3.0.2

Update changelog
Revert test humble release (#142 )
2026-09-06 18:05:17 +02:00 · 2022-05-25 09:09:39 +02:00 · 2022-05-25 09:09:27 +02:00 · 2022-05-24 11:11:32 +02:00 · 2022-05-20 12:35:11 +02:00
8 changed files with 37 additions and 76 deletions
@@ -3,27 +3,27 @@ name: CI micro-ROS Agent
 on:
    pull_request:
      branches:
-        - 'jazzy'
+        - 'humble'
    schedule:
      - cron: '33 6 * * *'

 jobs:

    microros_agent_ci:
-      runs-on: ${{ matrix.os }}
+      runs-on: ubuntu-latest
      strategy:
        fail-fast: false
        matrix:
-          os: [ ubuntu-latest ]
-          ros_distribution: [ jazzy ]
+          os: [ ubuntu-20.04 ]
+          ros_distribution: [ humble ]
          include:
-            - docker_image: ubuntu:24.04
-              ros_distribution: jazzy
+            - docker_image: ubuntu:jammy
+              ros_distribution: humble
      container:
-        image: ${{ matrix.docker_image }}
+        image: ubuntu:jammy
      steps:
-      - uses: actions/checkout@v4
-      - uses: ros-tooling/setup-ros@0.7.13
+      - uses: actions/checkout@v2
+      - uses: ros-tooling/setup-ros@0.3.2
        with:
          use-ros2-testing: false
          required-ros-distributions: ${{ matrix.ros_distribution }}
@@ -31,7 +31,7 @@ jobs:
        run: |
          apt-get install ros-${{ matrix.ros_distribution }}-micro-ros-msgs
          apt-get install ros-${{ matrix.ros_distribution }}-rmw-fastrtps-cpp
-      - uses : ros-tooling/action-ros-ci@0.4.3
+      - uses : ros-tooling/action-ros-ci@0.2.5
        with:
          package-name: "micro_ros_agent"
          target-ros2-distro: ${{ matrix.ros_distribution }}
@@ -2,30 +2,7 @@
 Changelog for package micro-ros_agent
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

-5.0.2 (2024-05-31)
------------------
-* Jazzy Release
-* Bump Micro XRCE-DDS Agent (`#226 <https://github.com/micro-ROS/micro-ROS-Agent/issues/226>`_)
-
-5.0.1 (2024-01-29)
------------------
-* Fix thread include (`#216 <https://github.com/micro-ROS/micro-ROS-Agent/issues/216>`_) (`#218 <https://github.com/micro-ROS/micro-ROS-Agent/issues/218>`_)
-
-5.0.0 (2023-06-06)
------------------
-* Add empty type key hash to GraphCache (`#189 <https://github.com/micro-ROS/micro-ROS-Agent/issues/189>`_)
-* Contributors: Antonio Cuadros
-
-4.0.2 (2022-09-28)
------------------
-* Fix Datawriter destruction (`#169 <https://github.com/micro-ROS/micro-ROS-Agent/issues/169>`_) (`#170 <https://github.com/micro-ROS/micro-ROS-Agent/issues/170>`_)
-* Synchronise predicate (`#160 <https://github.com/micro-ROS/micro-ROS-Agent/issues/160>`_) (`#165 <https://github.com/micro-ROS/micro-ROS-Agent/issues/165>`_)
-
-4.0.1 (2022-06-13)
------------------
-* Fix memory leak in graph manager (`#147 <https://github.com/micro-ROS/micro-ROS-Agent/issues/147>`_) (`#148 <https://github.com/micro-ROS/micro-ROS-Agent/issues/148>`_)
-
-4.0.0 (2022-05-25)
+3.0.2 (2022-05-25)
 ------------------

 3.0.1 (2022-03-25)
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.

-cmake_minimum_required(VERSION 3.11)
+cmake_minimum_required(VERSION 3.5)

 option(UROSAGENT_GENERATE_PROFILE
  "Generates agent.refs according to the .msgs provided in the .repos" OFF
@@ -26,7 +26,7 @@ if(NOT xrceagent_FOUND)
            GIT_REPOSITORY
                https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
            GIT_TAG
-                v2.4.3
+                ros2
            PREFIX
                ${PROJECT_BINARY_DIR}/agent
            INSTALL_DIR
@@ -65,7 +65,6 @@
 #include <string>
 #include <memory>
 #include <map>
-#include <thread>

 namespace uros {
 namespace agent {
@@ -112,12 +111,6 @@ public:
        const eprosima::fastdds::dds::DomainParticipant* participant,
        bool from_microros = true);

