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refactor: sparate ros2 dependency in aimrt_py #117

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merged 6 commits into from
Dec 3, 2024
Merged

refactor: sparate ros2 dependency in aimrt_py #117

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45c8784
feat: enhance aimrt_py with ROS2 support and modularize functionality
zhangyi1357 Dec 3, 2024
d9c7a10
chore: update .gitignore and refactor example scripts for improved cl…
zhangyi1357 Dec 3, 2024
6e12ea1
refactor: remove unused import from python_runtime initialization
zhangyi1357 Dec 3, 2024
be39f71
refactor: streamline ROS2 import structure and enhance CMake configur…
zhangyi1357 Dec 3, 2024
7e3b45d
feat: add support for additional ROS2 example script
zhangyi1357 Dec 3, 2024
c4cadcf
format code
zhangyi1357 Dec 3, 2024
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feat: enhance aimrt_py with ROS2 support and modularize functionality 
- Added support for ROS2 message types in aimrt_py, improving interoperability with ROS2 systems.
- Introduced new module aimrt_python_runtime_ros2 for ROS2-specific functionalities, including publishing, subscribing, and RPC handling.
- Updated existing files to integrate ROS2 capabilities, ensuring seamless interaction between ROS1 and ROS2 message types.
- Enhanced CMake configuration to conditionally include ROS2 components based on build settings.
- Improved code organization by separating ROS2-related functionalities into dedicated headers and source files for better maintainability.
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@zhangyi1357
zhangyi1357 committed Dec 3, 2024
commit 45c87840508e5220e0db7f2db0e62b73fb7dbde9
28 changes: 16 additions & 12 deletions src/runtime/python_runtime/CMakeLists.txt
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Expand Up @@ -13,13 +13,9 @@ set(CUR_TARGET_NAME ${CUR_SUPERIOR_NAMESPACE_UNDERLINE}_${CUR_DIR})
set(CUR_TARGET_ALIAS_NAME ${CUR_SUPERIOR_NAMESPACE}::${CUR_DIR})

# Set file collection
file(GLOB_RECURSE src CONFIGURE_DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/*.cc)
file(GLOB_RECURSE src CONFIGURE_DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/python_runtime_main.cc)
file(GLOB_RECURSE py_files CONFIGURE_DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/*.py)
file(GLOB_RECURSE ros2_files CONFIGURE_DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/ros2_type_support_utils.cc)

if(NOT AIMRT_BUILD_WITH_ROS2)
list(REMOVE_ITEM src ${ros2_files})
endif()
file(GLOB_RECURSE ros2_files CONFIGURE_DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/ros2_type_support_utils.cc ${CMAKE_CURRENT_SOURCE_DIR}/python_runtime_ros2.cc)

# Add target
pybind11_add_module(${CUR_TARGET_NAME} SHARED)
Expand All @@ -33,13 +29,21 @@ target_link_libraries(
${CUR_TARGET_NAME}
PRIVATE $<LINK_LIBRARY:WHOLE_ARCHIVE,aimrt::runtime::core>)

# Link ros2 interface if building with ros2
if(AIMRT_BUILD_WITH_ROS2)
target_link_libraries(${CUR_TARGET_NAME} PRIVATE aimrt::interface::aimrt_module_ros2_interface)
target_compile_definitions(${CUR_TARGET_NAME} PRIVATE AIMRT_BUILD_WITH_ROS2)
endif()

# Set misc of target
set_target_properties(${CUR_TARGET_NAME} PROPERTIES OUTPUT_NAME "aimrt_python_runtime")

set_property(TARGET ${CUR_TARGET_NAME} PROPERTY PY_FILES ${py_files})

if(AIMRT_BUILD_WITH_ROS2)
pybind11_add_module(${CUR_TARGET_NAME}_ros2 SHARED)
add_library(${CUR_TARGET_ALIAS_NAME}_ros2 ALIAS ${CUR_TARGET_NAME}_ros2)

target_sources(${CUR_TARGET_NAME}_ros2 PRIVATE ${ros2_files})

target_link_libraries(
${CUR_TARGET_NAME}_ros2
PRIVATE $<LINK_LIBRARY:WHOLE_ARCHIVE,aimrt::runtime::core>
aimrt::interface::aimrt_module_ros2_interface)

