Implement services and rmw_wait #16
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I oopsied that Should be fixed in 591d0e3 |
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I ran it through valgrind and there were a lot of random memory issues
(particularly alignment issues) (but it seems to go beyond the rmw
implementation.)
I'm not too sure how to deal with those but not sure if we should care for
those at the moment.
…On Tue, 1 Sep 2020, 09:40 Geoffrey Biggs, ***@***.***> wrote:
***@***.**** commented on this pull request.
------------------------------
In rmw_zenoh_cpp/src/rmw_subscriber.cpp
<#16 (comment)>:
> @@ -113,6 +114,9 @@ rmw_create_subscription(
subscription->options = *subscription_options;
subscription->can_loan_messages = false;
+ // NOTE(CH3): Does this leak because it can't be freed?
I looked over the commit and I *think* it's OK, but as you say, it's a
mammoth commit with a lot of allocates and deallocates. We should do a full
memory audit at some point in the future.
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gbiggs
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Co-authored-by: Geoffrey Biggs <[email protected]>
Co-authored-by: Geoffrey Biggs <[email protected]>
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* chore: configure the compiliation * chore: complete the 1st version * fix: memory leak * fix: z_error_t -> z_result_t * Fix `scouting/*/autoconnect/*` per eclipse-zenoh/zenoh@b31a410 (#3) * chore: checkout the local zenoh-c * chore: polish z_open * feat: `z_bytes_serialize_from_slice` without copy * Initialize `query_` member of `ZenohQuery` * refactor: use `z_owned_slice_t` instead * chore: adapt the latest change of zenoh-c dev/1.0.0 * chore: use `strncmp` to avoid copying * refactor: use `z_view_keyexpr_t` to avoid copying * chore: adapt the new changes from zenoh-c and fix the bug in liveliness * fix: segmentation fault due to the unallocated query memory * fix: workaround the ZID parsing issue * fix Zenoh Config read\check * adopt to recent zenoh-c API changes * fix: adapt the latest change of batching config * build: deprecate the zenohc_debug and include the zenohc dependency in the zenoh_c_vendor * Use main branch for upgrading to Zenoh 1.0 * Increase the delay in scouting (#16) * ci: fix the argument order in the style CI * refactor: use `z_id_to_string` * build: enable the unstable feature flag * build: bump up the zenoh-c commit * build: update zenoh-c version * fix: set the max size of initial query queue to `SIZE_MAX - 1` * fix: iterator memory leak * feat: update to zenoh-c 1.0.0.8 changes * chore(style): address `ament_cpplint` and `ament_uncrustiy` * fix: initiate zenoh logger * chore: apply the suggestions * chore: add the comments for the zenoh logger * fix: store and destroy the subscriber properly * chore: improve the null pointer check: NULL => nullptr * Change liveliness tokens logs from warn to debug level (#22) * fix: properly clone the pointer of query and reply to resolve the segfault in test_service__rmw_zenoh_cpp * chore: update to zenoh-c 1.0.0.9 (#23) * Thread-safe access to graph cache (#258) * refactor(api): align with latest serialization changes * chore(deps): bump up zenoh-c to 1.0.0.10 * chore(api): align with latest serialization changes * fix: correct the sub_ke and selector_ke in the querying_subscriber * fix: thread-safe publisher * Enable history option for liveliness subscriber. (#27) * refactor!: adopt the TLS config renaming * refactor: allow Zenoh session to close without dropping * fix: address the failure in rclcpp/test_wait_for_message of declaring a subscriber after the RMW has been shut down * test: close but not drop the session * fix: correct the merge * chore: Explicit false in adminspace config * fix: enable admin space in rmw router and ros nodes * Bump zenoh-c version. * Use the latest zenoh-c which fix some nav2 issues. (#31) * Update config files according to Zenoh 1.0.0 DEFAULT_CONFIG.json5 (#33) * chore(zenoh_c_vendor): bumb up zenoh-c version * refactor: remove the free_attachment * Fix unset request header writer GUID in `rmw_take_response` * fix: keyexpr is missing in the service * Avoid touching Zenoh Session while exiting. * Register function right after opening Zenoh Session. * chore(deps): bump up zenoh-c to 1.0.1 * fix: use TRUE value to configure the feature flag * fix: correct typo `attachement` to `attachment` * refactor: remove the warning of subscriber reliability QoS * Fix `z_view_string_t` to `std::string` conversion * refactor: zc_liveliness_* -> z_liveliness_* and bump up zenoh-c version * refactor: reorder the cancel functions * chore: reorder some lines of code * refactor: add `session_is_valid` check * fixup! refactor: reorder the cancel functions * fixup! refactor: zc_liveliness_* -> z_liveliness_* and bump up zenoh-c version Signed-off-by: Luca Cominardi <[email protected]> Signed-off-by: ChenYing Kuo <[email protected]> Signed-off-by: Gabriele Baldoni <[email protected]> Signed-off-by: Yadunund <[email protected]> Co-authored-by: Mahmoud Mazouz <[email protected]> Co-authored-by: yellowhatter <[email protected]> Co-authored-by: Steven Palma <[email protected]> Co-authored-by: Julien Enoch <[email protected]> Co-authored-by: Chris Lalancette <[email protected]>
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Implements services!
Test Services
To test, use the ROS examples
Terminal 1:
RMW_IMPLEMENTATION=rmw_zenoh_cpp ros2 run zenoh_ros_services service_mainTerminal 2:
RMW_IMPLEMENTATION=rmw_zenoh_cpp ros2 run zenoh_ros_services client_mainYou can also test with arithmetic!
Terminal 3: (Which will do 41 + 123 = 164)
RMW_IMPLEMENTATION=rmw_zenoh_cpp ros2 run zenoh_ros_services client_main 123Test Timers
With this PR, timers will work as well! (rmw_wait will register a timeout and continue on whenever a timer call should be triggered.)
You may test it here (it's on a 3s timer):
RMW_IMPLEMENTATION=rmw_zenoh_cpp ros2 run zenoh_ros_timer timer_member_function