0.8.2

Signed-off-by: William Woodall <william@osrfoundation.org>

rclcpp/CHANGELOG.rst

@@ -2,6 +2,29 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.8.2 (2019-11-18)
+------------------
+* Updated tracing logic to match changes in rclcpp's intra-process system (`#918 <https://github.com/ros2/rclcpp/issues/918>`_)
+* Fixed a bug that prevented the ``shutdown_on_sigint`` option to not work correctly (`#850 <https://github.com/ros2/rclcpp/issues/850>`_)
+* Added support for STREAM logging macros (`#926 <https://github.com/ros2/rclcpp/issues/926>`_)
+* Relaxed multithreaded test constraint (`#907 <https://github.com/ros2/rclcpp/issues/907>`_)
+* Contributors: Anas Abou Allaban, Christophe Bedard, Dirk Thomas, alexfneves
+
+0.8.1 (2019-10-23)
+------------------
+* De-flake tests for rmw_connext (`#899 <https://github.com/ros2/rclcpp/issues/899>`_)
+* rename return functions for loaned messages (`#896 <https://github.com/ros2/rclcpp/issues/896>`_)
+* Enable throttling logs (`#879 <https://github.com/ros2/rclcpp/issues/879>`_)
+* New Intra-Process Communication (`#778 <https://github.com/ros2/rclcpp/issues/778>`_)
+* Instrumentation update (`#789 <https://github.com/ros2/rclcpp/issues/789>`_)
+* Zero copy api (`#864 <https://github.com/ros2/rclcpp/issues/864>`_)
+* Drop rclcpp remove_ros_arguments_null test case. (`#894 <https://github.com/ros2/rclcpp/issues/894>`_)
+* add mechanism to pass rmw impl specific payloads during pub/sub creation (`#882 <https://github.com/ros2/rclcpp/issues/882>`_)
+* make get_actual_qos return a rclcpp::QoS (`#883 <https://github.com/ros2/rclcpp/issues/883>`_)
+* Fix Compiler Warning (`#881 <https://github.com/ros2/rclcpp/issues/881>`_)
+* Add callback handler for use_sim_time parameter `#802 <https://github.com/ros2/rclcpp/issues/802>`_ (`#875 <https://github.com/ros2/rclcpp/issues/875>`_)
+* Contributors: Alberto Soragna, Brian Marchi, Hunter L. Allen, Ingo Lütkebohle, Karsten Knese, Michael Carroll, Michel Hidalgo, William Woodall
+
 0.8.0 (2019-09-26)
 ------------------
 * clean up publisher and subscription creation logic (`#867 <https://github.com/ros2/rclcpp/issues/867>`_)

rclcpp/include/rclcpp/any_subscription_callback.hpp

@@ -180,20 +180,6 @@ public:
     TRACEPOINT(callback_end, (const void *)this);
   }
 
-  void dispatch(
-    std::shared_ptr<const MessageT> message, const rmw_message_info_t & message_info)
-  {
-    TRACEPOINT(callback_start, (const void*)this, false);
-    if (const_shared_ptr_callback_) {
-      const_shared_ptr_callback_(message);
-    } else if (const_shared_ptr_with_info_callback_) {
-      const_shared_ptr_with_info_callback_(message, message_info);
-    } else {
-      throw std::runtime_error("can't dispatch const message to non-cost callback");
-    }
-    TRACEPOINT(callback_end, (const void *)this);
-  }
-
   void dispatch_intra_process(
     ConstMessageSharedPtr message, const rmw_message_info_t & message_info)
   {

rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp

@@ -30,6 +30,7 @@
 #include "rclcpp/experimental/subscription_intra_process_base.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/waitable.hpp"
+#include "tracetools/tracetools.h"
 
 namespace rclcpp
 {
@@ -88,6 +89,15 @@ public:
     if (RCL_RET_OK != ret) {
       throw std::runtime_error("SubscriptionIntraProcess init error initializing guard condition");
     }
+
+    TRACEPOINT(
+      rclcpp_subscription_callback_added,
+      (const void *)this,
+      (const void *)&any_callback_);
+    // The callback object gets copied, so if registration is done too early/before this point
+    // (e.g. in `AnySubscriptionCallback::set()`), its address won't match any address used later
+    // in subsequent tracepoints.
+    any_callback_.register_callback_for_tracing();
   }
 
   bool

rclcpp/include/rclcpp/subscription.hpp

@@ -152,6 +152,10 @@ public:
         qos.get_rmw_qos_profile(),
         resolve_intra_process_buffer_type(options.intra_process_buffer_type, callback)
         );
+      TRACEPOINT(
+        rclcpp_subscription_init,
+        (const void *)get_subscription_handle().get(),
+        (const void *)subscription_intra_process.get());
 
