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Support service 2/2 --- rosbag2 service play #1481

Merged
merged 73 commits into from
Apr 13, 2024
Merged

Support service 2/2 --- rosbag2 service play #1481

merged 73 commits into from
Apr 13, 2024

Commits on Apr 12, 2024

  1. Implement service play 

    Signed-off-by: Barry Xu <barry.xu@sony.com>
    @Barry-Xu-2018
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  2. Maintain the future queue of the request by timeout 

    Signed-off-by: Barry Xu <barry.xu@sony.com>
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  3. Use get_message_typesupport_handle() instead of deprecated get_typesu… 

    …pport_handle()

Signed-off-by: Barry Xu <barry.xu@sony.com>
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  4. Resolve the conflicts caused by the rebase 

    Signed-off-by: Barry Xu <barry.xu@sony.com>
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  5. Address review comments from Fujita-san 

    Signed-off-by: Barry Xu <barry.xu@sony.com>
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  6. Move codes to new function remove_complete_request_future 

    Signed-off-by: Barry Xu <barry.xu@sony.com>
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  7. Move codes to new function remove_all_timeout_request_future() 

    Signed-off-by: Barry Xu <barry.xu@sony.com>
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  8. Add warning log and lock protection 

    Signed-off-by: Barry Xu <barry.xu@sony.com>
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  9. Optimize code in PlayerImpl::publish_message() 

    Signed-off-by: Barry Xu <barry.xu@sony.com>
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  10. Changed the code logic for determining whether to use request data of… 

    … client or service

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  11. Add warning log and tests 

    Signed-off-by: Barry Xu <barry.xu@sony.com>
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  12. Correct the parameter descriptions and remove unnecessary code 

    Signed-off-by: Barry Xu <barry.xu@sony.com>
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  13. Extend the parameters for the "play" command 

    Add new parameters '--exclude-topics' and '--exclude-services'.

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  14. Move implmentation of struct client_id_hash to cpp 

    Signed-off-by: Barry Xu <barry.xu@sony.com>
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  15. Address some minor review comments 

    Signed-off-by: Barry Xu <barry.xu@sony.com>
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  16. Replace std::variant<SharedPlayerPublisher, SharedPlayerClient>> 

    Signed-off-by: Barry Xu <barry.xu@sony.com>
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  17. Added code for cleaning up pending requests 

    Signed-off-by: Barry Xu <barry.xu@sony.com>
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  18. Avoid creating publisher or client for filtered topic 

    Signed-off-by: Barry Xu <barry.xu@sony.com>
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  19. Update code on filtering message for mcap 

    Signed-off-by: Barry Xu <barry.xu@sony.com>
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  20. Use explicit namespace for topic name and update tests 

    Signed-off-by: Barry Xu <barry.xu@sony.com>
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  21. Update for the rebase 

    Signed-off-by: Barry Xu <barry.xu@sony.com>
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  22. Simplify variable names 

    Signed-off-by: Barry Xu <barry.xu@sony.com>
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  23. Adjust the default timeout and queue length for request future 

    Signed-off-by: Barry Xu <barry.xu@sony.com>
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  24. Cleanup and optimization in mcap_storage.cpp 

    - Rewrite topic_filter to make clean and concise implementation.
- Also addressed multiple performance related issues in topic_filter.
- Delete
MCAP_COMPILE_DEFS ROSBAG2_STORAGE_MCAP_HAS_STORAGE_FILTER_TOPIC_REGEX
compilation flag since it is become absolute on Rolling, and we are not
using anymore the same version of the mcap storage plugin for older
ROS 2 distros.

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
    @MichaelOrlov @Barry-Xu-2018
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  25. Move mcap topic_filter tests to a separate file 

    Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  26. Add TestResetFilter and CanSelectWithTopicsListOnly to the mcap storage 

    Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  27. Add CanSelectWithServiceEventsListOnly test to the mcap storage 

    Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  28. Cleanups and renames in the sqlite_storage.cpp 

    Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  29. Move SQLite3 topic_filter tests to a separate file 

    Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
    @MichaelOrlov @Barry-Xu-2018
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  30. Bugfix in sqlite topic filters when service_events or topics lists empty 

    - Also add new tests `CanSelectWithTopicsListOnly` and
`CanSelectWithServiceEventsListOnly` to cover changes.

