Add support for listener callbacks #76

asorbini · 2022-03-16T23:35:02Z

This PR implements the new listener-related functions that were introduced by #44.

Signed-off-by: Andrea Sorbini asorbini@rti.com

Signed-off-by: Andrea Sorbini <asorbini@rti.com>

asorbini · 2022-03-17T01:55:34Z

Linux CI with only Connext enabled for initial validation:

Signed-off-by: Andrea Sorbini <asorbini@rti.com>

asorbini · 2022-03-17T23:13:40Z

Linux CI with only Connext enabled for initial validation:

I investigated the failures, I believe the issues lie either in some test problem or they are unrelated to this PR (and they manifested because I ran CI with just this RMW enabled, which usually doesn't happen).

rclcpp.TestSubscription.on_new_message_callback: in the last case, the test only waits while c3 == 0 while instead the loop should continue for as long as c3 < 3.
rclcpp.TestWaitForAllAckedWithParm/TestPublisherWaitForAllAcked.check_wait_for_all_acked_with_QosPolicy/0: unrelated issue. Problem is with the test which only waits for 500ms to receive an ACK. Connext's default settings use a 3s periodic heartbeat, which may cause the ACK not to be received within the timeout. Increasing the wait to 6s makes the test pass consistently.
rclpy.rclpy.test.test_client.TestClient.test_service_timestamps: unrelated problem. The issue lies with the test which doesn't take into account the possible return value (None, None) which indicates a successful take_request() with no request actually taken (i.e. an "empty polling" of the requests)..
launch_testing_examples.launch_testing_examples.check_node_launch_test and launch_testing_examples.launch_testing_examples.set_param_launch: unrelated issue. It seems like the failures can be avoided by increasing the wait timeout or by configuring Connext to more quickly repair samples on topic "ros_discovery_info".
Errors in rviz_rendering seem to be unrelated to the RMW layer because they occur also with other RMW implementations.

Signed-off-by: Andrea Sorbini <asorbini@rti.com>

ivanpauno · 2022-03-18T20:54:57Z

rclcpp.TestSubscription.on_new_message_callback: in the last case, the test only waits while c3 == 0 while instead the loop should continue for as long as c3 < 3.

Could we fix that test?
It's directly related to the listener callbacks API, so it would be good to get it fixed to make sure that's the only issue.

ivanpauno

Code LGTM!

asorbini · 2022-03-19T01:37:55Z

Could we fix that test? It's directly related to the listener callbacks API, so it would be good to get it fixed to make sure that's the only issue.

I opened ros2/rclcpp#1900 to fix the unit tests.

asorbini · 2022-03-19T01:44:52Z

Could we fix that test? It's directly related to the listener callbacks API, so it would be good to get it fixed to make sure that's the only issue.

I opened ros2/rclcpp#1900 to fix the unit tests.

Also opened ros2/rclcpp#1901 to fix the issue with the wait_for_acknowledgments() test.

alsora · 2022-03-22T09:15:45Z

rmw_connextdds_common/src/common/rmw_impl_waitset_std.cpp

+  std::unique_lock<std::mutex> lock_mutex(new_data_event_mutex_);
+  perform_action_and_update_state(
+    [this, &unread_samples]() {
+      const rmw_ret_t rc = this->sub->count_unread_samples(unread_samples);


I just want to double check here, as I don't really know the underlying connext APIs.
When is a sample marked as read?

If this notify_new_data function is invoked whenever the DDS receives a message, I would expect unread_samples to always be 1.

I just want to double check here, as I don't really know the underlying connext APIs.
When is a sample marked as read?

In general in DDS, samples have a "sample state" associated with them, which is "NOT_READ" when they are added to a DataReader's cache, and it transitions to "READ" once they have been returned at least once by a call to DataReader::read() or DataReader::take() (in the case of take() the "READ" state cannot be really observed because the sample is removed from the cache, but theoretically the sample transitions...).

Both read() and take() take a "sample state" argument to possibly filter the samples in the cache (in addition to two more states, "Instance" and "View". So the count_unread_samples() function takes advantage of this to scan the reader's cache and only ever receive samples that haven't yet been observed by the "application layer" (i.e. the RMW/ROS2).

