Service introspection (#127)

* preliminary c ts impl for service introspection msg gen * preliminary cpp ts impl for service introspection msg gen Signed-off-by: Brian Chen <[email protected]> Signed-off-by: Jacob Perron <[email protected]> Signed-off-by: Ivan Santiago Paunovic <[email protected]> Signed-off-by: Chris Lalancette <[email protected]>
ros2 · Feb 2, 2023 · 0d4a26b · 0d4a26b
1 parent a9d8f7f
commit 0d4a26b
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Showing 13 changed files with 477 additions and 10 deletions.
diff --git a/rosidl_typesupport_c/resource/msg__type_support.cpp.em b/rosidl_typesupport_c/resource/msg__type_support.cpp.em
@@ -10,6 +10,7 @@ header_files = [
     'rosidl_runtime_c/message_type_support_struct.h',
     include_base + '__struct.h',
     include_base + '__type_support.h',
+    include_base + '__functions.h',
 ]
 if len(type_supports) != 1:
     header_files += [

diff --git a/rosidl_typesupport_c/resource/srv__type_support.cpp.em b/rosidl_typesupport_c/resource/srv__type_support.cpp.em
@@ -15,6 +15,14 @@ TEMPLATE(
     type_supports=type_supports)
 }@
 
+@{
+TEMPLATE(
+    'msg__type_support.cpp.em',
+    package_name=package_name, interface_path=interface_path,
+    message=service.event_message, include_directives=include_directives,
+    type_supports=type_supports)
+}@
+
 @{
 from rosidl_pycommon import convert_camel_case_to_lower_case_underscore
 include_parts = [package_name] + list(interface_path.parents[0].parts) + [
@@ -33,6 +41,8 @@ if len(type_supports) != 1:
         'rosidl_typesupport_c/type_support_map.h',
     ]
 header_files.append('rosidl_typesupport_interface/macros.h')
+header_files.append('service_msgs/msg/service_event_info.h')
+header_files.append('builtin_interfaces/msg/time.h')
 }@
 @[for header_file in header_files]@
 @[    if header_file in include_directives]@
@@ -53,7 +63,6 @@ namespace @(ns)
 
 namespace rosidl_typesupport_c
 {
-
 typedef struct _@(service.namespaced_type.name)_type_support_ids_t
 {
   const char * typesupport_identifier[@(len(type_supports))];
@@ -109,6 +118,15 @@ static const rosidl_service_type_support_t @(service.namespaced_type.name)_servi
   rosidl_typesupport_c__typesupport_identifier,
   reinterpret_cast<const type_support_map_t *>(&_@(service.namespaced_type.name)_service_typesupport_map),
   rosidl_typesupport_c__get_service_typesupport_handle_function,
+  ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_CREATE_EVENT_MESSAGE_SYMBOL_NAME(
+    rosidl_typesupport_c,
+    @(',\n    '.join(service.namespaced_type.namespaced_name()))
+  ),
+  ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_DESTROY_EVENT_MESSAGE_SYMBOL_NAME(
+    rosidl_typesupport_c,
+    @(',\n    '.join(service.namespaced_type.namespaced_name()))
+  ),
+  &@(service.namespaced_type.name)_Event_message_type_support_handle
 };
 
 }  // namespace rosidl_typesupport_c

diff --git a/rosidl_typesupport_c/test/benchmark/benchmark_type_support_dispatch.cpp b/rosidl_typesupport_c/test/benchmark/benchmark_type_support_dispatch.cpp
@@ -42,7 +42,7 @@ rosidl_message_type_support_t get_rosidl_message_type_support(const char * ident
 
 rosidl_service_type_support_t get_rosidl_service_type_support(const char * identifier)
 {
-  return {identifier, nullptr, nullptr};
+  return {identifier, nullptr, nullptr, nullptr, nullptr, nullptr};
 }
 
 type_support_map_t get_typesupport_map(void ** library_array)

