Add Deadline, Liveliness, and Lifespan QoS Event (rcl_event_t type) and their rcl_take_* Function

rcl/CMakeLists.txt

@@ -12,7 +12,7 @@ find_package(rosidl_generator_c REQUIRED)
 find_package(tinydir_vendor REQUIRED)
 
 include_directories(include)
-
+include(cmake/rcl_set_symbol_visibility_hidden.cmake)
 include(cmake/get_default_rcl_logging_implementation.cmake)
 get_default_rcl_logging_implementation(RCL_LOGGING_IMPL)
 
@@ -35,6 +35,7 @@ set(${PROJECT_NAME}_sources
   src/rcl/client.c
   src/rcl/common.c
   src/rcl/context.c
+  src/rcl/event.c
   src/rcl/expand_topic_name.c
   src/rcl/graph.c
   src/rcl/guard_condition.c
@@ -73,6 +74,7 @@ ament_target_dependencies(${PROJECT_NAME}
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
 target_compile_definitions(${PROJECT_NAME} PRIVATE "RCL_BUILDING_DLL")
+rcl_set_symbol_visibility_hidden(${PROJECT_NAME} LANGUAGE "C")
 
 install(
   TARGETS ${PROJECT_NAME}
@@ -105,8 +107,12 @@ if(BUILD_TESTING)
   add_subdirectory(test)
 endif()
 
-ament_package()
+ament_package(CONFIG_EXTRAS "rcl-extras.cmake")
 
+install(
+  DIRECTORY cmake
+  DESTINATION share/${PROJECT_NAME}
+)
 install(
   DIRECTORY include/
   DESTINATION include

rcl/cmake/rcl_set_symbol_visibility_hidden.cmake

@@ -0,0 +1,67 @@
+# Copyright 2019 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.
+
+#
+# Configures ros client library with custom settings.
+# The custom settings are all related to library symbol visibility, see:
+# https://gcc.gnu.org/wiki/Visibility
+# http://www.ibm.com/developerworks/aix/library/au-aix-symbol-visibility/
+#
+# Below code is heavily referenced from a similar functionality in rmw:
+# https://github.com/ros2/rmw/blob/master/rmw/cmake/configure_rmw_library.cmake
+#
+# :param library_target: the library target
+# :type library_target: string
+# :param LANGUAGE: Optional flag for the language of the library.
+#   Allowed values are "C" and "CXX". The default is "CXX".
+# :type LANGUAGE: string
+#
+# @public
+#
+function(rcl_set_symbol_visibility_hidden library_target)
+  cmake_parse_arguments(ARG "" "LANGUAGE" "" ${ARGN})
+  if(ARG_UNPARSED_ARGUMENTS)
+    message(FATAL_ERROR "rcl_set_symbol_visibility_hidden() called with unused arguments: ${ARG_UNPARSED_ARGUMENTS}")
+  endif()
+
+  if(NOT ARG_LANGUAGE)
+    set(ARG_LANGUAGE "CXX")
+  endif()
+
+  if(ARG_LANGUAGE STREQUAL "C")
+    # Set the visibility to hidden by default if possible
+    if(CMAKE_C_COMPILER_ID STREQUAL "GNU" OR CMAKE_C_COMPILER_ID MATCHES "Clang")
+      # Set the visibility of symbols to hidden by default for gcc and clang
+      # (this is already the default on Windows)
+      set_target_properties(${library_target}
+        PROPERTIES
+        COMPILE_FLAGS "-fvisibility=hidden"
+      )
+    endif()
+
+  elseif(ARG_LANGUAGE STREQUAL "CXX")
+    # Set the visibility to hidden by default if possible
+    if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+      # Set the visibility of symbols to hidden by default for gcc and clang
+      # (this is already the default on Windows)
+      set_target_properties(${library_target}
+        PROPERTIES
+        COMPILE_FLAGS "-fvisibility=hidden -fvisibility-inlines-hidden"
+      )
+    endif()
+
+  else()
+    message(FATAL_ERROR "rcl_set_symbol_visibility_hidden() called with unsupported LANGUAGE: '${ARG_LANGUAGE}'")
+  endif()
+endfunction()

