* Update action graph tests to account for type namespace
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Enable OpenSplice action graph test
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Exclude some action graph tests with OpenSplice
It appears that getting graph information from finalized nodes succeeds with OpenSplice, unlike the other RMW implementations.
Since we do not have tests covering this case in rcl, it's not clear if this is a bug or expected behaviour.
In the meantime, I've disabled testing this specific case for OpenSplice.
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* const bool
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* implement rcl_wait and rcl_take for rcl_event_t
Signed-off-by: Miaofei <miaofei@amazon.com>
* address feedback regarding formatting issues
Signed-off-by: Miaofei <miaofei@amazon.com>
* Remove dependency on sleep in test_events
Signed-off-by: Ross Desmond <44277324+ross-desmond@users.noreply.github.com>
* update total max wait time for setting up publisher and subscriber to 10 seconds
Signed-off-by: Miaofei <miaofei@amazon.com>
* Fix test_events for rmw_connext
Signed-off-by: Ross Desmond <44277324+ross-desmond@users.noreply.github.com>
* Refactor out timed loop from tests to function
Signed-off-by: Miaofei <miaofei@amazon.com>
* address additional feedback from pull request
Signed-off-by: Miaofei <miaofei@amazon.com>
* update comment regarding difference between connext and opensplice
Signed-off-by: Miaofei <miaofei@amazon.com>
* fix uncrustify issues
Signed-off-by: Miaofei <miaofei@amazon.com>
* update test_events for compatibility with API changes
Signed-off-by: Miaofei <miaofei@amazon.com>
* temporarily disable test_events for macOS
Signed-off-by: Miaofei <miaofei@amazon.com>
* Add return code to CancelGoal service response
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Add case for terminated goals
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Check for ERROR_NONE instead of 0
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Proposola of changes for RMW_Preallocate. Related /ros2/rmw#160
Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>
* Changed RCL interface
Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>
* Updates for allocation in serialize methods.
Signed-off-by: Michael Carroll <michael@openrobotics.org>
* Fix tests for new APIs.
Signed-off-by: Michael Carroll <michael@openrobotics.org>
* Update after launch_testing features becoming legacy.
Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
* Migrate rcl tests to new launch_testing API.
Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
* Migrate missing rcl test to new launch_testing API.
Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
This commit fixes two problems with the logging
statements:
- %p requires a void * object to be passed
- %d expects an integer. For size_t objects, %zu should be used
Signed-off-by: Thomas Moulard <tmoulard@amazon.com>
* Converted reinterpret_cast to static_cast where I felt it was safe-ish
Signed-off-by: Jacob Hassold <jhassold@dcscorp.com>
* Fixed inconsistent type inference
Signed-off-by: Jacob Hassold <jhassold@dcscorp.com>
* Add action graph API
Builds on top of the rcl graph API.
A list of action names associated with action clients can be constructed by
looking for subscriber topic names that have the suffix "/_action/feedback".
Likewise, action servers are associated with publisher topic names with the same suffix.
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Enable multiple rmw action graph API tests
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Use ament_target_dependencies for osrf_testing_tools_cpp
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Fix lint errors
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Refactor
* Move graph API common implementation to local function
* Refactor tests
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Disable graph tests with OpenSplice
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Include graph.h in rcl_action.h
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Remove duplicate test
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Prefix increment operators
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Rename 'suffix' -> 'identifier'
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Add missing finalize calls and remove redundant branch
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Finalize names and types struct on error
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Fix bugs in tests
Pass valid names and types struct and update expected error code.
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Add zero allocator tests
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Fix indentation
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Check if action identifiers are the suffix
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Add more test cases for graph API
* Guard against invalid allocator in rcl_get_service_names_and_types.
* Increase timeout for Connext tests
* Refactor tests
* Isolate unknown node name tests
* Add invalid node name tests
* Add zero allocator tests
* Fix a segfault when passing a zero allocator to rcl_names_and_types_init.
* Add TODOs for buggy tests
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* use pedantic now that memory tools is in another repo
Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
* add pragma to ignore tinydir warning
Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
* Add rcl_publisher_get_actual_qos function
Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>
* Add test for rcl_publisher_get_actual_qos
Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>
* Correct RMW_IMPLEMENTATION checking. Add opensplice system default qos test
Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>
* Add system default test for connext
Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>
* Solve windows build problem
Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>
* Using ament_target_dependencies where possible
Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>
* Modified rcl_add_custom_* to use AMENT_DEPENDENCIES where possible
Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>
* Added again osrf_testing_tools_cpp::memory_tools library where needed.
Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>
* Modified with PR comment, and replaced forgotten osrf_testing_tools_cpp including
Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>
* Fix regression around fully qualified node name.
Regression was introduced in 114bc5289 (PR #381).
Signed-off-by: Michael Carroll <michael@openrobotics.org>
* Clean up test code based on feedback.
Signed-off-by: Michael Carroll <michael@openrobotics.org>
* Combine tests to prevent Connext timeout.
Signed-off-by: Michael Carroll <michael@openrobotics.org>
* Set symbol visibility to hidden for rcl
Enabling symbol visibility feature in gcc and clang compilers.
This will hep find symbol export related issues in linux and
potentially reduce compile times.
Discourse topic link:
https://discourse.ros.org/t/set-symbol-visibility-to-hidden-for-rmw-and-rcl-packages/7981
Signed-off-by: Sachin Suresh Bhat <bhatsach@amazon.com>
* Remove WIN specific compiler definition in configure_rcl
Signed-off-by: Sachin Suresh Bhat <bhatsach@amazon.com>
* Rename macro name rcl_set_symbol_visibility_hidden
Signed-off-by: Sachin Suresh Bhat <bhatsach@amazon.com>
* Change macro to args for rcl_set_symbol_visibility_hidden
Signed-off-by: Sachin Suresh Bhat <bhatsach@amazon.com>
* Drops legacy launch API usage.
Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
* Adds launch_testing as test dependency.
Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
* Changing security directory lookup to a prefix match rather than exact match.
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
* Changing security directory lookup to a prefix match rather than exact match.
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
* Changing security directory lookup to a prefix match rather than exact match.
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
* Changing security directory lookup to a prefix match rather than exact match.
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
* Adding security_directory module and moving rcl_get_secure_root function to it. Adding tests.
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
* Adding security_directory module and moving rcl_get_secure_root function to it. Adding tests.
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
* Adding security_directory module and moving rcl_get_secure_root function to it. Adding tests.
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
* Adding security_directory module and moving rcl_get_secure_root function to it. Adding tests.
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
* Adding security_directory module and moving rcl_get_secure_root function to it. Adding tests.
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
* Changing security directory prefix matching to be optional. Improving error messages around security directory lookup.
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
* Fixing get_best_matching_directory so that it always fetches the next file inside the loop.
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
* make pr ready for ros2cli security feature (#1)
* update docs about possibility of rcl_take no taking (#356)
* update rcl_wait doc with respect to subs and possibility of failing takes
* add a note about possible failing takes in rcl_take docs
* 0.6.2
* Set rmw_wait timeout using ros timers too (#357)
* 0.6.3
* Avoid timer period being set to 0 (#359)
* Fix logic that moves goal handles when one expires (#360)
* Fix error from uncrustify v0.68 (#364)
* Ensure that context instance id storage is aligned correctly (#365)
* Ensure that context instance id storage is aligned correctly
* Make alignment compatible with MSVC
* Namespace alignment macro with RCL_
* [rcl] Guard against bad allocation calling rcl_arguments_copy() (#367)
* [rcl] Add test for copying arguments struct with no arguments
* Override allocate function in test to reveal bug
* [rcl] Only allocate arrays if there are things to copy in rcl_argument_copy()
Also guard against freeing invalid pointers if rcl_argument_copy() fails.
* Remove uncessary guard against NULL pointer
* linter, styles, uncrustify fixes
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
* Update rcl/include/rcl/security_directory.h
Co-Authored-By: AAlon <avishayalon@gmail.com>
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
* Adding line break in docstring
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
* Removing duplicate doc string
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
* Removing tinydir from the source tree, instead using the ROS package tinydir_vendor.
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
* Removing tinydir
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
* Reformatting license notice as per linter template.
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
* Update test_security_directory.cpp
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
* Changing input to putenv to be a global, statically allocated buffer.
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
* test_security_directory - Using a larger buffer for env string manipulations.
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
* Copy environment variable to allocated string so it is not clobbered by next lookup
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
* Address review comments
fix security directory exact match comment and unset env vars before tests
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
* Remove strncpy
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
* Enforce non-null argv values on rcl_init().
Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
* Adds test case for null argv values on rcl_init().
Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
The clock type is instead as an argument to the action server's init function and stored in the impl.
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
