Expose type hash on typesupports (rep2011) (#729)

* Expose type hash on typesupports

* Change TYPE_VERSION_HASH to TYPE_HASH, fix variable inlining

* Undo the serviceMembers idea

* Re-fix hash definition indentation now that not using defines

* Tweak the separator to match rcl capabilities

Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>

rosidl_generator_c/resource/idl__struct.h.em

@@ -13,6 +13,7 @@
 @{
 from rosidl_generator_c import idl_structure_type_to_c_typename
 from rosidl_generator_c import type_hash_to_c_definition
+from rosidl_generator_type_description import TYPE_HASH_VAR
 from rosidl_pycommon import convert_camel_case_to_lower_case_underscore
 include_parts = [package_name] + list(interface_path.parents[0].parts) + [
     'detail', convert_camel_case_to_lower_case_underscore(interface_path.stem)]
@@ -60,10 +61,7 @@ from rosidl_parser.definition import Service
 }@
 @[for service in content.get_elements_of_type(Service)]@
 
-@{ hash_var = idl_structure_type_to_c_typename(service.namespaced_type) + '__TYPE_VERSION_HASH' }@
-// Note: this define is for MSVC, where the static const var can't be used in downstream aggregate initializers
-#define @(hash_var)__INIT @(type_hash_to_c_definition(type_hash['service'], line_final_backslash=True))
-static const rosidl_type_hash_t @(hash_var) = @(hash_var)__INIT;
+static const rosidl_type_hash_t @(idl_structure_type_to_c_typename(service.namespaced_type))__@(TYPE_HASH_VAR) = @(type_hash_to_c_definition(type_hash['service']));
 
 @{
 TEMPLATE(
@@ -99,9 +97,7 @@ from rosidl_parser.definition import Action
 }@
 @[for action in content.get_elements_of_type(Action)]@
 
-@{ hash_var = idl_structure_type_to_c_typename(action.namespaced_type) + '__TYPE_VERSION_HASH' }@
-#define @(hash_var)__INIT @(type_hash_to_c_definition(type_hash['action'], line_final_backslash=True))
-static const rosidl_type_hash_t @(hash_var) = @(hash_var)__INIT;
+static const rosidl_type_hash_t @(idl_structure_type_to_c_typename(action.namespaced_type))__@(TYPE_HASH_VAR) = @(type_hash_to_c_definition(type_hash['action']));
 
 @{
 TEMPLATE(
@@ -127,10 +123,7 @@ TEMPLATE(
     type_hash=type_hash['feedback'])
 }@
 
-@{ hash_var = idl_structure_type_to_c_typename(action.send_goal_service.namespaced_type) + '__TYPE_VERSION_HASH' }@
-// Note: this define is for MSVC, where the static const var can't be used in downstream aggregate initializers
-#define @(hash_var)__INIT @(type_hash_to_c_definition(type_hash['send_goal_service']['service'], line_final_backslash=True))
-static const rosidl_type_hash_t @(hash_var) = @(hash_var)__INIT;
+static const rosidl_type_hash_t @(idl_structure_type_to_c_typename(action.send_goal_service.namespaced_type))__@(TYPE_HASH_VAR) = @(type_hash_to_c_definition(type_hash['send_goal_service']['service']));
 
 @{
 TEMPLATE(
@@ -156,10 +149,7 @@ TEMPLATE(
     type_hash=type_hash['send_goal_service']['event_message'])
 }@
 
-@{ hash_var = idl_structure_type_to_c_typename(action.get_result_service.namespaced_type) + '__TYPE_VERSION_HASH' }@
-// Note: this define is for MSVC, where the static const var can't be used in downstream aggregate initializers
-#define @(hash_var)__INIT @(type_hash_to_c_definition(type_hash['get_result_service']['service'], line_final_backslash=True))
-static const rosidl_type_hash_t @(hash_var) = @(hash_var)__INIT;
+static const rosidl_type_hash_t @(idl_structure_type_to_c_typename(action.get_result_service.namespaced_type))__@(TYPE_HASH_VAR) = @(type_hash_to_c_definition(type_hash['get_result_service']['service']));
 