The RMW will then take()'s all the samples out of the cache (when the upper layers call rmw_take_message()) and it does to without constraints on the "sample state".

If this notify_new_data function is invoked whenever the DDS receives a message, I would expect unread_samples to always be 1.

There is no guarantee in DDS that the callback will be invoked for every samples. In fact the protocol explicitly allows an implementation to coalesce multiple events in a single notification. This is true for every of the observable events, not just DATA_AVAILABLE.

Short of explicit guarantees of an implementation, it is not correct to assume that a DDS listener will be notified for every received sample. The listener must actually inspect the reader cache to determine how many samples are available.

Btw, I ended up with this implementation that counts the messages in the reader queue upon DATA_AVAILABLE, because the implementation from rmw_fastrtps_cpp which assumes only 1 sample didn't work for Connext (sometimes the listener would receive only one notification while having multiple samples in the queue)

Thank you for the detailed description, this makes sense!

One thing I'd like to point out about this implementation is that there is always a possibility that some samples that were notified to the callback will not actually be read by the application layer because of QoS settings (mainly KEEP_LAST history). The samples could be counted but then be pushed out of the cache by newer samples before they can be take()n out of it.

I this true for both connext dds variantions, Pro and Micro? I'm just asking because the call to count_unread_samples adds quite some overhead here. I don't remember the exact numbers, but I think it was at least 1µs. It's not that much, but it is a gain, which can add up quite quickly for latency sensitive applications with "sufficiently large" chains of subscriptions.

alsora · 2022-03-22T09:17:31Z

Looks good to me, I just want to confirm how the notify_new_data function works exactly.

asorbini · 2022-03-23T16:59:03Z

@clalancette @ivanpauno can this PR be merged now even with the freeze? It doesn't change API/ABI.

audrow · 2022-03-23T19:21:26Z

@clalancette @ivanpauno can this PR be merged now even with the freeze? It doesn't change API/ABI.

Hi @asorbini, I don't think we should merge this because it is a feature addition and the freeze is in place. If it doesn't break API/ABI, it should be able to be added in a patch release.

cwecht · 2023-03-14T16:29:32Z

Did anyone ever test this PR with irobot's events executors? https://github.com/irobot-ros/events-executor
If I run their tests with rmw_connextdds enabled and these changes here applied to the rmw_connextdds humble branch, I get these kinds of errors/warnings:

This PR is needed though, if one is trying to use events executors with connextdds. It would be nice if someone could have a look at this issue.

cwecht · 2023-03-16T12:58:18Z

#109 fixes the issue with the events executors.

