Use new Blueberry v2.0.3 feature request-response and its discovery (ros2#84)

Author: mossmaurice-apexai

README.md

@@ -154,8 +154,8 @@ Unfortunately, not all features are yet fully fleshed out.
 | `ros2 node list`      | :heavy_check_mark:                 |
 | `ros2 node info`      | :heavy_check_mark:                 |
 | `ros2 interface *`    | :heavy_check_mark:                 |
-| `ros2 service *`      | :x: (coming with iceoryx v2.0)     |
-| `ros2 param list`     | :x: (coming with iceoryx v2.0)     |
+| `ros2 service *`      | :heavy_check_mark:                 |
+| `ros2 param list`     | :x:                                |
 | `rqt_graph`           | :heavy_check_mark:                 |
 | `rqt_top`             | :heavy_check_mark:                 |
 | `rqt_console`         | :heavy_check_mark:                 |

rmw_iceoryx_cpp/include/rmw_iceoryx_cpp/iceoryx_deserialize.hpp

@@ -1,4 +1,5 @@
 // Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
+// Copyright (c) 2023 by Apex.AI Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -16,6 +17,7 @@
 #define RMW_ICEORYX_CPP__ICEORYX_DESERIALIZE_HPP_
 
 struct rosidl_message_type_support_t;
+struct rosidl_service_type_support_t;
 
 namespace rmw_iceoryx_cpp
 {
@@ -26,5 +28,15 @@ void deserialize(
   const rosidl_message_type_support_t * type_supports,
   void * ros_message);
 
+void deserializeRequest(
+  const char * serialized_msg,
+  const rosidl_service_type_support_t * type_supports,
+  void * ros_message);
+
+void deserializeResponse(
+  const char * serialized_msg,
+  const rosidl_service_type_support_t * type_supports,
+  void * ros_message);
+
 }  // namespace rmw_iceoryx_cpp
 #endif  // RMW_ICEORYX_CPP__ICEORYX_DESERIALIZE_HPP_

rmw_iceoryx_cpp/include/rmw_iceoryx_cpp/iceoryx_name_conversion.hpp

@@ -1,5 +1,6 @@
 // Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
 // Copyright (c) 2021 by ZhenshengLee. All rights reserved.
+// Copyright (c) 2023 by Apex.AI Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -24,6 +25,7 @@
 #include "iceoryx_dust/cxx/std_string_support.hpp"
 
 struct rosidl_message_type_support_t;
+struct rosidl_service_type_support_t;
 
 namespace rmw_iceoryx_cpp
 {
@@ -72,5 +74,10 @@ get_iceoryx_service_description(
   const std::string & topic,
   const rosidl_message_type_support_t * type_supports);
 
+iox::capro::ServiceDescription
+get_iceoryx_service_description(
+  const std::string & topic,
+  const rosidl_service_type_support_t * type_supports);
+
 }  // namespace rmw_iceoryx_cpp
 #endif  // RMW_ICEORYX_CPP__ICEORYX_NAME_CONVERSION_HPP_

rmw_iceoryx_cpp/include/rmw_iceoryx_cpp/iceoryx_serialize.hpp

@@ -1,4 +1,5 @@
 // Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
+// Copyright (c) 2023 by Apex.AI Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -18,6 +19,7 @@
 #include <vector>
 
 struct rosidl_message_type_support_t;
+struct rosidl_service_type_support_t;
 
 namespace rmw_iceoryx_cpp
 {
@@ -27,5 +29,15 @@ void serialize(
   const rosidl_message_type_support_t * type_supports,
   std::vector<char> & payload_vector);
 
