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Abstract type conversions into functions #269

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merged 5 commits into from
Feb 15, 2019
Merged

Abstract type conversions into functions #269

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4579e5b
Abstract type conversions into functions
jacobperron Feb 5, 2019
0ab62b7
Move common C functions to a shared library 'rclpy_common'
jacobperron Feb 12, 2019
251175d
Do not configure rclpy_common as a cpython extension
jacobperron Feb 13, 2019
0484bdf
Add symbol visiblity control to satisfy Windows compiler
jacobperron Feb 13, 2019
0eded64
Add target_compile_definitions building dll
jacobperron Feb 13, 2019
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28 changes: 28 additions & 0 deletions rclpy/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -72,10 +72,34 @@ function(configure_python_c_extension_library _library_name)
)
endfunction()

add_library(rclpy_common
SHARED src/rclpy_common/src/common.c
)
target_link_libraries(rclpy_common
${PythonExtra_LIBRARIES}
)
target_include_directories(rclpy_common
PUBLIC
src/rclpy_common/include
${PythonExtra_INCLUDE_DIRS}
)
install(TARGETS rclpy_common
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
ament_target_dependencies(rclpy_common
"rmw"
)

add_library(
rclpy
SHARED src/rclpy/_rclpy.c
)
target_link_libraries(rclpy
rclpy_common
)

configure_python_c_extension_library(rclpy)
ament_target_dependencies(rclpy
"rcl"
Expand All @@ -87,6 +111,10 @@ add_library(
rclpy_action
SHARED src/rclpy/_rclpy_action.c
)
target_link_libraries(rclpy_action
rclpy_common
)

configure_python_c_extension_library(rclpy_action)
ament_target_dependencies(rclpy_action
"rcl"
Expand Down
176 changes: 20 additions & 156 deletions rclpy/src/rclpy/_rclpy.c
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@

#include <signal.h>

#include "./impl/common.h"
#include "rclpy_common/common.h"

static rcl_guard_condition_t * g_sigint_gc_handle;

Expand Down Expand Up @@ -1218,36 +1218,9 @@ rclpy_publish(PyObject * Py_UNUSED(self), PyObject * args)
return NULL;
}

PyObject * pymsg_type = PyObject_GetAttrString(pymsg, "__class__");

PyObject * pymetaclass = PyObject_GetAttrString(pymsg_type, "__class__");
Py_DECREF(pymsg_type);

create_ros_message_signature * create_ros_message = get_capsule_pointer(
pymetaclass, "_CREATE_ROS_MESSAGE");
assert(create_ros_message != NULL &&
"unable to retrieve create_ros_message function, type_support mustn't have been imported");

destroy_ros_message_signature * destroy_ros_message = get_capsule_pointer(
pymetaclass, "_DESTROY_ROS_MESSAGE");
assert(destroy_ros_message != NULL &&
"unable to retrieve destroy_ros_message function, type_support mustn't have been imported");

convert_from_py_signature * convert_from_py = get_capsule_pointer(
pymetaclass, "_CONVERT_FROM_PY");
assert(convert_from_py != NULL &&
"unable to retrieve convert_from_py function, type_support mustn't have been imported");

Py_DECREF(pymetaclass);

void * raw_ros_message = create_ros_message();
destroy_ros_message_signature * destroy_ros_message = NULL;
void * raw_ros_message = rclpy_convert_from_py(pymsg, &destroy_ros_message);
if (!raw_ros_message) {
return PyErr_NoMemory();
}

if (!convert_from_py(pymsg, raw_ros_message)) {
// the function has set the Python error
destroy_ros_message(raw_ros_message);
return NULL;
}

Expand Down Expand Up @@ -1756,6 +1729,7 @@ rclpy_create_client(PyObject * Py_UNUSED(self), PyObject * args)
PyObject * pymetaclass = PyObject_GetAttrString(pysrv_type, "__class__");

PyObject * pyts = PyObject_GetAttrString(pymetaclass, "_TYPE_SUPPORT");
Py_DECREF(pymetaclass);

rosidl_service_type_support_t * ts =
(rosidl_service_type_support_t *)PyCapsule_GetPointer(pyts, NULL);
Expand Down Expand Up @@ -1820,37 +1794,9 @@ rclpy_send_request(PyObject * Py_UNUSED(self), PyObject * args)
return NULL;
}

PyObject * pyrequest_type = PyObject_GetAttrString(pyrequest, "__class__");
assert(pyrequest_type != NULL);

PyObject * pymetaclass = PyObject_GetAttrString(pyrequest_type, "__class__");
assert(pymetaclass != NULL);

create_ros_message_signature * create_ros_message = get_capsule_pointer(
pymetaclass, "_CREATE_ROS_MESSAGE");
assert(create_ros_message != NULL &&
"unable to retrieve create_ros_message function, type_support mustn't have been imported");

destroy_ros_message_signature * destroy_ros_message = get_capsule_pointer(
pymetaclass, "_DESTROY_ROS_MESSAGE");
assert(destroy_ros_message != NULL &&
"unable to retrieve destroy_ros_message function, type_support mustn't have been imported");

convert_from_py_signature * convert_from_py = get_capsule_pointer(
pymetaclass, "_CONVERT_FROM_PY");
assert(convert_from_py != NULL &&
"unable to retrieve convert_from_py function, type_support mustn't have been imported");

