Register language of typesupport for rmw implementation #63

jacquelinekay · 2016-04-06T19:21:09Z

I believe that when typesupport implementations are registered in the ament index, there should be a way to distinguish between C and C++ typesupport packages. This is one way to implement it, I'm open to feedback about how to change the design. A companion PR to rosidl_generator_py and various other packages will accompany this to show usage.

Right now a typesupport implementation is registered twice: as a "rmw_typesupport" and as a "rmw_typesupport_c/cpp". That way all typesupports can be selected using the "rmw_typesupport" identifier, but in contexts where either C or C++ typesupport is needed, there is a way to distinguish between them.

jacquelinekay · 2016-04-12T16:51:21Z

CI:

http://ci.ros2.org/job/ci_linux/1171/
http://ci.ros2.org/job/ci_osx/947/
http://ci.ros2.org/job/ci_windows/1227/

dirk-thomas · 2016-04-12T16:56:00Z

rmw/cmake/get_rmw_typesupport.cmake

+endmacro()
+
+#
+# Get the C type support package name for a specific ROS middleware implementation.


Couldn't this return more then one?

Same below.

jacquelinekay · 2016-04-12T17:36:38Z

I realized after starting the build that PR was subtly broken. I renamed the key for the ament index entry to rmw_typesupport (from rmw_implementation, which I thought was misleading). Fixed in 929018e.

jacquelinekay · 2016-04-12T20:14:51Z

I launched a new build where everything looks good except for failing tests in rclpy. I cannot reproduce this locally. Hmmm.

http://ci.ros2.org/job/ci_linux/1173/

wjwwood · 2016-04-12T20:22:34Z

@jacquelinekay it's failing because you don't have any rmw implementations enabled which are supported by rclpy. The error message for this case is improved in https://github.com/ros2/rclpy/pull/12/files#diff-aa7e84a9e617f0578e51ed0daace94aaR91.

jacquelinekay · 2016-04-12T20:24:36Z

But use_connext and use_opensplice are both set to true in the job with the failing test (and disable_connext_static is false), so you would expect those rmw implementations to be found and for the test to pass. This leads me to believe that my changes have broken the logic for finding an rmw implementation in Python.

wjwwood · 2016-04-12T20:25:53Z

@jacquelinekay maybe. It's also possible there is a problem with how my code changes and yours have merged? The supported Python rmw extensions are now registered separately.

jacquelinekay · 2016-04-12T20:27:10Z

That's what I was thinking. I thought I rebuilt my workspace locally with an up-to-date version of rclpy; I'm going to try again and take a closer look at your changes in rclpy.

wjwwood · 2016-04-12T20:29:26Z

Ok, if there is an issue, then this commit will be the culprit: ros2/rclpy@0bf9640

jacquelinekay · 2016-04-12T21:58:04Z

The rclpy tests passed on Jenkins in this new build:

http://ci.ros2.org/job/ci_linux/1173/

wjwwood · 2016-04-12T22:00:15Z

So, what made the difference in your opinion?

jacquelinekay · 2016-04-13T00:13:52Z

It looks like the Jenkins job with the failed rclpy test was before your rclpy test was merged, and the successful one was launched afterwards.

All I know is that if I do a git reset --hard HEAD~1 locally in rclpy to revert your most recent PR and rebuild my workspace, the rclpy tests fail (for the same reason as seen on Jenkins, no valid rmw implementation for rclpy found.) But both on Jenkins and locally, if I go back to the current state of rclpy on master, then the test passes.

wjwwood · 2016-04-13T00:30:37Z

Well there was a matching pr merged, so to "undo" what I merged, you'd need to also undo this one: ament/ament_cmake#65

jacquelinekay · 2016-04-13T16:52:10Z

@dirk-thomas I tried to address the multiple typesupports issue but I didn't understand how to use ament_index_get_resources and ament_index_register_resource for this purpose.

For example, I want to do something like this:

ament_index['rmw_typesupport'] = {'rmw_connext_cpp' : ['rosidl_typesupport_connext_c', 'rosidl_typesupport_connext_cpp'] }

ament_index['rmw_typesupport_c'] = {'rmw_connext_cpp' : ['rosidl_typesupport_connext_c'] }
ament_index['rmw_typesupport_cpp'] = {'rmw_connext_cpp' : ['rosidl_typesupport_connext_cpp'] }

but the first resource map doesn't work because I cannot store a list of string at rmw_connext_cpp.

Should I expect to be able to do this?

I have a workaround in 12b9777.

dirk-thomas · 2016-04-13T17:08:19Z

Within one resource file you can story any kind of content. If you choose to store a CMake list in it that will be exactly what you will get back out.

jacquelinekay · 2016-04-13T17:25:24Z

I see, so if I expect an entry to store multiple strings, I should initialize it and append to it as a list.

jacquelinekay · 2016-04-13T21:16:19Z

I fixed the index entries in this pull request so that they all can store a list of strings in b7d7897

dirk-thomas · 2016-04-13T21:21:13Z

Instead of creating new macros for each language why not have a single function with a language parameter?

dirk-thomas · 2016-04-25T16:52:11Z

rmw/cmake/register_rmw_implementation.cmake

+    list(LENGTH arg arg_length)
+    if(${arg_length} LESS 1)
+      message(FATAL_ERROR
+        "register_rmw_implementation() called with invalid input: '${arg}'")


This line doesn't need quoting imo since the value is already clearly separated by the colon (and can't be empty).