* Add sequence numbers to message info structure (#74) * Fill reception_sequence_number/publication_sequence_number in all rmw_take_*_with_info() functions Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com> * Add rmw_feature_supported() Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com> * add stub for content filtered topic (#77) * add stub for content filtered topic Signed-off-by: Chen Lihui <lihui.chen@sony.com> * Add support for user-specified content filters (#68) * Add support for user-specified content filters. Signed-off-by: Andrea Sorbini <asorbini@rti.com> * - Resolve memory leak of custom content-filter resources - Add missing package dependencies for rti_connext_dds_custom_sql_filter - Clean up all participants upon factory finalization - Reset context state upon finalization (rmw_connextddsmicro) Signed-off-by: Andrea Sorbini <asorbini@rti.com> * Assume non-null options argument Signed-off-by: Andrea Sorbini <asorbini@rti.com> * - Return error when retrieving content-filter from a subscription that doesn't have one. - Rename internal functions related to content-filters Signed-off-by: Andrea Sorbini <asorbini@rti.com> * Fix compilation error, oops. Signed-off-by: Andrea Sorbini <asorbini@rti.com> * - Define RMW_CONNEXT_DEBUG when building Debug libraries. - Make sure participant is enabled before deleting contained entities when using Connext debug libraries. Signed-off-by: Andrea Sorbini <asorbini@rti.com> * Resolve memory leak for finalization on error. Signed-off-by: Andrea Sorbini <asorbini@rti.com> * Rename content filter public API. Signed-off-by: Andrea Sorbini <asorbini@rti.com> * Add client/service QoS getters (#67) Signed-off-by: Mauro Passerino <mpasserino@irobot.com> * Changelogs Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com> * 0.8.1 * Fix cpplint errors (#69) * Use static_cast instead of C-style cast Fixes cpplint error. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Update NOLINT category Relates to ament/ament_lint#324 Signed-off-by: Jacob Perron <jacob@openrobotics.org> * 0.8.2 Signed-off-by: Audrow Nash <audrow@hey.com> * Update rti-connext-dds dependency to 6.0.1. (#71) Now that this package is available in the ROS bootstrap repository for Ubuntu Focal and Jammy we can bump the expected dependency version. * 0.8.3 * Add rmw listener apis (#44) * Add stubs for setting listener callbacks Signed-off-by: Mauro Passerino <mpasserino@irobot.com> * Address PR suggestions Signed-off-by: Mauro Passerino <mpasserino@irobot.com> * Fix linter issues Signed-off-by: Mauro Passerino <mpasserino@irobot.com> Co-authored-by: Mauro Passerino <mpasserino@irobot.com> Co-authored-by: Alberto Soragna <alberto.soragna@gmail.com> * Changelog. (#73) Signed-off-by: Chris Lalancette <clalancette@openrobotics.org> * 0.9.0 * add stub for content filtered topic Signed-off-by: Chen Lihui <lihui.chen@sony.com> * * Rebased branch asorbini/cft on top of 0.9.0. * Resolved CFT finalization issues on error. * Verified and cleaned up build for rmw_connextddsmicro. Signed-off-by: Andrea Sorbini <asorbini@rti.com> * Move custom SQL filter to rmw_connextdds_common Signed-off-by: Andrea Sorbini <asorbini@rti.com> * Try to resolve linking error on Windows. Signed-off-by: Andrea Sorbini <asorbini@rti.com> * Optionally disable writer-side CFT optimizations to support Windows. Signed-off-by: Andrea Sorbini <asorbini@rti.com> * No need to declare private CFT function on Windows. Signed-off-by: Andrea Sorbini <asorbini@rti.com> * remove stub implementation for ContentFilteredTopic. Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> * address cpplint error. Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> * Avoid conversion warnings on Windows. Signed-off-by: Andrea Sorbini <asorbini@rti.com> * Use strtol instead of sscanf to avoid warnings on Windows. Signed-off-by: Andrea Sorbini <asorbini@rti.com> * Avoid finalizing participants if factory is not available. Signed-off-by: Andrea Sorbini <asorbini@rti.com> Co-authored-by: mauropasse <mauropasse@hotmail.com> Co-authored-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com> Co-authored-by: Jacob Perron <jacob@openrobotics.org> Co-authored-by: Audrow Nash <audrow@hey.com> Co-authored-by: Steven! Ragnarök <nuclearsandwich@users.noreply.github.com> Co-authored-by: Steven! Ragnarök <steven@nuclearsandwich.com> Co-authored-by: iRobot ROS <49500531+irobot-ros@users.noreply.github.com> Co-authored-by: Mauro Passerino <mpasserino@irobot.com> Co-authored-by: Alberto Soragna <alberto.soragna@gmail.com> Co-authored-by: Chris Lalancette <clalancette@openrobotics.org> Co-authored-by: Chen Lihui <lihui.chen@sony.com> Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com> * 0.10.0 Signed-off-by: Audrow Nash <audrow@hey.com> * Update launch_testing_ros output filter prefixes for Connext6 (#80) Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com> * Properly initialize CDR stream before using it for filtering (#81) Signed-off-by: Andrea Sorbini <asorbini@rti.com> * Exclude missing sample info fields when building rmw_connextddsmicro (#79) * Exclude missing sample info fields when building micro. * Report features individually for each RMW implementation. * Return special value for unsupported sequence numbers. Signed-off-by: Andrea Sorbini <asorbini@rti.com> Co-authored-by: Chris Lalancette <clalancette@openrobotics.org> * 0.11.0 Signed-off-by: Audrow Nash <audrow@hey.com> * Resolve build error with RTI Connext DDS 5.3.1 (#82) Signed-off-by: Andrea Sorbini <asorbini@rti.com> * Changelog. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org> * 0.11.1 * Use destinct callbacks for each event type --------- Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com> Signed-off-by: Chen Lihui <lihui.chen@sony.com> Signed-off-by: Audrow Nash <audrow@hey.com> Signed-off-by: Andrea Sorbini <asorbini@rti.com> Signed-off-by: Chris Lalancette <clalancette@openrobotics.org> Co-authored-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com> Co-authored-by: Chen Lihui <lihui.chen@sony.com> Co-authored-by: Andrea Sorbini <asorbini@rti.com> Co-authored-by: mauropasse <mauropasse@hotmail.com> Co-authored-by: Jacob Perron <jacob@openrobotics.org> Co-authored-by: Audrow Nash <audrow@hey.com> Co-authored-by: Steven! Ragnarök <nuclearsandwich@users.noreply.github.com> Co-authored-by: Steven! Ragnarök <steven@nuclearsandwich.com> Co-authored-by: iRobot ROS <49500531+irobot-ros@users.noreply.github.com> Co-authored-by: Mauro Passerino <mpasserino@irobot.com> Co-authored-by: Alberto Soragna <alberto.soragna@gmail.com> Co-authored-by: Chris Lalancette <clalancette@openrobotics.org> Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

