asterism 0.3.0 → 0.4.1

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data/CHANGELOG.md

@@ -0,0 +1,149 @@
+# Changelog
+
+All notable changes to asterism (the CRuby gem) and picoruby-asterism (the
+mrbgem; the same `mrblib/`). 0.4.0 is the first version on rubygems.org;
+the earlier ones are only in this repository. From 0.4.0 the two Zenoh
+bindings (asterism-zenoh, picoruby-asterism-zenoh) carry the same minor
+version (a patch release of one may come without the other).
+
+## 0.4.1
+
+Additions and a fix; every 0.4.0 call works as before. Needs
+asterism-zenoh / picoruby-asterism-zenoh 0.4.0 (unchanged).
+
+Added
+
+- More bundled types (`data/msgs`, 62 -> 84 files): rcl_interfaces (Log for
+  `/rosout`, ParameterEvent, Parameter, ParameterValue), nav_msgs
+  (Odometry, Path, MapMetaData, OccupancyGrid), sensor_msgs (LaserScan,
+  PointField, PointCloud2, and CompressedImage for Marker),
+  diagnostic_msgs (DiagnosticArray, DiagnosticStatus, KeyValue),
+  tf2_msgs/TFMessage, visualization_msgs (Marker, MarkerArray, MeshFile,
+  UVCoordinate), geometry_msgs PoseWithCovariance and TwistWithCovariance
+  (for Odometry). Every type hash matches ROS 2 Jazzy's type description
+  JSON. tf2_msgs is under the BSD 3-Clause License
+  (`data/msgs/LICENSE-BSD-3-Clause-tf2_msgs.txt`); the gem's licenses are
+  now `MIT`, `Apache-2.0` and `BSD-3-Clause`.
+- `FIELD_TYPES` in every generated message: per field
+  `[name, base, kind, nested, capacity, string_capacity]`, plain Arrays,
+  Strings, Integers and nil (kind is `"scalar"`, `"array"`,
+  `"bounded_sequence"` or `"sequence"`). A string sequence and a number
+  sequence can now be told apart without the .msg.
+- `Asterism::ROS.field_types(type)`: the `FIELD_TYPES` of a type and of
+  every message type it is made of, `{ROS name => FIELD_TYPES}` (for a
+  service, its Request and Response).
+
+Fixed
+
+- `Asterism::ROS.require_type` checks the type name before it builds a
+  path: `pkg/msg/Name` or `pkg/srv/Name`, the package `[a-z][a-z0-9_]*`,
+  the name `[A-Z][A-Za-z0-9]*` (checked byte by byte; the boards have no
+  Regexp). A package name with `..` could point above a `TYPE_PATH`
+  directory. Anything else raises `ArgumentError`, as a malformed name did
+  before.
+
+Types generated by the 0.4.0 generator still load; regenerate them to get
+`FIELD_TYPES`.
+
+## 0.4.0
+
+The first step of the API review toward 1.0 (docs/api_review.md):
+additions, deprecations and fixes. Every 0.3.0 call works as before.
+Needs asterism-zenoh / picoruby-asterism-zenoh 0.4.0.
+
+Added
+
+- Time limits in seconds everywhere: `Asterism[path, timeout: 2.0]` (or
+  `timeout_ms:`), `client.call` / `node.call(timeout:)`,
+  `Asterism.connect(connect_timeout:, check_timeout:)`; on the CRuby API
+  `timeout_ms:` next to `timeout:` and `query_timeout:` on
+  `advanced_subscriber`. Giving a time limit twice raises `ArgumentError`.
+  Time-out messages give both units (`within 2.0 s (2000 ms)`).
+- `node.every(ms: 500)`, `Timer#period_ms`.
+- `Future#took`, `ROS::Call#took` (seconds).
+- `request:` on `client.call` / `call_async` / `node.call`.
+- `node.subscribe(topic, type)` without a block returns the subscription
+  (as `node.subscription`) instead of raising, on the boards as on CRuby.
+- `pending` / `received` on `ROS::Subscription`.
+- `Proxy#remote_methods`.
+- `Asterism.off_join` / `off_leave` (and on `Net`).
+- One error tree under `Asterism::Error`: `TimeoutError` (was `Timeout`),
+  `ROS::TimeoutError` (under `TimeoutError`; was `ROS::Timeout`),
+  `ROS::UnknownType` and `CDR::DecodeError` moved under it, and the
+  bindings' `Zenoh::Error` / `Zenoh::ClosedError` are under it too. The ROS
+  layer raises `Zenoh::ClosedError` when its session or entity is closed.
+- CRuby API: `Connection#connection_count`, `Subscription#each_sample`,
+  `c.liveliness(key) { }` and `c.publisher(key) { |pub| }` (closed after
+  the block), `net[path, timeout_ms:]`.
+- `DEFAULT_TIMEOUT`, `CHECK_TIMEOUT`, `Client::DEFAULT_TIMEOUT` (seconds).
+- CRuby API: `depth:` on `Connection#get`, `#liveliness_get` and
+  `Querier#get`. A get's queue held 16 and could not be changed, so a
+  wildcard get past the 16th reply lost the rest (a router answers in one
+  burst; `liveliness_get("@ros2_lv/**")` returned 16 of 31).
+- CRuby API: `dropped` (with `received`, and `errors` for gets) on what a
+  get gives: `liveliness_get` returns a `KeyList` (an Array with
+  `dropped` / `received`), `get` and `Querier#get` without a block a
+  `GetEnumerator` (an Enumerator with the counts of the last get it sent).
+  `Watch#dropped` / `pending` / `received` (before only through
+  `w.watch.dropped`).
+- CRuby API: a get, liveliness watch or subscription whose depth was left
+  at the default warns once (`Asterism.warn_once`) when something was
+  dropped. So does the object layer's watch, on every Ruby.
+- README: "Which API?" (the portable API and the CRuby API), the error
+  tree, the defaults, the threads table, the deprecations and what 1.0
+  changes, reserved keywords. Internal methods are marked `@api private`.
+
+Changed
+
+- CRuby API: the default depth of `get`, `liveliness_get`, `Querier#get`
+  and `liveliness_watch` is the binding's `DEFAULT_GET_DEPTH` /
+  `DEFAULT_WATCH_DEPTH`, 1024 (was 16; the boards stay at 16).
+- The object layer's liveliness watch (behind `Asterism.each` and
+  `Asterism.nodes`) holds 1024 on CRuby (64 on the boards, as before).
+
+Deprecated (each warns once per name; `Asterism.deprecations = :raise`
+raises instead)
+
+- `Asterism[path, ms]` (the time as a positional argument; a Float there
+  warns with its own message: it is milliseconds).
+- `Asterism::Timeout`, `Asterism::ROS::Timeout` (the names; they still
+  rescue the same errors, through `const_missing`, so that inside
+  `module Asterism` the name `Timeout` is Ruby's again).
+- `Proxy#methods` returning the remote methods: `remote_methods`.
+- CRuby API: `Connection#peers` (`connection_count`) and
+  `Connection::Subscription#each_pending` (`each_sample`).
+- A request field named `timeout` / `timeout_ms` given as a keyword to
+  `client.call` (use `request:`).
+
+Fixed
+
+- A Float as the positional time limit was taken as milliseconds and
+  truncated (`Asterism[path, 2.0]` waited 2 ms); it now warns and says so.
+- A service whose request has a field named like the time-limit keyword
+  could not be called with keyword fields: `request:` (or a Hash) now
+  carries the request, and `timeout:` the time limit.
+
+## 0.3.0
+
+- CRuby API: publishers, queriers, the advanced publisher / subscriber and
+  events with blocks; `Asterism.connect(config:)` for TLS.
+- Strings are built from a fresh String (frozen literals); CI on Ruby 3.2
+  to 4.0 and with frozen literals, against asterism-zenoh main, and an
+  installed-gem check.
+- docs/api_review.md (the review this version starts on) and profile/
+  (the Ruby profile of the shared layer across implementations).
+
+## 0.2.0
+
+- The CRuby API: blocks, a receiving thread and Enumerators over the
+  portable API (`Asterism::Zenoh.open`, `Asterism.connect { |net| }`,
+  `Asterism::ROS.connect`).
+- In the shared layer: `on_join` / `on_leave`, `node.every`,
+  `node.subscribe` blocks and `deconstruct_keys`.
+
+## 0.1.0
+
+- The pure Ruby layers as one source for the CRuby gem and the mrbgem: the
+  object layer (`Asterism.connect / expose / [] / poll`), `Asterism::CDR`,
+  `Asterism::ROS` (topics and services over rmw_zenoh's wire format), the
+  type generator and the bundled ROS 2 Jazzy types.

