niklas/rcl
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Implement service info structure with timestamps. (#627)

Browse source 
* Adapt to using rmw_service_info_t

Signed-off-by: Luetkebohle Ingo (CR/AEX3) <ingo.luetkebohle@de.bosch.com>

* Provide backwards compatibility.

Signed-off-by: Luetkebohle Ingo (CR/AEX3) <ingo.luetkebohle@de.bosch.com>

* Add service test

Signed-off-by: Luetkebohle Ingo (CR/AEX3) <ingo.luetkebohle@de.bosch.com>

* minimize whitespace

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

Co-authored-by: Karsten Knese <karsten@openrobotics.org>
This commit is contained in:
Ingo Lütkebohle 2020-04-24 06:31:07 +02:00 • committed by GitHub
parent 84cac5937b
commit f18127a089
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
7 changed files with 73 additions and 13 deletions
Download patch file Download diff file Expand all files Collapse all files

9
rcl/include/rcl/client.h
View file

@ -285,6 +285,15 @@ rcl_send_request(const rcl_client_t * client, const void * ros_request, int64_t
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_take_response_with_info(
const rcl_client_t * client,
rmw_service_info_t * request_header,
void * ros_response);
/// backwards compatibility function that takes a rmw_request_id_t only
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_take_response(
const rcl_client_t * client,
rmw_request_id_t * request_header,

11
rcl/include/rcl/service.h
View file

@ -232,7 +232,7 @@ rcl_service_get_default_options(void);
* <i>[1] only if required when filling the request, avoided for fixed sizes</i>
*
* \param[in] service the handle to the service from which to take
* \param[inout] request_header ptr to the struct holding metadata about the request ID
* \param[inout] request_header ptr to the struct holding metadata about the request
* \param[inout] ros_request type-erased ptr to an allocated ROS request message
* \return `RCL_RET_OK` if the request was taken, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
@ -245,6 +245,15 @@ rcl_service_get_default_options(void);
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_take_request_with_info(
const rcl_service_t * service,
rmw_service_info_t * request_header,
void * ros_request);
/// backwards compatibility version that takes a request_id only
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_take_request(
const rcl_service_t * service,
rmw_request_id_t * request_header,

17
rcl/src/rcl/client.c
View file

@ -289,9 +289,9 @@ rcl_send_request(const rcl_client_t * client, const void * ros_request, int64_t
}
rcl_ret_t
rcl_take_response(
rcl_take_response_with_info(
const rcl_client_t * client,
rmw_request_id_t * request_header,
rmw_service_info_t * request_header,
void * ros_response)
{
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Client taking service response");
@ -317,6 +317,19 @@ rcl_take_response(
return RCL_RET_OK;
}
rcl_ret_t
rcl_take_response(
const rcl_client_t * client,
rmw_request_id_t * request_header,
void * ros_response)
{
rmw_service_info_t header;
header.request_id = *request_header;
rcl_ret_t ret = rcl_take_response_with_info(client, &header, ros_response);
*request_header = header.request_id;
return ret;
}
bool
rcl_client_is_valid(const rcl_client_t * client)
{

17
rcl/src/rcl/service.c
View file

@ -276,9 +276,9 @@ rcl_service_get_rmw_handle(const rcl_service_t * service)
}
rcl_ret_t
rcl_take_request(
rcl_take_request_with_info(
const rcl_service_t * service,
rmw_request_id_t * request_header,
rmw_service_info_t * request_header,
void * ros_request)
{
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Service server taking service request");
@ -308,6 +308,19 @@ rcl_take_request(
return RCL_RET_OK;
}
rcl_ret_t
rcl_take_request(
const rcl_service_t * service,
rmw_request_id_t * request_header,
void * ros_request)
{
rmw_service_info_t header;
header.request_id = *request_header;
rcl_ret_t ret = rcl_take_request_with_info(service, &header, ros_request);
*request_header = header.request_id;
return ret;
}
rcl_ret_t
rcl_send_response(
const rcl_service_t * service,

4
rcl/test/CMakeLists.txt
View file

@ -210,11 +210,15 @@ function(test_target_function)
message(STATUS "Enabling message timestamp test for ${rmw_implementation}")
target_compile_definitions(test_subscription${target_suffix}
PUBLIC "RMW_TIMESTAMPS_SUPPORTED=1" "RMW_RECEIVED_TIMESTAMP_SUPPORTED=1")
target_compile_definitions(test_service${target_suffix}
PUBLIC "RMW_TIMESTAMPS_SUPPORTED=1" "RMW_RECEIVED_TIMESTAMP_SUPPORTED=1")
else()
if(rmw_implementation STREQUAL "rmw_cyclonedds_cpp")
message(STATUS "Enabling only source timestamp test for ${rmw_implementation}")
target_compile_definitions(test_subscription${target_suffix}
PUBLIC "RMW_TIMESTAMPS_SUPPORTED=1")
target_compile_definitions(test_service${target_suffix}
PUBLIC "RMW_TIMESTAMPS_SUPPORTED=1")
else()
message(STATUS "Disabling message timestamp test for ${rmw_implementation}")
endif()

4
rcl/test/rcl/client_fixture.cpp
View file

@ -218,8 +218,8 @@ int main(int argc, char ** argv)
RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Client never became ready");
return -1;
}
rmw_request_id_t header;
if (rcl_take_response(&client, &header, &client_response) != RCL_RET_OK) {
rmw_service_info_t header;
if (rcl_take_response_with_info(&client, &header, &client_response) != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in send response: %s", rcl_get_error_string().str);
return -1;

24
rcl/test/rcl/test_service.cpp
View file

@ -205,15 +205,15 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal)
// Initialize a separate instance of the request and take the pending request.
test_msgs__srv__BasicTypes_Request service_request;
test_msgs__srv__BasicTypes_Request__init(&service_request);
rmw_request_id_t header;
ret = rcl_take_request(&service, &header, &service_request);
rmw_service_info_t header;
ret = rcl_take_request_with_info(&service, &header, &service_request);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_EQ(1, service_request.uint8_value);
EXPECT_EQ(2UL, service_request.uint32_value);
// Simulate a response callback by summing the request and send the response..
service_response.uint64_value = service_request.uint8_value + service_request.uint32_value;
ret = rcl_send_response(&service, &header, &service_response);
ret = rcl_send_response(&service, &header.request_id, &service_response);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
test_msgs__srv__BasicTypes_Request__fini(&service_request);
}
@ -223,10 +223,22 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal)
test_msgs__srv__BasicTypes_Response client_response;
test_msgs__srv__BasicTypes_Response__init(&client_response);
rmw_request_id_t header;
ret = rcl_take_response(&client, &header, &client_response);
rmw_service_info_t header;
ret = rcl_take_response_with_info(&client, &header, &client_response);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_EQ(client_response.uint64_value, 3ULL);
EXPECT_EQ(header.sequence_number, 1);
EXPECT_EQ(header.request_id.sequence_number, 1);
#ifdef RMW_TIMESTAMPS_SUPPORTED
EXPECT_NE(0u, header.source_timestamp);
#ifdef RMW_RECEIVED_TIMESTAMP_SUPPORTED
EXPECT_NE(0u, header.received_timestamp);
#else
EXPECT_EQ(0u, header.received_timestamp);
#endif
#else
EXPECT_EQ(0u, header.source_timestamp);
EXPECT_EQ(0u, header.received_timestamp);
#endif
test_msgs__srv__BasicTypes_Response__fini(&client_response);
}