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Implement QoS: liveliness, deadline, lifespan #352

Merged

wjwwood merged 39 commits into ros2:master from aws-ros-dev:qos_reviewed

May 3, 2019

Contributor

dabonnie commented Apr 3, 2019 •

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Summary
Provide implementation of QoS changes for rmw events. If applied this PR will

ADD support for QoS Liveliness Lost, Offered Deadline Missed, Liveliness Changed, and Requested Deadline Missed
ADD manual Liveliness assertion
ADD conversion methods to map from RTI Connext QoS DDS events to RMW QoS events

Relates to ros2/design#212
Connects to ros2/rmw#171

tfoote added the in progress label

nburek mentioned this pull request

[ROS2 QoS meta-ticket] Dealine, Liveliness, and Lifespan ros2/ros2#680

Closed

29 tasks

nburek commented Apr 4, 2019

We are in the process of making sure all the commits are signed off and a little other git hygiene to make sure these commits can be rebased easily when ready.

nburek force-pushed the qos_reviewed branch from 10e2737 to dfce81f Compare

April 4, 2019 17:34

ross-desmond and others added 26 commits

April 4, 2019 10:39


          Add events to rmw_wait

f1a4615

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
Signed-off-by: Burek <burekn@f45c89c6612b.ant.amazon.com>


          Add rmw_take_event stub

8f3a91e

Edit: Fix handle active event conditions to only set active specific
events.

@todo: found multiple loops through active conditions which is not necessary in
wait.hpp, time cost on average O(n), where n is the number of
conditions. Actual time cost: 4*n. Can be removed and made O(1).

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
Signed-off-by: Burek <burekn@f45c89c6612b.ant.amazon.com>


          Start filling in rmw_take_event

f2aa49b

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
Signed-off-by: Burek <burekn@f45c89c6612b.ant.amazon.com>


          fix broken build

9432a94

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
Signed-off-by: Burek <burekn@f45c89c6612b.ant.amazon.com>


          fix lint errors

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
Signed-off-by: Burek <burekn@f45c89c6612b.ant.amazon.com>


          apply uncrustify

c996a60

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
Signed-off-by: Burek <burekn@f45c89c6612b.ant.amazon.com>


          Implemented the take event method

0b64474

Added handling of the take event in both static publisher and static subscriber

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
Signed-off-by: Burek <burekn@f45c89c6612b.ant.amazon.com>


          Implemented the take event method

2405a01

Added handling of the take event in both static publisher and static subscriber

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
Signed-off-by: Burek <burekn@f45c89c6612b.ant.amazon.com>


          Fix build

ac0c251

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
Signed-off-by: Burek <burekn@f45c89c6612b.ant.amazon.com>


          Code and formatting fixes

9724e74

Handle DDS return codes
Added event_converter implementation

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
Signed-off-by: Burek <burekn@f45c89c6612b.ant.amazon.com>


          Addressed review comments

f915289

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
Signed-off-by: Burek <burekn@f45c89c6612b.ant.amazon.com>


          Removed unused includes

2f8de98

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
Signed-off-by: Burek <burekn@f45c89c6612b.ant.amazon.com>


          Very linty

1c57b0c

Signed-off-by: Emerson Knapp <eknapp@amazon.com>
Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
Signed-off-by: Burek <burekn@f45c89c6612b.ant.amazon.com>


          fix runtime linking error

85739d1

Signed-off-by: Miaofei <miaofei@amazon.com>
Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
Signed-off-by: Burek <burekn@f45c89c6612b.ant.amazon.com>


          Set liveliness/deadline/lifespan QoS settings on Connext

bc05aa5

Signed-off-by: Emerson Knapp <eknapp@amazon.com>
Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
Signed-off-by: Burek <burekn@f45c89c6612b.ant.amazon.com>


          Disable manual liveliness and add comment for infinite

Signed-off-by: Emerson Knapp <eknapp@amazon.com>
Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
Signed-off-by: Burek <burekn@f45c89c6612b.ant.amazon.com>


          Re-enable manual liveliness, rename to by_node

76689ec

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
Signed-off-by: Burek <burekn@f45c89c6612b.ant.amazon.com>


          Removed unsupported events

fb6f514

Sync with changes made in rmw

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
Signed-off-by: Burek <burekn@f45c89c6612b.ant.amazon.com>


          change rmw_event_t APIs from create()/destroy() to init()/fini() pattern

a1e564c

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
Signed-off-by: Burek <burekn@f45c89c6612b.ant.amazon.com>


          Added documentation

b9af9d7

Remove StatusCondition trigger check

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
Signed-off-by: Burek <burekn@f45c89c6612b.ant.amazon.com>


          Fix broken logical comparison

1075c0b

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
Signed-off-by: Burek <burekn@f45c89c6612b.ant.amazon.com>


          Rename implementation method to match header file

493606a

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
Signed-off-by: Burek <burekn@f45c89c6612b.ant.amazon.com>


          Move rmw_*_event_init implementation to rmw

f140c18

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
Signed-off-by: Burek <burekn@f45c89c6612b.ant.amazon.com>


          fix issue with events not being triggered

c326ccb

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
Signed-off-by: Burek <burekn@f45c89c6612b.ant.amazon.com>


          implement assert_liveliness()

