Delete some part of the code which became absolute and shall not be used

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>

rosbag2_cpp/include/rosbag2_cpp/service_utils.hpp

@@ -26,7 +26,7 @@ namespace rosbag2_cpp
 {
 ROSBAG2_CPP_PUBLIC
 bool
-is_service_event_topic(const std::string & topic, const std::string & topic_type);
+is_service_event_topic(const std::string & topic_name, const std::string & topic_type);
 
 // Call this function after is_service_event_topic() return true
 ROSBAG2_CPP_PUBLIC
@@ -38,18 +38,10 @@ ROSBAG2_CPP_PUBLIC
 std::string
 service_event_topic_type_to_service_type(const std::string & topic_type);
 
-ROSBAG2_CPP_PUBLIC
-size_t
-get_serialization_size_for_service_metadata_event();
-
 ROSBAG2_CPP_PUBLIC
 std::string
 service_name_to_service_event_topic_name(const std::string & service_name);
 
-ROSBAG2_CPP_PUBLIC
-bool
-service_event_include_metadata_and_contents(size_t message_size);
-
 ROSBAG2_CPP_PUBLIC
 std::string
 client_id_to_string(std::array<uint8_t, 16> & client_id);

rosbag2_cpp/src/rosbag2_cpp/service_utils.cpp

@@ -17,155 +17,101 @@
 #include "rcl/service_introspection.h"
 
 #include "rosbag2_cpp/service_utils.hpp"
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rosidl_typesupport_cpp/message_type_support_dispatch.hpp"
-#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
-
 #include "service_msgs/msg/service_event_info.hpp"
 
 namespace rosbag2_cpp
 {
-const char * service_event_topic_type_postfix = "_Event";
-const char * service_event_topic_type_middle = "/srv/";
+const char * kServiceEventTopicTypePostfix = "_Event";
+const char * kServiceEventTopicTypeMiddle = "/srv/";
+const size_t kServiceEventTopicPostfixLen = strlen(RCL_SERVICE_INTROSPECTION_TOPIC_POSTFIX);
+const size_t kServiceEventTypePostfixLen = strlen(kServiceEventTopicTypePostfix);
 
-bool is_service_event_topic(const std::string & topic, const std::string & topic_type)
+bool is_service_event_topic(const std::string & topic_name, const std::string & topic_type)
 {
-  if (topic.length() <= strlen(RCL_SERVICE_INTROSPECTION_TOPIC_POSTFIX)) {
+  if (topic_name.length() <= kServiceEventTopicPostfixLen) {
     return false;
   } else {
-    std::string end_topic_name = topic.substr(
-      topic.length() - strlen(RCL_SERVICE_INTROSPECTION_TOPIC_POSTFIX));
-
-    // Should be "/_service_event"
-    if (end_topic_name != RCL_SERVICE_INTROSPECTION_TOPIC_POSTFIX) {
+    // The end of the topic name should be "/_service_event"
+    if (topic_name.substr(topic_name.length() - kServiceEventTopicPostfixLen) !=
+      RCL_SERVICE_INTROSPECTION_TOPIC_POSTFIX)
+    {
       return false;
     }
   }
 
-  if (topic_type.length() <= std::strlen(service_event_topic_type_postfix)) {
+  if (topic_type.length() <= kServiceEventTypePostfixLen) {
     return false;
   } else {
     // Should include '/srv/' in type
-    if (topic_type.find(service_event_topic_type_middle) == std::string::npos) {
+    if (topic_type.find(kServiceEventTopicTypeMiddle) == std::string::npos) {
       return false;
     }
 
-    if (topic_type.length() <= std::strlen(service_event_topic_type_postfix)) {
+    if (topic_type.length() <= kServiceEventTypePostfixLen) {
       return false;
     }
 
     return topic_type.compare(
-      topic_type.length() - std::strlen(service_event_topic_type_postfix),
-      std::strlen(service_event_topic_type_postfix),
-      service_event_topic_type_postfix) == 0;
+      topic_type.length() - kServiceEventTypePostfixLen,
+      kServiceEventTypePostfixLen,
+      kServiceEventTopicTypePostfix) == 0;
   }
 }
 