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
    @MichaelOrlov @Barry-Xu-2018
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  31. Rename test_sqlite3_topic_filter.cpp for consistency 

    Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
    @MichaelOrlov @Barry-Xu-2018
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  32. Change API to use rcl_serialized_message_t to avoid 2 extra message copy 

    - Changed API for `async_send_request(..)`,
`is_include_request_message(..)` and `get_msg_event_type(..)`` to use
`rcl_serialized_message_t` instead of the `rclcpp::SerializedMessage`
to avoid 2 extra message copy.

- Renamed `introspection_include_metadata_and_contents(..)` to the
`service_event_include_metadata_and_contents(..)`.

- Altered `check_service_event_include_metadata_and_contents` unit test
to use real serialized service event for verification and comparison.

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
    @MichaelOrlov @Barry-Xu-2018
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  33. Misc minor fixes from previous rounds of review and new findings (1) 

    - Mostly renames, cleanup in style wording and optimization in
constructors

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
    @MichaelOrlov @Barry-Xu-2018
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  34. Address ament_flake8 warning in regards whitespaces in the blank lines 

    Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
    @MichaelOrlov @Barry-Xu-2018
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  35. Simplify logic in is_topic_selected_by_white_list_or_regex(..) 

    Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
Co-authored with: Barry Xu <barry.xu@sony.com>

Co-authored-by: Barry Xu <barry.xu@sony.com>
    @MichaelOrlov @Barry-Xu-2018
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  36. Check is_topic_in_black_list_or_exclude_regex(..) first 

    Co-authored-by: Barry Xu <barry.xu@sony.com>
Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  37. Add test coverage for the cases when exclude lists overlap with include 

    Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
    @MichaelOrlov @Barry-Xu-2018
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  38. Bugfix for incorrectly including all services when regex is not empty 

    - Also add test coverage with new tests
FilterTopicsAndServicesWithRegexAndNonexistentTopicsList and
FilterTopicsAndServicesWithRegexAndNonexistentServicesList

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  39. Rename test_sqlite3_topic_filter in CMakeList.txt 

    Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
    @MichaelOrlov @Barry-Xu-2018
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  40. Update spin & termination and add service ready check before play 

    Signed-off-by: Barry Xu <barry.xu@sony.com>
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  41. Fix the issue of published_messages_from_multiple_services_are_record… 

    …ed failing randomly

Increase the waiting time for the record to start spinning.

Signed-off-by: Barry Xu <barry.xu@sony.com>
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  42. Make service_event_ts_lib as private member again 

    - Motivation: The shared pointer to the service event type support
library shall be a member variable to make sure that library loaded
during the liveliness of the instance of this class, since we have a
raw pointers to its inner members.

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  43. Cleanup in PlayerServiceClient::async_send_request(ser_message) 

    - Rewrite raw pointers arithmetic. Assumption that size_t represent size
of the void* may not necessarily be true on all platforms.
- Use shared pointer with custom deleter for deserialized message.
- Assumption that we can take first element from bounded sequence by
dereferencing raw pointer to the bounded sequence may not be necessarily
be true and up to the underlying rmw and transport layer implementation.
Use dedicated request_member.get_function(request_sequence_ptr, 0)
function instead.
- Add sanity checks `for service_event_members_` in PlayerServiceClient
constructor.

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  44. Refactoring. Do full deserialization and only once 

    - Rationale: We can't rely on assumption that we can safely partially
deserialize service event to the ServiceEventInfo structure.

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  45. Specify service request from which introspection message and fix uncr… 

    …ustify errors

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  46. Revert uncrustify changes from previous commit. 

    - Rationale: We are moving to the new version of the uncrustify in
rolling and still haven't done it yet fully for the baseline.
The discrepancy in style for other untouched files like logging.hpp
shall be addressed in a separate PR.

