Forward port changes from humble to master branch (#98)

* Use new Blueberry v2.0.3 feature request-response and its discovery (#84)

Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai>

* Remove cppcheck from linter job and use Ubuntu 22.04

Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai>

* Include 'iceoryx_hoofs' legacy header and use 'iox::into' for string
conversion

Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai>

* Fix dependency of name conversion lib (#81)

Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai>

* Call correct destructor (#81)

Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai>

* Use 'rcutils_get_executable_name' to get the name of the process (#94)

Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai>

* Set C++ standard in accordance with iceoryx (#93)

Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai>

* Address review findings (#84)

Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai>

---------

Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai>

.github/workflows/lint.yml

@@ -5,11 +5,11 @@ on:
 jobs:
   lint:
     name: ament_${{ matrix.linter }}
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     strategy:
       fail-fast: false
       matrix:
-          linter: [cppcheck, cpplint, uncrustify, xmllint, copyright]
+          linter: [cpplint, uncrustify, xmllint, copyright]
     steps:
     - uses: actions/checkout@v2
     - uses: ros-tooling/setup-ros@master

.github/workflows/main.yml

@@ -12,7 +12,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-          os: [ubuntu-20.04]
+          os: [ubuntu-22.04]
     steps:
       - uses: actions/checkout@v2
       - name: Setup ROS

README.md

@@ -154,8 +154,8 @@ Unfortunately, not all features are yet fully fleshed out.
 | `ros2 node list`      | :heavy_check_mark:                 |
 | `ros2 node info`      | :heavy_check_mark:                 |
 | `ros2 interface *`    | :heavy_check_mark:                 |
-| `ros2 service *`      | :x: (coming with iceoryx v2.0)     |
-| `ros2 param list`     | :x: (coming with iceoryx v2.0)     |
+| `ros2 service *`      | :heavy_check_mark:                 |
+| `ros2 param list`     | :x:                                |
 | `rqt_graph`           | :heavy_check_mark:                 |
 | `rqt_top`             | :heavy_check_mark:                 |
 | `rqt_console`         | :heavy_check_mark:                 |

rmw_iceoryx_cpp/CMakeLists.txt

@@ -6,9 +6,20 @@ if(NOT CMAKE_C_STANDARD)
   set(CMAKE_C_STANDARD 99)
 endif()
 
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
+# Set C++ standard in accordance with iceoryx
+# https://github.com/eclipse-iceoryx/iceoryx/blob/v2.0.3/iceoryx_hoofs/cmake/IceoryxPlatform.cmake#L26-L38
+if(LINUX)
   set(CMAKE_CXX_STANDARD 14)
+elseif(QNX)
+  set(CMAKE_CXX_STANDARD 14)
+elseif(WIN32)
+  set(CMAKE_CXX_STANDARD 17)
+elseif(APPLE)
+  set(CMAKE_CXX_STANDARD 17)
+elseif(UNIX)
+  set(CMAKE_CXX_STANDARD 17)
+else()
+  set(CMAKE_CXX_STANDARD 17)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
@@ -38,6 +49,7 @@ find_package(rosidl_typesupport_introspection_cpp REQUIRED)
 add_library(rmw_iceoryx_serialization SHARED
   src/internal/iceoryx_deserialize.cpp
   src/internal/iceoryx_serialize.cpp
+  src/internal/iceoryx_type_info_introspection.cpp
 )
 target_include_directories(rmw_iceoryx_serialization
   PUBLIC include
@@ -50,7 +62,6 @@ ament_target_dependencies(rmw_iceoryx_serialization
 )
 add_library(rmw_iceoryx_name_conversion SHARED
   src/internal/iceoryx_name_conversion.cpp
-  src/internal/iceoryx_type_info_introspection.cpp
   src/internal/iceoryx_topic_names_and_types.cpp
   src/internal/iceoryx_get_topic_endpoint_info.cpp
 )
@@ -59,6 +70,7 @@ target_include_directories(rmw_iceoryx_name_conversion
 )
 target_link_libraries(rmw_iceoryx_name_conversion
   iceoryx_posh::iceoryx_posh
+  rmw_iceoryx_serialization
 )
 ament_target_dependencies(rmw_iceoryx_name_conversion
   rcpputils

rmw_iceoryx_cpp/include/rmw_iceoryx_cpp/iceoryx_deserialize.hpp

@@ -1,4 +1,5 @@
 // Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
+// Copyright (c) 2023 by Apex.AI Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -16,6 +17,7 @@
 #define RMW_ICEORYX_CPP__ICEORYX_DESERIALIZE_HPP_
 
 struct rosidl_message_type_support_t;
+struct rosidl_service_type_support_t;
 
 namespace rmw_iceoryx_cpp
 {
@@ -26,5 +28,15 @@ void deserialize(
   const rosidl_message_type_support_t * type_supports,
   void * ros_message);
 
