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Chen Lihui
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make type support helper supported for service (ros2#2209)
* make type support helper supported for service and action as well Signed-off-by: Chen Lihui <[email protected]> * not to use template and only add the necessary service type currently Signed-off-by: Chen Lihui <[email protected]> * update comment Signed-off-by: Chen Lihui <[email protected]> * add deprecated cycle for `get_typesupport_handle` Signed-off-by: Chen Lihui <[email protected]> --------- Signed-off-by: Chen Lihui <[email protected]>
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5 files changed

+154
-22
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5 files changed

+154
-22
lines changed

‎rclcpp/include/rclcpp/generic_publisher.hpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -77,7 +77,7 @@ class GenericPublisher : public rclcpp::PublisherBase
7777
: rclcpp::PublisherBase(
7878
node_base,
7979
topic_name,
80-
*rclcpp::get_typesupport_handle(topic_type, "rosidl_typesupport_cpp", *ts_lib),
80+
*rclcpp::get_message_typesupport_handle(topic_type, "rosidl_typesupport_cpp", *ts_lib),
8181
options.template to_rcl_publisher_options<rclcpp::SerializedMessage>(qos),
8282
// NOTE(methylDragon): Passing these args separately is necessary for event binding
8383
options.event_callbacks,

‎rclcpp/include/rclcpp/generic_subscription.hpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -79,7 +79,7 @@ class GenericSubscription : public rclcpp::SubscriptionBase
7979
const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options)
8080
: SubscriptionBase(
8181
node_base,
82-
*rclcpp::get_typesupport_handle(topic_type, "rosidl_typesupport_cpp", *ts_lib),
82+
*rclcpp::get_message_typesupport_handle(topic_type, "rosidl_typesupport_cpp", *ts_lib),
8383
topic_name,
8484
options.to_rcl_subscription_options(qos),
8585
options.event_callbacks,

‎rclcpp/include/rclcpp/typesupport_helpers.hpp‎

Lines changed: 39 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -22,6 +22,7 @@
2222

2323
#include "rcpputils/shared_library.hpp"
2424
#include "rosidl_runtime_cpp/message_type_support_decl.hpp"
25+
#include "rosidl_runtime_cpp/service_type_support_decl.hpp"
2526

2627
#include "rclcpp/visibility_control.hpp"
2728

@@ -40,18 +41,56 @@ get_typesupport_library(const std::string & type, const std::string & typesuppor
4041
/// Extract the type support handle from the library.
4142
/**
4243
* The library needs to match the topic type. The shared library must stay loaded for the lifetime of the result.
44+
*
45+
* \deprecated Use get_message_typesupport_handle() instead
46+
*
4347
* \param[in] type The topic type, e.g. "std_msgs/msg/String"
4448
* \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
4549
* \param[in] library The shared type support library
4650
* \return A type support handle
4751
*/
52+
[[deprecated("Use `get_message_typesupport_handle` instead")]]
4853
RCLCPP_PUBLIC
4954
const rosidl_message_type_support_t *
5055
get_typesupport_handle(
5156
const std::string & type,
5257
const std::string & typesupport_identifier,
5358
rcpputils::SharedLibrary & library);
5459

60+
/// Extract the message type support handle from the library.
61+
/**
62+
* The library needs to match the topic type. The shared library must stay loaded for the lifetime of the result.
63+
*
64+
* \param[in] type The topic type, e.g. "std_msgs/msg/String"
65+
* \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
66+
* \param[in] library The shared type support library
67+
* \throws std::runtime_error if the symbol of type not found in the library.
68+
* \return A message type support handle
69+
*/
70+
RCLCPP_PUBLIC
71+
const rosidl_message_type_support_t *
72+
get_message_typesupport_handle(
73+
const std::string & type,
74+
const std::string & typesupport_identifier,
75+
rcpputils::SharedLibrary & library);
76+
77+
/// Extract the service type support handle from the library.
78+
/**
79+
* The library needs to match the topic type. The shared library must stay loaded for the lifetime of the result.
80+
*
81+
* \param[in] type The service type, e.g. "std_srvs/srv/Empty"
82+
* \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
83+
* \param[in] library The shared type support library
84+
* \throws std::runtime_error if the symbol of type not found in the library.
85+
* \return A service type support handle
86+
*/
87+
RCLCPP_PUBLIC
88+
const rosidl_service_type_support_t *
89+
get_service_typesupport_handle(
90+
const std::string & type,
91+
const std::string & typesupport_identifier,
92+
rcpputils::SharedLibrary & library);
93+
5594
} // namespace rclcpp
5695