Py_DECREF(pymetaclass);

void * raw_ros_request = create_ros_message();
destroy_ros_message_signature * destroy_ros_message = NULL;
void * raw_ros_request = rclpy_convert_from_py(pyrequest, &destroy_ros_message);
if (!raw_ros_request) {
return PyErr_NoMemory();
}

if (!convert_from_py(pyrequest, raw_ros_request)) {
// the function has set the Python error
destroy_ros_message(raw_ros_request);
return NULL;
}

Expand Down Expand Up @@ -1984,39 +1930,10 @@ rclpy_send_response(PyObject * Py_UNUSED(self), PyObject * args)
if (!header) {
return NULL;
}
PyObject * pyresponse_type = PyObject_GetAttrString(pyresponse, "__class__");
assert(pyresponse_type != NULL);

PyObject * pymetaclass = PyObject_GetAttrString(pyresponse_type, "__class__");
assert(pymetaclass != NULL);

Py_DECREF(pyresponse_type);

create_ros_message_signature * create_ros_message = get_capsule_pointer(
pymetaclass, "_CREATE_ROS_MESSAGE");
assert(create_ros_message != NULL &&
"unable to retrieve create_ros_message function, type_support mustn't have been imported");

destroy_ros_message_signature * destroy_ros_message = get_capsule_pointer(
pymetaclass, "_DESTROY_ROS_MESSAGE");
assert(destroy_ros_message != NULL &&
"unable to retrieve destroy_ros_message function, type_support mustn't have been imported");

convert_from_py_signature * convert_from_py = get_capsule_pointer(
pymetaclass, "_CONVERT_FROM_PY");
assert(convert_from_py != NULL &&
"unable to retrieve convert_from_py function, type_support mustn't have been imported");

Py_DECREF(pymetaclass);

void * raw_ros_response = create_ros_message();
destroy_ros_message_signature * destroy_ros_message = NULL;
void * raw_ros_response = rclpy_convert_from_py(pyresponse, &destroy_ros_message);
if (!raw_ros_response) {
return PyErr_NoMemory();
}

if (!convert_from_py(pyresponse, raw_ros_response)) {
// the function has set the Python error
destroy_ros_message(raw_ros_response);
return NULL;
}

Expand Down Expand Up @@ -2669,22 +2586,10 @@ rclpy_take(PyObject * Py_UNUSED(self), PyObject * args)
return rclpy_take_raw(subscription);
}

PyObject * pymetaclass = PyObject_GetAttrString(pymsg_type, "__class__");

create_ros_message_signature * create_ros_message = get_capsule_pointer(
pymetaclass, "_CREATE_ROS_MESSAGE");
assert(create_ros_message != NULL &&
"unable to retrieve create_ros_message function, type_support mustn't have been imported");

destroy_ros_message_signature * destroy_ros_message = get_capsule_pointer(
pymetaclass, "_DESTROY_ROS_MESSAGE");
assert(destroy_ros_message != NULL &&
"unable to retrieve destroy_ros_message function, type_support mustn't have been imported");

void * taken_msg = create_ros_message();
destroy_ros_message_signature * destroy_ros_message = NULL;
void * taken_msg = rclpy_create_from_py(pymsg_type, &destroy_ros_message);
if (!taken_msg) {
Py_DECREF(pymetaclass);
return PyErr_NoMemory();
return NULL;
}

rcl_ret_t ret = rcl_take(subscription, taken_msg, NULL);
Expand All @@ -2694,15 +2599,11 @@ rclpy_take(PyObject * Py_UNUSED(self), PyObject * args)
"Failed to take from a subscription: %s", rcl_get_error_string().str);
rcl_reset_error();
destroy_ros_message(taken_msg);
Py_DECREF(pymetaclass);
return NULL;
}

if (ret != RCL_RET_SUBSCRIPTION_TAKE_FAILED) {
convert_to_py_signature * convert_to_py = get_capsule_pointer(pymetaclass, "_CONVERT_TO_PY");
Py_DECREF(pymetaclass);

PyObject * pytaken_msg = convert_to_py(taken_msg);
PyObject * pytaken_msg = rclpy_convert_to_py(taken_msg, pymsg_type);
destroy_ros_message(taken_msg);
if (!pytaken_msg) {
// the function has set the Python error
Expand All @@ -2714,7 +2615,6 @@ rclpy_take(PyObject * Py_UNUSED(self), PyObject * args)

// if take failed, just do nothing
destroy_ros_message(taken_msg);
Py_DECREF(pymetaclass);
Py_RETURN_NONE;
}