 @{
 TEMPLATE(

rosidl_generator_c/resource/msg__struct.h.em

@@ -23,6 +23,7 @@ from rosidl_generator_c import idl_structure_type_to_c_typename
 from rosidl_generator_c import interface_path_to_string
 from rosidl_generator_c import type_hash_to_c_definition
 from rosidl_generator_c import value_to_c
+from rosidl_generator_type_description import TYPE_HASH_VAR
 }@
 @#<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
 @# Collect necessary include directives for all members
@@ -63,11 +64,8 @@ for member in message.structure.members:
 @#>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
 
 @#<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
-// Type Version Hash for interface
-@{ hash_var = idl_structure_type_to_c_typename(message.structure.namespaced_type) + '__TYPE_VERSION_HASH' }@
-// Note: this define is for MSVC, where the static const var can't be used in downstream aggregate initializers
-#define @(hash_var)__INIT @(type_hash_to_c_definition(type_hash['message'], line_final_backslash=True))
-static const rosidl_type_hash_t @(hash_var) = @(hash_var)__INIT;
+// Type Hash for interface
+static const rosidl_type_hash_t @(idl_structure_type_to_c_typename(message.structure.namespaced_type))__@(TYPE_HASH_VAR) = @(type_hash_to_c_definition(type_hash['message']));
 
 // Constants defined in the message
 @[for constant in message.constants]@

rosidl_generator_c/resource/srv__type_support.c.em

@@ -1,9 +1,9 @@
 @# Included from rosidl_generator_c/resource/srv__type_support.c.em
 @{
-from rosidl_pycommon import convert_camel_case_to_lower_case_underscore
+from rosidl_parser.definition import SERVICE_EVENT_MESSAGE_SUFFIX
 from rosidl_parser.definition import SERVICE_REQUEST_MESSAGE_SUFFIX
 from rosidl_parser.definition import SERVICE_RESPONSE_MESSAGE_SUFFIX
-from rosidl_parser.definition import SERVICE_EVENT_MESSAGE_SUFFIX
+from rosidl_pycommon import convert_camel_case_to_lower_case_underscore
 event_type = '__'.join([package_name, *interface_path.parents[0].parts, service.namespaced_type.name]) + SERVICE_EVENT_MESSAGE_SUFFIX
 request_type = '__'.join([package_name, *interface_path.parents[0].parts, service.namespaced_type.name]) + SERVICE_REQUEST_MESSAGE_SUFFIX
 response_type = '__'.join([package_name, *interface_path.parents[0].parts, service.namespaced_type.name]) + SERVICE_RESPONSE_MESSAGE_SUFFIX

rosidl_generator_c/rosidl_generator_c/__init__.py

@@ -223,25 +223,20 @@ def escape_wstring(s):
     return escape_string(s)
 
 
-def type_hash_to_c_definition(hash_string, *, line_final_backslash=False):
+def type_hash_to_c_definition(hash_string, *, indent=2):
     """Generate empy for rosidl_type_hash_t instance with 8 bytes per line for readability."""
     bytes_per_row = 8
     rows = 4
     assert bytes_per_row * rows == RIHS01_HASH_VALUE_SIZE, 'This function is outdated.'
-    indent = 4  # Uncrustify prefers this indentation
     version, value = parse_rihs_string(hash_string)
     assert version == 1, 'This function only knows how to generate RIHS01 definitions.'
 
     result = f'{{{version}, {{'
-    if line_final_backslash:
-        result += ' \\'
     result += '\n'
     for row in range(rows):
         result += ' ' * (indent + 1)
         for i in range(row * bytes_per_row, (row + 1) * bytes_per_row):
             result += f' 0x{value[i * 2]}{value[i * 2 + 1]},'
-        if line_final_backslash:
-            result += ' \\'
         result += '\n'
     result += ' ' * indent
     result += '}}'