5796
#endif // RCLCPP__TYPESUPPORT_HELPERS_HPP_

‎rclcpp/src/rclcpp/typesupport_helpers.cpp‎

Lines changed: 62 additions & 18 deletions
Original file line numberDiff line numberDiff line change
@@ -91,40 +91,36 @@ extract_type_identifier(const std::string & full_type)
9191
return std::make_tuple(package_name, middle_module, type_name);
9292
}
9393

94-
} // anonymous namespace
95-
96-
std::shared_ptr<rcpputils::SharedLibrary>
97-
get_typesupport_library(const std::string & type, const std::string & typesupport_identifier)
98-
{
99-
auto package_name = std::get<0>(extract_type_identifier(type));
100-
auto library_path = get_typesupport_library_path(package_name, typesupport_identifier);
101-
return std::make_shared<rcpputils::SharedLibrary>(library_path);
102-
}
103-
104-
const rosidl_message_type_support_t *
105-
get_typesupport_handle(
94+
const void * get_typesupport_handle_impl(
10695
const std::string & type,
10796
const std::string & typesupport_identifier,
97+
const std::string & typesupport_name,
98+
const std::string & symbol_part_name,
99+
const std::string & middle_module_additional,
108100
rcpputils::SharedLibrary & library)
109101
{
110102
std::string package_name;
111103
std::string middle_module;
112104
std::string type_name;
113105
std::tie(package_name, middle_module, type_name) = extract_type_identifier(type);
114106

115-
auto mk_error = [&package_name, &type_name](auto reason) {
107+
if (middle_module.empty()) {
108+
middle_module = middle_module_additional;
109+
}
110+
111+
auto mk_error = [&package_name, &type_name, &typesupport_name](auto reason) {
116112
std::stringstream rcutils_dynamic_loading_error;
117113
rcutils_dynamic_loading_error <<
118-
"Something went wrong loading the typesupport library for message type " << package_name <<
114+
"Something went wrong loading the typesupport library for " <<
115+
typesupport_name << " type " << package_name <<
119116
"/" << type_name << ". " << reason;
120117
return rcutils_dynamic_loading_error.str();
121118
};
122119

123120
try {
124-
std::string symbol_name = typesupport_identifier + "__get_message_type_support_handle__" +
125-
package_name + "__" + (middle_module.empty() ? "msg" : middle_module) + "__" + type_name;
126-
127-
const rosidl_message_type_support_t * (* get_ts)() = nullptr;
121+
std::string symbol_name = typesupport_identifier + symbol_part_name +
122+
package_name + "__" + middle_module + "__" + type_name;
123+
const void * (* get_ts)() = nullptr;
128124
// This will throw runtime_error if the symbol was not found.
129125
get_ts = reinterpret_cast<decltype(get_ts)>(library.get_symbol(symbol_name));
130126
return get_ts();
@@ -133,4 +129,52 @@ get_typesupport_handle(
133129
}
134130
}
135131

132+
} // anonymous namespace
133+
134+
std::shared_ptr<rcpputils::SharedLibrary>
135+
get_typesupport_library(const std::string & type, const std::string & typesupport_identifier)
136+
{
137+
auto package_name = std::get<0>(extract_type_identifier(type));
138+
auto library_path = get_typesupport_library_path(package_name, typesupport_identifier);
139+
return std::make_shared<rcpputils::SharedLibrary>(library_path);
140+
}
141+
142+
const rosidl_message_type_support_t * get_typesupport_handle(
143+
const std::string & type,
144+
const std::string & typesupport_identifier,
145+
rcpputils::SharedLibrary & library)
146+
{
147+
return get_message_typesupport_handle(type, typesupport_identifier, library);
148+
}
149+
150+
const rosidl_message_type_support_t * get_message_typesupport_handle(
151+
const std::string & type,
152+
const std::string & typesupport_identifier,
153+
rcpputils::SharedLibrary & library)
154+
{
155+
static const std::string typesupport_name = "message";
156+
static const std::string symbol_part_name = "__get_message_type_support_handle__";
157+
static const std::string middle_module_additional = "msg";
158+
159+
return static_cast<const rosidl_message_type_support_t *>(get_typesupport_handle_impl(
160+
type, typesupport_identifier, typesupport_name, symbol_part_name,
161+
middle_module_additional, library
162+
));
163+
}
164+
165+
const rosidl_service_type_support_t * get_service_typesupport_handle(
166+
const std::string & type,
167+
const std::string & typesupport_identifier,
168+
rcpputils::SharedLibrary & library)
169+
{
170+
static const std::string typesupport_name = "service";
171+
static const std::string symbol_part_name = "__get_service_type_support_handle__";
172+
static const std::string middle_module_additional = "srv";
173+
174+
return static_cast<const rosidl_service_type_support_t *>(get_typesupport_handle_impl(
175+
type, typesupport_identifier, typesupport_name, symbol_part_name,
176+
middle_module_additional, library
177+
));
178+
}
179+
136180
} // namespace rclcpp

