rename to service_event_publisher & use pimpl

Signed-off-by: Brian Chen <brian.chen@openrobotics.org>

rcl/CMakeLists.txt

@@ -61,13 +61,13 @@ set(${PROJECT_NAME}_sources
   src/rcl/rmw_implementation_identifier_check.c
   src/rcl/security.c
   src/rcl/service.c
+  src/rcl/service_event_publisher.c
   src/rcl/subscription.c
   src/rcl/time.c
   src/rcl/timer.c
   src/rcl/validate_enclave_name.c
   src/rcl/validate_topic_name.c
   src/rcl/wait.c
-  src/rcl/introspection.c
 )
 
 add_library(${PROJECT_NAME} ${${PROJECT_NAME}_sources})

rcl/include/rcl/client.h

@@ -498,6 +498,57 @@ rcl_client_set_on_new_response_callback(
   rcl_event_callback_t callback,
   const void * user_data);
 
+/// Enables service introspection features for the client
+/*
+ * This function is a thin wrapper around rcl_service_introspection_enable
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        |  TODO(ihasdapie): Fill this out
+ * Uses Atomics       | 
+ * Lock-Free          |
+ * \param[in] client The client on which to enable service introspection
+ * \param[in] node The node for which the service event publisher is to be associated to
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_service_introspection_enable_client_service_events(
+    rcl_client_t * client,
+    rcl_node_t * node);
+
+/// Disables service introspection features for the client
+/*
+ * This function is a thin wrapper around rcl_service_introspection_disable
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        |  TODO(ihasdapie): Fill this out
+ * Uses Atomics       | 
+ * Lock-Free          |
+ * \param[in] client The client on which to disable service introspection
+ * \param[in] node The node for which the service event publisher is associated with
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_service_introspection_disable_client_service_events(
+    rcl_client_t * client,
+    rcl_node_t * node);
+
+RCL_PUBLIC
+void
+rcl_service_introspection_enable_client_service_event_message_payload( rcl_client_t * client);
+
+RCL_PUBLIC
+void
+rcl_service_introspection_disable_client_service_event_message_payload( rcl_client_t * client);
+
+
 #ifdef __cplusplus
 }
 #endif

rcl/include/rcl/service.h

@@ -29,7 +29,6 @@ extern "C"
 #include "rcl/macros.h"
 #include "rcl/node.h"
 #include "rcl/visibility_control.h"
-// #include "rcl/introspection.h" // TODO(ihasdapie): Dependency cycle. Instead let's just put the clock into service_options.
 
 /// Internal rcl implementation struct.
 typedef struct rcl_service_impl_s rcl_service_impl_t;
@@ -51,7 +50,6 @@ typedef struct rcl_service_options_s
   rcl_allocator_t allocator;
   /// Enable/Disable service introspection features
   bool enable_service_introspection;
-
   /// The clock to use for service introspection message timestampes
   rcl_clock_t * clock;
 } rcl_service_options_t;
@@ -112,7 +110,7 @@ rcl_get_zero_initialized_service(void);
  *
  * The options struct allows the user to set the quality of service settings as
  * well as a custom allocator which is used when initializing/finalizing the
- * client to allocate space for incidentals, e.g. the service name string.
+ * server to allocate space for incidentals, e.g. the service name string.
  *
  * Expected usage (for C services):
  *
@@ -289,7 +287,7 @@ rcl_take_request(
   rmw_request_id_t * request_header,
   void * ros_request);
 
-/// Send a ROS response to a client using a service.
+/// Send a ROS response to a server using a service.
 /**
  * It is the job of the caller to ensure that the type of the `ros_response`
  * parameter and the type associate with the service (via the type support)
@@ -542,6 +540,56 @@ rcl_service_set_on_new_request_callback(
   rcl_event_callback_t callback,
   const void * user_data);
 