set_target_properties(${CUR_TARGET_NAME}_ros2 PROPERTIES OUTPUT_NAME "aimrt_python_runtime_ros2")
endif()
1 change: 1 addition & 0 deletions src/runtime/python_runtime/__init__.py
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Expand Up @@ -5,5 +5,6 @@
Publish, RegisterPublishType, Subscribe)
from .aimrt_py_log import *
from .aimrt_python_runtime import *
from .aimrt_python_runtime_ros2 import *
from .check_ros2_type import (check_is_valid_ros2_msg_type,
check_is_valid_srv_type)
12 changes: 6 additions & 6 deletions src/runtime/python_runtime/aimrt_py_chn.py
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Expand Up @@ -9,7 +9,7 @@
import google.protobuf
import google.protobuf.message

from . import aimrt_python_runtime
from . import aimrt_python_runtime, aimrt_python_runtime_ros2
from .check_ros2_type import check_is_valid_ros2_msg_type

Ros2MsgType = TypeVar("Ros2MsgType")
Expand Down Expand Up @@ -81,10 +81,10 @@ def RegisterPublishType(publisher: aimrt_python_runtime.PublisherRef,
py_pb_ts.SetSerializationTypesSupportedList(["pb", "json"])
return publisher.PbRegisterPublishType(py_pb_ts)
elif check_is_valid_ros2_msg_type(msg_type):
py_ros2_ts = aimrt_python_runtime.PyRos2TypeSupport(msg_type)
py_ros2_ts = aimrt_python_runtime_ros2.PyRos2TypeSupport(msg_type)
py_ros2_ts.SetTypeName(GetRos2MessageTypeName(msg_type))
py_ros2_ts.SetSerializationTypesSupportedList(["ros2"])
return publisher.Ros2RegisterPublishType(py_ros2_ts)
return aimrt_python_runtime_ros2.Ros2RegisterPublishType(publisher, py_ros2_ts)
else:
raise TypeError(f"Invalid message type: {type(msg_type)}")

Expand Down Expand Up @@ -141,7 +141,7 @@ def Publish(publisher: aimrt_python_runtime.PublisherRef, second, third=None):
publisher.PbPublishWithCtx(GetPbMessageTypeName(msg.__class__), ctx_ref, serialized_msg)
elif message_type == "ros2":
ctx_ref = _CreateContextRef(ctx_or_type, default_serialization_type="ros2")
publisher.Ros2PublishWithCtx(GetRos2MessageTypeName(msg.__class__), ctx_ref, msg)
aimrt_python_runtime_ros2.Ros2PublishWithCtx(publisher, GetRos2MessageTypeName(msg.__class__), ctx_ref, msg)


def Subscribe(subscriber: aimrt_python_runtime.SubscriberRef,
Expand Down Expand Up @@ -187,7 +187,7 @@ def handle_callback(ctx_ref: aimrt_python_runtime.ContextRef, msg_buf: bytes):
subscriber.PbSubscribeWithCtx(py_pb_ts, handle_callback)

elif check_is_valid_ros2_msg_type(msg_type):
py_ros2_ts = aimrt_python_runtime.PyRos2TypeSupport(msg_type)
py_ros2_ts = aimrt_python_runtime_ros2.PyRos2TypeSupport(msg_type)
py_ros2_ts.SetTypeName(GetRos2MessageTypeName(msg_type))
py_ros2_ts.SetSerializationTypesSupportedList(["ros2"])

Expand All @@ -200,7 +200,7 @@ def ros2_callback_wrapper(ctx_ref: aimrt_python_runtime.ContextRef, msg):
except Exception as e:
print(f"AimRT channel handle get exception, {e}", file=sys.stderr)

subscriber.Ros2SubscribeWithCtx(py_ros2_ts, msg_type, ros2_callback_wrapper)
aimrt_python_runtime_ros2.Ros2SubscribeWithCtx(subscriber, py_ros2_ts, msg_type, ros2_callback_wrapper)

else:
raise TypeError(f"Invalid message type: {type(msg_type)}, expected Protobuf or ROS2 message type")
93 changes: 7 additions & 86 deletions src/runtime/python_runtime/export_channel.h
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Expand Up @@ -12,11 +12,6 @@

#include "python_runtime/export_pb_type_support.h"

#ifdef AIMRT_BUILD_WITH_ROS2
#include "python_runtime/export_ros2_type_support.h"
#include "python_runtime/ros2_type_support_utils.h"
#endif

namespace aimrt::runtime::python_runtime {

inline void ExportContext(const pybind11::object& m) {
Expand Down Expand Up @@ -104,76 +99,6 @@ inline bool PbSubscribeWithCtx(
});
}

