Convert ActionServer to use C++ Classes#766
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ahcorde merged 5 commits intopost_galactic_freezefrom Apr 14, 2021
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Signed-off-by: ahcorde <ahcorde@gmail.com>
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I created this as a Draft PR because I have some issues.
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Signed-off-by: ahcorde <ahcorde@gmail.com>
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ActionServer tests are fixed, but I still have the issue with |
…de/pybind11-actionserver
Signed-off-by: ahcorde <ahcorde@gmail.com>
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@hidmic This is ready for review |
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hidmic
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Overall LGTM, pending green CI
Signed-off-by: ahcorde <ahcorde@gmail.com>
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sloretz
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Apr 19, 2021
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Apr 28, 2021
* Convert Publisher and Subscription to use C++ Classes (#756) * Convert Publisher and Subscription to C++ Classes Signed-off-by: ahcorde <ahcorde@gmail.com> * Fixed destructor issues Signed-off-by: ahcorde <ahcorde@gmail.com> * [pub/sub 756 addition] use std::shared_ptr holder type and shared_from_this (#757) * Use std::shared_ptr holder type Signed-off-by: Shane Loretz <sloretz@openrobotics.org> * Use shared_from_this for pub/sub Signed-off-by: Shane Loretz <sloretz@openrobotics.org> * Make Timer keep Clock wrapper Signed-off-by: Shane Loretz <sloretz@openrobotics.org> * Fixed publisher and subscription destructors Signed-off-by: ahcorde <ahcorde@gmail.com> * Added feedback Signed-off-by: ahcorde <ahcorde@gmail.com> * Fixed docs Signed-off-by: ahcorde <ahcorde@gmail.com> Co-authored-by: Shane Loretz <sloretz@openrobotics.org> * Use py::class_ for rcl_action_goal_handle_t (#751) * Class object Signed-off-by: Greg Balke <greg@openrobotics.org> * Python adjustments Signed-off-by: Greg Balke <greg@openrobotics.org> * Adjustments to server and enum Signed-off-by: Greg Balke <greg@openrobotics.org> * Adjust destructor calls Signed-off-by: Greg Balke <greg@openrobotics.org> * Clear out destructor Signed-off-by: Greg Balke <greg@openrobotics.org> * Do what rclcpp did Signed-off-by: Greg Balke <greg@openrobotics.org> * Remove iostream (used for debugging) Signed-off-by: Greg Balke <greg@openrobotics.org> * Matching upstream changes Signed-off-by: Greg Balke <greg@openrobotics.org> * Convert ActionClient to use C++ classes (#759) * Convert ActionClient to use C++ classes Signed-off-by: ahcorde <ahcorde@gmail.com> * Added feedback Signed-off-by: ahcorde <ahcorde@gmail.com> * Added convert_from_py to utils Signed-off-by: ahcorde <ahcorde@gmail.com> * improved docs Signed-off-by: ahcorde <ahcorde@gmail.com> * nits to adapt the code to pybind11 Signed-off-by: ahcorde <ahcorde@gmail.com> * throw a exception in convert_from_py Signed-off-by: ahcorde <ahcorde@gmail.com> * Fixed docs Signed-off-by: ahcorde <ahcorde@gmail.com> * Convert ActionServer to use C++ Classes (#766) * Convert ActionServer to use C++ Classes Signed-off-by: ahcorde <ahcorde@gmail.com> * Fixed Test_action_server Signed-off-by: ahcorde <ahcorde@gmail.com> * Improved docs Signed-off-by: ahcorde <ahcorde@gmail.com> * Improved docs and minor fixes Signed-off-by: ahcorde <ahcorde@gmail.com> * Convert WaitSet to use C++ Classes (#769) * Convert WaitSet to use C++ Classes Signed-off-by: ahcorde <ahcorde@gmail.com> * added feedback Signed-off-by: ahcorde <ahcorde@gmail.com> * Removed unused structs (#770) Signed-off-by: ahcorde <ahcorde@gmail.com> * Convert Guardcondition to use C++ classes (#772) * Convert Guardcondition to use C++ classes Signed-off-by: ahcorde <ahcorde@gmail.com> * make destroy guard condition capsule