rosidl_generator_cpp/cmake/rosidl_generator_cpp_generate_interfaces.cmake

@@ -106,6 +106,7 @@ add_dependencies(
 
 set(_target_suffix "__rosidl_generator_cpp")
 add_library(${rosidl_generate_interfaces_TARGET}${_target_suffix} INTERFACE)
+target_compile_features(${rosidl_generate_interfaces_TARGET}${_target_suffix} INTERFACE cxx_std_17)
 add_library(${PROJECT_NAME}::${rosidl_generate_interfaces_TARGET}${_target_suffix} ALIAS
   ${rosidl_generate_interfaces_TARGET}${_target_suffix})
 target_include_directories(${rosidl_generate_interfaces_TARGET}${_target_suffix}

rosidl_generator_cpp/resource/action__struct.hpp.em

@@ -1,6 +1,7 @@
 @# Included from rosidl_generator_cpp/resource/idl__struct.hpp.em
 @{
 from rosidl_generator_c import type_hash_to_c_definition
+from rosidl_generator_type_description import TYPE_HASH_VAR
 from rosidl_parser.definition import ACTION_FEEDBACK_MESSAGE_SUFFIX
 from rosidl_parser.definition import ACTION_FEEDBACK_SUFFIX
 from rosidl_parser.definition import ACTION_GOAL_SERVICE_SUFFIX
@@ -79,7 +80,7 @@ namespace @(ns)
 @[end for]@
 struct @(action.namespaced_type.name)
 {
-  static constexpr const rosidl_type_hash_t TYPE_VERSION_HASH = @(type_hash_to_c_definition(type_hash['action']));
+  static constexpr const rosidl_type_hash_t @(TYPE_HASH_VAR) = @(type_hash_to_c_definition(type_hash['action'], indent=4));
 
   /// The goal message defined in the action definition.
   using Goal = @(action_name)@(ACTION_GOAL_SUFFIX);

rosidl_generator_cpp/resource/msg__struct.hpp.em

@@ -6,6 +6,7 @@ from rosidl_generator_cpp import escape_string
 from rosidl_generator_cpp import escape_wstring
 from rosidl_generator_cpp import msg_type_to_cpp
 from rosidl_generator_cpp import MSG_TYPE_TO_CPP
+from rosidl_generator_type_description import TYPE_HASH_VAR
 from rosidl_parser.definition import AbstractNestedType
 from rosidl_parser.definition import AbstractString
 from rosidl_parser.definition import AbstractWString
@@ -102,8 +103,7 @@ struct @(message.structure.namespaced_type.name)_
 {
   using Type = @(message.structure.namespaced_type.name)_<ContainerAllocator>;
 
-  // Type Version Hash for interface
-  constexpr static const rosidl_type_hash_t TYPE_VERSION_HASH = @(type_hash_to_c_definition(type_hash['message']));
+  constexpr static const rosidl_type_hash_t @(TYPE_HASH_VAR) = @(type_hash_to_c_definition(type_hash['message'], indent=4));
 
 @{
 # The creation of the constructors for messages is a bit complicated.  The goal
@@ -362,7 +362,7 @@ using @(message.structure.namespaced_type.name) =
   @(message_typename)_<std::allocator<void>>;
 
 template<class ContainerAllocator>
-constexpr const rosidl_type_hash_t @(message.structure.namespaced_type.name)_<ContainerAllocator>::TYPE_VERSION_HASH;
+constexpr const rosidl_type_hash_t @(message.structure.namespaced_type.name)_<ContainerAllocator>::@(TYPE_HASH_VAR);
 
 // constant definitions
 @[for c in message.constants]@

rosidl_generator_cpp/resource/srv__struct.hpp.em

@@ -1,6 +1,10 @@
 @# Included from rosidl_generator_cpp/resource/idl__struct.hpp.em
 @{
 from rosidl_generator_c import type_hash_to_c_definition
+from rosidl_generator_type_description import TYPE_HASH_VAR
+from rosidl_parser.definition import SERVICE_EVENT_MESSAGE_SUFFIX
+from rosidl_parser.definition import SERVICE_REQUEST_MESSAGE_SUFFIX
+from rosidl_parser.definition import SERVICE_RESPONSE_MESSAGE_SUFFIX
 }@
 @{
 TEMPLATE(
@@ -37,11 +41,11 @@ struct @(service.namespaced_type.name)
 @{
 service_typename = '::'.join(service.namespaced_type.namespaced_name())
 }@
-  static constexpr const rosidl_type_hash_t TYPE_VERSION_HASH = @(type_hash_to_c_definition(type_hash['service']));
+  static constexpr const rosidl_type_hash_t @(TYPE_HASH_VAR) = @(type_hash_to_c_definition(type_hash['service'], indent=4));
 