Expand Down Expand Up @@ -2744,23 +2644,10 @@ rclpy_take_request(PyObject * Py_UNUSED(self), PyObject * args)
return NULL;
}

PyObject * pymetaclass = PyObject_GetAttrString(pyrequest_type, "__class__");

create_ros_message_signature * create_ros_message = get_capsule_pointer(
pymetaclass, "_CREATE_ROS_MESSAGE");
assert(create_ros_message != NULL &&
"unable to retrieve create_ros_message function, type_support mustn't have been imported");

destroy_ros_message_signature * destroy_ros_message = get_capsule_pointer(
pymetaclass, "_DESTROY_ROS_MESSAGE");
assert(destroy_ros_message != NULL &&
"unable to retrieve destroy_ros_message function, type_support mustn't have been imported");

void * taken_request = create_ros_message();

destroy_ros_message_signature * destroy_ros_message = NULL;
void * taken_request = rclpy_create_from_py(pyrequest_type, &destroy_ros_message);
if (!taken_request) {
Py_DECREF(pymetaclass);
return PyErr_NoMemory();
return NULL;
}

rmw_request_id_t * header = (rmw_request_id_t *)PyMem_Malloc(sizeof(rmw_request_id_t));
Expand All @@ -2772,19 +2659,13 @@ rclpy_take_request(PyObject * Py_UNUSED(self), PyObject * args)
rcl_reset_error();
destroy_ros_message(taken_request);
PyMem_Free(header);
Py_DECREF(pymetaclass);
return NULL;
}

if (ret != RCL_RET_SERVICE_TAKE_FAILED) {
convert_to_py_signature * convert_to_py = get_capsule_pointer(pymetaclass, "_CONVERT_TO_PY");
Py_DECREF(pymetaclass);

PyObject * pytaken_request = convert_to_py(taken_request);
PyObject * pytaken_request = rclpy_convert_to_py(taken_request, pyrequest_type);
destroy_ros_message(taken_request);
if (!pytaken_request) {
// the function has set the Python error
PyMem_Free(header);
return NULL;
}

Expand All @@ -2797,7 +2678,6 @@ rclpy_take_request(PyObject * Py_UNUSED(self), PyObject * args)
// if take_request failed, just do nothing
PyMem_Free(header);
destroy_ros_message(taken_request);
Py_DECREF(pymetaclass);
Py_RETURN_NONE;
}

Expand All @@ -2824,24 +2704,12 @@ rclpy_take_response(PyObject * Py_UNUSED(self), PyObject * args)
return NULL;
}

PyObject * pymetaclass = PyObject_GetAttrString(pyresponse_type, "__class__");

create_ros_message_signature * create_ros_message = get_capsule_pointer(
pymetaclass, "_CREATE_ROS_MESSAGE");
assert(create_ros_message != NULL &&
"unable to retrieve create_ros_message function, type_support mustn't have been imported");

destroy_ros_message_signature * destroy_ros_message = get_capsule_pointer(
pymetaclass, "_DESTROY_ROS_MESSAGE");
assert(destroy_ros_message != NULL &&
"unable to retrieve destroy_ros_message function, type_support mustn't have been imported");

void * taken_response = create_ros_message();
destroy_ros_message_signature * destroy_ros_message = NULL;
void * taken_response = rclpy_create_from_py(pyresponse_type, &destroy_ros_message);
if (!taken_response) {
// the function has set the Python error
Py_DECREF(pymetaclass);
return NULL;
}

rmw_request_id_t * header = (rmw_request_id_t *)PyMem_Malloc(sizeof(rmw_request_id_t));
rcl_ret_t ret = rcl_take_response(client, header, taken_response);
int64_t sequence = header->sequence_number;
Expand All @@ -2854,10 +2722,7 @@ rclpy_take_response(PyObject * Py_UNUSED(self), PyObject * args)
}

if (ret != RCL_RET_CLIENT_TAKE_FAILED) {
convert_to_py_signature * convert_to_py = get_capsule_pointer(pymetaclass, "_CONVERT_TO_PY");
Py_DECREF(pymetaclass);

PyObject * pytaken_response = convert_to_py(taken_response);
PyObject * pytaken_response = rclpy_convert_to_py(taken_response, pyresponse_type);
destroy_ros_message(taken_response);
if (!pytaken_response) {
// the function has set the Python error
Expand All @@ -2879,7 +2744,6 @@ rclpy_take_response(PyObject * Py_UNUSED(self), PyObject * args)
PyTuple_SET_ITEM(pytuple, 0, Py_None);
Py_INCREF(Py_None);
PyTuple_SET_ITEM(pytuple, 1, Py_None);
Py_DECREF(pymetaclass);
destroy_ros_message(taken_response);
return pytuple;
}
Expand Down
2 changes: 1 addition & 1 deletion rclpy/src/rclpy/_rclpy_action.c
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@
#include <rcl/error_handling.h>
#include <rcl_action/rcl_action.h>

#include "./impl/common.h"
#include "rclpy_common/common.h"

/// Destroy an rcl_action entity.
/**
Expand Down
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