diff --git a/rosidl_typesupport_c/test/test_service_type_support_dispatch.cpp b/rosidl_typesupport_c/test/test_service_type_support_dispatch.cpp
@@ -38,7 +38,7 @@ constexpr const char * symbols[map_size] = {
 
 rosidl_service_type_support_t get_rosidl_service_type_support(const char * identifier)
 {
-  return {identifier, nullptr, nullptr};
+  return {identifier, nullptr, nullptr, nullptr, nullptr, nullptr};
 }
 
 type_support_map_t get_typesupport_map(void ** library_array)

diff --git a/rosidl_typesupport_c/test/test_type_support.c b/rosidl_typesupport_c/test/test_type_support.c
@@ -34,7 +34,7 @@ static const rosidl_message_type_support_t message_type_support = {
 };
 
 static const rosidl_service_type_support_t service_type_support = {
-  0, 0, 0
+  0, 0, 0, 0, 0, 0
 };
 
 const rosidl_message_type_support_t * test_message_type_support() {return &message_type_support;}

diff --git a/rosidl_typesupport_cpp/resource/srv__type_support.cpp.em b/rosidl_typesupport_cpp/resource/srv__type_support.cpp.em
@@ -15,6 +15,14 @@ TEMPLATE(
     type_supports=type_supports)
 }@
 
+@{
+TEMPLATE(
+    'msg__type_support.cpp.em',
+    package_name=package_name, interface_path=interface_path,
+    message=service.event_message, include_directives=include_directives,
+    type_supports=type_supports)
+}@
+
 @{
 from rosidl_pycommon import convert_camel_case_to_lower_case_underscore
 include_parts = [package_name] + list(interface_path.parents[0].parts) + [
@@ -24,11 +32,11 @@ include_base = '/'.join(include_parts)
 header_files = [
     'cstddef',
     'rosidl_runtime_c/service_type_support_struct.h',
+    'rosidl_typesupport_cpp/service_type_support.hpp',
     include_base + '__struct.hpp',
 ]
 if len(type_supports) != 1:
     header_files.append('rosidl_typesupport_cpp/identifier.hpp')
-header_files.append('rosidl_typesupport_cpp/service_type_support.hpp')
 if len(type_supports) != 1:
     header_files += [
         'rosidl_typesupport_c/type_support_map.h',
@@ -76,7 +84,6 @@ typedef struct _@(service.namespaced_type.name)_type_support_symbol_names_t
 {
   const char * symbol_name[@(len(type_supports))];
 } _@(service.namespaced_type.name)_type_support_symbol_names_t;
-
 #define STRINGIFY_(s) #s
 #define STRINGIFY(s) STRINGIFY_(s)
 
@@ -113,6 +120,9 @@ static const rosidl_service_type_support_t @(service.namespaced_type.name)_servi
   ::rosidl_typesupport_cpp::typesupport_identifier,
   reinterpret_cast<const type_support_map_t *>(&_@(service.namespaced_type.name)_service_typesupport_map),
   ::rosidl_typesupport_cpp::get_service_typesupport_handle_function,
+  &::rosidl_typesupport_cpp::service_create_event_message<@('::'.join([package_name, *interface_path.parents[0].parts, service.namespaced_type.name]))>,
+  &::rosidl_typesupport_cpp::service_destroy_event_message<@('::'.join([package_name, *interface_path.parents[0].parts, service.namespaced_type.name]))>,
+  ::rosidl_typesupport_cpp::get_message_type_support_handle<@('::'.join([package_name, *interface_path.parents[0].parts, service.namespaced_type.name]))_Event>(),
 };
 