-  using Request = @(service_typename)_Request;
-  using Response = @(service_typename)_Response;
-  using Event = @(service_typename)_Event;
+  using Request = @(service_typename)@(SERVICE_REQUEST_MESSAGE_SUFFIX);
+  using Response = @(service_typename)@(SERVICE_RESPONSE_MESSAGE_SUFFIX);
+  using Event = @(service_typename)@(SERVICE_EVENT_MESSAGE_SUFFIX);
 };
 @
 @[for ns in reversed(service.namespaced_type.namespaces)]@

rosidl_generator_type_description/README.md

@@ -2,7 +2,7 @@
 
 This generator serializes ROS 2 interface descriptions (message, service, action) to a common format and uses SHA256 to hash that representation into a unique hash for each type.
 
-The SHA256 hashes generated by this package must match those generated by `rcl_calculate_type_version_hash`. The `.json` files generated must, therefore, match the result of `rcl_type_description_to_hashable_json`.
+The SHA256 hashes generated by this package must match those generated by `rcl_calculate_type_hash`. The `.json` files generated must, therefore, match the result of `rcl_type_description_to_hashable_json`.
 
 ## Generated files
 

rosidl_generator_type_description/rosidl_generator_type_description/__init__.py

@@ -31,6 +31,9 @@
 RIHS01_HASH_VALUE_SIZE = 32
 RIHS01_PATTERN = re.compile(r'RIHS([0-9a-f]{2})_([0-9a-f]{64})')
 
+# Used by code generators to create type hash variable names
+TYPE_HASH_VAR = 'TYPE_HASH'
+
 
 def generate_type_hash(generator_arguments_file: str) -> List[str]:
     with open(generator_arguments_file, 'r') as f:
@@ -461,7 +464,8 @@ def _calculate_hash_tree(self) -> dict:
             check_circular=True,
             allow_nan=False,
             indent=None,
-            separators=(',', ': '),
+            # note: libyaml in C doesn't allow for tweaking these separators, this is its builtin
+            separators=(', ', ': '),
             sort_keys=False
         )
         sha = hashlib.sha256()

rosidl_runtime_c/include/rosidl_runtime_c/action_type_support_struct.h

@@ -17,6 +17,7 @@
 
 #include "rosidl_runtime_c/message_type_support_struct.h"
 #include "rosidl_runtime_c/service_type_support_struct.h"
+#include "rosidl_runtime_c/type_hash.h"
 #include "rosidl_runtime_c/visibility_control.h"
 #include "rosidl_typesupport_interface/macros.h"
 
@@ -38,6 +39,8 @@ struct rosidl_action_type_support_t
   const rosidl_service_type_support_t * cancel_service_type_support;
   const rosidl_message_type_support_t * feedback_message_type_support;
   const rosidl_message_type_support_t * status_message_type_support;
+  /// Hash of the action's description
+  const rosidl_type_hash_t * type_hash;
 };
 
 /// Get the action type support given a provided action and package.

rosidl_runtime_c/include/rosidl_runtime_c/message_type_support_struct.h

@@ -15,6 +15,7 @@
 #ifndef ROSIDL_RUNTIME_C__MESSAGE_TYPE_SUPPORT_STRUCT_H_
 #define ROSIDL_RUNTIME_C__MESSAGE_TYPE_SUPPORT_STRUCT_H_
 
+#include "rosidl_runtime_c/type_hash.h"
 #include "rosidl_runtime_c/visibility_control.h"
 #include "rosidl_typesupport_interface/macros.h"
 