alsora · 2023-03-30T06:44:07Z

@asorbini FYI we recently opened the PR for the events-executor in rclcpp and we currently have disabled it from running with connext.
To test this PR you can easily remove the "if connext -> skip" parts of the tests
ros2/rclcpp#2140

for example here (and in every test in this file https://github.com/ros2/rclcpp/pull/2140/files#diff-e1ac0eadd712d463d84ffc15b59e669fbf53f75c6f81e4c06f03f4d9c91b0ceaR47)

asorbini · 2023-03-30T06:56:59Z

@alsora thank you for the heads up, that's very useful to validate these changes.

Do you have a .repos file that I can use to test that PR or is it just those rclcpp changes + current rollng?

alsora · 2023-03-30T08:01:02Z

rolling + that PR is sufficient to test, no other changes to other repos are needed.
In the last CI run, all the unit-tests passed ros2/rclcpp#2140 (comment).
Note that there is 1 flaky test that we are currently investigating (TEST_F(TestEventsExecutor, destroy_entities)).

Feel free to share the results if you need help debugging failures.

cwecht · 2023-05-02T06:58:44Z

What's the status of this PR? Given that ros2/rclcpp#2155 is merged now, it would be really greate to have this PR "officially" approved and merged in order to use rclcpp with ConnextDDS to it's full potential out of the box.

clalancette · 2023-05-02T12:25:59Z

What's the status of this PR? Given that ros2/rclcpp#2155 is merged now, it would be really greate to have this PR "officially" approved and merged in order to use rclcpp with ConnextDDS to it's full potential out of the box.

At this point, it needs another approval (there have been changes since the previous ones), and CI run on it. I can do the latter, but I'd prefer @asorbini or @alsora did another review/approval first.

alsora · 2023-05-02T12:33:22Z

I'm not really familiar with connext, but overall the PR looks sane.

From my perspective I would suggest to create a rclcpp branch where the checks that disable events-executor with connext are removed, and then, if it passes all unit-tests, it should be good to go.

Signed-off-by: Christopher Wecht <cwecht@mailbox.org>

cwecht · 2023-05-02T15:45:41Z

@alsora here is the PR to enable the callback groupd tests in rclcpp again: ros2/rclcpp#2182

Signed-off-by: Christopher Wecht <cwecht@mailbox.org>

Event listeners updated

cwecht · 2023-05-16T09:16:05Z

The tests reenabled in ros2/rclcpp#2182 are now succeeding. Although they seem to be somewhat flakly, I'd suppose, that this PR should be mergable now?

clalancette · 2023-05-16T12:10:01Z

Although they seem to be somewhat flakly, I'd suppose, that this PR should be mergable now?

We'd really prefer to not merge in "somewhat flaky" tests. We are just down to handful of those now, and I'd like not to increase that number.