+void serializeRequest(
+  const void * ros_message,
+  const rosidl_service_type_support_t * type_supports,
+  std::vector<char> & payload_vector);
+
+void serializeResponse(
+  const void * ros_message,
+  const rosidl_service_type_support_t * type_supports,
+  std::vector<char> & payload_vector);
+
 }  // namespace rmw_iceoryx_cpp
 #endif  // RMW_ICEORYX_CPP__ICEORYX_SERIALIZE_HPP_

rmw_iceoryx_cpp/include/rmw_iceoryx_cpp/iceoryx_topic_names_and_types.hpp

@@ -1,4 +1,5 @@
 // Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
+// Copyright (c) 2023 by Apex.AI Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -35,6 +36,7 @@ void fill_topic_containers(
   std::map<std::string, std::vector<std::string>> & topic_publishers_);
 
 std::map<std::string, std::string> get_topic_names_and_types();
+std::map<std::string, std::string> get_service_names_and_types();
 
 std::map<std::string, std::vector<std::string>> get_nodes_and_publishers();
 

rmw_iceoryx_cpp/include/rmw_iceoryx_cpp/iceoryx_type_info_introspection.hpp

@@ -1,5 +1,5 @@
 // Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
-// Copyright (c) 2021 by Apex.AI Inc. All rights reserved.
+// Copyright (c) 2021 - 2023 by Apex.AI Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -20,6 +20,7 @@
 #include <utility>
 
 struct rosidl_message_type_support_t;
+struct rosidl_service_type_support_t;
 
 namespace rmw_iceoryx_cpp
 {
@@ -35,15 +36,26 @@ enum class TypeSupportLanguage
 const std::pair<TypeSupportLanguage, const rosidl_message_type_support_t *> get_type_support(
   const rosidl_message_type_support_t * type_supports);
 
+/// @brief Wraps get_service_typesupport_handle() and does error handling
+/// @return std::pair containing enum TypeSupportLanguage and handle to the type support
+const std::pair<TypeSupportLanguage, const rosidl_service_type_support_t *> get_type_support(
+  const rosidl_service_type_support_t * type_supports);
+
 bool iceoryx_is_fixed_size(const rosidl_message_type_support_t * type_supports);
+bool iceoryx_is_fixed_size(const rosidl_service_type_support_t * type_supports);
 
 bool iceoryx_is_valid_type_support(const rosidl_message_type_support_t * type_supports);
+bool iceoryx_is_valid_type_support(const rosidl_service_type_support_t * type_supports);
 
 size_t iceoryx_get_message_size(const rosidl_message_type_support_t * type_supports);
+size_t iceoryx_get_request_size(const rosidl_service_type_support_t * type_supports);
+size_t iceoryx_get_response_size(const rosidl_service_type_support_t * type_supports);
 
 std::string iceoryx_get_message_name(const rosidl_message_type_support_t * type_supports);
+std::string iceoryx_get_service_name(const rosidl_service_type_support_t * type_supports);
 
 std::string iceoryx_get_message_namespace(const rosidl_message_type_support_t * type_supports);
+std::string iceoryx_get_service_namespace(const rosidl_service_type_support_t * type_supports);
 
 void iceoryx_init_message(
   const rosidl_message_type_support_t * type_supports,

rmw_iceoryx_cpp/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rmw_iceoryx_cpp</name>
-  <version>1.0.1</version>
+  <version>2.0.3</version>
   <description>rmw implementation for Bosch's zero copy middleware iceoryx</description>
   <maintainer email="[email protected]">Simon Hoinkis</maintainer>
   <license>Apache License 2.0</license>

rmw_iceoryx_cpp/src/internal/iceoryx_deserialize.cpp

@@ -1,5 +1,5 @@
 // Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
-// Copyright (c) 2021 by Apex.AI Inc. All rights reserved.
+// Copyright (c) 2021 - 2023 by Apex.AI Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -17,6 +17,7 @@
 
 #include "rosidl_typesupport_introspection_c/identifier.h"
 #include "rosidl_typesupport_introspection_c/message_introspection.h"
+#include "rosidl_typesupport_introspection_c/service_introspection.h"
 
 #include "rosidl_typesupport_introspection_cpp/identifier.hpp"
 #include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
@@ -50,4 +51,40 @@ void deserialize(
   }
 }
 
