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feat(ros2agnocast): add topic info cmd base #442

Merged
merged 21 commits into from
Mar 5, 2025
Merged

feat(ros2agnocast): add topic info cmd base #442

merged 21 commits into from
Mar 5, 2025

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TetsuKawa
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@TetsuKawa TetsuKawa commented Feb 27, 2025 •
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Description

This PR adds topic info cmd base.

  • topic_info_agnocast.py: ros2 topic info_agnocast verb. Use functions in topic_info.cpp.
  • topic_info.cpp: Get node_name and qos. But, not implement ioctl yet.

This PR is base branch which to merged from:

After merged display(update 20250304)

$ bash scripts/run_talker
$ bash scripts/run_listener
$ bash scripts/run_listener

2$ ros2 topic info_agnocast -v /my_topic
Type: agnocast_sample_interfaces/msg/DynamicSizeArray

ROS 2 Publisher count: 1
Agnocast Publisher count: 1

Node name: talker_node
Node namespace: /
Topic type: agnocast_sample_interfaces/msg/DynamicSizeArray
Endpoint type: PUBLISHER (Agnocast enabled)
GID: 01.10.6f.78.ef.cc.19.22.6a.d5.d6.8a.00.00.15.03.00.00.00.00.00.00.00.00
QoS profile:
  Reliability: RELIABLE
  History (Depth): KEEP_LAST (1)
  Durability: VOLATILE
  Lifespan: Infinite
  Deadline: Infinite
  Liveliness: AUTOMATIC
  Liveliness lease duration: Infinite

ROS 2 Subscription count: 0
Agnocast Subscription count: 2

Node name: listener_node
Node namespace: /
Topic type: agnocast_sample_interfaces/msg/DynamicSizeArray
Endpoint type: SUBSCRIPTION (Agnocast enabled)
QoS profile:
  History (Depth): KEEP_LAST (1)
  Durability: VOLATILE

Node name: listener_node
Node namespace: /
Topic type: agnocast_sample_interfaces/msg/DynamicSizeArray
Endpoint type: SUBSCRIPTION (Agnocast enabled)
QoS profile:
  History (Depth): KEEP_LAST (1)
  Durability: VOLATILE

Related links

How was this PR tested?

  • Autoware (required)
  • bash scripts/e2e_test_1to1_with_ros2sub (required)
  • bash scripts/e2e_test_2to2 (required)
  • sample application

Notes for reviewers

@TetsuKawa
feat: add base
57464af 
Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
@TetsuKawa
feat: add comment
0ce4057 
Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
@TetsuKawa
feat: change topic info ret
ebff881 
Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
@TetsuKawa
feat: response to cppcheck
886cd09 
Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
@TetsuKawa TetsuKawa added run-build-test Run build-test in CI and removed run-build-test Run build-test in CI labels Feb 27, 2025
@TetsuKawa TetsuKawa marked this pull request as ready for review March 3, 2025 04:17
@veqcc
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veqcc commented Mar 3, 2025

tetsukawa@NPC2304008:~/agnocast/agnocast$ ros2 topic info_agnocast /sensing/lidar/left/pointcloud_before_sync
Type: sensor_msgs/msg/PointCloud2
Publisher count: 1
(Include Agnocast Publisher count: 1)
Subscription count: 1
(Include Agnocast Subscription count: 1)

この部分、以下の形式とどっちがいいと思います？

tetsukawa@NPC2304008:~/agnocast/agnocast$ ros2 topic info_agnocast /sensing/lidar/left/pointcloud_before_sync
Type: sensor_msgs/msg/PointCloud2
ROS 2 Publisher count: 1
Agnocast Publisher count: 1
ROS 2 Subscription count: 0
Agnocast Subscription count: 1

veqcc
veqcc reviewed Mar 3, 2025
View reviewed changes
@TetsuKawa
feat: remove topic list
107db62 
Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
@TetsuKawa
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@Koichi98
topic listの箇所 removeしました。
107db62

