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Add support for services and improve memory managment and error handling #90

Merged
merged 18 commits into from
Apr 22, 2023
Merged

Add support for services and improve memory managment and error handling #90

merged 18 commits into from
Apr 22, 2023

Commits on Apr 20, 2023

  1. Generate service request/response types

    @hoffmann-stefan
    hoffmann-stefan committed Apr 20, 2023
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  2. Generate service definition classes

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    hoffmann-stefan committed Apr 20, 2023
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  3. Add initial support for services

    @hoffmann-stefan
    hoffmann-stefan committed Apr 20, 2023
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  4. Add service example

    @hoffmann-stefan
    hoffmann-stefan committed Apr 20, 2023
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  5. Add initial support for clients

    @hoffmann-stefan
    hoffmann-stefan committed Apr 20, 2023
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  6. Add client example

    @hoffmann-stefan
    hoffmann-stefan committed Apr 20, 2023
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  7. Add unittest for services

    @hoffmann-stefan
    hoffmann-stefan committed Apr 20, 2023
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  8. Add Client.ServiceIsReady() mehtod

    @hoffmann-stefan
    hoffmann-stefan committed Apr 20, 2023
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  9. Remove Interfaces that expose internal implementation details 

    Most importent the `IntPtr Handle` property from `ROS2.Interfaces.IDisposable`
should not be public.
`ROS2.Interfaces.IDisposable` was missleading as well.
(`System.IDisposable` is the well kown one)
Made appropriate memers internal as well and added some sealed and static modifiers.
This was done in preperation for adding SafeHandles to avoid memory leaks,
as this would change the implementation detail that was made public by the interfaces.

Abstractions such as interfaces have to be designed for extensability.
See https://docs.microsoft.com/en-us/dotnet/standard/design-guidelines/abstractions-abstract-types-and-interfaces
    @hoffmann-stefan
    hoffmann-stefan committed Apr 20, 2023
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  10. Add SafeHandles for Node and related types 

    As of before this commit native recources for rcl_node_t, rcl_client_t,
rcl_publisher_t, rcl_service_t and rcl_subscription_t didn't
get released.

Used a trick from dotnet/runtime to handle the requirement
that node has to be released last.

Also added some TODOs to check return values and for checks near
allocations use the new throw helper.
    @hoffmann-stefan
    hoffmann-stefan committed Apr 20, 2023
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  11. Add SafeHandles for request id and wait set 

    - Refactored and renamed some methods to be more consistent.
- Added some error handling.
- Don't try to take things if the wait set did return a timeout.
    @hoffmann-stefan
    hoffmann-stefan committed Apr 20, 2023
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  12. Add SafeHandles to generated message types 

    - renamed IMessage to IRosMessage
- moved interfaces for generated types to ROS2 namespace
- renamed interface members
- used `global::*` in some places to avoid name colisions
- added editor browsable never to the members of the interfaces that
schould not be used outside of rcldotnet
    @hoffmann-stefan
    hoffmann-stefan committed Apr 20, 2023
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  13. Add static member caches 

    - Avoids doing reflection over and over.
- If we can require static abstract interface members this could go away.
    @hoffmann-stefan
    hoffmann-stefan committed Apr 20, 2023
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  14. Improve error handling 

    - move RCLExeptionHelper from rcldotnet_common to rcldotnet for acces to rcl_get_error_string()
- get error string using rcl_get_error_string() and add this to the exception message
- change throw helper to avoid unrachable code
- also some other cleanup
    @hoffmann-stefan
    hoffmann-stefan committed Apr 20, 2023
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  15. Rename request variable to solve a CS0136 error: 

    error CS0136: A local or parameter named 'request' cannot be declared in this scope because that name is used in an enclosing local scope to define a local or parameter
    @LoyVanBeek @hoffmann-stefan
    LoyVanBeek authored and hoffmann-stefan committed Apr 20, 2023
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  16. Use const instead of static readonly for constants 

    This allows them to be used in switch cases and other places.
    @hoffmann-stefan
    hoffmann-stefan committed Apr 20, 2023
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  17. Add licence headers

    @hoffmann-stefan
    hoffmann-stefan committed Apr 20, 2023
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  18. Update README.md

    @hoffmann-stefan
    hoffmann-stefan committed Apr 20, 2023
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