+void deserializeRequest(
+  const char * serialized_msg,
+  const rosidl_service_type_support_t * type_supports,
+  void * ros_message);
+
+void deserializeResponse(
+  const char * serialized_msg,
+  const rosidl_service_type_support_t * type_supports,
+  void * ros_message);
+
 }  // namespace rmw_iceoryx_cpp
 #endif  // RMW_ICEORYX_CPP__ICEORYX_DESERIALIZE_HPP_

rmw_iceoryx_cpp/include/rmw_iceoryx_cpp/iceoryx_name_conversion.hpp

@@ -1,5 +1,6 @@
 // Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
 // Copyright (c) 2021 by ZhenshengLee. All rights reserved.
+// Copyright (c) 2023 by Apex.AI Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -24,6 +25,7 @@
 #include "iceoryx_dust/cxx/std_string_support.hpp"
 
 struct rosidl_message_type_support_t;
+struct rosidl_service_type_support_t;
 
 namespace rmw_iceoryx_cpp
 {
@@ -72,5 +74,10 @@ get_iceoryx_service_description(
   const std::string & topic,
   const rosidl_message_type_support_t * type_supports);
 
+iox::capro::ServiceDescription
+get_iceoryx_service_description(
+  const std::string & topic,
+  const rosidl_service_type_support_t * type_supports);
+
 }  // namespace rmw_iceoryx_cpp
 #endif  // RMW_ICEORYX_CPP__ICEORYX_NAME_CONVERSION_HPP_

rmw_iceoryx_cpp/include/rmw_iceoryx_cpp/iceoryx_serialize.hpp

@@ -1,4 +1,5 @@
 // Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
+// Copyright (c) 2023 by Apex.AI Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -18,6 +19,7 @@
 #include <vector>
 
 struct rosidl_message_type_support_t;
+struct rosidl_service_type_support_t;
 
 namespace rmw_iceoryx_cpp
 {
@@ -27,5 +29,15 @@ void serialize(
   const rosidl_message_type_support_t * type_supports,
   std::vector<char> & payload_vector);
 
+void serializeRequest(
+  const void * ros_message,
+  const rosidl_service_type_support_t * type_supports,
+  std::vector<char> & payload_vector);
+
+void serializeResponse(
+  const void * ros_message,
+  const rosidl_service_type_support_t * type_supports,
+  std::vector<char> & payload_vector);
+
 }  // namespace rmw_iceoryx_cpp
 #endif  // RMW_ICEORYX_CPP__ICEORYX_SERIALIZE_HPP_

rmw_iceoryx_cpp/include/rmw_iceoryx_cpp/iceoryx_topic_names_and_types.hpp

@@ -1,4 +1,5 @@
 // Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
+// Copyright (c) 2023 by Apex.AI Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -35,6 +36,7 @@ void fill_topic_containers(
   std::map<std::string, std::vector<std::string>> & topic_publishers_);
 
 std::map<std::string, std::string> get_topic_names_and_types();
+std::map<std::string, std::string> get_service_names_and_types();
 
 std::map<std::string, std::vector<std::string>> get_nodes_and_publishers();
 

rmw_iceoryx_cpp/include/rmw_iceoryx_cpp/iceoryx_type_info_introspection.hpp

@@ -1,5 +1,5 @@
 // Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
-// Copyright (c) 2021 by Apex.AI Inc. All rights reserved.
+// Copyright (c) 2021 - 2023 by Apex.AI Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -20,6 +20,7 @@
 #include <utility>
 
 struct rosidl_message_type_support_t;
+struct rosidl_service_type_support_t;
 
 namespace rmw_iceoryx_cpp
 {
@@ -35,15 +36,26 @@ enum class TypeSupportLanguage
 const std::pair<TypeSupportLanguage, const rosidl_message_type_support_t *> get_type_support(
   const rosidl_message_type_support_t * type_supports);
 
