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Type Description Nested Support #735

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wants to merge 38 commits into from
Closed

Type Description Nested Support #735

wants to merge 38 commits into from

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emersonknapp
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@emersonknapp emersonknapp commented Apr 2, 2023 •
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Part of ros2/ros2#1159

Bundled with (must be merged together):

Replaces (or extends) #727. Key differences

  • type_support_t->get_type_hash_func rather than bare value
  • get_type_description and get_type_sources take a typesupport struct argument (for use by dynamic types)
  • Type descriptions and sources include referenced types, rather than baking in full recursive dependencies per-interface
  • Expected hashes of referenced types are included in codegen to optionally error-check with at runtime

Key features:

  • Changes TYPE_HASH_TUPLES to more accurate TYPE_DESCRIPTION_TUPLES in cmake
  • Adds new C interface functions get_type_description, get_individual_type_description_source, and get_type_description_sources
  • Implements above, generating code for type descriptions and raw interface definition sources, embedded in the binaries
  • Optionally disables embedding that information in the generated code by the CMake flag ROSIDL_GENERATOR_C_DISABLE_TYPE_DESCRIPTION_CODEGEN
  • Refactors rosidl_generator_type_description to output a new structure of type_description_msg plus a flat list of all referenced types and their hashes at the time of generation. These hashes are used at runtime (in Debug builds) to detect ABI breaks when constructing type descriptions the first time

@emersonknapp
Generate code for and expose interface type descriptions
cc34042 
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
@emersonknapp
Clean up the subinterfaces stuff, self contain in a single function
e5f96bb 
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
@emersonknapp
WIP dang the subinterface list was propping up my C attempt
cd85ad1 
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
@emersonknapp
New approach with function ptr
5713cca 
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
@emersonknapp
Placeholder nullptrs for get_type_description
6359213 
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
@emersonknapp
Use the C definitions of type descriptions instead of generating cpp
915016b 
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
@emersonknapp
Full cleanup pass for using C description only
778f09d 
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
@emersonknapp
Add back the field to service and action typesupport
b7ecdd3 
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
@emersonknapp
Add descriptions to srv support
e777f8d 
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
@emersonknapp
Fix tests, linters
c6e9f29 
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
@emersonknapp
Add empty raw sources
1d411a7 
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
@emersonknapp
Add a few more description codegen smoke tests
b32ff87 
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
@emersonknapp
Add generator c package.xml dependencies
31844f3 
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
@emersonknapp
Testing out windows consts
8aef6c7 
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
@emersonknapp
Export symbols
fe07260 
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
@emersonknapp
Type description functions, not globals
25aea88 
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
@emersonknapp
Address review comments
937fa4b 
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
@emersonknapp
Encode w strings as utf 8
a9f7d0c 
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
@emersonknapp
Add ability to disable C description codegen
555d1a4 
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
@emersonknapp
WIP include referenced type descriptions
e6fd185 
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
@emersonknapp
Including referenced descriptions
faa114a 
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
@emersonknapp
Type hash functions, new getter signatures
d0d7ffa 
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
This was referenced Apr 2, 2023
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@emersonknapp
Generating hashes in usable form and putting in description function
96f373b 
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
@emersonknapp
Pass hash lookup to full_description
cd15879 
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
@emersonknapp emersonknapp force-pushed the emersonknapp/type-description-include-nested branch from 7e2f619 to cd15879 Compare April 2, 2023 22:29
@emersonknapp
Add test for copied sources against installed versions to detect out …
74cb484 
…of date

Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
@emersonknapp
Generate full type description raw sources
3405deb 
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
@emersonknapp
Add names to variables in function signatures
a6b610b 
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
@emersonknapp emersonknapp force-pushed the emersonknapp/type-description-include-nested branch from 8ff299b to a6b610b Compare April 4, 2023 00:15
@emersonknapp emersonknapp mentioned this pull request Apr 4, 2023
Merged
@emersonknapp
Update runtime_c sources
feb0503 
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
@emersonknapp emersonknapp mentioned this pull request Apr 4, 2023
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@emersonknapp
Generated code aesthetic cleanup
69fa2b5 
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
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ci_launcher ran: https://ci.ros2.org/job/ci_launcher/11761

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Windows Build Status

@emersonknapp
Utf8 encode wstrings
133755e 
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
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emersonknapp commented Apr 4, 2023 •
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Wstring encoding problem:

  • Windows Build Status

@emersonknapp
hide expected hash definitions behind debug flag to fix warning
6fb6d6e 
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
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NDEBUG-guard around hash value only used for assert

  • Linux Build Status

@emersonknapp emersonknapp changed the title [WIP] Type Description Nested Support Type Description Nested Support Apr 4, 2023
@emersonknapp emersonknapp marked this pull request as ready for review April 4, 2023 16:01
@emersonknapp
Utf8 encoding on file read also
97bacbb 
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
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Windows also needs to open(encoding='utf-8') explicitly:

  • Windows Build Status

@emersonknapp
Fix empty build
3352ecd 
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
@achim-k achim-k mentioned this pull request Apr 4, 2023
Merged
@emersonknapp
Update copyright notice year
5cbbedc 
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
@emersonknapp
Copy latest ndebug generated source bits
f581176 
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
@emersonknapp emersonknapp force-pushed the emersonknapp/type-description-include-nested branch from e57ee67 to f581176 Compare April 4, 2023 23:29
@emersonknapp
Fix raw sources index off-by-one error and add regression test
9e8f2a1 
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
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@emersonknapp I'm a bit confused here; shouldn't we close this PR in favor of #727?

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Yes - I accidentally pushed that bugfix to the wrong branch

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