+void deserializeRequest(
+  const char * serialized_msg,
+  const rosidl_service_type_support_t * type_supports,
+  void * ros_message)
+{
+  auto ts = get_type_support(type_supports);
+
+  if (ts.first == TypeSupportLanguage::CPP) {
+    auto members_cpp =
+      static_cast<const rosidl_typesupport_introspection_cpp::ServiceMembers *>(ts.second->data);
+    rmw_iceoryx_cpp::details_cpp::deserializeRequest(serialized_msg, members_cpp, ros_message);
+  } else if (ts.first == TypeSupportLanguage::C) {
+    auto members_c =
+      static_cast<const rosidl_typesupport_introspection_c__ServiceMembers *>(ts.second->data);
+    rmw_iceoryx_cpp::details_c::deserializeRequest(serialized_msg, members_c, ros_message);
+  }
+}
+
+void deserializeResponse(
+  const char * serialized_msg,
+  const rosidl_service_type_support_t * type_supports,
+  void * ros_message)
+{
+  auto ts = get_type_support(type_supports);
+
+  if (ts.first == TypeSupportLanguage::CPP) {
+    auto members_cpp =
+      static_cast<const rosidl_typesupport_introspection_cpp::ServiceMembers *>(ts.second->data);
+    rmw_iceoryx_cpp::details_cpp::deserializeResponse(serialized_msg, members_cpp, ros_message);
+  } else if (ts.first == TypeSupportLanguage::C) {
+    auto members_c =
+      static_cast<const rosidl_typesupport_introspection_c__ServiceMembers *>(ts.second->data);
+    rmw_iceoryx_cpp::details_c::deserializeResponse(serialized_msg, members_c, ros_message);
+  }
+}
+
 }  // namespace rmw_iceoryx_cpp

rmw_iceoryx_cpp/src/internal/iceoryx_deserialize_typesupport_c.hpp

@@ -1,4 +1,5 @@
 // Copyright (c) 2020 by Robert Bosch GmbH. All rights reserved.
+// Copyright (c) 2023 by Apex.AI Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -27,6 +28,7 @@
 
 #include "rosidl_typesupport_introspection_c/field_types.h"
 #include "rosidl_typesupport_introspection_c/message_introspection.h"
+#include "rosidl_typesupport_introspection_c/service_introspection.h"
 
 #include "./iceoryx_serialization_common.hpp"
 
@@ -239,6 +241,22 @@ const char * deserialize(
   return serialized_msg;
 }
 
+const char * deserializeResponse(
+  const char * serialized_msg,
+  const rosidl_typesupport_introspection_c__ServiceMembers * service_members,
+  void * ros_message)
+{
+  return deserialize(serialized_msg, service_members->response_members_, ros_message);
+}
+
+const char * deserializeRequest(
+  const char * serialized_msg,
+  const rosidl_typesupport_introspection_c__ServiceMembers * service_members,
+  void * ros_message)
+{
+  return deserialize(serialized_msg, service_members->request_members_, ros_message);
+}
+
 }  // namespace details_c
 }  // namespace rmw_iceoryx_cpp
 #endif  // INTERNAL__ICEORYX_DESERIALIZE_TYPESUPPORT_C_HPP_

rmw_iceoryx_cpp/src/internal/iceoryx_deserialize_typesupport_cpp.hpp

@@ -1,4 +1,5 @@
 // Copyright (c) 2020 by Robert Bosch GmbH. All rights reserved.
+// Copyright (c) 2023 by Apex.AI Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -24,7 +25,7 @@
 #include <vector>
 
 #include "rosidl_typesupport_introspection_cpp/field_types.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
+#include "rosidl_typesupport_introspection_cpp/service_introspection.hpp"
 
 #include "./iceoryx_serialization_common.hpp"
 
@@ -309,6 +310,22 @@ const char * deserialize(
   return serialized_msg;
 }
 
+const char * deserializeResponse(
+  const char * serialized_msg,
+  const rosidl_typesupport_introspection_cpp::ServiceMembers * service_members,
+  void * ros_message)
+{
+  return deserialize(serialized_msg, service_members->response_members_, ros_message);
+}
+
+const char * deserializeRequest(
+  const char * serialized_msg,
+  const rosidl_typesupport_introspection_cpp::ServiceMembers * service_members,
+  void * ros_message)
+{
+  return deserialize(serialized_msg, service_members->request_members_, ros_message);
+}
+
 }  // namespace details_cpp
 }  // namespace rmw_iceoryx_cpp
 #endif  // INTERNAL__ICEORYX_DESERIALIZE_TYPESUPPORT_CPP_HPP_

