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[service introspection] generate service_event messages #700

Merged
merged 54 commits into from
Feb 2, 2023
Merged

[service introspection] generate service_event messages #700

merged 54 commits into from
Feb 2, 2023

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ihasdapie
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@ihasdapie ihasdapie commented Aug 9, 2022 •
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This PR is part of a prototype implementation for ros-infrastructure/rep#360 ros2/ros2#1285.

The rosidl generators are extended to generate a third message type for services, service events. Macro for generating interfaces in rosidl_cmake are also updated to find_package service_msgs introduced in ros2/rcl_interfaces#143 and the new dependency on service_msgs by action_msgs.

Changes:

  • Add <service_event>_Event message generation
  • Add member methods to rosidl_service_type_support_t for building service messages and to provide the publisher typesupport handle.

This PR depends on #696

Service introspection: ros2/ros2#1285

This was referenced Aug 10, 2022
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@ihasdapie ihasdapie force-pushed the service_introspection branch from 31c0e4c to d5ea939 Compare August 10, 2022 23:18
jacobperron
jacobperron reviewed Aug 16, 2022
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I think this PR can be rebased on rolling now.

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@jacobperron jacobperron self-assigned this Sep 1, 2022
ivanpauno
ivanpauno reviewed Sep 5, 2022
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rebased on rolling

ivanpauno
ivanpauno approved these changes Sep 30, 2022
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LGTM!

@jacobperron jacobperron marked this pull request as ready for review October 3, 2022 23:48
@jacobperron jacobperron force-pushed the service_introspection branch 2 times, most recently from 781943c to 8390962 Compare October 12, 2022 23:22
ivanpauno
ivanpauno approved these changes Nov 11, 2022
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LGTM!
I have left some comments for myself to double check before merging.

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same for typesupport introspection cpp

rosidl_typesupport_introspection_c/resource/srv__type_support.c.em Show resolved Hide resolved
@ivanpauno ivanpauno dismissed their stale review November 11, 2022 20:27

cannot review anymore as new assignee

@ivanpauno ivanpauno assigned ivanpauno and unassigned jacobperron Nov 11, 2022
@ivanpauno ivanpauno requested a review from wjwwood November 16, 2022 14:09
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ivanpauno commented Nov 16, 2022 •
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CI:

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Windows Build Status

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There's a bug with actions, I have to double check what's going on

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Hopefully got it right now:

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Windows Build Status

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  • Linux Build Status
  • Linux-aarch64 Build Status
  • Windows Build Status

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windows error seems unrelated, though I don't see that happening in the nightlies ....
But there's no way these PR can make mimick_vendor fail.

There are also new linter failres, but those should be easy to fix ...

ihasdapie and others added 24 commits January 23, 2023 18:55
@ihasdapie @clalancette
rename from introspection_message handles to event_message handles
5fdfded 
Signed-off-by: Brian Chen <brian.chen@openrobotics.org>
@jacobperron @clalancette
Remove duplicate template instances
820712f 
This was probably a bug introduced during a rebase.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
@jacobperron @clalancette
Refactor action/service loop
d535a6e 
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
@jacobperron @clalancette
Use last directory in path to identify actions and services
ad1bd4a 
This allows users to pass interfaces in nested directories, e.g. test/srv/Foo.srv, instead of requiring them to be
directly inside a 'srv' or 'action' directory relative to the cmake source directory.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
@jacobperron @clalancette
Do not rely on service_msgs_FOUND
e0d75d1 
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
@jacobperron @clalancette
Lint
96f3223 
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
@jacobperron @clalancette
Fix test
220ff59 
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
@ivanpauno @clalancette
Modify recursive includes in rosidl_generator_c/rosidl_generator_cpp
00b5433 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno @clalancette
add service event create/destroy function for typesupport introspecti…
68ff7b5 
…on c/cpp

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno @clalancette
Generate only one implementation of functions per generator
b3be446 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno @clalancette
Create only one create/destroy service event function for all cpp typ…
99607ee 
…esupports

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno @clalancette
Remove enable_message_payload from create service event message signa…
81e768f 
…ture

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno @clalancette
fixes
0649944 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno @clalancette
Add missing includes
ec537d7 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno @clalancette
Include name
11e4f8b 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno @clalancette
Fix
d5f40ef 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno @clalancette
please linters
785c3a1 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno @clalancette
Avoid signed unsigned comparison
84299e5 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno @clalancette
Complete implementation
e842886 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno @clalancette
Fix rosidl_runtime_cpp linters
9378583 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno @clalancette
Address peer review comments
b3edf00 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno @clalancette
Fixes after adding tests for rosidl_typesupport_c in rosidl_typesuppo…
a3712ca 
…rt_tests

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno @clalancette
Remove debug message
00b3784 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@clalancette
Switch to a client_gid.
01beada 
That is more correct, as this should not be a UUID.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette clalancette force-pushed the service_introspection branch from 0552fe4 to 01beada Compare January 25, 2023 18:28
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CI for this is in ros2/ros2#1285 (comment)

@clalancette clalancette merged commit a63f32e into rolling Feb 2, 2023
@delete-merged-branch delete-merged-branch bot deleted the service_introspection branch February 2, 2023 14:34
@fujitatomoya fujitatomoya mentioned this pull request Apr 18, 2024
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@mjcarroll mjcarroll mjcarroll approved these changes

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