#ifdef AIMRT_BUILD_WITH_ROS2

inline bool Ros2RegisterPublishType(
aimrt::channel::PublisherRef& publisher_ref,
const std::shared_ptr<const PyRos2TypeSupport>& py_ros2_type_support) {
static std::vector<std::shared_ptr<const PyRos2TypeSupport>> py_ros2_ts_vec;
py_ros2_ts_vec.emplace_back(py_ros2_type_support);

return publisher_ref.RegisterPublishType(py_ros2_type_support->NativeHandle());
}

inline void Ros2PublishWithCtx(
aimrt::channel::PublisherRef& publisher_ref,
std::string_view msg_type,
const aimrt::channel::ContextRef& ctx_ref,
pybind11::object msg_obj) {
auto msg_ptr = convert_from_py(msg_obj);
if (!msg_ptr) {
throw py::error_already_set();
}

publisher_ref.Publish(msg_type, ctx_ref, static_cast<const void*>(msg_ptr.get()));
}

inline bool Ros2SubscribeWithCtx(
aimrt::channel::SubscriberRef& subscriber_ref,
const std::shared_ptr<const PyRos2TypeSupport>& py_ros2_type_support,
pybind11::object pyclass,
std::function<void(aimrt::channel::ContextRef, pybind11::object)>&& callback) {
static std::vector<std::shared_ptr<const PyRos2TypeSupport>> py_ros2_ts_vec;
py_ros2_ts_vec.emplace_back(py_ros2_type_support);

pybind11::gil_scoped_acquire acquire;

pybind11::object pymetaclass = pyclass.attr("__class__");
auto* capsule_ptr = static_cast<void*>(pymetaclass.attr("_CONVERT_TO_PY").cast<py::capsule>());
typedef PyObject* convert_to_py_function(void*);
auto convert = reinterpret_cast<convert_to_py_function*>(capsule_ptr);
if (!convert) {
throw py::error_already_set();
}

pybind11::gil_scoped_release release;

return subscriber_ref.Subscribe(
py_ros2_type_support->NativeHandle(),
[callback = std::move(callback), convert](
const aimrt_channel_context_base_t* ctx_ptr,
const void* msg_ptr,
aimrt_function_base_t* release_callback_base) {
aimrt::channel::SubscriberReleaseCallback release_callback(release_callback_base);

pybind11::gil_scoped_acquire acquire;

auto msg_obj = pybind11::reinterpret_steal<pybind11::object>(convert(const_cast<void*>(msg_ptr)));
if (!msg_obj) {
throw py::error_already_set();
}

auto ctx_ref = aimrt::channel::ContextRef(ctx_ptr);
callback(ctx_ref, msg_obj);

pybind11::gil_scoped_release release;

release_callback();
});
}

#endif

inline void ExportPublisherRef(pybind11::object m) {
using aimrt::channel::PublisherRef;

Expand All @@ -183,12 +108,7 @@ inline void ExportPublisherRef(pybind11::object m) {
.def("GetTopic", &PublisherRef::GetTopic)
.def("MergeSubscribeContextToPublishContext", &PublisherRef::MergeSubscribeContextToPublishContext)
.def("PbPublishWithCtx", &PbPublishWithCtx)
.def("PbRegisterPublishType", &PbRegisterPublishType)
#ifdef AIMRT_BUILD_WITH_ROS2
.def("Ros2PublishWithCtx", &Ros2PublishWithCtx)
.def("Ros2RegisterPublishType", &Ros2RegisterPublishType)
#endif
;
.def("PbRegisterPublishType", &PbRegisterPublishType);
}

inline void ExportSubscriberRef(pybind11::object m) {
Expand All @@ -198,11 +118,7 @@ inline void ExportSubscriberRef(pybind11::object m) {
.def(pybind11::init<>())
.def("__bool__", &SubscriberRef::operator bool)
.def("GetTopic", &SubscriberRef::GetTopic)
.def("PbSubscribeWithCtx", &PbSubscribeWithCtx)
#ifdef AIMRT_BUILD_WITH_ROS2
.def("Ros2SubscribeWithCtx", &Ros2SubscribeWithCtx)
#endif
;
.def("PbSubscribeWithCtx", &PbSubscribeWithCtx);
}

inline void ExportChannelHandleRef(pybind11::object m) {
Expand All @@ -215,4 +131,9 @@ inline void ExportChannelHandleRef(pybind11::object m) {
.def("GetSubscriber", &ChannelHandleRef::GetSubscriber)
.def("MergeSubscribeContextToPublishContext", &ChannelHandleRef::MergeSubscribeContextToPublishContext);
}

