Port changes from osrf/galactic-devel #215

jacobperron · 2022-05-17T23:05:30Z

Contains significant changes/additions related to Actions, QoS, ROS time, and graph APIs. This brings in all changes we've developed on our fork that are compatible with Galactic: https://github.com/osrf/ros2_java/tree/galactic-devel

For posterity, each commit references the pull request to the OSRF fork where review and any discussion occurred.

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Add macros to handle java exceptions Add macros to throw a java exception from an rcl error Always use `base_message` instead of `message` in docblocks Signed-off-by: Ivan Santiago Paunovic <[email protected]>

* Improve QoSProfile constructors * Add documentation to QoSProfile class * Add fromRCL method to QoSProfile * Use fromRCL to create the built-in qos profiles. Signed-off-by: Ivan Santiago Paunovic <[email protected]>

* Add NameAndTypes class * Add getTopicNamesAndTypes method to Node Signed-off-by: Ivan Santiago Paunovic <[email protected]>

** Add EndpointInfo class. * Add getPublishersInfo method to Node. Signed-off-by: Ivan Santiago Paunovic <[email protected]>

* Add NodeNameInfo class * Implement getNodeNames Signed-off-by: Ivan Santiago Paunovic <[email protected]>

…osrf#38) Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

In these cases, we are likely leaking memory. Signed-off-by: Jacob Perron <[email protected]>

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

* Start revamping Time and Clock classes. Signed-off-by: Chris Lalancette <[email protected]> * Fixes from review. Signed-off-by: Chris Lalancette <[email protected]> * Add in logging to the TimeSource class. Signed-off-by: Chris Lalancette <[email protected]>

* Document TimeSource class Signed-off-by: Jacob Perron <[email protected]> * Address feedback * Empty -> Default * Add more detail to class docblock Signed-off-by: Jacob Perron <[email protected]>

@mock

* Notify clocks when use_sim_time parameter changes Signed-off-by: Jacob Perron <[email protected]> * Add unit tests for TimeSource class Introduce Mockito dependency to help with creating mock objects. Signed-off-by: Jacob Perron <[email protected]> * Add test dependency on libmockito-java Depends on ros/rosdistro#26308 Signed-off-by: Jacob Perron <[email protected]> * Minor refactor - Switch to using @mock annotation. - Cleanup Signed-off-by: Jacob Perron <[email protected]> * Depend on mockito_vendor package Signed-off-by: Jacob Perron <[email protected]> * Add mockito_vendor to repos file This should make CI green. Signed-off-by: Jacob Perron <[email protected]> * Update branch for mockito_vendor Signed-off-by: Jacob Perron <[email protected]>

* Support wall-time and ROS-time timers Add a new method to Node for creating ROS timers. Refactor timer implementation to account for the two different types of timers. Deprecate WallTimer interface and WallTimerImpl and replace with unified Timer interface and TimerImpl. Signed-off-by: Jacob Perron <[email protected]> * Add test Signed-off-by: Jacob Perron <[email protected]> * Log error if failed to dispose timer Signed-off-by: Jacob Perron <[email protected]>

Useful for getting the current time from the Clock instance. Signed-off-by: Jacob Perron <[email protected]>

…rf#35) Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Signed-off-by: Jacob Perron <[email protected]>

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

This fixes two issues: 1. The default constructor for ParameterAndDescriptor initializes it's members to null. This can cause a segfault when trying to access a parameters descriptor if undeclared parameters are allowed and it has been set without a descriptor (e.g. using setParameters()). This change defines the constructor for ParameterAndDescriptor so that we don't hit any null values. 2. Parameters that are not declared and set with setParameters() do not have their descriptors set to the correct value. This change makes sure that the descriptor is initialized with the values of the parameter being set. Signed-off-by: Jacob Perron <[email protected]>

Signed-off-by: Jacob Perron <[email protected]>

The workAvailable flag was never being set to true. If I understand the original intention, I think that the flag should be set as long as there are things being executed. Signed-off-by: Jacob Perron <[email protected]>

