Merge remote-tracking branch 'origin/master'

Signed-off-by: Miaofei <miaofei@amazon.com>

rcl/CHANGELOG.rst

@@ -2,6 +2,33 @@
 Changelog for package rcl
 ^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.7.0 (2019-04-14)
+------------------
+* Added more test cases for graph API + fix bug. (`#404 <https://github.com/ros2/rcl/issues/404>`_)
+* Fixed missing include. (`#413 <https://github.com/ros2/rcl/issues/413>`_)
+* Updated to use pedantic. (`#412 <https://github.com/ros2/rcl/issues/412>`_)
+* Added function to get publisher actual qos settings. (`#406 <https://github.com/ros2/rcl/issues/406>`_)
+* Refactored graph API docs. (`#401 <https://github.com/ros2/rcl/issues/401>`_)
+* Updated to use ament_target_dependencies where possible. (`#400 <https://github.com/ros2/rcl/issues/400>`_)
+* Fixed regression around fully qualified node name. (`#402 <https://github.com/ros2/rcl/issues/402>`_)
+* Added function rcl_names_and_types_init. (`#403 <https://github.com/ros2/rcl/issues/403>`_)
+* Fixed uninitialize sequence number of client. (`#395 <https://github.com/ros2/rcl/issues/395>`_)
+* Added launch along with launch_testing as test dependencies. (`#393 <https://github.com/ros2/rcl/issues/393>`_)
+* Set symbol visibility to hidden for rcl. (`#391 <https://github.com/ros2/rcl/issues/391>`_)
+* Updated to split test_token to avoid compiler note. (`#392 <https://github.com/ros2/rcl/issues/392>`_)
+* Dropped legacy launch API usage. (`#387 <https://github.com/ros2/rcl/issues/387>`_)
+* Improved security directory lookup. (`#332 <https://github.com/ros2/rcl/issues/332>`_)
+* Enforce non-null argv values on rcl_init(). (`#388 <https://github.com/ros2/rcl/issues/388>`_)
+* Removed incorrect argument documentation. (`#361 <https://github.com/ros2/rcl/issues/361>`_)
+* Changed error to warning for multiple loggers. (`#384 <https://github.com/ros2/rcl/issues/384>`_)
+* Added rcl_node_get_fully_qualified_name. (`#255 <https://github.com/ros2/rcl/issues/255>`_)
+* Updated rcl_remap_t to use the PIMPL pattern. (`#377 <https://github.com/ros2/rcl/issues/377>`_)
+* Fixed documentation typo. (`#376 <https://github.com/ros2/rcl/issues/376>`_)
+* Removed test circumvention now that a bug is fixed in rmw_opensplice. (`#368 <https://github.com/ros2/rcl/issues/368>`_)
+* Updated to pass context to wait set, and fini rmw context. (`#373 <https://github.com/ros2/rcl/issues/373>`_)
+* Updated to publish logs to Rosout. (`#350 <https://github.com/ros2/rcl/issues/350>`_)
+* Contributors: AAlon, Dirk Thomas, Jacob Perron, M. M, Michael Carroll, Michel Hidalgo, Mikael Arguedas, Nick Burek, RARvolt, Ross Desmond, Sachin Suresh Bhat, Shane Loretz, William Woodall, ivanpauno
+
 0.6.4 (2019-01-11)
 ------------------
 * Added method for accessing rmw_context from rcl_context (`#372 <https://github.com/ros2/rcl/issues/372>`_)

rcl/include/rcl/publisher.h

@@ -290,6 +290,32 @@ rcl_ret_t
 rcl_publish_serialized_message(
   const rcl_publisher_t * publisher, const rcl_serialized_message_t * serialized_message);
 
+/// Manually assert that this Publisher is alive (for RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC)
+/**
+ * If the rmw Liveliness policy is set to RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC, the creator of
+ * this publisher may manually call `assert_liveliness` at some point in time to signal to the rest
+ * of the system that this Node is still alive.
+ * This function must be called at least as often as the qos_profile's liveliness_lease_duration
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | No
+ * Thread-Safe        | Yes
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ *
+ * \param[in] publisher handle to the publisher that needs liveliness to be asserted
+ * \return `RCL_RET_OK` if the liveliness assertion was completed successfully, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
+ * \return `RCL_RET_PUBLISHER_INVALID` if the publisher is invalid, or
+ * \return `RCL_RET_ERROR` if an unspecified error occurs.
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_publisher_assert_liveliness(const rcl_publisher_t * publisher);
+
 /// Get the topic name for the publisher.
 /**
  * This function returns the publisher's internal topic name string.