* Add support for listener callbacks. * Fix wrong debug assertion when converting DDS_Duration values * Clarify interactions between count_unread_samples() and take_next() * Notify on changed matched status Signed-off-by: Christopher Wecht <cwecht@mailbox.org> Signed-off-by: Andrea Sorbini <asorbini@rti.com> Signed-off-by: Taxo Rubio <trubio@rti.com>

* backport: Add support for listener callbacks (#76) (d4330cc) * Add support for listener callbacks. * Fix wrong debug assertion when converting DDS_Duration values * Clarify interactions between count_unread_samples() and take_next() * Notify on changed matched status Signed-off-by: Christopher Wecht <cwecht@mailbox.org> Signed-off-by: Andrea Sorbini <asorbini@rti.com> Signed-off-by: Taxo Rubio <trubio@rti.com> * backport: Conditional internal API access to support Connext 7+ (#121) (afa5055) Signed-off-by: Andrea Sorbini <asorbini@rti.com> Signed-off-by: Taxo Rubio <trubio@rti.com> * style: Fixed header inclusion order Signed-off-by: Taxo Rubio <trubio@rti.com> --------- Signed-off-by: Christopher Wecht <cwecht@mailbox.org> Signed-off-by: Andrea Sorbini <asorbini@rti.com> Signed-off-by: Taxo Rubio <trubio@rti.com> Co-authored-by: Andrea Sorbini <asorbini@rti.com>

asorbini added the humble PR scheduled for the H-turtle label Mar 16, 2022

asorbini self-assigned this Mar 16, 2022

asorbini force-pushed the asorbini/event-listeners branch from fe2fd49 to 66a9205 Compare March 17, 2022 01:45

Add support for listener callbacks.

87cee28

Signed-off-by: Andrea Sorbini <asorbini@rti.com>

asorbini force-pushed the asorbini/event-listeners branch from 66a9205 to 87cee28 Compare March 17, 2022 01:54

asorbini marked this pull request as ready for review March 17, 2022 01:55

Fix wrong debug assertion when converting DDS_Duration values

679173b

Signed-off-by: Andrea Sorbini <asorbini@rti.com>

asorbini requested a review from alsora March 17, 2022 23:17

Clarify interactions between count_unread_samples() and take_next()

2dd4e92

Signed-off-by: Andrea Sorbini <asorbini@rti.com>

asorbini requested a review from ivanpauno March 17, 2022 23:50

ivanpauno approved these changes Mar 18, 2022

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asorbini mentioned this pull request Mar 19, 2022

Update data callback tests to account for all published samples. ros2/rclcpp#1900

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asorbini mentioned this pull request Mar 19, 2022

Increase timeout for acknowledgments ros2/rclcpp#1901

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alsora reviewed Mar 22, 2022

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alsora approved these changes Mar 22, 2022

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audrow changed the base branch from master to rolling June 28, 2022 14:22

MiguelCompany mentioned this pull request Jul 7, 2022

Use Fast-DDS Waitsets instead of listeners ros2/rmw_fastrtps#619

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cwecht mentioned this pull request Mar 15, 2023

QoS Issues with rmw_connextdds irobot-ros/events-executor#16

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asorbini mentioned this pull request Mar 30, 2023

Event listeners distinct #109

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Merge branch 'rolling' into asorbini/event-listeners

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Merge branch 'rolling' into asorbini/event-listeners

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Signed-off-by: Christopher Wecht <cwecht@mailbox.org>

cwecht mentioned this pull request May 2, 2023

Enable callback group tests for connextdds ros2/rclcpp#2182

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cwecht and others added 2 commits May 3, 2023 08:43

Notify on changed matched status

ecda67c

Signed-off-by: Christopher Wecht <cwecht@mailbox.org>

Merge pull request #116 from cwecht/event-listeners-updated

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Event listeners updated

clalancette removed the humble PR scheduled for the H-turtle label May 9, 2023

clalancette merged commit d4330cc into rolling Jun 14, 2023

delete-merged-branch bot deleted the asorbini/event-listeners branch June 14, 2023 12:33

This was referenced Dec 3, 2024

Re-enable executor test on rmw_connextdds. (backport #2693) ros2/rclcpp#2695

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enable testRaceConditionAddNode for rmw_connextdds. ros2/rclcpp#2698

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Add support for listener callbacks #76

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