       // Add it to the intra process manager.
       using rclcpp::experimental::IntraProcessManager;
@@ -161,8 +165,12 @@ public:
     }
 
     TRACEPOINT(
-      rclcpp_subscription_callback_added,
+      rclcpp_subscription_init,
       (const void *)get_subscription_handle().get(),
+      (const void *)this);
+    TRACEPOINT(
+      rclcpp_subscription_callback_added,
+      (const void *)this,
       (const void *)&any_callback_);
     // The callback object gets copied, so if registration is done too early/before this point
     // (e.g. in `AnySubscriptionCallback::set()`), its address won't match any address used later
@@ -221,12 +229,12 @@ public:
 
   void
   handle_loaned_message(
-    const void * loaned_message, const rmw_message_info_t & message_info) override
+    void * loaned_message, const rmw_message_info_t & message_info) override
   {
-    auto typed_message = static_cast<const CallbackMessageT *>(loaned_message);
+    auto typed_message = static_cast<CallbackMessageT *>(loaned_message);
     // message is loaned, so we have to make sure that the deleter does not deallocate the message
-    auto sptr = std::shared_ptr<const CallbackMessageT>(
-      typed_message, [](const CallbackMessageT * msg) {(void) msg;});
+    auto sptr = std::shared_ptr<CallbackMessageT>(
+      typed_message, [](CallbackMessageT * msg) {(void) msg;});
     any_callback_.dispatch(sptr, message_info);
   }
 

rclcpp/include/rclcpp/subscription_base.hpp

@@ -137,7 +137,7 @@ public:
   RCLCPP_PUBLIC
   virtual
   void
-  handle_loaned_message(const void * loaned_message, const rmw_message_info_t & message_info) = 0;
+  handle_loaned_message(void * loaned_message, const rmw_message_info_t & message_info) = 0;
 
   /// Return the message borrowed in create_message.
   /** \param[in] message Shared pointer to the returned message. */

rclcpp/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>rclcpp</name>
-  <version>0.8.0</version>
+  <version>0.8.2</version>
   <description>The ROS client library in C++.</description>
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>Apache License 2.0</license>

rclcpp/resource/logging.hpp.em

@@ -46,8 +46,8 @@
 
 @{
 from collections import OrderedDict
+from copy import deepcopy
 from rcutils.logging import feature_combinations
-from rcutils.logging import get_macro_parameters
 from rcutils.logging import get_suffix_from_features
 from rcutils.logging import severities
 from rcutils.logging import throttle_args
@@ -58,10 +58,25 @@ del throttle_params['get_time_point_value']
 throttle_params['clock'] = 'rclcpp::Clock that will be used to get the time point.'
 throttle_params.move_to_end('clock', last=False)
 
-excluded_features = ['named']
-def is_supported_feature_combination(feature_combination):
-    is_excluded = any([ef in feature_combination for ef in excluded_features])
-    return not is_excluded
+rclcpp_feature_combinations = OrderedDict()
+for combinations, feature in feature_combinations.items():
+    # skip feature combinations using 'named'
+    if 'named' in combinations:
+        continue
+    rclcpp_feature_combinations[combinations] = feature
+# add a stream variant for each available feature combination
+stream_arg = 'stream_arg'
+for combinations, feature in list(rclcpp_feature_combinations.items()):
+    combinations = ('stream', ) + combinations
+    feature = deepcopy(feature)
+    feature.params[stream_arg] = 'The argument << into a stringstream'
+    rclcpp_feature_combinations[combinations] = feature
+
+def get_rclcpp_suffix_from_features(features):
+    suffix = get_suffix_from_features(features)
+    if 'stream' in features:
+        suffix = '_STREAM' + suffix
+    return suffix
 }@
 @[for severity in severities]@
 /** @@name Logging macros for severity @(severity).
@@ -69,38 +84,44 @@ def is_supported_feature_combination(feature_combination):
 ///@@{
 #if (RCLCPP_LOG_MIN_SEVERITY > RCLCPP_LOG_MIN_SEVERITY_@(severity))
 // empty logging macros for severity @(severity) when being disabled at compile time
-@[ for feature_combination in [fc for fc in feature_combinations if is_supported_feature_combination(fc)]]@
-@{suffix = get_suffix_from_features(feature_combination)}@
+@[ for feature_combination in rclcpp_feature_combinations.keys()]@
+@{suffix = get_rclcpp_suffix_from_features(feature_combination)}@
 /// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
 #define RCLCPP_@(severity)@(suffix)(...)
 @[ end for]@
 
