Service introspection #127

ihasdapie · 2022-08-10T00:21:31Z

This PR is part of a prototype implementation for ros-infrastructure/rep#360 ros2/ros2#1285. It implements the new methods defined in rosidl_runtime_cpp in ros2/rosidl#700 allowing for rcl to populate service_event message payloads.

rosidl_typesupport_cpp/resource/srv__type_support.cpp.em

jacobperron

LGTM, just some minor comments and a bikeshed question about using "event" vs. "introspection".

rosidl_typesupport_cpp/resource/srv__type_support.cpp.em

rosidl_typesupport_cpp/CMakeLists.txt

rosidl_typesupport_c/resource/srv__type_support.cpp.em

rosidl_typesupport_cpp/resource/srv__type_support.cpp.em

rosidl_typesupport_cpp/src/type_support_dispatch.hpp

rosidl_typesupport_tests/test/rosidl_typesupport_cpp/test_service_typesupport.cpp

ihasdapie · 2022-09-03T19:35:39Z

@jacobperron Pinging to request review & help with changes introduced in d48c0ee to split typesupport tests into a new package so that we can test the generated typesupport files. I'm stuck on some linker issues while building, so some feedback would be much appreciated.

jacobperron · 2022-09-29T18:39:06Z

rebased on rolling

rosidl_typesupport_tests/test/rosidl_typesupport_cpp/test_service_typesupport.cpp

jacobperron

I've fixed the test and expanded on it. Also did some other minor cleanup.

I've left comments for things that still need to be addressed.

rosidl_typesupport_c/resource/srv__type_support.cpp.em

rosidl_typesupport_c/CMakeLists.txt

rosidl_typesupport_cpp/resource/srv__type_support.cpp.em

jacobperron · 2022-09-30T00:57:14Z

rosidl_typesupport_tests/CMakeLists.txt

+    "${cpp_typesupport_target}"
+  )
+
+  # TODO(jacobperron): Add tests for rosidl_typesupport_c


We can add equivalent tests for C-typesupport to their own test file.

jacobperron · 2022-09-30T00:57:47Z

rosidl_typesupport_tests/test/rosidl_typesupport_cpp/test_service_typesupport.cpp

+  }
+}
+
+// TODO(jacobperron): Add test for action service


May as well add tests with an action service.

ivanpauno

note to self: check open discussions again, review tests.

Otherwise LGTM

rosidl_typesupport_c/resource/srv__type_support.cpp.em

rosidl_typesupport_cpp/resource/srv__type_support.cpp.em

wjwwood

lgtm, with test todo's addressed

ivanpauno · 2022-12-23T21:37:51Z

lgtm, with test todo's addressed

Tests completed in f273831.

Signed-off-by: Brian Chen <brian.chen@openrobotics.org>

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

Remove unnecessary dependencies Signed-off-by: Jacob Perron <jacob@openrobotics.org>

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

It should not be a UUID. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

clalancette · 2023-02-02T14:31:07Z

CI for this is in ros2/ros2#1285 (comment)

ihasdapie mentioned this pull request Aug 10, 2022

Service Introspection ros2/ros2#1285

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14 tasks

ihasdapie requested a review from jacobperron August 18, 2022 18:22

jacobperron reviewed Aug 18, 2022

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jacobperron reviewed Aug 31, 2022

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jacobperron self-assigned this Sep 1, 2022

jacobperron force-pushed the service_introspection branch from 9402704 to b309bf3 Compare September 29, 2022 18:37

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ivanpauno force-pushed the service_introspection branch from 2d15999 to f1bca72 Compare November 11, 2022 20:27

ivanpauno requested a review from wjwwood November 16, 2022 14:09

ivanpauno requested review from quarkytale and sloretz as code owners November 17, 2022 18:15

ivanpauno mentioned this pull request Dec 15, 2022

[service introspection] generate service_event messages ros2/rosidl#700

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wjwwood reviewed Dec 21, 2022

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clalancette force-pushed the service_introspection branch from c22d98d to 296d5f7 Compare January 25, 2023 18:29

mjcarroll approved these changes Jan 31, 2023

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ihasdapie added 9 commits January 31, 2023 15:09

preliminary c ts impl for service introspection msg gen

b45bf00

Signed-off-by: Brian Chen <brian.chen@openrobotics.org>

preliminary cpp ts impl for service introspection msg gen

0e9197e

Signed-off-by: Brian Chen <brian.chen@openrobotics.org>

use event_msg->info directly

5a47f94

Signed-off-by: Brian Chen <brian.chen@openrobotics.org>

enable/disable event msg payload

659fa71

Signed-off-by: Brian Chen <brian.chen@openrobotics.org>

remove debug code

acd7ae5

Signed-off-by: Brian Chen <brian.chen@openrobotics.org>

use suffix from rosidl_parser.definition

200fa79

Signed-off-by: Brian Chen <brian.chen@openrobotics.org>

const void* service introspection message create handle

c481c6d

Signed-off-by: Brian Chen <brian.chen@openrobotics.org>

update tests to reflect rosidl_service_type_support_t

3137d0f

Signed-off-by: Brian Chen <brian.chen@openrobotics.org>

fix tests with new service typesupport definition

a4d426a

Signed-off-by: Brian Chen <brian.chen@openrobotics.org>

ihasdapie and others added 25 commits January 31, 2023 15:10

remove zero_allocate calls

fee9c5d

Signed-off-by: Brian Chen <brian.chen@openrobotics.org>

remove ifdef cpp

709b831

Signed-off-by: Brian Chen <brian.chen@openrobotics.org>

remove unnecessary rcutils_reset_error

dc3410b

Signed-off-by: Brian Chen <brian.chen@openrobotics.org>

fix tests

b67d241

Signed-off-by: Brian Chen <brian.chen@openrobotics.org>

Fix test + more comprehensive error checking

ac0a4f3

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

Lint

6f79f4f

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

Cleanup package.xml and CMakeLists.txt

7180857

Remove unnecessary dependencies Signed-off-by: Jacob Perron <jacob@openrobotics.org>

Update TODO

7cdf466

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

Lint and fix warning

e301055

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

Remove completed TODO

5a6e355

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Use create/destroy event function generated in rosidl_generator_c

54e65f3

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Remove unneeded changes

b6863bb

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Use common service event create/destroy function in cpp

c85bbba

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

fix

109f9b3

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

fixup test

1e90346

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

please linters

d9e1678

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Add missing initializers

863030c

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Don't use designated initializers in c++

2a44577

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

fix

7fe5d18

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

please uncrustify

7389d83

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

service typesupport struct field renaming

27bbb09

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Complete testing

5190714

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Fix windows CI

c71797f

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Switch to using the client_gid.

55745b0

It should not be a UUID. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

Small fixes to fix tests.

c3c80ad

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

clalancette force-pushed the service_introspection branch from 296d5f7 to c3c80ad Compare January 31, 2023 15:12

clalancette merged commit 0d4a26b into rolling Feb 2, 2023

delete-merged-branch bot deleted the service_introspection branch February 2, 2023 14:34

Crola1702 mentioned this pull request Feb 14, 2023

Fix Typesupport Introspection tests #133

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Service introspection #127

Service introspection #127

ihasdapie commented Aug 10, 2022

jacobperron left a comment

ihasdapie commented Sep 3, 2022

jacobperron commented Sep 29, 2022

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jacobperron Sep 30, 2022

jacobperron Sep 30, 2022

ivanpauno left a comment

wjwwood left a comment

ivanpauno commented Dec 23, 2022

clalancette commented Feb 2, 2023

Service introspection #127

Service introspection #127

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