function private Signed-off-by: ahcorde <ahcorde@gmail.com> * Pybind11 action goal handle nitpicks (#767) * Add GoalEvent back to module Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * self._goal -> self._goal_handle Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Remove unused API Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> Co-authored-by: ahcorde <ahcorde@gmail.com> * Pybind11 actionserver nitpicks and docblock improvements (#774) Signed-off-by: ahcorde <ahcorde@gmail.com> * Convert Node and Context to use C++ Classes (#771) * convert Node and Context to use C++ Classes Signed-off-by: ahcorde <ahcorde@gmail.com> * Added feedback Signed-off-by: ahcorde <ahcorde@gmail.com> * Added feedback Signed-off-by: ahcorde <ahcorde@gmail.com> * Implement solution 1 Signed-off-by: ahcorde <ahcorde@gmail.com> * Prevent double early destruction of destroyable This along with an extra call to `destroy_node()` in `Node.__del__` was causing a segfault in the test_publisher test. The problem is `destroy_when_not_in_use()` was being called twice, and the second time is now a problem because rcl_ptrs_ is dereferenced in the qos_event destroy() method. Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Remove unnecessary Node.__del__ This should not be required. If it is, it means there's a bug that shows when the Node is garbage collected. Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Fix order of pointers in RclPtrs structs The order of the pointers in the RclPtrs structs is important. Things at the bottom are destroyed first, so children must be placed underneath the parent's that must be kept alive. Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Intentionally copy rclpy:: objects instead of having RclPtrs structs (#773) * Rough pass converting everything Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Fixes to get copy destruction order working Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Fix qos_event test flakiness Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> Signed-off-by: ahcorde <ahcorde@gmail.com> * MacOS warning Signed-off-by: ahcorde <ahcorde@gmail.com> * added feedback and removed some files Signed-off-by: ahcorde <ahcorde@gmail.com> * Create only one context otherwise throw a exception Signed-off-by: ahcorde <ahcorde@gmail.com> Co-authored-by: Shane Loretz <sloretz@osrfoundation.org> Co-authored-by: Shane Loretz <sloretz@openrobotics.org> Co-authored-by: Alejandro Hernández Cordero <alejandro@openrobotics.org> Co-authored-by: Greg Balke <11024792+gbalke@users.noreply.github.com> Co-authored-by: ahcorde <ahcorde@gmail.com>
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Apr 28, 2021
* Convert ActionServer to use C++ Classes Signed-off-by: ahcorde <ahcorde@gmail.com> * Fixed Test_action_server Signed-off-by: ahcorde <ahcorde@gmail.com> * Improved docs Signed-off-by: ahcorde <ahcorde@gmail.com> * Improved docs and minor fixes Signed-off-by: ahcorde <ahcorde@gmail.com>
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* Convert ActionServer to use C++ Classes Signed-off-by: ahcorde <ahcorde@gmail.com> * Fixed Test_action_server Signed-off-by: ahcorde <ahcorde@gmail.com> * Improved docs Signed-off-by: ahcorde <ahcorde@gmail.com> * Improved docs and minor fixes Signed-off-by: ahcorde <ahcorde@gmail.com> Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
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Aug 11, 2021
* Convert ActionServer to use C++ Classes Signed-off-by: ahcorde <ahcorde@gmail.com> * Fixed Test_action_server Signed-off-by: ahcorde <ahcorde@gmail.com> * Improved docs Signed-off-by: ahcorde <ahcorde@gmail.com> * Improved docs and minor fixes Signed-off-by: ahcorde <ahcorde@gmail.com> Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
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Related to #665
This converts the Action Server functions to a C++ class.
Signed-off-by: ahcorde ahcorde@gmail.com