Implement service introspection.

The idea here is that by default, clients and services are created just like they were before. However, we add an additional API where the user can choose to configure service introspection, either to turn it OFF, send out METADATA, or send out CONTENTS (and METADATA). There are 4 different events that can get sent out if introspection is configured for METADATA or CONTENTS; REQUEST_SENT (from the client), REQUEST_RECEIVED (from the service), RESPONSE_SENT (from the service), or RESPONSE_RECEIVED (from the client). For each of these, a separate message is sent out a topic called <service_name>_service_event , so an outside observer can listen. Signed-off-by: Chris Lalancette <[email protected]>
ros2 · Feb 23, 2023 · db4ebe7 · db4ebe7
1 parent f2027d1
commit db4ebe7
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diff --git a/rcl/include/rcl/client.h b/rcl/include/rcl/client.h
@@ -29,6 +29,7 @@ extern "C"
 #include "rcl/macros.h"
 #include "rcl/node.h"
 #include "rcl/publisher.h"
+#include "rcl/service_introspection.h"
 #include "rcl/time.h"
 #include "rcl/visibility_control.h"
 
@@ -49,15 +50,9 @@ typedef struct rcl_client_options_s
 {
   /// Middleware quality of service settings for the client.
   rmw_qos_profile_t qos;
-  /// Publisher options for the service event publisher
-  rcl_publisher_options_t event_publisher_options;
   /// Custom allocator for the client, used for incidental allocations.
   /** For default behavior (malloc/free), use: rcl_get_default_allocator() */
   rcl_allocator_t allocator;
-  /// Enable/Disable service introspection features
-  bool enable_service_introspection;
-  /// The clock to use for service introspection message timestampes
-  rcl_clock_t * clock;
 } rcl_client_options_t;
 
 /// Return a rcl_client_t struct with members set to `NULL`.
@@ -205,10 +200,7 @@ rcl_client_fini(rcl_client_t * client, rcl_node_t * node);
  * The defaults are:
  *
  * - qos = rmw_qos_profile_services_default
- * - event_publisher_options = rcl_publisher_get_default_options()
  * - allocator = rcl_get_default_allocator()
- * - enable_service_introspection = False
- * - clock = NULL
  */
 RCL_PUBLIC
 RCL_WARN_UNUSED
@@ -510,6 +502,10 @@ rcl_client_set_on_new_response_callback(
 /// Configures service introspection features for the client.
 /**
  * Enables or disables service introspection features for this client.
+ * If the introspection state is RCL_SERVICE_INTROSPECTION_OFF, then introspection will
+ * be disabled.  If the state is RCL_SERVICE_INTROSPECTION_METADATA, the client metadata
+ * will be published.  If the state is RCL_SERVICE_INTROSPECTION_CONTENTS, then the client
+ * metadata and service request and response contents will be published.
  *
  * <hr>
  * Attribute          | Adherence
@@ -520,47 +516,29 @@ rcl_client_set_on_new_response_callback(
  * Lock-Free          | Maybe [1]
  * <i>[1] rmw implementation defined</i>
  *
- * \param[in] client The client on which to configure service introspection
- * \param[in] node The node for which the service event publisher is to be associated to
- * \param[in] enable Whether to enable or disable service introspection for the client.
- * \return `RCL_RET_ERROR` if the event publisher is invalid, or
- * \return `RCL_RET_NODE_INVALID` if the given node is invalid, or
- * \return `RCL_RET_INVALID_ARGUMENT` if the client or node structure is invalid,
- * \return `RCL_RET_BAD_ALLOC` if a memory allocation failed, or
- * \return `RCL_RET_OK` if the call was successful
+ * \param[in] client client on which to configure service introspection
+ * \param[in] node valid rcl_node_t to use to create the introspection publisher
+ * \param[in] clock valid rcl_clock_t to use to generate the introspection timestamps
+ * \param[in] type_support type support library associated with this client
+ * \param[in] publisher_options options to use when creating the introspection publisher
+ * \param[in] introspection_state rcl_service_introspection_state_t describing whether
+ *            introspection should be OFF, METADATA, or CONTENTS
+ * \return #RCL_RET_OK if the call was successful, or
+ * \return #RCL_RET_ERROR if the event publisher is invalid, or
+ * \return #RCL_RET_NODE_INVALID if the given node is invalid, or
+ * \return #RCL_RET_INVALID_ARGUMENT if the client or node structure is invalid,
+ * \return #RCL_RET_BAD_ALLOC if a memory allocation failed
  */
 RCL_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
-rcl_service_introspection_configure_client_service_events(
+rcl_client_configure_service_introspection(
   rcl_client_t * client,
   rcl_node_t * node,
-  bool enable);
-
-/// Configures whether service introspection messages contain only metadata or content.
-/**
- * Enables or disables whether service introspection messages contain just the metadata
- * about the transaction, or also contains the content.
- *
- * <hr>
- * Attribute          | Adherence
- * ------------------ | -------------
- * Allocates Memory   | No
- * Thread-Safe        | No
- * Uses Atomics       | No
- * Lock-Free          | Yes
- *
- * \param[in] client The client on which to configure content
- * \param[in] enable Whether to enable or disable service introspection content
- * \return `RCL_RET_INVALID_ARGUMENT` if the client structure is invalid,
- * \return `RCL_RET_OK` if the call was successful
- */
-RCL_PUBLIC
-RCL_WARN_UNUSED
-rcl_ret_t
-rcl_service_introspection_configure_client_service_event_message_payload(
-  rcl_client_t * client,
-  bool enable);
+  rcl_clock_t * clock,
+  const rosidl_service_type_support_t * type_support,
+  const rcl_publisher_options_t publisher_options,
+  rcl_service_introspection_state_t introspection_state);
 