 std::string service_event_topic_name_to_service_name(const std::string & topic_name)
 {
   std::string service_name;
-  if (topic_name.length() <= strlen(RCL_SERVICE_INTROSPECTION_TOPIC_POSTFIX)) {
+  if (topic_name.length() <= kServiceEventTopicPostfixLen) {
     return service_name;
   } else {
-    if (topic_name.substr(
-        topic_name.length() -
-        strlen(RCL_SERVICE_INTROSPECTION_TOPIC_POSTFIX)) !=
+    // The end of the topic name should be "/_service_event"
+    if (topic_name.substr(topic_name.length() - kServiceEventTopicPostfixLen) !=
       RCL_SERVICE_INTROSPECTION_TOPIC_POSTFIX)
     {
       return service_name;
     }
-
-    service_name = topic_name.substr(
-      0, topic_name.length() - strlen(RCL_SERVICE_INTROSPECTION_TOPIC_POSTFIX));
-
+    service_name = topic_name.substr(0, topic_name.length() - kServiceEventTopicPostfixLen);
     return service_name;
   }
 }
 
 std::string service_event_topic_type_to_service_type(const std::string & topic_type)
 {
   std::string service_type;
-  if (topic_type.length() <= std::strlen(service_event_topic_type_postfix)) {
+  if (topic_type.length() <= kServiceEventTypePostfixLen) {
     return service_type;
   }
-
   // Should include '/srv/' in type
-  if (topic_type.find(service_event_topic_type_middle) == std::string::npos) {
+  if (topic_type.find(kServiceEventTopicTypeMiddle) == std::string::npos) {
     return service_type;
   }
 
-  if (topic_type.substr(topic_type.length() - std::strlen(service_event_topic_type_postfix)) !=
-    service_event_topic_type_postfix)
+  if (topic_type.substr(topic_type.length() - kServiceEventTypePostfixLen) !=
+    kServiceEventTopicTypePostfix)
   {
     return service_type;
   }
-
-  service_type = topic_type.substr(
-    0, topic_type.length() - strlen(service_event_topic_type_postfix));
+  service_type = topic_type.substr(0, topic_type.length() - kServiceEventTypePostfixLen);
 
   return service_type;
 }
 
-size_t get_serialization_size_for_service_metadata_event()
-{
-  // Since the size is fixed, it only needs to be calculated once.
-  static size_t size = 0;
-
-  if (size != 0) {
-    return size;
-  }
-
-  const rosidl_message_type_support_t * type_support_info =
-    rosidl_typesupport_cpp::get_message_type_support_handle<service_msgs::msg::ServiceEventInfo>();
-
-  // Get the serialized size of service event info
-  const rosidl_message_type_support_t * type_support_handle =
-    rosidl_typesupport_cpp::get_message_typesupport_handle_function(
-    type_support_info,
-    rosidl_typesupport_introspection_cpp::typesupport_identifier);
-  if (type_support_handle == nullptr) {
-    throw std::runtime_error("Cannot get ServiceEventInfo typesupport handle !");
-  }
-
-  auto service_event_info =
-    static_cast<const rosidl_typesupport_introspection_cpp::MessageMembers *>(
-    type_support_handle->data);
-
-  // TODO(morlov): We shall not rely on this arithmetic!!! It is up to the serialization
-  //  implementation
-  // endian type (4 size) + service event info size + empty request (4 bytes)
-  // + emtpy response (4 bytes)
-  size = 4 + service_event_info->size_of_ + 4 + 4;
-
-  return size;
-}
-
 std::string service_name_to_service_event_topic_name(const std::string & service_name)
 {
   if (service_name.empty()) {
     return service_name;
   }
 
   // If the end of string is RCL_SERVICE_INTROSPECTION_TOPIC_POSTFIX, do nothing
-  if ((service_name.length() > strlen(RCL_SERVICE_INTROSPECTION_TOPIC_POSTFIX)) &&
-    (service_name.substr(service_name.length() - strlen(RCL_SERVICE_INTROSPECTION_TOPIC_POSTFIX)) ==
+  if ((service_name.length() > kServiceEventTopicPostfixLen) &&
+    (service_name.substr(service_name.length() - kServiceEventTopicPostfixLen) ==
     RCL_SERVICE_INTROSPECTION_TOPIC_POSTFIX))
   {
     return service_name;
   }
-
   return service_name + RCL_SERVICE_INTROSPECTION_TOPIC_POSTFIX;
 }
 