data/NOTICE

@@ -4,7 +4,8 @@ Asterism's own code is under the MIT License (LICENSE).
 
 This repository also contains material made from ROS 2 message and service
 definitions, which are licensed under the Apache License, Version 2.0
-(data/msgs/LICENSE-Apache-2.0.txt):
+(data/msgs/LICENSE-Apache-2.0.txt), except tf2_msgs, which is under the BSD
+3-Clause License (data/msgs/LICENSE-BSD-3-Clause-tf2_msgs.txt):
 
 - tools/ros2_jazzy/: the .msg / .srv definitions and the package.xml of
   their packages as distributed with ROS 2 Jazzy
@@ -16,12 +17,16 @@ definitions, which are licensed under the Apache License, Version 2.0
 - test/msgs/golden_cdr.tsv and test/msgs/test_type_hashes.txt: values
   computed by ROS 2's tools (rclpy, rosidl) in a ROS 2 Jazzy image.
 
-The ROS 2 packages these come from, all "Apache License 2.0" in their
-package.xml:
+The ROS 2 packages these come from, with the license in their package.xml:
 
-- std_msgs, geometry_msgs, sensor_msgs (ros2/common_interfaces)
-- builtin_interfaces, service_msgs (ros2/rcl_interfaces)
-- example_interfaces (ros2/example_interfaces)
+- std_msgs, geometry_msgs, sensor_msgs, nav_msgs, diagnostic_msgs,
+  visualization_msgs (ros2/common_interfaces): "Apache License 2.0"
+- builtin_interfaces, service_msgs, rcl_interfaces (ros2/rcl_interfaces):
+  "Apache License 2.0"
+- example_interfaces (ros2/example_interfaces): "Apache License 2.0"
+- tf2_msgs (ros2/geometry2): "BSD" (the BSD 3-Clause License of that
+  repository; Copyright (c) 2008, Willow Garage, Inc.)
 
 Copyright in the definitions belongs to their authors (Open Source Robotics
-Foundation, Inc. and the ROS 2 contributors); see those repositories.
+Foundation, Inc., Willow Garage, Inc. and the ROS 2 contributors); see those
+repositories.