Now we're actually running the tests. This also fixes a bug where we were comparing the wrong objects in one of the tests. Signed-off-by: Jacob Perron <[email protected]>

* change logic(list -> array) in msg.java.em * change logic(list -> array) in msg.cpp.em * Support getting and setting as Lists in addition to arrays Signed-off-by: Jacob Perron <[email protected]> * Update rcljava to work with new methods for list types Signed-off-by: Jacob Perron <[email protected]> * Update tests to work with new methods for list types Signed-off-by: Jacob Perron <[email protected]> * Fixes to template files * Avoid nullptr access when converting from Java arrays to C arrays * Make sure Java arrays are initialized Signed-off-by: Jacob Perron <[email protected]> * Minor refactor Signed-off-by: Jacob Perron <[email protected]> * A note about performance to *AsList docblocks Signed-off-by: Jacob Perron <[email protected]> Co-authored-by: pluris <[email protected]>

* Add interfaces for action goal, result, and feedback Implementing these interfaces in the code generation template makes it easier to pass around these types in a generic way. Note, the 'final' modifier had to be removed from generated message types in order to extend goal, result, and feedback types in action definitions. Signed-off-by: Jacob Perron <[email protected]> * Add new definitions for action goal response and request Signed-off-by: Jacob Perron <[email protected]> * Add getter for UUID to SendGoalRequest Also make inner classes static. Signed-off-by: Jacob Perron <[email protected]> * Add getStamp method to GoalResponseDefinition Signed-off-by: Jacob Perron <[email protected]> * Partially revert "Add interfaces for action goal, result, and feedback" Partially revert commit dd04614. I don't think we need to aliases for the message types, but I'll add them back if they turn out to be useful. * Parameterize goal request and response interfaces on action type Signed-off-by: Jacob Perron <[email protected]> * Fix getGoalUuid implementation It should return a List, since it is hashable. Signed-off-by: Jacob Perron <[email protected]>

* Add interfaces for action goal, result, and feedback Implementing these interfaces in the code generation template makes it easier to pass around these types in a generic way. Note, the 'final' modifier had to be removed from generated message types in order to extend goal, result, and feedback types in action definitions. Signed-off-by: Jacob Perron <[email protected]> * Add new definitions for action goal response and request Signed-off-by: Jacob Perron <[email protected]> * Add getter for UUID to SendGoalRequest Also make inner classes static. Signed-off-by: Jacob Perron <[email protected]> * Add getStamp method to GoalResponseDefinition Signed-off-by: Jacob Perron <[email protected]> * Partially revert "Add interfaces for action goal, result, and feedback" Partially revert commit dd04614. I don't think we need to aliases for the message types, but I'll add them back if they turn out to be useful. * Parameterize goal request and response interfaces on action type Signed-off-by: Jacob Perron <[email protected]> * Fix getGoalUuid implementation It should return a List, since it is hashable. Signed-off-by: Jacob Perron <[email protected]> * List<Byte> -> byte[] Signed-off-by: Jacob Perron <[email protected]> * Add ActionServer skeleton * Add new action module with classes/interfaces related to the ActionServer * Add methods for creating and removing ActionServers from a Node * Implement dispose method for ActionServer. Signed-off-by: Jacob Perron <[email protected]> * Add ActionServer creation logic and unit tests Signed-off-by: Jacob Perron <[email protected]> * Add action server logic for accepting and canceling goals This changeset includes the following: * an implementation of the goal handle for action servers * action server integration with the base executor * action server integration with ROS nodes * unit tests for the action server, receiving goal and cancel requests Signed-off-by: Jacob Perron <[email protected]> * cleanup Signed-off-by: Jacob Perron <[email protected]> * more cleanup Signed-off-by: Jacob Perron <[email protected]> * Minor refactor: move response enums into callback interfaces Signed-off-by: Jacob Perron <[email protected]> * Remove TODO The goal request already contains a getter for the goal ID. Signed-off-by: Jacob Perron <[email protected]> * Fix accident Signed-off-by: Jacob Perron <[email protected]> * Alphabetize Signed-off-by: Jacob Perron <[email protected]> * Refactor: replace 'getNumberOf*()' JNI functions with single 'getNumberOfEntites()' function Signed-off-by: Jacob Perron <[email protected]> * Avoid string copy Signed-off-by: Jacob Perron <[email protected]> * Remove extern C Replace with 'namespace rcljava' Signed-off-by: Jacob Perron <[email protected]> * Remove unnecessary synchronization Signed-off-by: Jacob Perron <[email protected]> * Refactor access to goalCallback Signed-off-by: Jacob Perron <[email protected]> * typesafe request and response definitions Signed-off-by: Jacob Perron <[email protected]> * Be more specific about template type for GoalCallback Signed-off-by: Jacob Perron <[email protected]> * Minor refactor Signed-off-by: Jacob Perron <[email protected]> * Make GoalHandleImpl inner class instead of static Signed-off-by: Jacob Perron <[email protected]> * Remove synchronized from getHandle Signed-off-by: Jacob Perron <[email protected]> * Add TODO for Waitable interface Signed-off-by: Jacob Perron <[email protected]> * Fix style Signed-off-by: Jacob Perron <[email protected]> * Minor refactor Signed-off-by: Jacob Perron <[email protected]> * Add docs for createActionServer Signed-off-by: Jacob Perron <[email protected]> * Switch from List to array Signed-off-by: Jacob Perron <[email protected]>

