1987 committed Apr 17, 2020
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  26. Update rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp 

    Co-Authored-By: Karsten Knese <Karsten1987@users.noreply.github.com>
Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    @DensoADAS @Karsten1987
    DensoADAS and Karsten1987 committed Apr 17, 2020
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  27. * default deleter 

    * initiazlize variables

Co-Authored-By: Karsten Knese <Karsten1987@users.noreply.github.com>
Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    @Karsten1987
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  28. changes due to review of PR 

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    @Karsten1987
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  29. uncrustify 

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
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  30. added backwards compatibility for publishing serialized messages 

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    @Karsten1987
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  31. initializing variables 

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    @Karsten1987
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  32. fix include guards 

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    @Karsten1987
    Fabian König authored and Karsten1987 committed Apr 17, 2020
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  33. enabled publishing of rcl_serialized_message_t 

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    @Karsten1987
    Joshua Hampp authored and Karsten1987 committed Apr 17, 2020
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  34. moved serialization and serialized message out of "experimental" 

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    @Karsten1987
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  35. added original constructor to LifcyclePublisher 

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    @Karsten1987
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  36. fixed year in header 

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    @Karsten1987
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  37. added comment 

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    @Karsten1987
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  38. updated loop signature 

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    @Karsten1987
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  39. fixed memory loss 

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    @Karsten1987
    Joshua Hampp authored and Karsten1987 committed Apr 17, 2020
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  40. reuse constructor 

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    @Karsten1987
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  41. renamed variable 

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
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  42. fixed check 

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
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  43. line break 

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
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  44. fixed include order 

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    @Karsten1987
    Joshua Hampp authored and Karsten1987 committed Apr 17, 2020
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Commits on Apr 19, 2020

  1. renamed overloaded functions: 

     * create_publisher to create_generic_publisher
 * create_subscription to create_generic_subscription

Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    Joshua Hampp committed Apr 19, 2020
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