 #else
-@[ for feature_combination in [fc for fc in feature_combinations if is_supported_feature_combination(fc)]]@
-@{suffix = get_suffix_from_features(feature_combination)}@
+@[ for feature_combination in rclcpp_feature_combinations.keys()]@
+@{suffix = get_rclcpp_suffix_from_features(feature_combination)}@
 // The RCLCPP_@(severity)@(suffix) macro is surrounded by do { .. } while (0)
 // to implement the standard C macro idiom to make the macro safe in all
 // contexts; see http://c-faq.com/cpp/multistmt.html for more information.
 /**
  * \def RCLCPP_@(severity)@(suffix)
  * Log a message with severity @(severity)@
-@[ if feature_combinations[feature_combination].doc_lines]@
+@[ if rclcpp_feature_combinations[feature_combination].doc_lines]@
  with the following conditions:
 @[ else]@
 .
 @[ end if]@
-@[ for doc_line in feature_combinations[feature_combination].doc_lines]@
+@[ for doc_line in rclcpp_feature_combinations[feature_combination].doc_lines]@
  * @(doc_line)
 @[ end for]@
  * \param logger The `rclcpp::Logger` to use
-@[ for param_name, doc_line in feature_combinations[feature_combination].params.items()]@
+@[ for param_name, doc_line in rclcpp_feature_combinations[feature_combination].params.items()]@
  * \param @(param_name) @(doc_line)
 @[ end for]@
+@[ if 'stream' not in feature_combination]@
  * \param ... The format string, followed by the variable arguments for the format string.
  * It also accepts a single argument of type std::string.
+@[ end if]@
  */
-@{params = get_macro_parameters(feature_combination).keys()}@
-#define RCLCPP_@(severity)@(suffix)(logger, @(''.join([p + ', ' for p in params]))...) \
+@{params = rclcpp_feature_combinations[feature_combination].params.keys()}@
+#define RCLCPP_@(severity)@(suffix)(logger@(''.join([', ' + p for p in params]))@
+@[ if 'stream' not in feature_combination]@
+, ...@
+@[ end if]@
+) \
   do { \
     static_assert( \
       ::std::is_same<typename std::remove_cv<typename std::remove_reference<decltype(logger)>::type>::type, \
@@ -118,14 +139,22 @@ def is_supported_feature_combination(feature_combination):
         return RCUTILS_RET_OK; \
     }; \
 @[ end if] \
-    RCUTILS_LOG_@(severity)@(suffix)_NAMED( \
+@[ if 'stream' in feature_combination]@
+    std::stringstream ss; \
+    ss << @(stream_arg); \
+@[ end if]@
+    RCUTILS_LOG_@(severity)@(get_suffix_from_features(feature_combination))_NAMED( \
 @{params = ['get_time_point' if p == 'clock' and 'throttle' in feature_combination else p for p in params]}@
 @[ if params]@
-@(''.join(['      ' + p + ', \\\n' for p in params]))@
+@(''.join(['      ' + p + ', \\\n' for p in params if p != stream_arg]))@
 @[ end if]@
       logger.get_name(), \
+@[ if 'stream' not in feature_combination]@
       rclcpp::get_c_string(RCLCPP_FIRST_ARG(__VA_ARGS__, "")), \
         RCLCPP_ALL_BUT_FIRST_ARGS(__VA_ARGS__,"")); \
+@[ else]@
+      "%s", rclcpp::get_c_string(ss.str())); \
+@[ end if]@
   } while (0)
 
 @[ end for]@

rclcpp/src/rclcpp/executor.cpp

@@ -329,7 +329,7 @@ Executor::execute_subscription(
     }
     subscription->return_serialized_message(serialized_msg);
   } else if (subscription->can_loan_messages()) {
-    const void * loaned_msg = nullptr;
+    void * loaned_msg = nullptr;
     auto ret = rcl_take_loaned_message(
       subscription->get_subscription_handle().get(),
       &loaned_msg,

rclcpp/src/rclcpp/init_options.cpp

@@ -42,7 +42,9 @@ InitOptions::InitOptions(const rcl_init_options_t & init_options)
 
 InitOptions::InitOptions(const InitOptions & other)
 : InitOptions(*other.get_rcl_init_options())
-{}
+{
+  shutdown_on_sigint = other.shutdown_on_sigint;
+}
 
 InitOptions &
 InitOptions::operator=(const InitOptions & other)
@@ -53,6 +55,7 @@ InitOptions::operator=(const InitOptions & other)
     if (RCL_RET_OK != ret) {
       rclcpp::exceptions::throw_from_rcl_error(ret, "failed to copy rcl init options");
     }
+    this->shutdown_on_sigint = other.shutdown_on_sigint;
   }
   return *this;
 }

rclcpp/test/executors/test_multi_threaded_executor.cpp

@@ -89,10 +89,9 @@ TEST_F(TestMultiThreadedExecutor, timer_over_take) {
         double diff = std::abs((now - last).nanoseconds()) / 1.0e9;
         last = now;
 