+/// Enables service introspection features for the service
+/*
+ * This function is a thin wrapper around rcl_service_introspection_enable
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        |  TODO(ihasdapie): Fill this out
+ * Uses Atomics       | 
+ * Lock-Free          |
+ * \param[in] server The server on which to enable service introspection
+ * \param[in] node The node for which the service event publisher is to be associated to
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_service_introspection_enable_server_service_events(
+    rcl_service_t * service,
+    rcl_node_t * node);
+
+/// Disables service introspection features for the service
+/*
+ * This function is a thin wrapper around rcl_service_introspection_disable
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        |  TODO(ihasdapie): Fill this out
+ * Uses Atomics       | 
+ * Lock-Free          |
+ * \param[in] server The server on which to disable service introspection
+ * \param[in] node The node for which the service event publisher is associated with
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_service_introspection_disable_server_service_events(
+    rcl_service_t * service,
+    rcl_node_t * node);
+
+RCL_PUBLIC
+void
+rcl_service_introspection_enable_server_service_event_message_payload(rcl_service_t * service);
+
+RCL_PUBLIC
+void
+rcl_service_introspection_disable_server_service_event_message_payload(rcl_service_t * service);
+
 #ifdef __cplusplus
 }
 #endif

rcl/include/rcl/service_introspection.h

@@ -0,0 +1,24 @@
+// Copyright 2022 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCL__SERVICE_INTROSPECTION_H_
+#define RCL__SERVICE_INTROSPECTION_H_
+
+#define RCL_SERVICE_INTROSPECTION_TOPIC_POSTFIX "/_service_event"
+#define RCL_SERVICE_INTROSPECTION_PUBLISH_CLIENT_PARAMETER "publish_client_events"
+#define RCL_SERVICE_INTROSPECTION_PUBLISH_SERVICE_PARAMETER "publish_service_events"
+#define RCL_SERVICE_INTROSPECTION_PUBLISH_CLIENT_EVENT_CONTENT_PARAMETER "publish_client_content"
+#define RCL_SERVICE_INTROSPECTION_PUBLISH_SERVICE_EVENT_CONTENT_PARAMETER "publish_service_content"
+
+#endif // RCL__SERVICE_INTROSPECTION_H_

rcl/src/rcl/client.c

@@ -32,7 +32,7 @@ extern "C"
 #include "service_msgs/msg/service_event_info.h"
 
 
-#include "rcl/introspection.h"
+#include "service_event_publisher.h"
 
 #include "./common.h"
 #include "./client_impl.h"
@@ -109,17 +109,15 @@ rcl_client_init(
     goto fail;
   }
 
-  client->impl->introspection_utils = NULL;
+  client->impl->service_event_publisher = NULL;
   if (options->enable_service_introspection) {
-    client->impl->introspection_utils = (rcl_service_event_publisher_t *) allocator->allocate(
-        sizeof(rcl_service_event_publisher_t), allocator->state);
-    *client->impl->introspection_utils = rcl_get_zero_initialized_introspection_utils();
-    ret = rcl_service_introspection_init(
-        client->impl->introspection_utils, type_support, remapped_service_name, node,
+    client->impl->service_event_publisher = allocator->zero_allocate(
+        1, sizeof(rcl_service_event_publisher_t), allocator->state);
+    *client->impl->service_event_publisher = rcl_get_zero_initialized_service_event_publisher();
+    ret = rcl_service_event_publisher_init(
+        client->impl->service_event_publisher, type_support, remapped_service_name, node,
         options->clock, allocator);
   }
-
-
   // get actual qos, and store it
   rmw_ret_t rmw_ret = rmw_client_request_publisher_get_actual_qos(
     client->impl->rmw_handle,
@@ -159,9 +157,9 @@ rcl_client_init(
     remapped_service_name);
   goto cleanup;
 fail:
-  if (client->impl->introspection_utils) {
-    allocator->deallocate(client->impl->introspection_utils, allocator->state);
-    client->impl->introspection_utils = NULL;
+  if (client->impl->service_event_publisher) {
+    allocator->deallocate(client->impl->service_event_publisher, allocator->state);
+    client->impl->service_event_publisher = NULL;
   }
   if (client->impl) {
     allocator->deallocate(client->impl, allocator->state);
@@ -267,8 +265,8 @@ rcl_send_request(const rcl_client_t * client, const void * ros_request, int64_t
 
