rclrb 1.1.0 → 1.2.0

checksums.yaml

@@ -1,7 +1,7 @@
 ---
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-  data.tar.gz: 9037924c66ca516eba232aa1df38207c7fac459a0d684e64bc218df914a18249
+  metadata.gz: 0dc5c6fa67dfa18627ec77be2ee941d9793d6f0e66897e018444029f1318d036
+  data.tar.gz: 1e9422a5b7bad284ef7bc6c8a14b2b0f53bb6ab5331f83ce100bbe2f9601c3c0
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-  data.tar.gz: 8e91b4eea09726ed69f6273b7a65b637296dc675785b2353b12f84dad95d8700b8d87e6c15650be94f6262dac2b31143930ec376bd16be72c8bcfe8ee0a1f592
+  metadata.gz: 8e00c7559faeb4389105ecef789be4e54acdd2dd472ef8cd6d2105e1e77e7c096d4310c13ac434549c6aaf63e728e4c735e28f4ccd005f905f2cf2b55b408d7c
+  data.tar.gz: 726f02ca7a4b692922428322e7e39527427c7832398d2c7ff3fcb3fa01265ef53c42abc55e335c8bce520d1eecf20d3712f5135a3a02cdc0fc596030e0c4bc61

data/lib/rclrb/client.rb

@@ -15,6 +15,7 @@ module Rclrb
       client_ops = CApi.rcl_client_get_default_options()
       client_ops[:qos] = QoSProfile.get_profile(qos_profile).ros_profile
       CApi.handle_result CApi.rcl_client_init(@client_handle, node_handle, srv_type.type_support(), @srv_name, client_ops)
+      Rclrb.rcl_signal_guard_condition.trigger
     end
 
     rclrb_finalize_with :@client_handle, :@node_handle do |client_handle, node_handle|

data/lib/rclrb/executor.rb

@@ -7,6 +7,8 @@ module Rclrb
     def initialize(*nodes)
       @nodes = nodes
       @groups = nodes.map { |x| x.default_callback_group }
+      @running = true
+      @exitcode = 0
     end
     ##
     # Add a node to the executor
@@ -14,15 +16,21 @@ module Rclrb
       @nodes.append node
       @groups.append node.default_callback_group
     end
+    def shutdown(exitcode)
+      @exitcode = exitcode
+      @running = false
+      Rclrb.rcl_signal_guard_condition.trigger
+    end
     ##
     # Spin continuously untill shutdown was requested
     def spin()
-      until Rclrb.rcl_shutdown_requested?
+      while @running and not Rclrb.rcl_shutdown_requested?
         wait_set = WaitSet.new
         threads = @groups.map { |g| g.spin wait_set }
         threads.each { |t| t.join }
         wait_set.wait
       end
+      return @exitcode
     end
   end
   ##

data/lib/rclrb/fields.rb

@@ -31,6 +31,9 @@ module Rclrb
         @array_reader  = array_reader
         @array_writter = array_writter
       end
+      def create_from_dict v
+        return v
+      end
       def array_field()
         @array_field = ArrayField.new(self) unless defined?(@array_field)
         return @array_field
@@ -71,6 +74,9 @@ module Rclrb
       def StringField.field_name()
         return "Rclrb::Fields::StringField"
       end
+      def StringField.create_from_dict v
+        return v
+      end
       def StringField.parse_ros_message(data)
         length =  data[:length]
         return data[:string].get_string(0, length)
@@ -78,14 +84,19 @@ module Rclrb
       def StringField.parse_ros_message_array(data, length)
         return Fields.__generic_parse_array(data, length, StringField.ffi_size) { |ptr| StringField.parse_ros_message FFIType.new(ptr) }
       end
-      def StringField.fill_ros_message(data, index, value)
-        st = data[index]
+      def StringField.__fill_ros_message(ffi_struct, value)
         str_pointer = Rclrb.rcl_allocate value.length + 1
-        st[:string] = str_pointer
+        ffi_struct[:string] = str_pointer
         str_pointer.put_string(0, value)
         str_pointer.put_uint8(value.length, 0)
-        st[:length] = value.length
-        st[:capacity] = value.length + 1
+        ffi_struct[:length] = value.length
+        ffi_struct[:capacity] = value.length + 1
+      end
+      def StringField.fill_ros_message(data, index, value)
+        StringField.__fill_ros_message(data[index], value)
+      end
+      def StringField.fill_ros_message_array(array_pointer, value)
+        Fields.__generic_fill_ros_message_array(array_pointer, value, StringField.ffi_size) { |ptr, value| StringField.__fill_ros_message(ffi_type.new(ptr), value) }
       end
       def StringField.destroy_ros_message(data)
         if data.kind_of? FFIType
@@ -118,15 +129,24 @@ module Rclrb
       def TimeField.field_name()
         return "Rclrb::Fields::TimeField"
       end
+      def TimeField.create_from_dict v
+        return Time.from_sec_nsec v['sec'], v['nsec']
+      end
       def TimeField.parse_ros_message(data)
         return Time.from_sec_nsec data[:sec], data[:nsec]
       end
-      def TimeField.fill_ros_message(data, index, value)
-        st = data[index]
+      def TimeField.__fill_ros_message(ffi_struct, value)
         s, ns = value.to_sec_nsec
-        st[:sec] = s
-        st[:nsec] = ns
+        ffi_struct[:sec] = s
+        ffi_struct[:nsec] = ns
+      end
+      def TimeField.fill_ros_message(data, index, value)
+        TimeField.__fill_ros_message(data[index], value)
       end
+      def TimeField.fill_ros_message_array(array_pointer, value)
+        Fields.__generic_fill_ros_message_array(array_pointer, value, TimeField.ffi_size) { |ptr, value| TimeField.__fill_ros_message(ffi_type.new(ptr), value) }
+      end
+
       def TimeField.destroy_ros_message(data)
       end
       def TimeField.array_field()
@@ -156,6 +176,10 @@ module Rclrb
       def field_name()
         return "#{@field.field_name}.array_field()"
       end
+      def create_from_dict v
+        raise RclError.new "Expected Array got '#{v}' of type '#{v.class}'" unless v.is_a? Array
+        return v.map { |x| @field.create_from_dict x }
+      end
       def parse_ros_message(data)
         return @field.parse_ros_message_array data[:array], data[:length]
       end