87857ac

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
Signed-off-by: Burek <burekn@f45c89c6612b.ant.amazon.com>


          Added implementation files for inline methods

973cecb

Edited code to fix linting
Addressed review comments

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
Signed-off-by: Burek <burekn@f45c89c6612b.ant.amazon.com>

Contributor

jwillemsen commented Apr 8, 2019

@dabonnie great, I started some time ago with an effort to add OpenDDS but lack sponsoring to complete this, hopefully we can continue that at some point

Contributor Author

dabonnie commented Apr 12, 2019

@wjwwood @jwillemsen any other comments?

jwillemsen reviewed

View reviewed changes

Contributor

jwillemsen left a comment

Some more DDS without DDS:: in the code

rmw_connext_cpp/include/rmw_connext_cpp/connext_static_subscriber_info.hpp Outdated Show resolved Hide resolved

rmw_connext_shared_cpp/include/rmw_connext_shared_cpp/connext_static_event_info.hpp Outdated Show resolved Hide resolved

rmw_connext_shared_cpp/include/rmw_connext_shared_cpp/wait.hpp Outdated Show resolved Hide resolved

dabonnie and others added 2 commits

April 12, 2019 16:19


          Addressed more naming from review

3d34de7

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>


          Merge remote-tracking branch 'origin/master'

0232cfa

Signed-off-by: Miaofei <miaofei@amazon.com>

jwillemsen reviewed

View reviewed changes

rmw_connext_shared_cpp/include/rmw_connext_shared_cpp/event_converter.hpp Outdated Show resolved Hide resolved

mm318 and others added 2 commits

April 16, 2019 15:57


          fix windows build

3bfa6c0

Signed-off-by: Miaofei <miaofei@amazon.com>


          Disable inactive status events

0f12385

Signed-off-by: Ross Desmond <44277324+ross-desmond@users.noreply.github.com>

nburek commented Apr 19, 2019

@wjwwood This is ready for review again. Can you please update the label? Thanks.

wjwwood added in review and removed in progress labels

wjwwood suggested changes

View reviewed changes

rmw_connext_cpp/include/rmw_connext_cpp/connext_static_publisher_info.hpp Outdated Show resolved Hide resolved

rmw_connext_cpp/include/rmw_connext_cpp/connext_static_publisher_info.hpp Outdated Show resolved Hide resolved

rmw_connext_cpp/include/rmw_connext_cpp/connext_static_publisher_info.hpp Outdated Show resolved Hide resolved

rmw_connext_cpp/include/rmw_connext_cpp/connext_static_publisher_info.hpp Outdated Show resolved Hide resolved

rmw_connext_cpp/include/rmw_connext_cpp/connext_static_subscriber_info.hpp Show resolved Hide resolved

rmw_connext_shared_cpp/src/event.cpp Outdated Show resolved Hide resolved

rmw_connext_shared_cpp/src/event.cpp Show resolved Hide resolved

rmw_connext_shared_cpp/src/event.cpp Outdated Show resolved Hide resolved

rmw_connext_shared_cpp/src/event.cpp Show resolved Hide resolved

rmw_connext_shared_cpp/src/event.cpp Show resolved Hide resolved

wjwwood mentioned this pull request

Implement QoS: liveliness, deadline, lifespan ros2/rmw_opensplice#266

Merged


          Address PR comments and formatting

6eff78d

Signed-off-by: Ross Desmond <44277324+ross-desmond@users.noreply.github.com>

Member

wjwwood commented Apr 25, 2019

The latest changes look a lot better, thanks for iterating! There are a few lingering comments that haven't been addressed (changed or commented on), for example there's two or three in wait.hpp. I'll check again after a while to see if those have been resolved.


          Address review comments and formatting

5e2bb63

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>

Contributor Author

dabonnie commented Apr 29, 2019

@wjwwood I believe this should take care of your requested changes :-)

wjwwood approved these changes

View reviewed changes


          fix cpplint and uncrustify issues

de529fd

Signed-off-by: Miaofei <miaofei@amazon.com>

wjwwood approved these changes

View reviewed changes


          Merge in 'ros2/master'

fa97d23

Signed-off-by: Miaofei <miaofei@amazon.com>

wjwwood approved these changes

View reviewed changes


          Fix OSX and MSbuild warnings

883ba2e

Signed-off-by: Emerson Knapp <eknapp@amazon.com>

emersonknapp force-pushed the qos_reviewed branch from 61e25c6 to 883ba2e Compare

May 3, 2019 02:57

Member

wjwwood commented May 3, 2019

Unfortunately, 883ba2e doesn't pass linting, due to a line now being too long. We had already begun testing when the last force push happened (4 hours before this comment).

wjwwood mentioned this pull request

Implement QoS: liveliness, deadline, lifespan ros2/rmw#171

Merged

Member

mm318 commented May 3, 2019

I can fix it now.


          fix line length issue

8e18d41

Signed-off-by: Miaofei <miaofei@amazon.com>

wjwwood merged commit cadd787 into ros2:master

wjwwood removed the in review label

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