 }  // namespace rosidl_typesupport_cpp

diff --git a/rosidl_typesupport_cpp/test/benchmark/benchmark_type_support_dispatch.cpp b/rosidl_typesupport_cpp/test/benchmark/benchmark_type_support_dispatch.cpp
@@ -42,7 +42,7 @@ rosidl_message_type_support_t get_rosidl_message_type_support(const char * ident
 
 rosidl_service_type_support_t get_rosidl_service_type_support(const char * identifier)
 {
-  return {identifier, nullptr, nullptr};
+  return {identifier, nullptr, nullptr, nullptr, nullptr, nullptr};
 }
 
 type_support_map_t get_typesupport_map(void ** library_array)

diff --git a/rosidl_typesupport_cpp/test/test_service_type_support_dispatch.cpp b/rosidl_typesupport_cpp/test/test_service_type_support_dispatch.cpp
@@ -35,7 +35,7 @@ constexpr const char * symbols[map_size] = {
 
 rosidl_service_type_support_t get_rosidl_service_type_support(const char * identifier)
 {
-  return {identifier, nullptr, nullptr};
+  return {identifier, nullptr, nullptr, nullptr, nullptr, nullptr};
 }
 
 type_support_map_t get_typesupport_map(void ** library_array)

diff --git a/rosidl_typesupport_cpp/test/test_type_support.cpp b/rosidl_typesupport_cpp/test/test_type_support.cpp
@@ -35,11 +35,11 @@ const rosidl_service_type_support_t * test_service_type_support();
 #endif
 
 static const rosidl_message_type_support_t message_type_support = {
-  0, 0, 0
+  nullptr, nullptr, nullptr
 };
 
 static const rosidl_service_type_support_t service_type_support = {
-  0, 0, 0
+  nullptr, nullptr, nullptr, nullptr, nullptr, nullptr
 };
 
 const rosidl_message_type_support_t * test_message_type_support() {return &message_type_support;}

diff --git a/rosidl_typesupport_tests/CMakeLists.txt b/rosidl_typesupport_tests/CMakeLists.txt
@@ -0,0 +1,43 @@
+cmake_minimum_required(VERSION 3.8)
+project(rosidl_typesupport_tests)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+  find_package(rosidl_cmake REQUIRED)
+  find_package(ament_cmake_gtest REQUIRED)
+  find_package(test_interface_files REQUIRED)
+  find_package(rcutils REQUIRED)
+
+  rosidl_generate_interfaces(${PROJECT_NAME}
+    ${test_interface_files_MSG_FILES}
+    ${test_interface_files_SRV_FILES}
+    ${test_interface_files_ACTION_FILES}
+    SKIP_INSTALL
+  )
+
+  rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
+  rosidl_get_typesupport_target(c_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_c")
+
+  ament_add_gtest(test_service_typesupport_cpp
+    test/rosidl_typesupport_cpp/test_service_typesupport.cpp
+  )
+  target_link_libraries(test_service_typesupport_cpp
+    "${cpp_typesupport_target}"
+  )
+
+  ament_add_gtest(test_service_typesupport_c
+    test/rosidl_typesupport_c/test_service_typesupport.cpp
+  )
+  target_link_libraries(test_service_typesupport_c
+    "${c_typesupport_target}"
+  )
+endif()
+
+ament_package()
diff --git a/rosidl_typesupport_tests/package.xml b/rosidl_typesupport_tests/package.xml
@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rosidl_typesupport_tests</name>
+  <version>2.2.0</version>
+  <description>Test rosidl_typesupport_c and rosidl_typesupport_cpp packages</description>
+  <maintainer email="[email protected]">Jacob Perron</maintainer>
+  <license>Apache License 2.0</license>
+  <author email="[email protected]">Brian Chen</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>rcutils</test_depend>
+  <test_depend>rosidl_cmake</test_depend>
+  <test_depend>rosidl_typesupport_c</test_depend>
+  <test_depend>rosidl_typesupport_cpp</test_depend>
+  <test_depend>test_interface_files</test_depend>
+  <test_depend>service_msgs</test_depend>
+  <test_depend>action_msgs</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
-Original file line number
+Diff line change
@@ Expand Up @@
     };
     static const rosidl_service_type_support_t service_type_support = {
-, 0, 0
+, 0, 0, 0, 0, 0
     };
     const rosidl_message_type_support_t * test_message_type_support() {return &message_type_support;}
@@ Expand Down @@