‎rclcpp/test/rclcpp/test_typesupport_helpers.cpp‎

Lines changed: 51 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -50,7 +50,7 @@ TEST(TypesupportHelpersTest, returns_c_type_info_for_valid_legacy_library) {
5050
try {
5151
auto library = rclcpp::get_typesupport_library(
5252
"test_msgs/BasicTypes", "rosidl_typesupport_cpp");
53-
auto string_typesupport = rclcpp::get_typesupport_handle(
53+
auto string_typesupport = rclcpp::get_message_typesupport_handle(
5454
"test_msgs/BasicTypes", "rosidl_typesupport_cpp", *library);
5555

5656
EXPECT_THAT(
@@ -65,7 +65,7 @@ TEST(TypesupportHelpersTest, returns_c_type_info_for_valid_library) {
6565
try {
6666
auto library = rclcpp::get_typesupport_library(
6767
"test_msgs/msg/BasicTypes", "rosidl_typesupport_cpp");
68-
auto string_typesupport = rclcpp::get_typesupport_handle(
68+
auto string_typesupport = rclcpp::get_message_typesupport_handle(
6969
"test_msgs/msg/BasicTypes", "rosidl_typesupport_cpp", *library);
7070

7171
EXPECT_THAT(
@@ -75,3 +75,52 @@ TEST(TypesupportHelpersTest, returns_c_type_info_for_valid_library) {
7575
FAIL() << e.what();
7676
}
7777
}
78+
79+
TEST(TypesupportHelpersTest, returns_service_type_info_for_valid_legacy_library) {
80+
try {
81+
auto library = rclcpp::get_typesupport_library(
82+
"test_msgs/Empty", "rosidl_typesupport_cpp");
83+
auto empty_typesupport = rclcpp::get_service_typesupport_handle(
84+
"test_msgs/Empty", "rosidl_typesupport_cpp", *library);
85+
86+
EXPECT_THAT(
87+
std::string(empty_typesupport->typesupport_identifier),
88+
ContainsRegex("rosidl_typesupport"));
89+
} catch (const std::runtime_error & e) {
90+
FAIL() << e.what();
91+
}
92+
}
93+
94+
TEST(TypesupportHelpersTest, returns_service_type_info_for_valid_library) {
95+
try {
96+
auto library = rclcpp::get_typesupport_library(
97+
"test_msgs/srv/Empty", "rosidl_typesupport_cpp");
98+
auto empty_typesupport = rclcpp::get_service_typesupport_handle(
99+
"test_msgs/srv/Empty", "rosidl_typesupport_cpp", *library);
100+
101+
EXPECT_THAT(
102+
std::string(empty_typesupport->typesupport_identifier),
103+
ContainsRegex("rosidl_typesupport"));
104+
} catch (const std::runtime_error & e) {
105+
FAIL() << e.what();
106+
}
107+
}
108+
109+
TEST(TypesupportHelpersTest, test_throw_exception_with_invalid_type) {
110+
// message
111+
std::string invalid_type = "test_msgs/msg/InvalidType";
112+
auto library = rclcpp::get_typesupport_library(invalid_type, "rosidl_typesupport_cpp");
113+
EXPECT_THROW(
114+
rclcpp::get_message_typesupport_handle(invalid_type, "rosidl_typesupport_cpp", *library),
115+
std::runtime_error);
116+
EXPECT_THROW(
117+
rclcpp::get_service_typesupport_handle(invalid_type, "rosidl_typesupport_cpp", *library),
118+
std::runtime_error);
119+
120+
// service
121+
invalid_type = "test_msgs/srv/InvalidType";
122+
library = rclcpp::get_typesupport_library(invalid_type, "rosidl_typesupport_cpp");
123+
EXPECT_THROW(
124+
rclcpp::get_service_typesupport_handle(invalid_type, "rosidl_typesupport_cpp", *library),
125+
std::runtime_error);
126+
}

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