TetsuKawa added 3 commits March 3, 2025 15:46
@TetsuKawa
fix: remove empty line
32f2d00 
Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
@TetsuKawa
fix: decrease node name buffer size
4069373 
Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
@TetsuKawa
feat: change display format
7e448a0 
Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
TetsuKawa added 4 commits March 3, 2025 17:10
@TetsuKawa
feat: move getting ros2 topic list
225dee3 
Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
@TetsuKawa
fix: display format mistake
6d546fd 
Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
@TetsuKawa
feat: remove null check before free
336f083 
Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
@TetsuKawa
feat: move print to another functions
59a4832 
Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
@TetsuKawa TetsuKawa force-pushed the feat/add-topic-info-cmd-base branch from 89b47e2 to 59a4832 Compare March 3, 2025 08:36
TetsuKawa added 3 commits March 3, 2025 17:41
@TetsuKawa
fix: MAX_TOPIC_INFO_RET_NUM
798c26b 
Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
@TetsuKawa
Merge branch 'main' into feat/add-topic-info-cmd-base
435164b
@TetsuKawa
fix: include algorithm and std::max
9f18be5 
Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
@TetsuKawa TetsuKawa added run-build-test Run build-test in CI and removed run-build-test Run build-test in CI labels Mar 3, 2025
@github-actions GitHub Actions
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github-actions bot commented Mar 3, 2025 

------------------------------------------------------------------------------
                           GCC Code Coverage Report
Directory: .
------------------------------------------------------------------------------
File                                       Lines    Exec  Cover   Missing
------------------------------------------------------------------------------
src/agnocastlib/include/agnocast/agnocast.hpp
                                               4       4   100%   
src/agnocastlib/include/agnocast/agnocast_callback_info.hpp
                                              25      22    88%   91,93-94
src/agnocastlib/include/agnocast/agnocast_executor.hpp
                                               1       1   100%   
src/agnocastlib/include/agnocast/agnocast_publisher.hpp
                                              89      57    64%   95,114-116,127,133,137,145-147,150,154-156,163-164,167-169,172-173,176,181,208-209,214-215,218-220,224-225
src/agnocastlib/include/agnocast/agnocast_smart_pointer.hpp
                                              47      47   100%   
src/agnocastlib/src/agnocast.cpp              57      10    17%   19,22,24-30,34-35,38-42,46-47,51-54,57,60,62,65,67-68,73,75-77,80-83,86,88-94,97,107-108
src/agnocastlib/src/agnocast_callback_info.cpp
                                              17      14    82%   29-31
src/agnocastlib/src/agnocast_component_container.cpp
                                              12       0     0%   5,7-8,11-13,16,18-20,22-23
src/agnocastlib/src/agnocast_component_container_mt.cpp
                                              25       0     0%   7,11-12,14-16,18-23,25-27,29-31,34-35,37-39,41-42
src/agnocastlib/src/agnocast_executor.cpp
                                             104      76    73%   20-21,49,60-62,80-83,86,102-104,117-119,129-131,136-139,170,172-174
src/agnocastlib/src/agnocast_multi_threaded_executor.cpp
                                              61      53    86%   20,25-26,33,39-41,110
src/agnocastlib/src/agnocast_publisher.cpp
                                              56       7    12%   10,12,23,26,31,35,37-46,49,52,57-64,73-74,76-79,81-84,86,91,95-96,101,104,106-111,114
src/agnocastlib/src/agnocast_single_threaded_executor.cpp
                                              25      21    84%   16,26-28
src/agnocastlib/src/agnocast_smart_pointer.cpp
                                              18       0     0%   6,9-16,20,23-30
src/agnocastlib/src/agnocast_subscription.cpp
                                              52       9    17%   6-7,9,12,15,19-30,33-37,40,43,47-52,54-59,61,63,66,70-71,73-74
src/agnocastlib/src/agnocast_utils.cpp        29      26    89%   63,65-66
------------------------------------------------------------------------------
TOTAL                                        622     347    55%
------------------------------------------------------------------------------

TetsuKawa and others added 5 commits March 3, 2025 18:23
@TetsuKawa
fix: copy latest MAX_PUBLISHER/SUBSCRIBER_NUM
c77fdda 
Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
@TetsuKawa
feat: add none check
dbbb936 
Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
@TetsuKawa
feat: remove unnecessary arg
4c83cdb 
Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
@TetsuKawa
feat(ros2agnocast): reimplement topic info (#465)
10a5a9f 
* feat: use ioctl