-bool service_event_include_metadata_and_contents(size_t message_size)
-{
-  if (message_size <= rosbag2_cpp::get_serialization_size_for_service_metadata_event()) {
-    return false;
-  }
-  return true;
-}
-
 std::string client_id_to_string(std::array<uint8_t, 16> & client_id)
 {
   // output format:

rosbag2_cpp/test/rosbag2_cpp/test_service_utils.cpp

@@ -97,21 +97,6 @@ TEST_F(ServiceUtilsTest, check_service_name_to_service_event_topic_name)
   }
 }
 
-TEST_F(ServiceUtilsTest, check_service_event_include_metadata_and_contents)
-{
-  auto msg = std::make_shared<test_msgs::srv::BasicTypes_Event>();
-  msg->info.event_type = service_msgs::msg::ServiceEventInfo::REQUEST_SENT;
-  auto serialized_service_event = memory_management_.serialize_message(msg);
-
-  size_t metadata_event_size = rosbag2_cpp::get_serialization_size_for_service_metadata_event();
-
-  EXPECT_EQ(serialized_service_event->buffer_length, metadata_event_size);
-
-  EXPECT_FALSE(rosbag2_cpp::service_event_include_metadata_and_contents(metadata_event_size - 1));
-  EXPECT_FALSE(rosbag2_cpp::service_event_include_metadata_and_contents(metadata_event_size));
-  EXPECT_TRUE(rosbag2_cpp::service_event_include_metadata_and_contents(metadata_event_size + 1));
-}
-
 TEST_F(ServiceUtilsTest, check_client_id_to_string)
 {
   service_msgs::msg::ServiceEventInfo::_client_gid_type client_id = {

rosbag2_transport/include/rosbag2_transport/player_service_client.hpp

@@ -71,8 +71,6 @@ class PlayerServiceClient final
   bool wait_for_sent_requests_to_finish(
     std::chrono::duration<double> timeout = std::chrono::seconds(5));
 
-  void async_send_request(const rcl_serialized_message_t & message);
-
   std::shared_ptr<rclcpp::GenericClient> generic_client()
   {
     return client_;
@@ -91,9 +89,6 @@ class PlayerServiceClient final
   const rosidl_typesupport_introspection_cpp::MessageMembers * service_event_members_;
 
   rcutils_allocator_t allocator_ = rcutils_get_default_allocator();
-
-  std::tuple<uint8_t, ClientGidType, int64_t>
-  get_msg_event_type(const rcl_serialized_message_t & message);
 };
 
 class PlayerServiceClientManager final

rosbag2_transport/src/rosbag2_transport/player_service_client.cpp

@@ -176,47 +176,6 @@ bool PlayerServiceClient::wait_for_sent_requests_to_finish(std::chrono::duration
   return player_service_client_manager_->wait_for_all_futures(timeout);
 }
 
-void PlayerServiceClient::async_send_request(const rcl_serialized_message_t & message)
-{
-  if (!client_->service_is_ready()) {
-    RCLCPP_ERROR(
-      logger_, "Service request hasn't been sent. The '%s' service isn't ready !",
-      service_name_.c_str());
-    return;
-  }
-
-  auto type_erased_ros_message = deserialize_service_event(message);
-
-  if (type_erased_ros_message) {
-    async_send_request(type_erased_ros_message);
-  } else {
-    throw std::runtime_error(
-            "Failed to deserialize service event message for " + service_name_ + " !");
-  }
-}
-
-std::tuple<uint8_t, PlayerServiceClient::ClientGidType, int64_t>
-PlayerServiceClient::get_msg_event_type(const rcl_serialized_message_t & message)
-{
-  auto msg = service_msgs::msg::ServiceEventInfo();
-
-  const rosidl_message_type_support_t * type_support_info =
-    rosidl_typesupport_cpp::get_message_type_support_handle<service_msgs::msg::ServiceEventInfo>();
-  if (type_support_info == nullptr) {
-    throw std::runtime_error("Failed to get message type support handle of service event info !");
-  }
-
-  // Partially deserialize service event message. Deserializing only first member ServiceEventInfo
-  // with assumption that it is going to be the first in serialized message.
-  // TODO(morlov): We can't rely on this assumption. It is up to the underlying RMW and
-  //  serialization format implementation!
-  if (rmw_deserialize(&message, type_support_info, reinterpret_cast<void *>(&msg)) != RMW_RET_OK) {
-    throw std::runtime_error("Failed to deserialize message !");
-  }
-
-  return {msg.event_type, msg.client_gid, msg.sequence_number};
-}
-
 PlayerServiceClientManager::PlayerServiceClientManager(
   std::chrono::seconds requst_future_timeout,
   size_t maximum_request_future_queue)