rcl/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rcl</name>
-  <version>0.6.4</version>
+  <version>0.7.0</version>
   <description>The ROS client library common implementation.
     This package contains an API which builds on the ROS middleware API and is optionally built upon by the other ROS client libraries.
   </description>

rcl/src/rcl/graph.c

@@ -42,7 +42,7 @@ rcl_get_publisher_names_and_types_by_node(
   if (!rcl_node_is_valid(node)) {
     return RCL_RET_NODE_INVALID;
   }
-  RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT);
+  RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(node_name, RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(node_namespace, RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(topic_names_and_types, RCL_RET_INVALID_ARGUMENT);
@@ -80,7 +80,7 @@ rcl_get_subscriber_names_and_types_by_node(
   if (!rcl_node_is_valid(node)) {
     return RCL_RET_NODE_INVALID;
   }
-  RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT);
+  RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(node_name, RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(node_namespace, RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(topic_names_and_types, RCL_RET_INVALID_ARGUMENT);
@@ -117,7 +117,7 @@ rcl_get_service_names_and_types_by_node(
   if (!rcl_node_is_valid(node)) {
     return RCL_RET_NODE_INVALID;
   }
-  RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT);
+  RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(node_name, RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(node_namespace, RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(service_names_and_types, RCL_RET_INVALID_ARGUMENT);
@@ -152,7 +152,7 @@ rcl_get_topic_names_and_types(
   if (!rcl_node_is_valid(node)) {
     return RCL_RET_NODE_INVALID;  // error already set
   }
-  RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT);
+  RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(topic_names_and_types, RCL_RET_INVALID_ARGUMENT);
   rmw_ret_t rmw_ret;
   rmw_ret = rmw_names_and_types_check_zero(topic_names_and_types);
@@ -178,6 +178,7 @@ rcl_get_service_names_and_types(
   if (!rcl_node_is_valid(node)) {
     return RCL_RET_NODE_INVALID;  // error already set
   }
+  RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(service_names_and_types, RCL_RET_INVALID_ARGUMENT);
   rmw_ret_t rmw_ret;
   rmw_ret = rmw_names_and_types_check_zero(service_names_and_types);
@@ -200,6 +201,7 @@ rcl_names_and_types_init(
   rcl_allocator_t * allocator)
 {
   RCL_CHECK_ARGUMENT_FOR_NULL(names_and_types, RCL_RET_INVALID_ARGUMENT);
+  RCL_CHECK_ALLOCATOR(allocator, return RCL_RET_INVALID_ARGUMENT);
   rmw_ret_t rmw_ret = rmw_names_and_types_init(names_and_types, size, allocator);
   return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
 }

rcl/src/rcl/publisher.c

@@ -270,6 +270,19 @@ rcl_publish_serialized_message(
   return RCL_RET_OK;
 }
 
+rcl_ret_t
+rcl_publisher_assert_liveliness(const rcl_publisher_t * publisher)
+{
+  if (!rcl_publisher_is_valid(publisher)) {
+    return RCL_RET_PUBLISHER_INVALID;  // error already set
+  }
+  if (rmw_publisher_assert_liveliness(publisher->impl->rmw_handle) != RMW_RET_OK) {
+    RCL_SET_ERROR_MSG(rmw_get_error_string().str);
+    return RCL_RET_ERROR;
+  }
+  return RCL_RET_OK;
+}
+
 const char *
 rcl_publisher_get_topic_name(const rcl_publisher_t * publisher)
 {

rcl/test/CMakeLists.txt

@@ -100,7 +100,7 @@ function(test_target_function)
   # TODO(mm318): why rmw_connext tests run much slower than rmw_fastrtps and rmw_opensplice tests
   elseif(rmw_implementation STREQUAL "rmw_connext_cpp")
     message(STATUS "Increasing test_graph${target_suffix} test timeout.")
-    set(AMENT_GTEST_ARGS TIMEOUT 90)
+    set(AMENT_GTEST_ARGS TIMEOUT 180)
   endif()
   rcl_add_custom_gtest(test_graph${target_suffix}
     SRCS rcl/test_graph.cpp

rcl/test/rcl/test_events.cpp

@@ -40,7 +40,7 @@ constexpr seconds DEADLINE_PERIOD_IN_S(1);
 # define CLASSNAME(NAME, SUFFIX) NAME
 #endif
 
-class CLASSNAME (TestEventFixture, RMW_IMPLEMENTATION) : public ::testing::Test
+class CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION) : public ::testing::Test
 {
 public:
   void SetUp()
@@ -220,7 +220,7 @@ wait_for_msgs_and_events(
 