+/// @brief Wraps get_service_typesupport_handle() and does error handling
+/// @return std::pair containing enum TypeSupportLanguage and handle to the type support
+const std::pair<TypeSupportLanguage, const rosidl_service_type_support_t *> get_type_support(
+  const rosidl_service_type_support_t * type_supports);
+
 bool iceoryx_is_fixed_size(const rosidl_message_type_support_t * type_supports);
+bool iceoryx_is_fixed_size(const rosidl_service_type_support_t * type_supports);
 
 bool iceoryx_is_valid_type_support(const rosidl_message_type_support_t * type_supports);
+bool iceoryx_is_valid_type_support(const rosidl_service_type_support_t * type_supports);
 
 size_t iceoryx_get_message_size(const rosidl_message_type_support_t * type_supports);
+size_t iceoryx_get_request_size(const rosidl_service_type_support_t * type_supports);
+size_t iceoryx_get_response_size(const rosidl_service_type_support_t * type_supports);
 
 std::string iceoryx_get_message_name(const rosidl_message_type_support_t * type_supports);
+std::string iceoryx_get_service_name(const rosidl_service_type_support_t * type_supports);
 
 std::string iceoryx_get_message_namespace(const rosidl_message_type_support_t * type_supports);
+std::string iceoryx_get_service_namespace(const rosidl_service_type_support_t * type_supports);
 
 void iceoryx_init_message(
   const rosidl_message_type_support_t * type_supports,

rmw_iceoryx_cpp/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rmw_iceoryx_cpp</name>
-  <version>1.0.1</version>
+  <version>2.0.3</version>
   <description>rmw implementation for Bosch's zero copy middleware iceoryx</description>
   <maintainer email="simon.hoinkis@apex.ai">Simon Hoinkis</maintainer>
   <license>Apache License 2.0</license>

rmw_iceoryx_cpp/src/internal/iceoryx_deserialize.cpp

@@ -1,5 +1,5 @@
 // Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
-// Copyright (c) 2021 by Apex.AI Inc. All rights reserved.
+// Copyright (c) 2021 - 2023 by Apex.AI Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -17,6 +17,7 @@
 
 #include "rosidl_typesupport_introspection_c/identifier.h"
 #include "rosidl_typesupport_introspection_c/message_introspection.h"
+#include "rosidl_typesupport_introspection_c/service_introspection.h"
 
 #include "rosidl_typesupport_introspection_cpp/identifier.hpp"
 #include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
@@ -50,4 +51,40 @@ void deserialize(
   }
 }
 
+void deserializeRequest(
+  const char * serialized_msg,
+  const rosidl_service_type_support_t * type_supports,
+  void * ros_message)
+{
+  auto ts = get_type_support(type_supports);
+
+  if (ts.first == TypeSupportLanguage::CPP) {
+    auto members_cpp =
+      static_cast<const rosidl_typesupport_introspection_cpp::ServiceMembers *>(ts.second->data);
+    rmw_iceoryx_cpp::details_cpp::deserializeRequest(serialized_msg, members_cpp, ros_message);
+  } else if (ts.first == TypeSupportLanguage::C) {
+    auto members_c =
+      static_cast<const rosidl_typesupport_introspection_c__ServiceMembers *>(ts.second->data);
+    rmw_iceoryx_cpp::details_c::deserializeRequest(serialized_msg, members_c, ros_message);
+  }
+}
+
+void deserializeResponse(
+  const char * serialized_msg,
+  const rosidl_service_type_support_t * type_supports,
+  void * ros_message)
+{
+  auto ts = get_type_support(type_supports);
+
+  if (ts.first == TypeSupportLanguage::CPP) {
+    auto members_cpp =
+      static_cast<const rosidl_typesupport_introspection_cpp::ServiceMembers *>(ts.second->data);
+    rmw_iceoryx_cpp::details_cpp::deserializeResponse(serialized_msg, members_cpp, ros_message);
+  } else if (ts.first == TypeSupportLanguage::C) {
+    auto members_c =
+      static_cast<const rosidl_typesupport_introspection_c__ServiceMembers *>(ts.second->data);
+    rmw_iceoryx_cpp::details_c::deserializeResponse(serialized_msg, members_c, ros_message);
+  }
+}
+
 }  // namespace rmw_iceoryx_cpp

rmw_iceoryx_cpp/src/internal/iceoryx_deserialize_typesupport_c.hpp

@@ -1,4 +1,5 @@
 // Copyright (c) 2020 by Robert Bosch GmbH. All rights reserved.
+// Copyright (c) 2023 by Apex.AI Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -27,6 +28,7 @@
 