 
   if (rcl_client_get_options(client)->enable_service_introspection) {
-    rcl_ret_t ret = rcl_introspection_send_message(
-        client->impl->introspection_utils,
+    rcl_ret_t ret = rcl_send_service_event_message(
+        client->impl->service_event_publisher,
         service_msgs__msg__ServiceEventInfo__REQUEST_SENT,
         ros_request,
         *sequence_number,
@@ -314,8 +312,8 @@ rcl_take_response_with_info(
   }
 
   if (rcl_client_get_options(client)->enable_service_introspection) {
-    rcl_ret_t ret = rcl_introspection_send_message(
-      client->impl->introspection_utils,
+    rcl_ret_t ret = rcl_send_service_event_message(
+      client->impl->service_event_publisher,
       service_msgs__msg__ServiceEventInfo__RESPONSE_RECEIVED,
       ros_response,
       request_header->request_id.sequence_number,
@@ -390,6 +388,53 @@ rcl_client_set_on_new_response_callback(
     user_data);
 }
 
+rcl_ret_t
+rcl_service_introspection_enable_client_service_events(
+    rcl_client_t * client,
+    rcl_node_t * node)
+{
+  rcl_service_event_publisher_t * introspection_utils = client->impl->service_event_publisher;
+  if (introspection_utils->impl->_enabled) {
+    return RCL_RET_OK;
+  }
+  rcl_ret_t ret = rcl_service_introspection_enable(
+      introspection_utils, node, &client->impl->options.allocator);
+  if (RCL_RET_OK != ret) {
+    RCL_SET_ERROR_MSG(rmw_get_error_string().str);
+    return RCL_RET_ERROR;
+  }
+  return RCL_RET_OK;
+}
+
+rcl_ret_t
+rcl_service_introspection_disable_client_service_events(
+    rcl_client_t * client,
+    rcl_node_t * node)
+{
+  rcl_service_event_publisher_t * introspection_utils = client->impl->service_event_publisher;
+  if (introspection_utils->impl->_enabled) {
+    return RCL_RET_OK;
+  }
+  rcl_ret_t ret = rcl_service_introspection_disable(
+      introspection_utils, node, &client->impl->options.allocator);
+  if (RCL_RET_OK != ret) {
+    RCL_SET_ERROR_MSG(rmw_get_error_string().str);
+    return RCL_RET_ERROR;
+  }
+  return RCL_RET_OK;
+}
+
+void
+rcl_service_introspection_enable_client_service_event_message_payload(rcl_client_t * client)
+{
+  client->impl->service_event_publisher->impl->_content_enabled = true;
+}
+
+void
+rcl_service_introspection_disable_client_service_event_message_payload(rcl_client_t * client){
+  client->impl->service_event_publisher->impl->_content_enabled = false;
+}
+
 #ifdef __cplusplus
 }
 #endif

rcl/src/rcl/client_impl.h

@@ -20,7 +20,7 @@
 #include "rcl/client.h"
 
 #include "rcutils/stdatomic_helper.h"
-#include "rcl/introspection.h"
+#include "service_event_publisher.h"
 
 struct rcl_client_impl_s
 {
@@ -29,7 +29,7 @@ struct rcl_client_impl_s
   rmw_qos_profile_t actual_response_subscription_qos;
   rmw_client_t * rmw_handle;
   atomic_int_least64_t sequence_number;
-  rcl_service_event_publisher_t * introspection_utils;
+  rcl_service_event_publisher_t * service_event_publisher;
 };
 
 #endif  // RCL__CLIENT_IMPL_H_