* Add cmake function for bundling source files into a jar * Create and install source jar for rcljava Signed-off-by: Gonzalo de Pedro <[email protected]> Co-authored-by: Jacob Perron <[email protected]>

* Add ACCEPT_AND_EXECUTE/ACCEPT_AND_DEFER to the result of an action goal callback. Signed-off-by: Ivan Santiago Paunovic <[email protected]> * Automatically transition from accepted to executing if ACCEPT_AND_EXECUTE was returned. Signed-off-by: Ivan Santiago Paunovic <[email protected]> * Expose an "execute()" method in goal callback. Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

… to the feedback topic (osrf#60) Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Co-authored-by: Julius Gyorfi <[email protected]>

Signed-off-by: Gonzalo de Pedro <[email protected]>

* GoalHandle transitions should be able to set a result. * Refactor GoalStatus enumeration. * Add interface for ResultRequestDefinition, ResultResponseDefinition, FeedbackDefinition, GoalDefinition, ResultDefinition. * Modify rcljava rosidl generator to implement those interfaces. * Handle result requests. * Handle goal handle terminal transitions. * Cleanup goal handle status transition bindings. * Take advantage of nested class. * Publish status after terminal state transition. * Handle expire goals. * Add support for publishing feedback. Signed-off-by: Ivan Santiago Paunovic <[email protected]> Co-authored-by: Jacob Perron <[email protected]>

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

…srf#73) Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

* Cleanup service/client creation code Signed-off-by: Ivan Santiago Paunovic <[email protected]> * Add methods to create a parameter client in Node Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Add overloads for spinOnce methods to include a timeout argument and call this when spinning in the future. This fixes a bug where the future.get(...) call blocks forever, e.g. when waiting on a service response and the service becomes unavailable. Signed-off-by: Jacob Perron <[email protected]>

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

jacobperron · 2022-05-18T00:06:20Z

There is an unexpected test failure on linux CI:

 5: 1) testAdd(org.ros2.rcljava.client.ClientTest)
  5: java.lang.AssertionError: expected:<1> but was:<7>
  5: 	at org.junit.Assert.fail(Assert.java:88)
  5: 	at org.junit.Assert.failNotEquals(Assert.java:834)
  5: 	at org.junit.Assert.assertEquals(Assert.java:645)
  5: 	at org.junit.Assert.assertEquals(Assert.java:631)
  5: 	at org.ros2.rcljava.client.ClientTest.testAdd(ClientTest.java:131)
  5: 	at java.base/jdk.internal.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
  5: 	at java.base/jdk.internal.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
  5: 	at java.base/jdk.internal.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
  5: 	at java.base/java.lang.reflect.Method.invoke(Method.java:566)
  5: 	at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50)
  5: 	at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12)
  5: 	at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47)
  5: 	at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17)
  5: 	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
  5: 	at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27)
  5: 	at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325)
  5: 	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78)
  5: 	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57)
  5: 	at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290)
  5: 	at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71)
  5: 	at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288)
  5: 	at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58)
  5: 	at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268)
  5: 	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
  5: 	at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27)
  5: 	at org.junit.runners.ParentRunner.run(ParentRunner.java:363)
  5: 	at org.junit.runners.Suite.runChild(Suite.java:128)
  5: 	at org.junit.runners.Suite.runChild(Suite.java:27)
  5: 	at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290)
  5: 	at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71)
  5: 	at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288)
  5: 	at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58)
  5: 	at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268)
  5: 	at org.junit.runners.ParentRunner.run(ParentRunner.java:363)
  5: 	at org.junit.runner.JUnitCore.run(JUnitCore.java:137)
  5: 	at org.junit.runner.JUnitCore.run(JUnitCore.java:115)
  5: 	at org.junit.runner.JUnitCore.runMain(JUnitCore.java:77)
  5: 	at org.junit.runner.JUnitCore.main(JUnitCore.java:36)

There are also, not-so-unexpected, build issues on android (since we're not running CI on our fork). I'll resolve these before merging any commits contained in this PR.

esteve · 2022-05-18T11:06:45Z

@jacobperron first of all, thanks for the PR. But in all honesty, reviewing a 8K+ line diff is a lot of work, is there any chance this could be broken into separate features? Given that you and @ivanpauno both have write access to this repo, could you in the future do the work directly here? We did a sync months ago, and I thought that from then on, all development would be done upstream.

jacobperron · 2022-05-18T16:57:37Z

Technically, either Ivan or I have already reviewed the changes in this PR (though I understand if we want to break this into separate smaller PRs). We've done previous PRs (#199 and #206) to start porting changes over, but there are a number of outstanding changes to upstream. I collected all remaining changes from our fork that we tested with Galactic and put them in this PR. I am hoping after this, there will be one more PR that adds changes for Humble/Rolling and then we can archive our fork.

jacobperron · 2022-08-09T22:01:34Z

Thanks for opening up smaller PRs, @ivanpauno. I'll close this one in favor of those.

bluecamel · 2023-02-28T22:28:42Z

I don't see that there was a separate PR to port the action server from the osrf fork. Is that still a WIP?

ivanpauno and others added 30 commits May 17, 2022 15:16

Add MessageLost subscription event status (osrf#29)

ae53ab7

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Add convenient error handling macros (osrf#30)

c63d806

Add macros to handle java exceptions Add macros to throw a java exception from an rcl error Always use `base_message` instead of `message` in docblocks Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Update qos profile -- take 2 (osrf#25)

56b6135

* Improve QoSProfile constructors * Add documentation to QoSProfile class * Add fromRCL method to QoSProfile * Use fromRCL to create the built-in qos profiles. Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Add get topic names and type method to Node class (osrf#32)

2a03d23

* Add NameAndTypes class * Add getTopicNamesAndTypes method to Node Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Add getPublishersInfo method to Node (osrf#26)

dfea329

** Add EndpointInfo class. * Add getPublishersInfo method to Node. Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Add get node names method to Node class (osrf#31)

83c0681

* Add NodeNameInfo class * Implement getNodeNames Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Use rcpputils::scope_exit in native getTopicNamesAndTypes Node method (…

9a5ca1b

…osrf#38) Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Add getSubscriptionsInfo to Node class (osrf#27)

8c2054d

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Implement nativeGetServiceNamesAndTypes method (osrf#33)

158f7c7

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Log error if calls to dispose fail (osrf#40)

a938544

In these cases, we are likely leaking memory. Signed-off-by: Jacob Perron <[email protected]>

Add get publishers by node (osrf#34)

60ac293

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Revamp Time (osrf#6)

