Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

👨‍🌾 Revert "make type support helper supported for service (#2209)" #2392

Closed
wants to merge 1 commit into from
Closed

👨‍🌾 Revert "make type support helper supported for service (#2209)" #2392

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion rclcpp/include/rclcpp/generic_publisher.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -77,7 +77,7 @@ class GenericPublisher : public rclcpp::PublisherBase
: rclcpp::PublisherBase(
node_base,
topic_name,
*rclcpp::get_message_typesupport_handle(topic_type, "rosidl_typesupport_cpp", *ts_lib),
*rclcpp::get_typesupport_handle(topic_type, "rosidl_typesupport_cpp", *ts_lib),
options.template to_rcl_publisher_options<rclcpp::SerializedMessage>(qos),
// NOTE(methylDragon): Passing these args separately is necessary for event binding
options.event_callbacks,
Expand Down
2 changes: 1 addition & 1 deletion rclcpp/include/rclcpp/generic_subscription.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -79,7 +79,7 @@ class GenericSubscription : public rclcpp::SubscriptionBase
const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options)
: SubscriptionBase(
node_base,
*rclcpp::get_message_typesupport_handle(topic_type, "rosidl_typesupport_cpp", *ts_lib),
*rclcpp::get_typesupport_handle(topic_type, "rosidl_typesupport_cpp", *ts_lib),
topic_name,
options.to_rcl_subscription_options(qos),
options.event_callbacks,
Expand Down
39 changes: 0 additions & 39 deletions rclcpp/include/rclcpp/typesupport_helpers.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,6 @@

#include "rcpputils/shared_library.hpp"
#include "rosidl_runtime_cpp/message_type_support_decl.hpp"
#include "rosidl_runtime_cpp/service_type_support_decl.hpp"

#include "rclcpp/visibility_control.hpp"

Expand All @@ -41,56 +40,18 @@ get_typesupport_library(const std::string & type, const std::string & typesuppor
/// Extract the type support handle from the library.
/**
* The library needs to match the topic type. The shared library must stay loaded for the lifetime of the result.
*
* \deprecated Use get_message_typesupport_handle() instead
*
* \param[in] type The topic type, e.g. "std_msgs/msg/String"
* \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
* \param[in] library The shared type support library
* \return A type support handle
*/
[[deprecated("Use `get_message_typesupport_handle` instead")]]
RCLCPP_PUBLIC
const rosidl_message_type_support_t *
get_typesupport_handle(
const std::string & type,
const std::string & typesupport_identifier,
rcpputils::SharedLibrary & library);

/// Extract the message type support handle from the library.
/**
* The library needs to match the topic type. The shared library must stay loaded for the lifetime of the result.
*
* \param[in] type The topic type, e.g. "std_msgs/msg/String"
* \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
* \param[in] library The shared type support library
* \throws std::runtime_error if the symbol of type not found in the library.
* \return A message type support handle
*/
RCLCPP_PUBLIC
const rosidl_message_type_support_t *
get_message_typesupport_handle(
const std::string & type,
const std::string & typesupport_identifier,
rcpputils::SharedLibrary & library);

/// Extract the service type support handle from the library.
/**
* The library needs to match the topic type. The shared library must stay loaded for the lifetime of the result.
*
* \param[in] type The service type, e.g. "std_srvs/srv/Empty"
* \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
* \param[in] library The shared type support library
* \throws std::runtime_error if the symbol of type not found in the library.
* \return A service type support handle
*/
RCLCPP_PUBLIC
const rosidl_service_type_support_t *
get_service_typesupport_handle(
const std::string & type,
const std::string & typesupport_identifier,
rcpputils::SharedLibrary & library);

} // namespace rclcpp

#endif // RCLCPP__TYPESUPPORT_HELPERS_HPP_
80 changes: 18 additions & 62 deletions rclcpp/src/rclcpp/typesupport_helpers.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -91,36 +91,40 @@ extract_type_identifier(const std::string & full_type)
return std::make_tuple(package_name, middle_module, type_name);
}

const void * get_typesupport_handle_impl(
} // anonymous namespace

std::shared_ptr<rcpputils::SharedLibrary>
get_typesupport_library(const std::string & type, const std::string & typesupport_identifier)
{
auto package_name = std::get<0>(extract_type_identifier(type));
auto library_path = get_typesupport_library_path(package_name, typesupport_identifier);
return std::make_shared<rcpputils::SharedLibrary>(library_path);
}

const rosidl_message_type_support_t *
get_typesupport_handle(
const std::string & type,
const std::string & typesupport_identifier,
const std::string & typesupport_name,
const std::string & symbol_part_name,
const std::string & middle_module_additional,
rcpputils::SharedLibrary & library)
{
std::string package_name;
std::string middle_module;
std::string type_name;
std::tie(package_name, middle_module, type_name) = extract_type_identifier(type);

if (middle_module.empty()) {
middle_module = middle_module_additional;
}

auto mk_error = [&package_name, &type_name, &typesupport_name](auto reason) {
auto mk_error = [&package_name, &type_name](auto reason) {
std::stringstream rcutils_dynamic_loading_error;
rcutils_dynamic_loading_error <<
"Something went wrong loading the typesupport library for " <<
typesupport_name << " type " << package_name <<
"Something went wrong loading the typesupport library for message type " << package_name <<
"/" << type_name << ". " << reason;
return rcutils_dynamic_loading_error.str();
};

try {
std::string symbol_name = typesupport_identifier + symbol_part_name +
package_name + "__" + middle_module + "__" + type_name;
const void * (* get_ts)() = nullptr;
std::string symbol_name = typesupport_identifier + "__get_message_type_support_handle__" +
package_name + "__" + (middle_module.empty() ? "msg" : middle_module) + "__" + type_name;

const rosidl_message_type_support_t * (* get_ts)() = nullptr;
// This will throw runtime_error if the symbol was not found.
get_ts = reinterpret_cast<decltype(get_ts)>(library.get_symbol(symbol_name));
return get_ts();
Expand All @@ -129,52 +133,4 @@ const void * get_typesupport_handle_impl(
}
}