-    /**
-     * @brief   Getter for the graph cache.
-     * @return  Reference to inner graph cache
-     */
-    rmw_dds_common::GraphCache& get_graph_cache() { return graphCache_; }
-
    /**
     * @brief   Adds a DDS datawriter to the graph tree.
     * @param   datawriter_guid rtps::GUID_t of the datawriter to be added.
@@ -306,7 +299,7 @@ private:
    // Store a auxiliary publishers and datawriter for each participant created in micro-ROS
    std::map<
        const eprosima::fastdds::dds::DomainParticipant*,
-        eprosima::fastdds::dds::DataWriter*
+        std::unique_ptr<eprosima::fastdds::dds::DataWriter>
    > micro_ros_graph_datawriters_;
 };

@@ -2,10 +2,10 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
  <name>micro_ros_agent</name>
-  <version>5.0.2</version>
+  <version>3.0.2</version>
  <description>micro-ROS Agent package</description>
-  <maintainer email="eugeniocollado@eprosima.com">Eugenio Collado</maintainer>
-  <maintainer email="carlosespinoza@eprosima.com">Carlos Espinoza</maintainer>
+  <maintainer email="pablogarrido@eprosima.com">Pablo Garrido</maintainer>
+  <maintainer email="antoniocuadros@eprosima.com">Antonio Cuadros</maintainer>
  <license>Apache License 2.0</license>

  <buildtool_depend>ament_cmake</buildtool_depend>
@@ -125,11 +125,9 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)

    // Set graph cache on change callback function
    graphCache_.set_on_change_callback([this]()
-    {
    {
        std::unique_lock<std::mutex> lock(this->mtx_);
        this->graph_changed_ = true;
-        }
        this->cv_.notify_one();
    });

@@ -146,7 +144,6 @@ inline void GraphManager::publish_microros_graph()
            {
                return this->graph_changed_;
            });
-            graph_changed_ = false;
        }

        if (display_on_change_)
@@ -154,6 +151,7 @@ inline void GraphManager::publish_microros_graph()
            std::cout << "Updated uros Graph: graph changed" << std::endl;
            std::cout << graphCache_ << std::endl;
        }
+        graph_changed_ = false;

        micro_ros_msgs::msg::Graph graph_message;

@@ -322,10 +320,11 @@ void GraphManager::add_participant(
        if (it == micro_ros_graph_datawriters_.end())
        {
            // Create datawriter
-            eprosima::fastdds::dds::DataWriter * datawriter = publisher_->create_datawriter(ros_discovery_topic_.get(), datawriter_qos_);
+            std::unique_ptr<eprosima::fastdds::dds::DataWriter> datawriter;
+            datawriter.reset(publisher_->create_datawriter(ros_discovery_topic_.get(), datawriter_qos_));

            it = micro_ros_graph_datawriters_.insert(
-                std::make_pair(participant, datawriter)).first;
+                std::make_pair(participant, std::move(datawriter))).first;
        }

        it->second->write(static_cast<void *>(&info));
@@ -345,9 +344,8 @@ void GraphManager::remove_participant(
        rmw_dds_common::convert_gid_to_msg(&gid, &info.gid);
        auto it = micro_ros_graph_datawriters_.find(participant);
        it->second->write(static_cast<void *>(&info));
-        publisher_->delete_datawriter(it->second);
-        micro_ros_graph_datawriters_.erase(participant);
    }
+    micro_ros_graph_datawriters_.erase(participant);
 }

 void GraphManager::add_datawriter(
@@ -374,8 +372,8 @@ void GraphManager::add_datawriter(
        "rmw_fastrtps_cpp", participant_guid);
    const rmw_qos_profile_t qos_profile = fastdds_qos_to_rmw_qos(writer_qos);

-    graphCache_.add_entity(datawriter_gid, topic_name, type_name,
-        rosidl_get_zero_initialized_type_hash(), participant_gid, qos_profile, false);
+    graphCache_.add_entity(datawriter_gid, topic_name,
+        type_name, participant_gid, qos_profile, false);
 }

 void GraphManager::remove_datawriter(
@@ -411,13 +409,8 @@ void GraphManager::add_datareader(
        "rmw_fastrtps_cpp", participant_guid);
    const rmw_qos_profile_t qos_profile = fastdds_qos_to_rmw_qos(reader_qos);

