Code

Async Workers#446

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mxgrey wants to merge 101 commits intoros2-rust:mainros2-rust/ros2_rust:mainfrom

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Commits on Oct 7, 2024

• Drafting traits for generic executors

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• Fleshing out interfaces for async execution

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Commits on Oct 8, 2024

• Beginning to migrate subscriptions to async

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• Implementing async execution for subscriptions

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Commits on Oct 9, 2024

• Update wait set behavior

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Commits on Oct 10, 2024

• Reimagining the way wait sets are handled

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• Finished reworking wait sets -- need to migrate all waitables

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Commits on Oct 11, 2024

• Finished migrating guard conditions and services

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Commits on Oct 12, 2024

• Change Waitable from trait to struct

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• Migrate clients to new async implementation

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Commits on Oct 13, 2024

• Fleshing out basic executor

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• Finished implementing basic executor -- needs testing

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• Add support for waiting on graph events

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• Migrate parameter service tests to new async executor

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• Try async-std timeouts instead of tokio

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• Debugging strange client failure to take

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Commits on Oct 14, 2024

• Experimenting with only taking from services and clients in the same thread as the wait set

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• Migrate subscription to use shared callback instead of an async task

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• Remove task modules that are no longer used

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• Rename wait module to wait_set

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• Move the wait_set_runner to the wait_set module

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• Remove unnecessary debug outputs

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• Big cleanup

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• Update doctests

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• Remove old comments

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Commits on Nov 16, 2024

• Migrate Context, Executor, and Node creation to new API

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• Update examples

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Commits on Nov 19, 2024

• Fix documentation

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Commits on Nov 20, 2024

• Fix formatting

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• Migrate to SubscriptionOptions

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• Migrate to PublisherOptions

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• Migrate to ServiceOptions

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• Migrate to ClientOptions

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• Enable direct creation of the _Options for all primitive types

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• Migrate Node to shared state pattern

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• Migrate primitives to state pattern

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• Fix example formatting

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• Fix example formatting

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• Fix examples

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• Fix docs

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Commits on Nov 21, 2024

• Make deadline, liveliness_lease, and lifespan all symmetric

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• Add an API to the primitive options builder for avoiding ROS namespace conventions

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• Retrigger CI

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Commits on Nov 23, 2024

• Implicitly cast &str to NodeOptions

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• Remove debug outputs

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• Fix formatting

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Commits on Nov 28, 2024

• Basic Timer type compiling :).

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Commits on Nov 29, 2024

• Evaluates the Timer::new() againts different clock types.

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• Implement time_until_next_call

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• Added cancel behavior

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• Merge pull request #1 from JesusSilvaUtrera/jsilva/add_cancel

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• Implement rcl_timer_reset

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• Adds Timer::call().

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• Added timer_period_ns (#2)

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• Adds Timer::is_ready().

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• WIP Timer callback implementation.

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• Preliminary callback.

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• Added comments to avoid warnings (#3)

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• Integrated the Timer into the WaitSet.

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• Add create_timer to node (WIP) (#4)

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• Makes it work with the integration demo.

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• Working E2E timer with node.

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• Format fix.

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• Fix a TODO for peace of mind.

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Commits on Dec 1, 2024

• Adds an example.

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• Fix format for the example.

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• Adds tests, documentation and removes dead code in node.rs.

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• Fix documentation style in clock.rs.

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• Removes duplicated test in node.rs

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• Fix warnings while running tests in node.rs.

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• Fix missing documentation in wait.rs.

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• Improvements to timer.

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• Makes rustdoc pass in the examples.

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Commits on Dec 2, 2024

• Streamline API for Timer

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• Fix lifecycles of Clock and Timer to guarantee safe usage

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• Fill in documentation

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• Fix formatting

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• Keep track of time elapsed between timer calls

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• Add a test that spins Timers created from a Node

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• Update timer example

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Commits on Dec 3, 2024

• Fix documentation

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• Rename remove_callback to set_inert

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Commits on Dec 9, 2024

• Merge with latest main

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• Merge execution structure PR

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• Merge options pattern PR

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• Merge in shared state pattern

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• Refining merge

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• Update examples

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• Beginning implementation of Worker concept

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Commits on Dec 10, 2024

• Reworking Commands API

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• Enabling Worker features in Executor

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Commits on Dec 11, 2024

• Migrated all primitives to new worker architecture

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• Fix tests and eliminate (most) warnings

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• Simplify implementation of subscription deduction

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• Finished initial Worker implementation - needs testing

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• Finished and tested basic features of Worker

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• Fill in documentation

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Commits on Dec 12, 2024

• Merge in Timer features

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• Implement timers for Workers

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• Remove dbg outputs

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• Add demo for worker feature

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