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  47. Rename service_request_from to the service_requests_source 

    - Also rename enum class ServiceRequestFrom to the ServiceRequestsSource

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  48. Add Player::wait_for_sent_service_requests_to_finish() API 

    - We need this API to be able to write deterministic and non-flaky tests

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  49. Mitigate potential issues related to the operations reordering on ARM 

    Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  50. Make tests play_service_requests_from_service(client) deterministic 

    - Get rid of timeout inside tests and use newly added
player->wait_for_sent_service_requests_to_finish(service_name) API.

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  51. Misc findings and improvements 1 

    Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  52. Rename get_services_clients() to the get_service_clients() 

    Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
    @MichaelOrlov @Barry-Xu-2018
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  53. Add a new CLI parameter "--publish-service-requests" for Player 

    Also added a new option publish_service_requests to the PlayOptions.
Note: By default rosbag2 player will publish service events only.

Signed-off-by: Barry Xu <barry.xu@sony.com>
Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  54. Fix an issue on filtering topic when prepare publishers 

    Co-authored-by: Barry Xu <barry.xu@sony.com>
Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  55. Cleanup in play_without_publish_service_requests 

    - Long story short: Make it deterministic and run fast.

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
    @MichaelOrlov @Barry-Xu-2018
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  56. Wrap code which can throw with try-catch in the publish_message(..) 

    Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
    @MichaelOrlov @Barry-Xu-2018
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  57. Delete some part of the code which became absolute and shall not be used 

    Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  58. Update test codes 

    Signed-off-by: Barry Xu <barry.xu@sony.com>
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  59. Remove code on meaningless waiting for published_messages_from_multip… 

    …le_services_are_recorded

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  60. Update the code following the rebase 

    Signed-off-by: Barry Xu <barry.xu@sony.com>
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  61. Remove a unnecessary check and simplify the code 

    Signed-off-by: Barry Xu <barry.xu@sony.com>
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  62. Cleanup in service replay related tests 

    Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  63. Regenerate Python stub files (.pyi) after altering python API in PR 

    Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  64. Increase the timeout of waiting for the service to be ready 

    Signed-off-by: Barry Xu <barry.xu@sony.com>
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  65. Update the code for waiting on all futures of one service client 

    Signed-off-by: Barry Xu <barry.xu@sony.com>
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  66. Cleanup API for wait_for_sent_requests_to_finish(..) 

    Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
    @MichaelOrlov
    MichaelOrlov committed Apr 12, 2024
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Commits on Apr 13, 2024

  1. Fixes for Windows CI build failure 

    - Add storage factory object as member variable to the test fixture
class. The storage factory object shall persist while returned storage
object persist.

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
    @MichaelOrlov
    MichaelOrlov committed Apr 13, 2024
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  2. Fix a typo 

    Signed-off-by: Barry Xu <barry.xu@sony.com>
    @Barry-Xu-2018
    Barry-Xu-2018 committed Apr 13, 2024
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  3. Increase timeout value to stabilize a test 

    Signed-off-by: Barry Xu <barry.xu@sony.com>
    @Barry-Xu-2018
    Barry-Xu-2018 committed Apr 13, 2024
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  4. Fix a bug in PlayerImpl::wait_for_sent_service_requests_to_finish 

    Signed-off-by: Barry Xu <barry.xu@sony.com>
    @Barry-Xu-2018
    Barry-Xu-2018 committed Apr 13, 2024
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  5. Disable test_burst for RTI DDS due to the failure with missing requests 

    - The test `burst_bursting_only_filtered_services` fails only with
rmw_connext_dds for unknown reasons and tends to be flaky. Sometimes
we receive only one service request instead of 2.

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
    @MichaelOrlov
    MichaelOrlov committed Apr 13, 2024
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  6. Revert "Disable test_burst for RTI DDS due to the failure with missin… 

    …g requests"

This reverts commit aaaac74.

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
    @MichaelOrlov
    MichaelOrlov committed Apr 13, 2024
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  7. Disable burst_bursting_only_filtered_services for rmw_connextdds 

    - The test `burst_bursting_only_filtered_services` fails only with
rmw_connext_dds for unknown reasons and tends to be flaky. Sometimes
we receive only one service request instead of 2.

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
    @MichaelOrlov
    MichaelOrlov committed Apr 13, 2024
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