rmw_iceoryx_cpp/src/internal/iceoryx_get_topic_endpoint_info.cpp

@@ -1,4 +1,5 @@
 // Copyright (c) 2021 by ZhenshengLee. All rights reserved.
+// Copyright (c) 2023 by Apex.AI Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -117,7 +118,7 @@ fill_rmw_publisher_end_info(
 
   int i = 0;
   // store all data in rmw_topic_endpoint_info_array_t
-  for (const auto node_full_name : full_name_array) {
+  for (const auto & node_full_name : full_name_array) {
     auto name_n_space = get_name_n_space_from_node_full_name(node_full_name);
     auto rmw_topic_endpoint_info = rmw_get_zero_initialized_topic_endpoint_info();
     // duplicate and store the topic_name
@@ -204,7 +205,7 @@ fill_rmw_subscriber_end_info(
 
   int i = 0;
   // store all data in rmw_topic_endpoint_info_array_t
-  for (const auto node_full_name : full_name_array) {
+  for (const auto & node_full_name : full_name_array) {
     auto name_n_space = get_name_n_space_from_node_full_name(node_full_name);
     auto rmw_topic_endpoint_info = rmw_get_zero_initialized_topic_endpoint_info();
     // duplicate and store the topic_name

rmw_iceoryx_cpp/src/internal/iceoryx_name_conversion.cpp

@@ -1,5 +1,6 @@
 // Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
 // Copyright (c) 2021 by ZhenshengLee. All rights reserved.
+// Copyright (c) 2023 by Apex.AI Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -21,6 +22,7 @@
 #include "rcpputils/split.hpp"
 
 #include "rosidl_typesupport_cpp/message_type_support.hpp"
+#include "rosidl_typesupport_cpp/service_type_support.hpp"
 
 #include "rosidl_typesupport_introspection_c/field_types.h"
 #include "rosidl_typesupport_introspection_c/identifier.h"
@@ -62,6 +64,15 @@ inline void extract_type(
   type_name = rmw_iceoryx_cpp::iceoryx_get_message_name(type_support);
 }
 
+inline void extract_type(
+  const rosidl_service_type_support_t * type_support,
+  std::string & package_name,
+  std::string & type_name)
+{
+  package_name = to_message_type(rmw_iceoryx_cpp::iceoryx_get_service_namespace(type_support));
+  type_name = rmw_iceoryx_cpp::iceoryx_get_service_name(type_support);
+}
+
 namespace rmw_iceoryx_cpp
 {
 
@@ -159,16 +170,10 @@ get_service_description_from_name_n_type(
   return std::make_tuple(service, instance, event);
 }
 
-iox::capro::ServiceDescription
-get_iceoryx_service_description(
+iox::capro::ServiceDescription make_service_description(
   const std::string & topic_name,
-  const rosidl_message_type_support_t * type_supports)
+  const std::string & type_name)
 {
-  std::string package_name;
-  std::string type_name;
-  extract_type(type_supports, package_name, type_name);
-  type_name = package_name + "/" + type_name;
-
   auto serviceDescriptionTuple = get_service_description_from_name_n_type(topic_name, type_name);
 
   return iox::capro::ServiceDescription(
@@ -186,4 +191,30 @@ get_iceoryx_service_description(
           serviceDescriptionTuple))));
 }
 
+iox::capro::ServiceDescription
+get_iceoryx_service_description(
+  const std::string & topic_name,
+  const rosidl_message_type_support_t * type_supports)
+{
+  std::string package_name;
+  std::string type_name;
+  extract_type(type_supports, package_name, type_name);
+  type_name = package_name + "/" + type_name;
+
+  return make_service_description(topic_name, type_name);
+}
+
+iox::capro::ServiceDescription
+get_iceoryx_service_description(
+  const std::string & topic_name,
+  const rosidl_service_type_support_t * type_supports)
+{
+  std::string package_name;
+  std::string type_name;
+  extract_type(type_supports, package_name, type_name);
+  type_name = package_name + "/" + type_name;
+
+  return make_service_description(topic_name, type_name);
+}
+
 }  // namespace rmw_iceoryx_cpp