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* fix: add close fd

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

---------

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
@TetsuKawa
feat(kmod): add get topic pub sub cmd (#457)
4ffe4e2 
* feat: add topic info cmds

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* fix: use MAX_TOPIC_INFO_RET_NUM

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* fix: redefine MAX_TOPIC_INFO_RET_NUM

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* feat: once copy_to_usr

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* fix: response to cppcheck

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* fix: add kfree

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* tmp: write space

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* feat: pre-commit

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

---------

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
@TetsuKawa TetsuKawa added run-build-test Run build-test in CI and removed run-build-test Run build-test in CI labels Mar 4, 2025
@TetsuKawa TetsuKawa added run-build-test Run build-test in CI and removed run-build-test Run build-test in CI labels Mar 4, 2025
@TetsuKawa TetsuKawa added run-build-test Run build-test in CI and removed run-build-test Run build-test in CI labels Mar 4, 2025
@github-actions GitHub Actions
Copy link

github-actions bot commented Mar 4, 2025 

------------------------------------------------------------------------------
                           GCC Code Coverage Report
Directory: .
------------------------------------------------------------------------------
File                                       Lines    Exec  Cover   Missing
------------------------------------------------------------------------------
src/agnocastlib/include/agnocast/agnocast.hpp
                                               4       4   100%   
src/agnocastlib/include/agnocast/agnocast_callback_info.hpp
                                              25      22    88%   91,93-94
src/agnocastlib/include/agnocast/agnocast_executor.hpp
                                               1       1   100%   
src/agnocastlib/include/agnocast/agnocast_publisher.hpp
                                              89      57    64%   95,114-116,127,133,137,145-147,150,154-156,163-164,167-169,172-173,176,181,208-209,214-215,218-220,224-225
src/agnocastlib/include/agnocast/agnocast_smart_pointer.hpp
                                              47      47   100%   
src/agnocastlib/src/agnocast.cpp              57      10    17%   19,22,24-30,34-35,38-42,46-47,51-54,57,60,62,65,67-68,73,75-77,80-83,86,88-94,97,107-108
src/agnocastlib/src/agnocast_callback_info.cpp
                                              17      14    82%   29-31
src/agnocastlib/src/agnocast_component_container.cpp
                                              12       0     0%   5,7-8,11-13,16,18-20,22-23
src/agnocastlib/src/agnocast_component_container_mt.cpp
                                              25       0     0%   7,11-12,14-16,18-23,25-27,29-31,34-35,37-39,41-42
src/agnocastlib/src/agnocast_executor.cpp
                                             104      79    76%   20-21,49,60-62,80-83,86,102-104,117-119,129-131,136-139,174
src/agnocastlib/src/agnocast_multi_threaded_executor.cpp
                                              61      53    86%   20,25-26,33,39-41,110
src/agnocastlib/src/agnocast_publisher.cpp
                                              56       7    12%   10,12,23,26,31,35,37-46,49,52,57-64,73-74,76-79,81-84,86,91,95-96,101,104,106-111,114
src/agnocastlib/src/agnocast_single_threaded_executor.cpp
                                              25      21    84%   16,26-28
src/agnocastlib/src/agnocast_smart_pointer.cpp
                                              18       0     0%   6,9-16,20,23-30
src/agnocastlib/src/agnocast_subscription.cpp
                                              52       9    17%   6-7,9,12,15,19-30,33-37,40,43,47-52,54-59,61,63,66,70-71,73-74
src/agnocastlib/src/agnocast_utils.cpp        29      26    89%   63,65-66
------------------------------------------------------------------------------
TOTAL                                        622     350    56%
------------------------------------------------------------------------------

@TetsuKawa TetsuKawa merged commit ad08fce into main Mar 5, 2025
5 checks passed
@TetsuKawa TetsuKawa deleted the feat/add-topic-info-cmd-base branch March 5, 2025 01:10
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@Koichi98 Koichi98 Koichi98 left review comments

@veqcc veqcc veqcc approved these changes

@atsushi421 atsushi421 Awaiting requested review from atsushi421 atsushi421 is a code owner

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