 #ifdef __cplusplus
 }

diff --git a/rcl/include/rcl/node_options.h b/rcl/include/rcl/node_options.h
@@ -54,9 +54,6 @@ typedef struct rcl_node_options_s
 
   /// Middleware quality of service settings for /rosout.
   rmw_qos_profile_t rosout_qos;
-
-  /// Flag to enable introspection features for services related to this node
-  bool enable_service_introspection;
 } rcl_node_options_t;
 
 /// Return the default node options in a rcl_node_options_t.

diff --git a/rcl/include/rcl/service.h b/rcl/include/rcl/service.h
@@ -29,6 +29,7 @@ extern "C"
 #include "rcl/macros.h"
 #include "rcl/node.h"
 #include "rcl/publisher.h"
+#include "rcl/service_introspection.h"
 #include "rcl/time.h"
 #include "rcl/visibility_control.h"
 
@@ -49,15 +50,9 @@ typedef struct rcl_service_options_s
 {
   /// Middleware quality of service settings for the service.
   rmw_qos_profile_t qos;
-  /// Publisher options for the service event publisher
-  rcl_publisher_options_t event_publisher_options;
   /// Custom allocator for the service, used for incidental allocations.
   /** For default behavior (malloc/free), see: rcl_get_default_allocator() */
   rcl_allocator_t allocator;
-  /// Enable/Disable service introspection features
-  bool enable_service_introspection;
-  /// The clock to use for service introspection message timestamps
-  rcl_clock_t * clock;
 } rcl_service_options_t;
 
 /// Return a rcl_service_t struct with members set to `NULL`.
@@ -208,10 +203,7 @@ rcl_service_fini(rcl_service_t * service, rcl_node_t * node);
  * The defaults are:
  *
  * - qos = rmw_qos_profile_services_default
- * - event_publisher_options = rcl_publisher_get_default_options()
  * - allocator = rcl_get_default_allocator()
- * - enable_service_introspection = False
- * - clock = NULL
  */
 RCL_PUBLIC
 RCL_WARN_UNUSED
@@ -538,9 +530,13 @@ rcl_service_set_on_new_request_callback(
   rcl_event_callback_t callback,
   const void * user_data);
 
