Iox #252 replacement of old ports with building blocks

[marthtz]

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Notes for Reviewer

This is about removing all old ports with building blocks. Unfortunately, it turned out this is way too big for one PR. Cleaning-up the introspection with its tests is a big task for itself, it's still missing an overhaul to only store pointers to PortDatas and not using PortUser as members. In addition, introspection throughput calculation has to be re-implemented using a more sophisticated approach (e.g. only calculate it when an introspection is connected).
Last, roudi portmanager (previously roudi shm) tests are currently more or less disabled. I'm still working on it.

Note: Has to be built with one-to-many as get/setCapacityhasn't been implemented to multi pusher queues! Resolved, was an error when accidentally calling subscribe() with an argument.

Open points:

1. Refactor introspection to remove PortUser and templates: Remove PortUser from introspection and use PortData only #401
2. Implement throughput calculation: Introspection throughput calculation with building blocks #402
3. Introspection clean-up: Clean-up introspection #414
4. Add tests for new (previously missed) transitions in subscriber port: Update tests for missed transitions in subscriber port state machine #406
5. Fix roudi portmanager tests.
6. Resolve merge conflicts with master

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References

-Partly closes #252

[budrus]

I would not pay for throughput calculation in every publisher just because somebody could be interested. In ROS you can do it with the tools by doing something like ros2 topic /myTopic bw. IMO, if a gateway needs this information the job would be there. For the introspection it would be easy to have this as an extra functionality, maybe also per topic and maybe as separate application?

[mossmaurice]

I would not pay for throughput calculation in every publisher just because somebody could be interested.

+1

For the introspection it would be easy to have this as an extra functionality, maybe also per topic and maybe as separate application?

Can you elaborate a bit what you have in mind?

[budrus]

Can you elaborate a bit what you have in mind?

First have to start thinking about ;-)

requested changes were incorporated

[mossmaurice]

Great work everyone! We're nearly there :-)
Two open points left:

• @marthtz Please fix the clang build
• @elBoberido Please check if copyright notices have to be adapted for the files you touched