54ebfb3

* Start revamping Time and Clock classes. Signed-off-by: Chris Lalancette <[email protected]> * Fixes from review. Signed-off-by: Chris Lalancette <[email protected]> * Add in logging to the TimeSource class. Signed-off-by: Chris Lalancette <[email protected]>

Document TimeSource class (osrf#21)

6952494

* Document TimeSource class Signed-off-by: Jacob Perron <[email protected]> * Address feedback * Empty -> Default * Add more detail to class docblock Signed-off-by: Jacob Perron <[email protected]>

Add getClock method to Node interface (osrf#43)

aa9f8d7

Useful for getting the current time from the Clock instance. Signed-off-by: Jacob Perron <[email protected]>

Add get subscription names and types by node method to Node class (os…

9487121

…rf#35) Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Add getServiceNamesAndTypes method to Node class (osrf#36)

43e9d32

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Add getClientNamesAndTypes by Node (osrf#37)

9787870

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Add toMsg method to Time class (osrf#44)

6a94c9d

Signed-off-by: Jacob Perron <[email protected]>

Pass command line arguments in context init method (osrf#45)

d6523f3

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Initialize parameter services based on node options (osrf#46)

a65edc5

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Allow undeclared parameters in parameters client tests

0b20500

Signed-off-by: Jacob Perron <[email protected]>

Fix spinSome logic (osrf#49)

a4d41d9

The workAvailable flag was never being set to true. If I understand the original intention, I think that the flag should be set as long as there are things being executed. Signed-off-by: Jacob Perron <[email protected]>

Enable and fix AsyncParametersClientTest (osrf#51)

622982e

Now we're actually running the tests. This also fixes a bug where we were comparing the wrong objects in one of the tests. Signed-off-by: Jacob Perron <[email protected]>

Build sources jar for rcljava (osrf#56)

5374f31

* Add cmake function for bundling source files into a jar * Create and install source jar for rcljava Signed-off-by: Gonzalo de Pedro <[email protected]> Co-authored-by: Jacob Perron <[email protected]>

ivanpauno and others added 20 commits May 17, 2022 15:36

Do not use multiple message types in the same topic (osrf#61)

95b25c3

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Use action FeedbackMessage and not Feedback message type to subscribe…

e6ca69b

… to the feedback topic (osrf#60) Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Added namespace constructor to BaseComposableNode (osrf#62)

8747a58

Co-authored-by: Julius Gyorfi <[email protected]>

Added sources for rcljava_common (osrf#64)

b191b8b

Signed-off-by: Gonzalo de Pedro <[email protected]>

Ignore unused vm argument in JNI_OnUnload (osrf#67)

2775f66

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Log debug message when jni library is loaded, not info message (osrf#69)

822f613

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Fix MessageLost native methods names causing loading issues (osrf#70)

3c0e575

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Fix cpp compiler warnings (osrf#71)

51d6fb8

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Fix some java compiler warnings (osrf#72)

8753c5b

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Fix linter issues in rosidl_generator_java and in its generated code (o…

141e5d4

…srf#73) Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Cleanup service/client creation code (osrf#74)

8b88b39

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Add methods to create a parameter client in Node (osrf#75)

616c22e

* Cleanup service/client creation code Signed-off-by: Ivan Santiago Paunovic <[email protected]> * Add methods to create a parameter client in Node Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Fix rosidl_generator_java_warnings (osrf#77)

3b01f34

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Refactor future implementation (osrf#80)

c383fdf

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Add remove pending request method (osrf#81)

509a7cd

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Add method to prune pending requests in client (osrf#82)

58aa351

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Fix some java compiler warnings (osrf#79)

e7bdfa4

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

jacobperron requested review from esteve and ivanpauno May 17, 2022 23:05

ivanpauno mentioned this pull request Jun 23, 2022

Port MessageLost status from osrf fork #220

Merged

jacobperron closed this Aug 9, 2022

ivanpauno deleted the jacob/osrf_ports_2 branch August 10, 2022 15:51

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Port changes from osrf/galactic-devel #215

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Port changes from osrf/galactic-devel #215

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