The error message should print the unmodified arg (without the colon being replaced already). Otherwise the user might wonder where the change is coming from.

dirk-thomas · 2016-04-25T17:01:12Z

rmw/cmake/register_rmw_implementation.cmake

+    list(LENGTH arg arg_length)
+    if(${arg_length} LESS 1)
+      message(FATAL_ERROR
+        "register_rmw_implementation() called with invalid input: ${ARGN}")


This change doesn't tell the user which argument was the problem.

got it--I'm saving the argument with colons in it now: 18a7e1d

dirk-thomas · 2016-04-25T20:25:05Z

rmw/cmake/get_rmw_typesupport.cmake

 # :type rmw_implementation: string
+# :param LANGUAGE: Optional flag for the language of the type support to get.
+#   If language is omitted, type supports for all packages are returned.


Should this be: "If LANGUAGE is omitted, type supports for all languages are returned."?

…s2/rmw into register_typesupport_language

jacquelinekay · 2016-04-26T23:08:28Z

Latest CI:

http://ci.ros2.org/job/ci_linux/1232/
http://ci.ros2.org/job/ci_osx/989/

Fixed the linter warnings and launched a Windows job (pending):
http://ci.ros2.org/job/ci_windows/1273

jacquelinekay · 2016-04-27T15:01:10Z

Had to fix a rebase, the latest Windows job is clean as far as Windows CI goes: http://ci.ros2.org/job/ci_windows/1274

dirk-thomas · 2016-04-27T15:02:58Z

rmw/cmake/get_rmw_typesupport.cmake

-  ament_index_get_resource(${var} "rmw_implementation" "${rmw_implementation}")
-endmacro()
+  set(resource_type "rmw_typesupport")
+  if(NOT "${ARG_LANGUAGE}" STREQUAL "")


Needs trailing spaces in both strings.

dirk-thomas · 2016-04-27T15:07:04Z

rmw/cmake/register_rmw_implementation.cmake

-endmacro()
+  foreach(arg_raw ${ARGN})
+    # replace colon with semicolon to turn into a list
+    string(REGEX REPLACE ":" ";" arg "${arg_raw}")


Since this is not a regex a simple string replace is sufficient.

jacquelinekay · 2016-04-29T21:59:41Z

bump... any pending comments on this set of PRs?

dirk-thomas · 2016-04-29T22:04:52Z

Beside mini comments on some of the related PRs this LGTM.

Add macros for getting type support for a particular language for an rmw implementation

jacquelinekay added the in progress Actively being worked on (Kanban column) label Apr 6, 2016

jacquelinekay mentioned this pull request Apr 6, 2016

Get list of typesupports from ament index ros2/rosidl#115

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jacquelinekay self-assigned this Apr 6, 2016

jacquelinekay added in review Waiting for review (Kanban column) and removed in progress Actively being worked on (Kanban column) labels Apr 9, 2016

dirk-thomas reviewed Apr 12, 2016
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Jackie Kay and others added 3 commits April 25, 2016 09:00

error handling

4137ccc

correct comment

809ed4e

style

c732d58

jacquelinekay force-pushed the register_typesupport_language branch from 137e44a to c732d58 Compare April 25, 2016 16:00

dirk-thomas reviewed Apr 25, 2016
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ARGN

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dirk-thomas reviewed Apr 25, 2016
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Save raw arg

18a7e1d

dirk-thomas reviewed Apr 25, 2016
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jacquelinekay and others added 4 commits April 25, 2016 14:15

Comment tweak

a55507d

Merge branch 'register_typesupport_language' of https://github.com/ro…

07cb28a

…s2/rmw into register_typesupport_language

Allow empty arguments

4aeff56

Merge branch 'register_typesupport_language' of https://github.com/ro…

ff0fcb5

…s2/rmw into register_typesupport_language

tfoote mentioned this pull request Apr 26, 2016

Enable fastrtps for rcl ros2/rcl#32

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Line length

5be80c9

dirk-thomas reviewed Apr 27, 2016
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trailing space for empty string

7c1a517

dirk-thomas reviewed Apr 27, 2016
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more style

1b5f69f

jacquelinekay merged commit 206c543 into master Apr 29, 2016

jacquelinekay deleted the register_typesupport_language branch April 29, 2016 22:32

jacquelinekay removed the in review Waiting for review (Kanban column) label Apr 29, 2016

ahcorde pushed a commit to erlerobot/rmw that referenced this pull request Jun 2, 2016

Register language of typesupport for rmw implementation (ros2#63)

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Register language of typesupport for rmw implementation #63

Register language of typesupport for rmw implementation #63

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Register language of typesupport for rmw implementation #63

Register language of typesupport for rmw implementation #63

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