} // anonymous namespace

std::shared_ptr<rcpputils::SharedLibrary>
get_typesupport_library(const std::string & type, const std::string & typesupport_identifier)
{
auto package_name = std::get<0>(extract_type_identifier(type));
auto library_path = get_typesupport_library_path(package_name, typesupport_identifier);
return std::make_shared<rcpputils::SharedLibrary>(library_path);
}

const rosidl_message_type_support_t * get_typesupport_handle(
const std::string & type,
const std::string & typesupport_identifier,
rcpputils::SharedLibrary & library)
{
return get_message_typesupport_handle(type, typesupport_identifier, library);
}

const rosidl_message_type_support_t * get_message_typesupport_handle(
const std::string & type,
const std::string & typesupport_identifier,
rcpputils::SharedLibrary & library)
{
static const std::string typesupport_name = "message";
static const std::string symbol_part_name = "__get_message_type_support_handle__";
static const std::string middle_module_additional = "msg";

return static_cast<const rosidl_message_type_support_t *>(get_typesupport_handle_impl(
type, typesupport_identifier, typesupport_name, symbol_part_name,
middle_module_additional, library
));
}

const rosidl_service_type_support_t * get_service_typesupport_handle(
const std::string & type,
const std::string & typesupport_identifier,
rcpputils::SharedLibrary & library)
{
static const std::string typesupport_name = "service";
static const std::string symbol_part_name = "__get_service_type_support_handle__";
static const std::string middle_module_additional = "srv";

return static_cast<const rosidl_service_type_support_t *>(get_typesupport_handle_impl(
type, typesupport_identifier, typesupport_name, symbol_part_name,
middle_module_additional, library
));
}

} // namespace rclcpp
53 changes: 2 additions & 51 deletions rclcpp/test/rclcpp/test_typesupport_helpers.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -50,7 +50,7 @@ TEST(TypesupportHelpersTest, returns_c_type_info_for_valid_legacy_library) {
try {
auto library = rclcpp::get_typesupport_library(
"test_msgs/BasicTypes", "rosidl_typesupport_cpp");
auto string_typesupport = rclcpp::get_message_typesupport_handle(
auto string_typesupport = rclcpp::get_typesupport_handle(
"test_msgs/BasicTypes", "rosidl_typesupport_cpp", *library);

EXPECT_THAT(
Expand All @@ -65,7 +65,7 @@ TEST(TypesupportHelpersTest, returns_c_type_info_for_valid_library) {
try {
auto library = rclcpp::get_typesupport_library(
"test_msgs/msg/BasicTypes", "rosidl_typesupport_cpp");
auto string_typesupport = rclcpp::get_message_typesupport_handle(
auto string_typesupport = rclcpp::get_typesupport_handle(
"test_msgs/msg/BasicTypes", "rosidl_typesupport_cpp", *library);

EXPECT_THAT(
Expand All @@ -75,52 +75,3 @@ TEST(TypesupportHelpersTest, returns_c_type_info_for_valid_library) {
FAIL() << e.what();
}
}

TEST(TypesupportHelpersTest, returns_service_type_info_for_valid_legacy_library) {
try {
auto library = rclcpp::get_typesupport_library(
"test_msgs/Empty", "rosidl_typesupport_cpp");
auto empty_typesupport = rclcpp::get_service_typesupport_handle(
"test_msgs/Empty", "rosidl_typesupport_cpp", *library);

EXPECT_THAT(
std::string(empty_typesupport->typesupport_identifier),
ContainsRegex("rosidl_typesupport"));
} catch (const std::runtime_error & e) {
FAIL() << e.what();
}
}

TEST(TypesupportHelpersTest, returns_service_type_info_for_valid_library) {
try {
auto library = rclcpp::get_typesupport_library(
"test_msgs/srv/Empty", "rosidl_typesupport_cpp");
auto empty_typesupport = rclcpp::get_service_typesupport_handle(
"test_msgs/srv/Empty", "rosidl_typesupport_cpp", *library);

EXPECT_THAT(
std::string(empty_typesupport->typesupport_identifier),
ContainsRegex("rosidl_typesupport"));
} catch (const std::runtime_error & e) {
FAIL() << e.what();
}
}

TEST(TypesupportHelpersTest, test_throw_exception_with_invalid_type) {
// message
std::string invalid_type = "test_msgs/msg/InvalidType";
auto library = rclcpp::get_typesupport_library(invalid_type, "rosidl_typesupport_cpp");
EXPECT_THROW(
rclcpp::get_message_typesupport_handle(invalid_type, "rosidl_typesupport_cpp", *library),
std::runtime_error);
EXPECT_THROW(
rclcpp::get_service_typesupport_handle(invalid_type, "rosidl_typesupport_cpp", *library),
std::runtime_error);

// service
invalid_type = "test_msgs/srv/InvalidType";
library = rclcpp::get_typesupport_library(invalid_type, "rosidl_typesupport_cpp");
EXPECT_THROW(
rclcpp::get_service_typesupport_handle(invalid_type, "rosidl_typesupport_cpp", *library),
std::runtime_error);
}