#ifdef AIMRT_BUILD_WITH_ROS2

#endif // AIMRT_BUILD_WITH_ROS2

} // namespace aimrt::runtime::python_runtime
93 changes: 93 additions & 0 deletions src/runtime/python_runtime/export_ros2_channel.h
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@@ -0,0 +1,93 @@
// Copyright (c) 2024 The AimRT Authors.
// AimRT is licensed under Mulan PSL v2.

#pragma once

#include <pybind11/pybind11.h>

#include <pybind11/functional.h> // IWYU pragma: keep
#include <pybind11/stl.h> // IWYU pragma: keep

#include "aimrt_module_cpp_interface/channel/channel_context.h"
#include "aimrt_module_cpp_interface/channel/channel_handle.h"

#include "python_runtime/export_ros2_type_support.h"

namespace aimrt::runtime::python_runtime {

inline bool Ros2RegisterPublishType(
aimrt::channel::PublisherRef& publisher_ref,
const std::shared_ptr<const PyRos2TypeSupport>& py_ros2_type_support) {
static std::vector<std::shared_ptr<const PyRos2TypeSupport>> py_ros2_ts_vec;
py_ros2_ts_vec.emplace_back(py_ros2_type_support);

return publisher_ref.RegisterPublishType(py_ros2_type_support->NativeHandle());
}

inline void Ros2PublishWithCtx(
aimrt::channel::PublisherRef& publisher_ref,
std::string_view msg_type,
const aimrt::channel::ContextRef& ctx_ref,
pybind11::object msg_obj) {
auto msg_ptr = convert_from_py(msg_obj);
if (!msg_ptr) {
throw py::error_already_set();
}

publisher_ref.Publish(msg_type, ctx_ref, static_cast<const void*>(msg_ptr.get()));
}

inline bool Ros2SubscribeWithCtx(
aimrt::channel::SubscriberRef& subscriber_ref,
const std::shared_ptr<const PyRos2TypeSupport>& py_ros2_type_support,
pybind11::object pyclass,
std::function<void(aimrt::channel::ContextRef, pybind11::object)>&& callback) {
static std::vector<std::shared_ptr<const PyRos2TypeSupport>> py_ros2_ts_vec;
py_ros2_ts_vec.emplace_back(py_ros2_type_support);

pybind11::gil_scoped_acquire acquire;

pybind11::object pymetaclass = pyclass.attr("__class__");
auto* capsule_ptr = static_cast<void*>(pymetaclass.attr("_CONVERT_TO_PY").cast<py::capsule>());
typedef PyObject* convert_to_py_function(void*);
auto convert = reinterpret_cast<convert_to_py_function*>(capsule_ptr);
if (!convert) {
throw py::error_already_set();
}

pybind11::gil_scoped_release release;

return subscriber_ref.Subscribe(
py_ros2_type_support->NativeHandle(),
[callback = std::move(callback), convert](
const aimrt_channel_context_base_t* ctx_ptr,
const void* msg_ptr,
aimrt_function_base_t* release_callback_base) {
aimrt::channel::SubscriberReleaseCallback release_callback(release_callback_base);

pybind11::gil_scoped_acquire acquire;

auto msg_obj = pybind11::reinterpret_steal<pybind11::object>(convert(const_cast<void*>(msg_ptr)));
if (!msg_obj) {
throw py::error_already_set();
}

auto ctx_ref = aimrt::channel::ContextRef(ctx_ptr);
callback(ctx_ref, msg_obj);

pybind11::gil_scoped_release release;

release_callback();
});
}

inline void ExportRos2PublisherFunc(pybind11::module& m) {
m.def("Ros2PublishWithCtx", &Ros2PublishWithCtx);
m.def("Ros2RegisterPublishType", &Ros2RegisterPublishType);
}

inline void ExportRos2SubscribeFunc(pybind11::module& m) {
m.def("Ros2SubscribeWithCtx", &Ros2SubscribeWithCtx);
}

} // namespace aimrt::runtime::python_runtime
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