Service introspection #997
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This was referenced Aug 10, 2022
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b40a655 is a refactor partially addressing the review in #990.
Commits reconciling these changes with rclcpp and rclpy are here: |
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service_event_publisher qos is now exposed in |
jacobperron
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Aug 16, 2022
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I'm in the middle of a rewrite here, so actually changing back to a draft for now. |
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This has been substantially rewritten now, so I'm going to dismiss all of the review comments, and pull this out of draft. |
This PR adds in the rcl implementation of service introspection. In particular, what it adds in are the implementations of enabling and disabling service introspection, as well as creating the publisher when the introspection is enabled. Signed-off-by: Brian Chen <[email protected]> Signed-off-by: Ivan Santiago Paunovic <[email protected]> Signed-off-by: Chris Lalancette <[email protected]>
The idea here is that by default, clients and services are created just like they were before. However, we add an additional API where the user can choose to configure service introspection, either to turn it OFF, send out METADATA, or send out CONTENTS (and METADATA). There are 4 different events that can get sent out if introspection is configured for METADATA or CONTENTS; REQUEST_SENT (from the client), REQUEST_RECEIVED (from the service), RESPONSE_SENT (from the service), or RESPONSE_RECEIVED (from the client). For each of these, a separate message is sent out a topic called <service_name>_service_event , so an outside observer can listen. Signed-off-by: Chris Lalancette <[email protected]>
Signed-off-by: Chris Lalancette <[email protected]>
Along the way, I noticed quite a few potential bugs, so this ends up mostly being a rewrite of the tests. With this in place, tests pass on all RMWs. Signed-off-by: Chris Lalancette <[email protected]>
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Signed-off-by: Chris Lalancette <[email protected]>
Signed-off-by: Chris Lalancette <[email protected]>
mjcarroll
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Feb 28, 2023
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I should mention that CI for this is in ros2/ros2#1285 (comment) |
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* Add in the APIs to enable service introspection. This PR adds in the rcl implementation of service introspection. In particular, what it adds in are the implementations of enabling and disabling service introspection, as well as creating the publisher when the introspection is enabled. The idea here is that by default, clients and services are created just like they were before. However, we add an additional API where the user can choose to configure service introspection, either to turn it OFF, send out METADATA, or send out CONTENTS (and METADATA). There are 4 different events that can get sent out if introspection is configured for METADATA or CONTENTS; REQUEST_SENT (from the client), REQUEST_RECEIVED (from the service), RESPONSE_SENT (from the service), or RESPONSE_RECEIVED (from the client). For each of these, a separate message is sent out a topic called <service_name>_service_event , so an outside observer can listen. Signed-off-by: Brian Chen <[email protected]> Signed-off-by: Ivan Santiago Paunovic <[email protected]> Signed-off-by: Chris Lalancette <[email protected]>
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This PR is part of a prototype implementation for ros-infrastructure/rep#360 ros2/ros2#1285.
Elements of note
service introspection logic is encapsulated in
introspection.{c.h}(file name subject to change) and hooks into the service init/fini and various send/take request/response functions.runtime configuration done via
rcl_service_introspection_configure_client_eventsetc. functions exposed to client library to be called on parameter event callbacksServices and headers have been broken up into
service_impl.handservice.hin line with what is done for publishers to improve dependency ergonomics with service introspection (and same for clients)Service event message creationg and population is delegated to typesupport libraries
rcl_{service,client}_options_tnow has a clock and enable_service_introspection member.Related issue: Service Introspection ros2#1285
Note: this PR replaces Service Introspection #990. Reviews left on that PR have yet be resolved as of time of creating this PR but will be resolved in this PR.