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Refactor spin and spin_once to mimic rclcpp's Executor API #324

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merged 2 commits into from
Aug 7, 2023

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@esteve esteve commented Jul 26, 2023

Moving spin and spin_once to a similar API as rclcpp's and rclpy's Executor API allows us to run more than one node in a single program and makes it easier to test node behaviors.

@esteve esteve force-pushed the executor-refactor branch 7 times, most recently from 55fc519 to 0b3f447 Compare July 30, 2023 18:18
@esteve esteve requested review from maspe36 and jhdcs July 30, 2023 18:24
@esteve esteve marked this pull request as ready for review July 30, 2023 18:24
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esteve commented Jul 30, 2023

@jhdcs @maspe36 these changes are functionally equivalent to what we alredy have now, but add the extra feature of being able to run more than one node in a program (see the example I've added where there's a publisher and two subscriptions). I plan on expanding this to enable multiple implementations of an executor following rclcpp/rclpy's approach, but for now I just wanted to get a concrete implementation and then I'll derive traits and other generalizations in a follow-up PR.

This would also allow us to implement composable nodes in the future, but for now the spin method in SingleThreadedExecutor just takes an &Arc<Node>

@esteve esteve force-pushed the executor-refactor branch 2 times, most recently from 9396971 to 057481f Compare July 30, 2023 21:00
@esteve esteve force-pushed the executor-refactor branch from 057481f to cd3d9f4 Compare July 30, 2023 21:09
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Fantastic work!

I only have a couple very-small issues with the comments for spin in lib.rs. Of the two, I think the potentially-unneeded SAFETY comment is the more important to take a look at, but I still wanted to call out a potential inaccuracy.

But all in all, this is beautifully done, thank you!

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esteve commented Aug 1, 2023

@jhdcs thanks for the review!

You're right about the comments, I'll update/remove them.

But all in all, this is beautifully done, thank you!

These are very kind words, I really appreciate it, thanks 🙂

@esteve esteve requested a review from jhdcs August 2, 2023 02:54
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esteve commented Aug 3, 2023

@jhdcs I've addressed your feedback, could you have another look when you have a moment? Thanks!

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Looks good to me! Thank you again for this!

@esteve esteve merged commit 8694d41 into main Aug 7, 2023
@delete-merged-branch delete-merged-branch bot deleted the executor-refactor branch August 7, 2023 17:25
luca-della-vedova pushed a commit to luca-della-vedova/ros2_rust that referenced this pull request Sep 20, 2023
esteve added a commit that referenced this pull request Oct 27, 2023
* WIP Add minimal TimeSource implementation

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Minor cleanup and code reorganization

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Minor cleanups, add debug code

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Minor cleanup

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Change safety note to reflect get_now safety

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Fix comment spelling

Co-authored-by: jhdcs <48914066+jhdcs@users.noreply.github.com>

* Cleanup and add some docs / tests

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Avoid duplicated clocks in TimeSource

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Change _rcl_clock to just Mutex

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Remove Mutex from node clock

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Change Mutex<bool> to AtomicBool

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Avoid cloning message

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Minor cleanup, add dependency

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Remove hardcoded use_sim_time

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Cleanup remaining warnings / clippy

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Fix tests

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Refactor API to use ClockSource

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Fix Drop implementation, finish builder and add comments

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Minor cleanups

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Fix graph_tests

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Remove Arc from time source

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Remove Sync trait, format

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Add comparison function for times, use reference to clock

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Implement Add<Duration> and Sub<Duration> for Time

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Make node pointer Weak to avoid memory leaks

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Cleanups

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* WIP change clock type when use_sim_time parameter is changed

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Remove need for mutex in node TimeSource

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Change get_clock() to return cloned Clock object

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Minor cleanup

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Refactor spin and spin_once to mimic rclcpp's Executor API (#324)

* Added rclcpp/rclpy-like executor

* Fix comments

* add serde big array support (fixed #327) (#328)

* add serde big array support

* Fixed an issue where cpu usage remained at 100% (#330)

* Make get_parameter pub(crate)

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Address review feedback

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Make time_source pub(crate), remove unused APIs

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* WIP parameter interface implementation

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Migrate to proposed API

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Add API for mandatory and optional parameters

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* First round of unit tests for parameter API

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Make complex parameter types Arc

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* First attempt at undeclared parameter API

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* First attempt at automatic parameter undeclaring

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Change undeclared_parameter API to be more explicit

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Minor cleanup, use atomic for undeclared params

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Add docs

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Add more tests

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Update setter for optional parameters

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Add unset api for optional parameters

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Cleanup and add helper functions for arrays

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Add type alias

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Reduce number of generics, add more tests

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Refactor to include parameter ranges and read_only

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Refactor ranges

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Revert API change for range builder

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Add ParameterValueError variant

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* First implementation of tentative API

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Rework API for unified declaration syntax

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Add missing APIs

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Add error variant for default out of range

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Refactor and remove duplicated code

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Revert change to parameter service file

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Remove time related changes

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Clarify doc for unset API

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Fix comments / TODOs

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Remove Arc<RwLock> wrapper from undeclared params

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Add short description of deviations from other client libraries

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Address minor feedback

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Remove duplicated range

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Change maybe_from to try_from

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* WIP converting to default value builder argument

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Add type for test

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Infer arrays and allow custom discriminators

Signed-off-by: Michael X. Grey <grey@openrobotics.org>

* Fix CI

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Fix some documentation

Signed-off-by: Michael X. Grey <grey@openrobotics.org>

* Fix doc link

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Minor cleanups and optimizations

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Fix outdated docstrings

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

* Add links in documentation / address clippy warnings

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

---------

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Michael X. Grey <grey@openrobotics.org>
Co-authored-by: jhdcs <48914066+jhdcs@users.noreply.github.com>
Co-authored-by: Esteve Fernandez <33620+esteve@users.noreply.github.com>
Co-authored-by: Fawdlstty <fawdlstty@users.noreply.github.com>
Co-authored-by: Michael X. Grey <grey@openrobotics.org>
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