-    // TODO(acuadros95): Use typesupport to calculate type hash on micro-ROS and save and get it from reader_qos.user_data.
-    // Related PRs:
-    // https://github.com/ros2/rmw_dds_common/pull/70
-    // https://github.com/ros2/rmw_fastrtps/pull/671
-    // https://github.com/ros2/rmw_fastrtps/pull/680
-    graphCache_.add_entity(datareader_gid, topic_name, type_name,
-        rosidl_get_zero_initialized_type_hash(), participant_gid, qos_profile, true);
+    graphCache_.add_entity(datareader_gid, topic_name,
+        type_name, participant_gid, qos_profile, true);
 }

 void GraphManager::remove_datareader(
@@ -604,7 +597,7 @@ GraphManager::ParticipantListener::ParticipantListener(
 }

 void GraphManager::ParticipantListener::on_participant_discovery(
-        eprosima::fastdds::dds::DomainParticipant* /* participant */,
+        eprosima::fastdds::dds::DomainParticipant* participant,
        eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&& info)
 {
    switch (info.status)
@@ -621,15 +614,13 @@ void GraphManager::ParticipantListener::on_participant_discovery(
            const std::string enclave =
                std::string(name_found->second.begin(), name_found->second.end());

-            const rmw_gid_t gid = rmw_fastrtps_shared_cpp::create_rmw_gid("rmw_fastrtps_cpp", info.info.m_guid);
-            graphManager_from_->get_graph_cache().add_participant(gid, enclave);
+            graphManager_from_->add_participant(participant, false, enclave);
            break;
        }
        case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::REMOVED_PARTICIPANT:
        case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DROPPED_PARTICIPANT:
        {
-            const rmw_gid_t gid = rmw_fastrtps_shared_cpp::create_rmw_gid("rmw_fastrtps_cpp", info.info.m_guid);
-            graphManager_from_->get_graph_cache().remove_participant(gid);
+            graphManager_from_->remove_participant(participant, false);
            break;
        }
        default:
@@ -54,14 +54,14 @@ bool ParticipantEntitiesInfoTypeSupport::serialize(
    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload->data),
        payload->max_size);
    eprosima::fastcdr::Cdr scdr(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-        eprosima::fastcdr::DDS_CDR);
+        eprosima::fastcdr::Cdr::DDS_CDR);

    scdr.serialize_encapsulation();
    if (callbacks_->cdr_serialize(data, scdr))
    {
        payload->encapsulation = (scdr.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS) ?
            CDR_BE : CDR_LE;
-        payload->length = static_cast<uint32_t>(scdr.get_serialized_data_length());
+        payload->length = static_cast<uint32_t>(scdr.getSerializedDataLength());
        return true;
    }
    else
@@ -77,7 +77,7 @@ bool ParticipantEntitiesInfoTypeSupport::deserialize(
    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload->data),
        payload->length);
    eprosima::fastcdr::Cdr dcdr(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-        eprosima::fastcdr::DDS_CDR);
+        eprosima::fastcdr::Cdr::DDS_CDR);

    dcdr.read_encapsulation();
    return callbacks_->cdr_deserialize(dcdr, data);
@@ -146,14 +146,14 @@ bool MicrorosGraphInfoTypeSupport::serialize(
    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload->data),
        payload->max_size);
    eprosima::fastcdr::Cdr scdr(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-        eprosima::fastcdr::DDS_CDR);
+        eprosima::fastcdr::Cdr::DDS_CDR);

    scdr.serialize_encapsulation();
    if (callbacks_->cdr_serialize(data, scdr))
    {
        payload->encapsulation = (scdr.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS) ?
            CDR_BE : CDR_LE;
-        payload->length = static_cast<uint32_t>(scdr.get_serialized_data_length());
+        payload->length = static_cast<uint32_t>(scdr.getSerializedDataLength());
        return true;
    }
    else
@@ -169,7 +169,7 @@ bool MicrorosGraphInfoTypeSupport::deserialize(
    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload->data),
        payload->length);
    eprosima::fastcdr::Cdr dcdr(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-        eprosima::fastcdr::DDS_CDR);
+        eprosima::fastcdr::Cdr::DDS_CDR);

    dcdr.read_encapsulation();
    return callbacks_->cdr_deserialize(dcdr, data);
Author	SHA1	Message	Date
Pablo Garrido	4a750220d2	3.0.2	2022-05-25 09:09:39 +02:00
Pablo Garrido	b5a0d0b6ee	Update changelog	2022-05-25 09:09:27 +02:00
Antonio Cuadros	114a043ee2	Revert test humble release (#142 )	2022-05-24 11:11:32 +02:00
Antonio CuadrosandPablo Garrido	b0ebf5ab3f	Humble release (#135 ) * Modify CI * Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Update .github/workflows/ci.yml * Update .github/workflows/ci.yml * Modify CI * Update to ubuntu latest * Use pre-release repository * Use ubuntu-20.04 * Fix * Revert changes Co-authored-by: Pablo Garrido <pablogs9@gmail.com>	2022-05-20 12:35:11 +02:00