 #include "rosidl_typesupport_introspection_c/field_types.h"
 #include "rosidl_typesupport_introspection_c/message_introspection.h"
+#include "rosidl_typesupport_introspection_c/service_introspection.h"
 
 #include "./iceoryx_serialization_common.hpp"
 
@@ -239,6 +241,22 @@ const char * deserialize(
   return serialized_msg;
 }
 
+const char * deserializeResponse(
+  const char * serialized_msg,
+  const rosidl_typesupport_introspection_c__ServiceMembers * service_members,
+  void * ros_message)
+{
+  return deserialize(serialized_msg, service_members->response_members_, ros_message);
+}
+
+const char * deserializeRequest(
+  const char * serialized_msg,
+  const rosidl_typesupport_introspection_c__ServiceMembers * service_members,
+  void * ros_message)
+{
+  return deserialize(serialized_msg, service_members->request_members_, ros_message);
+}
+
 }  // namespace details_c
 }  // namespace rmw_iceoryx_cpp
 #endif  // INTERNAL__ICEORYX_DESERIALIZE_TYPESUPPORT_C_HPP_

rmw_iceoryx_cpp/src/internal/iceoryx_deserialize_typesupport_cpp.hpp

@@ -1,4 +1,5 @@
 // Copyright (c) 2020 by Robert Bosch GmbH. All rights reserved.
+// Copyright (c) 2023 by Apex.AI Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -24,7 +25,7 @@
 #include <vector>
 
 #include "rosidl_typesupport_introspection_cpp/field_types.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
+#include "rosidl_typesupport_introspection_cpp/service_introspection.hpp"
 
 #include "./iceoryx_serialization_common.hpp"
 
@@ -309,6 +310,22 @@ const char * deserialize(
   return serialized_msg;
 }
 
+const char * deserializeResponse(
+  const char * serialized_msg,
+  const rosidl_typesupport_introspection_cpp::ServiceMembers * service_members,
+  void * ros_message)
+{
+  return deserialize(serialized_msg, service_members->response_members_, ros_message);
+}
+
+const char * deserializeRequest(
+  const char * serialized_msg,
+  const rosidl_typesupport_introspection_cpp::ServiceMembers * service_members,
+  void * ros_message)
+{
+  return deserialize(serialized_msg, service_members->request_members_, ros_message);
+}
+
 }  // namespace details_cpp
 }  // namespace rmw_iceoryx_cpp
 #endif  // INTERNAL__ICEORYX_DESERIALIZE_TYPESUPPORT_CPP_HPP_

rmw_iceoryx_cpp/src/internal/iceoryx_get_topic_endpoint_info.cpp

@@ -1,4 +1,5 @@
 // Copyright (c) 2021 by ZhenshengLee. All rights reserved.
+// Copyright (c) 2023 by Apex.AI Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -117,7 +118,7 @@ fill_rmw_publisher_end_info(
 
   int i = 0;
   // store all data in rmw_topic_endpoint_info_array_t
-  for (const auto node_full_name : full_name_array) {
+  for (const auto & node_full_name : full_name_array) {
     auto name_n_space = get_name_n_space_from_node_full_name(node_full_name);
     auto rmw_topic_endpoint_info = rmw_get_zero_initialized_topic_endpoint_info();
     // duplicate and store the topic_name
@@ -204,7 +205,7 @@ fill_rmw_subscriber_end_info(
 
   int i = 0;
   // store all data in rmw_topic_endpoint_info_array_t
-  for (const auto node_full_name : full_name_array) {
+  for (const auto & node_full_name : full_name_array) {
     auto name_n_space = get_name_n_space_from_node_full_name(node_full_name);
     auto rmw_topic_endpoint_info = rmw_get_zero_initialized_topic_endpoint_info();
     // duplicate and store the topic_name