-        if (diff < PERIOD - TOLERANCE || diff > PERIOD + TOLERANCE) {
+        if (diff < PERIOD - TOLERANCE) {
           executor.cancel();
           ASSERT_GT(diff, PERIOD - TOLERANCE);
-          ASSERT_LT(diff, PERIOD + TOLERANCE);
         }
       }
     };

rclcpp/test/test_logging.cpp

@@ -113,6 +113,20 @@ TEST_F(TestLoggingMacros, test_logging_string) {
   EXPECT_EQ("message seven", g_last_log_event.message);
 }
 
+TEST_F(TestLoggingMacros, test_logging_stream) {
+  for (std::string i : {"one", "two", "three"}) {
+    RCLCPP_DEBUG_STREAM(g_logger, "message " << i);
+  }
+  EXPECT_EQ(3u, g_log_calls);
+  EXPECT_EQ("message three", g_last_log_event.message);
+
+  RCLCPP_DEBUG_STREAM(g_logger, 4 << "th message");
+  EXPECT_EQ("4th message", g_last_log_event.message);
+
+  RCLCPP_DEBUG_STREAM(g_logger, "message " << 5);
+  EXPECT_EQ("message 5", g_last_log_event.message);
+}
+
 TEST_F(TestLoggingMacros, test_logging_once) {
   for (int i : {1, 2, 3}) {
     RCLCPP_INFO_ONCE(g_logger, "message %d", i);

rclcpp_action/CHANGELOG.rst

@@ -3,6 +3,18 @@ Changelog for package rclcpp_action
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+0.8.2 (2019-11-18)
+------------------
+* Increased a timeout for the ``test_client`` tests. (`#917 <https://github.com/ros2/rclcpp/issues/917>`_)
+* Contributors: Michel Hidalgo
+
+0.8.1 (2019-10-23)
+------------------
+* Template node type for rclcpp action server and clients (`#892 <https://github.com/ros2/rclcpp/issues/892>`_)
+* Trait tests for generated actions (`#853 <https://github.com/ros2/rclcpp/issues/853>`_)
+* Do not throw exception in action client if take fails (`#888 <https://github.com/ros2/rclcpp/issues/888>`_)
+* Contributors: Jacob Perron, Michael Carroll, Steven Macenski
+
 0.8.0 (2019-09-26)
 ------------------
 * Fix UnknownGoalHandle error string. (`#856 <https://github.com/ros2/rclcpp/issues/856>`_)

rclcpp_action/CMakeLists.txt

@@ -68,7 +68,7 @@ if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
 
-  ament_add_gtest(test_client test/test_client.cpp)
+  ament_add_gtest(test_client test/test_client.cpp TIMEOUT 120)
   if(TARGET test_client)
     ament_target_dependencies(test_client
       "test_msgs"

rclcpp_action/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>rclcpp_action</name>
-  <version>0.8.0</version>
+  <version>0.8.2</version>
   <description>Adds action APIs for C++.</description>
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>Apache License 2.0</license>

rclcpp_components/CHANGELOG.rst

@@ -2,6 +2,15 @@
 Changelog for package rclcpp_components
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.8.2 (2019-11-18)
+------------------
+
+0.8.1 (2019-10-23)
+------------------
+* Enable intra-process comm via LoadNode request. (`#871 <https://github.com/ros2/rclcpp/issues/871>`_)
+* Aggregate all component manager API tests. (`#876 <https://github.com/ros2/rclcpp/issues/876>`_)
+* Contributors: Michel Hidalgo
+
 0.8.0 (2019-09-26)
 ------------------
 * Force explicit --ros-args in NodeOptions::arguments(). (`#845 <https://github.com/ros2/rclcpp/issues/845>`_)

rclcpp_components/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>rclcpp_components</name>
-  <version>0.8.0</version>
+  <version>0.8.2</version>
   <description>Package containing tools for dynamically loadable components</description>
   <maintainer email="michael@openrobotics.org">Michael Carroll</maintainer>
   <license>Apache License 2.0</license>

rclcpp_lifecycle/CHANGELOG.rst

@@ -3,6 +3,14 @@ Changelog for package rclcpp_lifecycle
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+0.8.2 (2019-11-18)
+------------------
+
+0.8.1 (2019-10-23)
+------------------
+* New Intra-Process Communication (`#778 <https://github.com/ros2/rclcpp/issues/778>`_)
+* Contributors: Alberto Soragna
+
 0.8.0 (2019-09-26)
 ------------------
 * clean up publisher and subscription creation logic (`#867 <https://github.com/ros2/rclcpp/issues/867>`_)

rclcpp_lifecycle/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>rclcpp_lifecycle</name>
-  <version>0.8.0</version>
+  <version>0.8.2</version>
   <description>Package containing a prototype for lifecycle implementation</description>
   <maintainer email="karsten@osrfoundation.org">Karsten Knese</maintainer>
   <license>Apache License 2.0</license>