-/// Configure service introspection features for the service
+/// Configure service introspection features for the service.
 /**
  * Enables or disables service introspection features for this service.
+ * If the introspection state is RCL_SERVICE_INTROSPECTION_OFF, then introspection will
+ * be disabled.  If the state is RCL_SERVICE_INTROSPECTION_METADATA, the client metadata
+ * will be published.  If the state is RCL_SERVICE_INTROSPECTION_CONTENTS, then the client
+ * metadata and service request and response contents will be published.
  *
  * <hr>
  * Attribute          | Adherence
@@ -551,44 +547,29 @@ rcl_service_set_on_new_request_callback(
  * Lock-Free          | Maybe [1]
  * <i>[1] rmw implementation defined</i>
  *
- * \param[in] server The server on which to enable service introspection
- * \param[in] node The node for which the service event publisher is to be associated to
- * \param[in] enable Whether to enable or disable service introspection
- * \return `RCL_RET_ERROR` if the event publisher is invalid, or
- * \return `RCL_RET_NODE_INVALID` if the given node is invalid, or
- * \return `RCL_RET_INVALID_ARGUMENT` if the client or node structure is invalid,
- * \return `RCL_RET_BAD_ALLOC` if a memory allocation failed, or
- * \return `RCL_RET_OK` if the call was successful
+ * \param[in] service service on which to configure service introspection
+ * \param[in] node valid rcl_node_t to use to create the introspection publisher
+ * \param[in] clock valid rcl_clock_t to use to generate the introspection timestamps
+ * \param[in] type_support type support library associated with this service
+ * \param[in] publisher_options options to use when creating the introspection publisher
+ * \param[in] introspection_state rcl_service_introspection_state_t describing whether
+ *            introspection should be OFF, METADATA, or CONTENTS
+ * \return #RCL_RET_OK if the call was successful, or
+ * \return #RCL_RET_ERROR if the event publisher is invalid, or
+ * \return #RCL_RET_NODE_INVALID if the given node is invalid, or
+ * \return #RCL_RET_INVALID_ARGUMENT if the client or node structure is invalid,
+ * \return #RCL_RET_BAD_ALLOC if a memory allocation failed
  */
 RCL_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
-rcl_service_introspection_configure_server_service_events(
+rcl_service_configure_service_introspection(
   rcl_service_t * service,
   rcl_node_t * node,
-  bool enable);
-
-/// Configure if the payload (server response) is included in service event messages.
-/**
- * <hr>
- * Attribute          | Adherence
- * ------------------ | -------------
- * Allocates Memory   | No
- * Thread-Safe        | No
- * Uses Atomics       | No
- * Lock-Free          | Yes
- *
- * \param[in] server The server on which to enable/disable payload for service event messages.
- * \param[in] enable Whether to enable or disable including the payload in the event message.
- * \return `RCL_RET_INVALID_ARGUMENT` if the service structure is invalid,
- * \return `RCL_RET_OK` if the call was successful
- */
-RCL_PUBLIC
-RCL_WARN_UNUSED
-rcl_ret_t
-rcl_service_introspection_configure_server_service_event_message_payload(
-  rcl_service_t * service,
-  bool enable);
+  rcl_clock_t * clock,
+  const rosidl_service_type_support_t * type_support,
+  const rcl_publisher_options_t publisher_options,
+  rcl_service_introspection_state_t introspection_state);
 
 #ifdef __cplusplus
 }

diff --git a/rcl/include/rcl/service_introspection.h b/rcl/include/rcl/service_introspection.h
@@ -17,4 +17,15 @@
 
 #define RCL_SERVICE_INTROSPECTION_TOPIC_POSTFIX "/_service_event"
 
+/// The introspection state for a client or service.
+typedef enum rcl_service_introspection_state_e
+{
+  /// Introspection disabled
+  RCL_SERVICE_INTROSPECTION_OFF,
+  /// Introspect metadata only
+  RCL_SERVICE_INTROSPECTION_METADATA,
+  /// Introspection metadata and contents
+  RCL_SERVICE_INTROSPECTION_CONTENTS,
+} rcl_service_introspection_state_t;
+
 #endif  // RCL__SERVICE_INTROSPECTION_H_