data/lib/rclrb/init.rb

@@ -19,6 +19,23 @@ module Rclrb
     # Call init
     CApi.handle_result(CApi.rcl_init(arguments.length, p_values, @@initOptions, @@context))
 
+    # Remove from arguments the ros arguments
+    idx = 0
+    removing = false
+    while idx < arguments.length
+      if removing
+        if arguments[idx] == "--"
+          arguments.delete_at idx
+          break
+        end
+        arguments.delete_at idx
+      elsif arguments[idx] == "--ros-args"
+        removing = true
+      else
+        idx += 1
+      end
+    end
+
     # Guard condition to shutdown execution when shutdown is called
     @@signal_guard_condition = GuardCondition.new
     @@shutdown_requested = false

data/lib/rclrb/interfaces.rb

@@ -112,8 +112,17 @@ module Rclrb
         @<%= field[:name] %> = <%= field[:field_init_value] %>
         <% end %>
       end
+      def #{klass_name}.create_from_dict(dict)
+        v = #{klass_name}.new
+        <% mdef[:fields][#{index}].each do |field| %>
+        if dict.include? '<%= field[:name] %>'
+          v.<%= field[:name] %> = <%= field[:field_def_name] %>.create_from_dict(dict['<%= field[:name] %>'])
+        end
+        <% end %>
+        return v
+      end
       class FFIType < FFI::Struct
-        layout <%= mdef[:fields][#{index}].map { |f| ":" + f[:name] + ", " + f[:field_def_name] + ".ffi_type" }.join(" ,") %>
+        layout <%= mdef[:fields][#{index}].map { |f| ":" + f[:name] + ", " + f[:field_def_name] + ".ffi_type" }.join(" ,") %><% if(mdef[:fields][#{index}].empty?) %> :__dummy__, :int <% end %>
       end
 
       def #{klass_name}.get_ffi_struct(data)

data/lib/rclrb/service.rb

@@ -16,6 +16,7 @@ module Rclrb
       service_ops = CApi.rcl_service_get_default_options()
       service_ops[:qos] = QoSProfile.get_profile(qos_profile).ros_profile
       CApi.handle_result CApi.rcl_service_init(@service_handle, node_handle, srv_type.type_support(), @srv_name, service_ops)
+      Rclrb.rcl_signal_guard_condition.trigger
     end
 
     rclrb_finalize_with :@service_handle, :@node_handle do |service_handle, node_handle|

data/lib/rclrb/subscription.rb

@@ -17,6 +17,7 @@ module Rclrb
       subscription_ops = CApi.rcl_subscription_get_default_options()
       subscription_ops[:qos] = QoSProfile.get_profile(qos_profile).ros_profile
       CApi.handle_result CApi.rcl_subscription_init(@subscription_handle, node_handle, msg_type.type_support(), @topic, subscription_ops)
+      Rclrb.rcl_signal_guard_condition.trigger
     end
     rclrb_finalize_with :@subscription_handle, :@node_handle do |subscription_handle, node_handle|
       CApi.handle_result CApi.rcl_subscription_fini(subscription_handle, node_handle)

data/lib/rclrb/timer.rb

@@ -13,6 +13,7 @@ module Rclrb
       callback_group.add self
 
       CApi.handle_result(CApi.rcl_timer_init(handle, clock.handle, Rclrb.rcl_context, timer_period_sec*1e9, @callback_proc, Rclrb.rcl_allocator))
+      Rclrb.rcl_signal_guard_condition.trigger
     end
 
     rclrb_finalize_with :@timer_handle, :@node_handle do |timer_handle, node_handle|

data/lib/rclrb/version.rb

@@ -1,3 +1,3 @@
 module Rclrb
-  VERSION="1.1.0"
+  VERSION="1.2.0"
 end

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: rclrb
 version: !ruby/object:Gem::Version
-  version: 1.1.0
+  version: 1.2.0
 platform: ruby
 authors:
 - Cyrille Berger
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2023-09-14 00:00:00.000000000 Z
+date: 2024-05-13 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: ffi