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
   rcl_ret_t ret = rcl_wait_set_init(&wait_set, num_subscriptions, 0, 0, 0, 0, num_events,
-      context, rcl_get_default_allocator());
+    context, rcl_get_default_allocator());
   EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
   OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
     rcl_ret_t ret = rcl_wait_set_fini(&wait_set);

rcl/test/rcl/test_get_actual_qos.cpp

@@ -147,6 +147,35 @@ TEST_P_RMW(TestGetActualQoS, test_publisher_get_qos_settings) {
   rcl_reset_error();
 }
 
+static constexpr rmw_qos_profile_t non_default_qos_profile()
+{
+  rmw_qos_profile_t profile = rmw_qos_profile_default;
+  profile.history = RMW_QOS_POLICY_HISTORY_KEEP_ALL;
+  profile.depth = 1000;
+  profile.reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
+  profile.durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+  profile.liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
+  profile.avoid_ros_namespace_conventions = true;
+  return profile;
+}
+
+static constexpr rmw_qos_profile_t expected_fastrtps_default_qos_profile()
+{
+  rmw_qos_profile_t profile = rmw_qos_profile_default;
+  profile.depth = 1;
+  profile.durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+  profile.liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
+  return profile;
+}
+
+static constexpr rmw_qos_profile_t expected_system_default_qos_profile()
+{
+  rmw_qos_profile_t profile = rmw_qos_profile_default;
+  profile.depth = 1;
+  profile.liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
+  return profile;
+}
+
 std::vector<TestParameters>
 get_parameters()
 {
@@ -164,28 +193,8 @@ get_parameters()
       Test with non-default settings.
      */
     {
-      {
-        RMW_QOS_POLICY_HISTORY_KEEP_ALL,
-        1000,
-        RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT,
-        RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL,
-        RMW_QOS_DEADLINE_DEFAULT,
-        RMW_QOS_LIFESPAN_DEFAULT,
-        RMW_QOS_POLICY_LIVELINESS_AUTOMATIC,
-        RMW_QOS_LIFESPAN_DEFAULT,
-        true
-      },
-      {
-        RMW_QOS_POLICY_HISTORY_KEEP_ALL,
-        1000,
-        RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT,
-        RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL,
-        RMW_QOS_DEADLINE_DEFAULT,
-        RMW_QOS_LIFESPAN_DEFAULT,
-        RMW_QOS_POLICY_LIVELINESS_AUTOMATIC,
-        RMW_QOS_LIFESPAN_DEFAULT,
-        true
-      },
+      non_default_qos_profile(),
+      non_default_qos_profile(),
       "publisher_non_default_qos"
     }
   });
@@ -195,42 +204,25 @@ get_parameters()
   if (rmw_implementation_str == "rmw_fastrtps_cpp" ||
     rmw_implementation_str == "rmw_fastrtps_dynamic_cpp")
   {
-    rmw_qos_profile_t expected_system_default_qos = {
-      RMW_QOS_POLICY_HISTORY_KEEP_LAST,
-      1,
-      RMW_QOS_POLICY_RELIABILITY_RELIABLE,
-      RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL,
-      RMW_QOS_DEADLINE_DEFAULT,
-      RMW_QOS_LIFESPAN_DEFAULT,
-      RMW_QOS_POLICY_LIVELINESS_AUTOMATIC,
-      RMW_QOS_LIFESPAN_DEFAULT,
-      false};
+    rmw_qos_profile_t expected_system_default_qos = expected_fastrtps_default_qos_profile();
     parameters.push_back({
       rmw_qos_profile_system_default,
       expected_system_default_qos,
       "publisher_system_default_qos"});
   } else {
     if (rmw_implementation_str == "rmw_connext_cpp" ||
-        rmw_implementation_str == "rmw_connext_dynamic_cpp" ||
-        rmw_implementation_str == "rmw_opensplice_cpp")
+      rmw_implementation_str == "rmw_connext_dynamic_cpp" ||
+      rmw_implementation_str == "rmw_opensplice_cpp")
     {
-      rmw_qos_profile_t expected_system_default_qos = {
-        RMW_QOS_POLICY_HISTORY_KEEP_LAST,
-        1,
-        RMW_QOS_POLICY_RELIABILITY_RELIABLE,
-        RMW_QOS_POLICY_DURABILITY_VOLATILE,
-        RMW_QOS_DEADLINE_DEFAULT,
-        RMW_QOS_LIFESPAN_DEFAULT,
-        RMW_QOS_POLICY_LIVELINESS_AUTOMATIC,
-        RMW_QOS_LIFESPAN_DEFAULT,
-        false};
+      rmw_qos_profile_t expected_system_default_qos = expected_system_default_qos_profile();
       parameters.push_back({
        rmw_qos_profile_system_default,
        expected_system_default_qos,
        "publisher_system_default_qos"});
     }
   }
 #endif
+
   return parameters;
 }