rcl/include/rcl/event.h

@@ -0,0 +1,149 @@
+// Copyright 2015 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__EVENT_H_
+#define RCL__EVENT_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "rcl/client.h"
+#include "rcl/macros.h"
+#include "rcl/publisher.h"
+#include "rcl/service.h"
+#include "rcl/subscription.h"
+#include "rcl/visibility_control.h"
+
+
+typedef enum rcl_publisher_event_type_t
+{
+  RCL_PUBLISHER_DEADLINE,
+  RCL_PUBLISHER_LIVELINESS
+} rcl_publisher_event_type_t;
+
+
+typedef enum rcl_subscription_event_type_t
+{
+  RCL_SUBSCRIPTION_DEADLINE,
+  RCL_SUBSCRIPTION_LIVELINESS
+} rcl_subscription_event_type_t;
+
+
+/// Internal rcl implementation struct.
+struct rcl_event_impl_t;
+
+/// Structure which encapsulates a ROS Subscription.
+typedef struct rcl_event_t
+{
+  struct rcl_event_impl_t * impl;
+} rcl_event_t;
+
+
+/// Return a rcl_event_t struct with members set to `NULL`.
+/**
+ * Should be called to get a null rcl_event_t before passing to
+ * rcl_event_init().
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_event_t
+rcl_get_zero_initialized_event(void);
+
+
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_publisher_event_init(
+  rcl_event_t * event,
+  const rcl_publisher_t * publisher,
+  const rcl_publisher_event_type_t event_type);
+
+
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_subscription_event_init(
+  rcl_event_t * event,
+  const rcl_subscription_t * subscription,
+  const rcl_subscription_event_type_t event_type);
+
+
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_client_event_init(
+  rcl_event_t * event,
+  const rcl_client_t * client);
+
+
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_service_event_init(
+  rcl_event_t * event,
+  const rcl_service_t * service);
+
+
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_take_event(
+  const rcl_event_t * event,
+  void * event_info);
+
+
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_event_fini(rcl_event_t * event);
+
+
+/// Return the rmw event handle.
+/**
+ * The handle returned is a pointer to the internally held rmw handle.
+ * This function can fail, and therefore return `NULL`, if the:
+ *   - event is `NULL`
+ *   - event is invalid (never called init, called fini, or invalid node)
+ *
+ * The returned handle is made invalid if the event is finalized or if
+ * rcl_shutdown() is called.
+ * The returned handle is not guaranteed to be valid for the life time of the
+ * event as it may be finalized and recreated itself.
+ * Therefore it is recommended to get the handle from the event using
+ * this function each time it is needed and avoid use of the handle
+ * concurrently with functions that might change it.
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ *
+ * \param[in] event pointer to the rcl event
+ * \return rmw event handle if successful, otherwise `NULL`
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rmw_event_t *
+rcl_event_get_rmw_handle(const rcl_event_t * event);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // RCL__EVENT_H_

rcl/include/rcl/types.h

@@ -99,6 +99,13 @@ typedef rmw_ret_t rcl_ret_t;
 /// Argument is not a valid log level rule
 #define RCL_RET_INVALID_LOG_LEVEL_RULE 1020
 
+// rcl event specific ret codes in 20XX
+/// Invalid rcl_event_t given return code.
+#define RCL_RET_EVENT_INVALID 2000
+/// Failed to take an event from the event handle
+#define RCL_RET_EVENT_TAKE_FAILED 2001
+
+
 /// typedef for rmw_serialized_message_t;
 typedef rmw_serialized_message_t rcl_serialized_message_t;
 

rcl/include/rcl/wait.h

@@ -29,6 +29,7 @@ extern "C"
 #include "rcl/service.h"
 #include "rcl/subscription.h"
 #include "rcl/timer.h"
+#include "rcl/event.h"
 #include "rcl/types.h"
 #include "rcl/visibility_control.h"
 
@@ -52,6 +53,9 @@ typedef struct rcl_wait_set_t
   /// Storage for service pointers.
   const rcl_service_t ** services;
   size_t size_of_services;
+  /// Storage for event pointers.
+  const rcl_event_t ** events;
+  size_t size_of_events;
   /// Implementation specific storage.
   struct rcl_wait_set_impl_t * impl;
 } rcl_wait_set_t;
@@ -124,6 +128,7 @@ rcl_wait_set_init(
   size_t number_of_timers,
   size_t number_of_clients,
   size_t number_of_services,
+  size_t number_of_events,
   rcl_context_t * context,
   rcl_allocator_t allocator);
 
@@ -289,7 +294,8 @@ rcl_wait_set_resize(
   size_t guard_conditions_size,
   size_t timers_size,
   size_t clients_size,
-  size_t services_size);
+  size_t services_size,
+  size_t events_size);
 
 /// Store a pointer to the guard condition in the next empty spot in the set.
 /**
@@ -343,6 +349,19 @@ rcl_wait_set_add_service(
   const rcl_service_t * service,
   size_t * index);
 
+/// Store a pointer to the event in the next empty spot in the set.
+/**
+ * This function behaves exactly the same as for subscriptions.
+ * \see rcl_wait_set_add_subscription
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_wait_set_add_event(
+  rcl_wait_set_t * wait_set,
+  const rcl_event_t * event,
+  size_t * index);
+
 /// Block until the wait set is ready or until the timeout has been exceeded.
 /**
  * This function will collect the items in the rcl_wait_set_t and pass them

rcl/package.xml

@@ -37,6 +37,7 @@
   <test_depend>rmw</test_depend>
   <test_depend>rmw_implementation_cmake</test_depend>
   <test_depend>launch</test_depend>
+  <test_depend>launch_testing</test_depend>
   <test_depend>osrf_testing_tools_cpp</test_depend>
   <test_depend>test_msgs</test_depend>
 

rcl/rcl-extras.cmake

@@ -0,0 +1,15 @@
+# Copyright 2019 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.
+
+include("${rcl_DIR}/rcl_set_symbol_visibility_hidden.cmake")

rcl/src/rcl/client.c

@@ -26,19 +26,12 @@ extern "C"
 #include "rcl/expand_topic_name.h"
 #include "rcl/remap.h"
 #include "rcutils/logging_macros.h"
-#include "rcutils/stdatomic_helper.h"
 #include "rmw/error_handling.h"
-#include "rmw/rmw.h"
 #include "rmw/validate_full_topic_name.h"
 
 #include "./common.h"
+#include "./types_impl.h"
 
-typedef struct rcl_client_impl_t
-{
-  rcl_client_options_t options;
-  rmw_client_t * rmw_handle;
-  atomic_int_least64_t sequence_number;
-} rcl_client_impl_t;
 
 rcl_client_t
 rcl_get_zero_initialized_client()
@@ -175,6 +168,7 @@ rcl_client_init(
   }
   // options
   client->impl->options = *options;
+  atomic_init(&client->impl->sequence_number, 0);
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Client initialized");
   ret = RCL_RET_OK;
   goto cleanup;