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Runtime Interface Reflection: rmw #340

Merged
merged 18 commits into from
Apr 8, 2023
Merged

Runtime Interface Reflection: rmw #340

merged 18 commits into from
Apr 8, 2023

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methylDragon
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@methylDragon methylDragon commented Jan 3, 2023 •
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This PR is part of the runtime interface reflection subscription feature of REP-2011: ros2/ros2#1374

Description

This PR includes changes to the RMW APIs for supporting runtime interface reflection, namely.

  • Introducing a new rmw agnostic typesupport rosidl_message_type_support_t

With also new interfaces for:

  • Taking and handling runtime type messages (dynamic data)
  • Using the serialization support library

@methylDragon methylDragon force-pushed the runtime_interface_reflection branch 2 times, most recently from 0ea7129 to 3c323f3 Compare January 24, 2023 14:29
@methylDragon methylDragon mentioned this pull request Jan 30, 2023
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31 tasks
@methylDragon methylDragon force-pushed the runtime_interface_reflection branch 3 times, most recently from 6956703 to d7fb25f Compare January 30, 2023 08:53
@methylDragon methylDragon force-pushed the runtime_interface_reflection branch 6 times, most recently from 721768e to 274b471 Compare March 23, 2023 02:05
@methylDragon methylDragon force-pushed the runtime_interface_reflection branch 3 times, most recently from bf1434d to a4c386d Compare March 30, 2023 21:44
@methylDragon methylDragon marked this pull request as ready for review April 2, 2023 00:51
@methylDragon methylDragon force-pushed the runtime_interface_reflection branch 12 times, most recently from 475c5da to 38b3d5a Compare April 4, 2023 00:02
@methylDragon methylDragon force-pushed the runtime_interface_reflection branch 2 times, most recently from 37690a5 to 46379ff Compare April 5, 2023 23:53
wjwwood
wjwwood reviewed Apr 6, 2023
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wjwwood
wjwwood reviewed Apr 6, 2023
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wjwwood reviewed Apr 6, 2023
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wjwwood
wjwwood requested changes Apr 7, 2023
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We have some interfaces to remove/move, but otherwise lgtm

rmw/include/rmw/dynamic_message_type_support.h Outdated Show resolved Hide resolved
rmw/include/rmw/dynamic_message_type_support.h Outdated Show resolved Hide resolved
rmw/include/rmw/dynamic_message_type_support.h Outdated Show resolved Hide resolved
rmw/src/dynamic_message_type_support.c Outdated Show resolved Hide resolved
rmw/src/dynamic_message_type_support.c Outdated Show resolved Hide resolved
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@methylDragon @wjwwood
Implement first cut
59e63c8 
Signed-off-by: methylDragon <methylDragon@gmail.com>
@methylDragon @wjwwood
Migrate to rosidl_dynamic_typesupport and update field IDs
de4edd0 
Signed-off-by: methylDragon <methylDragon@gmail.com>
@methylDragon @wjwwood
Refactor dynamic typesupport to couple serialization support to objects
7036afc 
Signed-off-by: methylDragon <methylDragon@gmail.com>
@methylDragon @wjwwood
Implement dynamic data serialize and deserialize
04e62fe 
Signed-off-by: methylDragon <methylDragon@gmail.com>
@methylDragon @wjwwood
Migrate to rosidl type description
7f9452a 
Signed-off-by: methylDragon <methylDragon@gmail.com>
@methylDragon @wjwwood
Fix const
695f1fc 
Signed-off-by: methylDragon <methylDragon@gmail.com>
@methylDragon @wjwwood
Use allocators for memory management
3514c49 
Signed-off-by: methylDragon <methylDragon@gmail.com>
@methylDragon @wjwwood
Call ts dynamic_message_typesupport and make description mandatory
4e4a7a3 
Signed-off-by: methylDragon <methylDragon@gmail.com>
@methylDragon @wjwwood
Migrate methods to use return types
0e278b8 
Signed-off-by: methylDragon <methylDragon@gmail.com>
@methylDragon @wjwwood
Lint
713abbf 
Signed-off-by: methylDragon <methylDragon@gmail.com>
@methylDragon @wjwwood
Support type hashes
598628c 
Signed-off-by: methylDragon <methylDragon@gmail.com>
@methylDragon @wjwwood
Fix windows build
65869ca 
Signed-off-by: methylDragon <methylDragon@gmail.com>
@methylDragon @wjwwood
Use dynamic typesupport identifier getter
284384a 
Signed-off-by: methylDragon <methylDragon@gmail.com>
@methylDragon @wjwwood
Move dynamic type support struct to rosidl and fix mem issues
ffd6314 
Signed-off-by: methylDragon <methylDragon@gmail.com>
@methylDragon @wjwwood
Refine CMakeLists and package.xml
2bc4c62 
Signed-off-by: methylDragon <methylDragon@gmail.com>
@methylDragon @wjwwood
Clean up whitespace
a836ae8 
Signed-off-by: methylDragon <methylDragon@gmail.com>
@methylDragon @wjwwood
Use create instead of init
8eebcdb 
Signed-off-by: methylDragon <methylDragon@gmail.com>
@methylDragon @wjwwood
Remove RMW interfaces
31f89e8 
Signed-off-by: methylDragon <methylDragon@gmail.com>
@wjwwood wjwwood force-pushed the runtime_interface_reflection branch from 4de8ad6 to 31f89e8 Compare April 8, 2023 19:02
@wjwwood wjwwood merged commit ab5cd2c into rolling Apr 8, 2023
@delete-merged-branch delete-merged-branch bot deleted the runtime_interface_reflection branch April 8, 2023 19:02
@wjwwood wjwwood mentioned this pull request Apr 8, 2023
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@wjwwood wjwwood wjwwood approved these changes

@ivanpauno ivanpauno Awaiting requested review from ivanpauno ivanpauno is a code owner

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@methylDragon @wjwwood