@@ -37,6 +38,8 @@ struct rosidl_message_type_support_t
   const void * data;
   /// Pointer to the message type support handler function
   rosidl_message_typesupport_handle_function func;
+  /// Hash of the message's description
+  const rosidl_type_hash_t * type_hash;
 };
 
 /// Get the message type support handle specific to this identifier.

rosidl_runtime_c/include/rosidl_runtime_c/service_type_support_struct.h

@@ -19,6 +19,7 @@
 
 #include "rcutils/allocator.h"
 #include "rosidl_runtime_c/message_type_support_struct.h"
+#include "rosidl_runtime_c/type_hash.h"
 #include "rosidl_runtime_c/visibility_control.h"
 
 #include "rosidl_typesupport_interface/macros.h"
@@ -81,12 +82,18 @@ struct rosidl_service_type_support_t
   const void * data;
   /// Pointer to the service type support handler function
   rosidl_service_typesupport_handle_function func;
+  /// Service request message typesupport
+  const rosidl_message_type_support_t * request_typesupport;
+  /// Service response message typesupport
+  const rosidl_message_type_support_t * response_typesupport;
+  /// Service event message typesupport
+  const rosidl_message_type_support_t * event_typesupport;
   /// Pointer to function to create the introspection message
   rosidl_event_message_create_handle_function_function event_message_create_handle_function;
   /// Pointer to function to finalize the introspection message
   rosidl_event_message_destroy_handle_function_function event_message_destroy_handle_function;
-  /// Service event message typesupport
-  const rosidl_message_type_support_t * event_typesupport;
+  /// Hash of the service's description
+  const rosidl_type_hash_t * type_hash;
 };
 
 /// Get the service type support handle specific to this identifier.

rosidl_typesupport_introspection_c/include/rosidl_typesupport_introspection_c/message_introspection.h

@@ -86,8 +86,6 @@ typedef struct rosidl_typesupport_introspection_c__MessageMembers_s
   const char * message_namespace_;
   /// The name of the interface, e.g. "Int16"
   const char * message_name_;
-  /// Hashed value of the interface description
-  const rosidl_type_hash_t type_hash_;
   /// The number of fields in the interface
   uint32_t member_count_;
   /// The size of the interface structure in memory

rosidl_typesupport_introspection_c/resource/msg__type_support.c.em

@@ -2,6 +2,8 @@
 @{
 from rosidl_pycommon import convert_camel_case_to_lower_case_underscore
 from rosidl_generator_c import idl_structure_type_to_c_include_prefix
+from rosidl_generator_c import idl_structure_type_to_c_typename
+from rosidl_generator_type_description import TYPE_HASH_VAR
 from rosidl_parser.definition import AbstractGenericString
 from rosidl_parser.definition import AbstractNestedType
 from rosidl_parser.definition import AbstractSequence
@@ -270,7 +272,6 @@ for index, member in enumerate(message.structure.members):
 static const rosidl_typesupport_introspection_c__MessageMembers @(function_prefix)__@(message.structure.namespaced_type.name)_message_members = {
   "@('__'.join([package_name] + list(interface_path.parents[0].parts)))",  // message namespace
   "@(message.structure.namespaced_type.name)",  // message name
-  @('__'.join(message.structure.namespaced_type.namespaced_name()))__TYPE_VERSION_HASH__INIT,
   @(len(message.structure.members)),  // number of fields
   sizeof(@('__'.join([package_name] + list(interface_path.parents[0].parts) + [message.structure.namespaced_type.name]))),
   @(function_prefix)__@(message.structure.namespaced_type.name)_message_member_array,  // message members
@@ -284,6 +285,7 @@ static rosidl_message_type_support_t @(function_prefix)__@(message.structure.nam
   0,
   &@(function_prefix)__@(message.structure.namespaced_type.name)_message_members,
   get_message_typesupport_handle_function,
+  &@(idl_structure_type_to_c_typename(message.structure.namespaced_type))__@(TYPE_HASH_VAR),
 };
 
 ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_@(package_name)

rosidl_typesupport_introspection_c/resource/srv__type_support.c.em

@@ -21,10 +21,12 @@ TEMPLATE(
 }@
 
 @{
-from rosidl_pycommon import convert_camel_case_to_lower_case_underscore
+from rosidl_generator_c import idl_structure_type_to_c_typename
+from rosidl_generator_type_description import TYPE_HASH_VAR
+from rosidl_parser.definition import SERVICE_EVENT_MESSAGE_SUFFIX
 from rosidl_parser.definition import SERVICE_REQUEST_MESSAGE_SUFFIX
 from rosidl_parser.definition import SERVICE_RESPONSE_MESSAGE_SUFFIX
-from rosidl_parser.definition import SERVICE_EVENT_MESSAGE_SUFFIX
+from rosidl_pycommon import convert_camel_case_to_lower_case_underscore
 include_parts = [package_name] + list(interface_path.parents[0].parts) + [
     'detail', convert_camel_case_to_lower_case_underscore(interface_path.stem)]
 include_base = '/'.join(include_parts)
@@ -37,7 +39,10 @@ header_files = [
     'rosidl_typesupport_introspection_c/service_introspection.h',
 ]
 
-message_function_prefix = '__'.join([package_name] + list(interface_path.parents[0].parts) + [service.namespaced_type.name]) + f'{SERVICE_EVENT_MESSAGE_SUFFIX}__rosidl_typesupport_introspection_c'
+message_function_prefix = '__'.join([package_name] + list(interface_path.parents[0].parts) + [service.namespaced_type.name])
+request_message_function_prefix = message_function_prefix + f'{SERVICE_REQUEST_MESSAGE_SUFFIX}__rosidl_typesupport_introspection_c'
+response_message_function_prefix = message_function_prefix + f'{SERVICE_RESPONSE_MESSAGE_SUFFIX}__rosidl_typesupport_introspection_c'
+event_message_function_prefix = message_function_prefix + f'{SERVICE_EVENT_MESSAGE_SUFFIX}__rosidl_typesupport_introspection_c'
 function_prefix = '__'.join(include_parts) + '__rosidl_typesupport_introspection_c'
 }@
 @[for header_file in header_files]@
@@ -71,6 +76,9 @@ static rosidl_service_type_support_t @(function_prefix)__@(service.namespaced_ty
   0,
   &@(function_prefix)__@(service.namespaced_type.name)_service_members,
   get_service_typesupport_handle_function,
+  &@(request_message_function_prefix)__@(service.namespaced_type.name)@(SERVICE_REQUEST_MESSAGE_SUFFIX)_message_type_support_handle,
+  &@(response_message_function_prefix)__@(service.namespaced_type.name)@(SERVICE_RESPONSE_MESSAGE_SUFFIX)_message_type_support_handle,
+  &@(event_message_function_prefix)__@(service.namespaced_type.name)@(SERVICE_EVENT_MESSAGE_SUFFIX)_message_type_support_handle,
   ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_CREATE_EVENT_MESSAGE_SYMBOL_NAME(
     rosidl_typesupport_c,
     @(',\n    '.join(service.namespaced_type.namespaced_name()))
@@ -79,7 +87,7 @@ static rosidl_service_type_support_t @(function_prefix)__@(service.namespaced_ty
     rosidl_typesupport_c,
     @(',\n    '.join(service.namespaced_type.namespaced_name()))
   ),
-  &@(message_function_prefix)__@(service.namespaced_type.name)@(SERVICE_EVENT_MESSAGE_SUFFIX)_message_type_support_handle,
+  &@(idl_structure_type_to_c_typename(service.namespaced_type))__@(TYPE_HASH_VAR),
 };
 
 // Forward declaration of request/response type support functions

rosidl_typesupport_introspection_cpp/include/rosidl_typesupport_introspection_cpp/message_introspection.hpp

@@ -93,8 +93,6 @@ typedef struct ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC MessageMembers_s
   const char * message_namespace_;
   /// The name of the interface, e.g. "Int16"
   const char * message_name_;
-  /// Hashed value of the interface description
-  const rosidl_type_hash_t type_hash_;
   /// The number of fields in the interface
   uint32_t member_count_;
   /// The size of the interface structure in memory