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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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refactor: streamline ROS2 import structure and enhance CMake configur… 
…ation

- Removed direct import of aimrt_python_runtime_ros2 in favor of aliasing for clarity in aimrt_py_chn.py.
- Updated CMakeLists.txt to conditionally add dependencies for ROS2 components, improving build flexibility.
- Adjusted ROS2 service generation script to utilize the aliased import for better readability and maintainability.
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@zhangyi1357
zhangyi1357 committed Dec 3, 2024
commit be39f7120be160935be489cd44f0b3bd2e5de382
15 changes: 9 additions & 6 deletions src/runtime/python_runtime/aimrt_py_chn.py
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
import google.protobuf
import google.protobuf.message

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

Ros2MsgType = TypeVar("Ros2MsgType")
Expand Down Expand Up @@ -81,10 +81,11 @@ 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_ros2.PyRos2TypeSupport(msg_type)
from . import aimrt_python_runtime_ros2 as aimrt_py_ros2
py_ros2_ts = aimrt_py_ros2.PyRos2TypeSupport(msg_type)
py_ros2_ts.SetTypeName(GetRos2MessageTypeName(msg_type))
py_ros2_ts.SetSerializationTypesSupportedList(["ros2"])
return aimrt_python_runtime_ros2.Ros2RegisterPublishType(publisher, py_ros2_ts)
return aimrt_py_ros2.Ros2RegisterPublishType(publisher, py_ros2_ts)
else:
raise TypeError(f"Invalid message type: {type(msg_type)}")

Expand Down Expand Up @@ -140,8 +141,9 @@ def Publish(publisher: aimrt_python_runtime.PublisherRef, second, third=None):
serialized_msg = _SerializeProtobufMessage(msg, ctx_ref.GetSerializationType())
publisher.PbPublishWithCtx(GetPbMessageTypeName(msg.__class__), ctx_ref, serialized_msg)
elif message_type == "ros2":
from . import aimrt_python_runtime_ros2 as aimrt_py_ros2
ctx_ref = _CreateContextRef(ctx_or_type, default_serialization_type="ros2")
aimrt_python_runtime_ros2.Ros2PublishWithCtx(publisher, GetRos2MessageTypeName(msg.__class__), ctx_ref, msg)
aimrt_py_ros2.Ros2PublishWithCtx(publisher, GetRos2MessageTypeName(msg.__class__), ctx_ref, msg)


def Subscribe(subscriber: aimrt_python_runtime.SubscriberRef,
Expand Down Expand Up @@ -187,7 +189,8 @@ 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_ros2.PyRos2TypeSupport(msg_type)
from . import aimrt_python_runtime_ros2 as aimrt_py_ros2
py_ros2_ts = aimrt_py_ros2.PyRos2TypeSupport(msg_type)
py_ros2_ts.SetTypeName(GetRos2MessageTypeName(msg_type))
py_ros2_ts.SetSerializationTypesSupportedList(["ros2"])

Expand All @@ -200,7 +203,7 @@ 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)

aimrt_python_runtime_ros2.Ros2SubscribeWithCtx(subscriber, py_ros2_ts, msg_type, ros2_callback_wrapper)
aimrt_py_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")
4 changes: 4 additions & 0 deletions src/tools/package_aimrt_py/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,10 @@ add_custom_target(
DEPENDS copy_python_runtime
WORKING_DIRECTORY ${AIMRT_PY_PKG_DIR})

if(AIMRT_BUILD_WITH_ROS2)
add_dependencies(create_python_pkg copy_ros2_python_runtime)
endif()

if(AIMRT_BUILD_WITH_ROS2 AND AIMRT_BUILD_ROS2_PLUGIN)
add_dependencies(create_python_pkg copy_ros2_plugin_proto_files)
endif()
Expand Down
15 changes: 8 additions & 7 deletions src/tools/ros2_py_gen_aimrt_py_rpc/ros2_py_gen_aimrt_py_rpc.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@
from typing import overload

import aimrt_py
import aimrt_py.aimrt_python_runtime_ros2 as aimrt_py_ros2
import {{package_name}}.srv

if {{package_name}}.srv.{{service_name}}._TYPE_SUPPORT is None:
Expand All @@ -23,18 +24,18 @@ def __init__(self):
super().__init__("ros2", "{{package_name}}/srv")

# {{service_name}}
{{service_name}}_req_aimrt_ts = aimrt_py.PyRos2TypeSupport({{package_name}}.srv.{{service_name}}.Request)
{{service_name}}_req_aimrt_ts = aimrt_py_ros2.PyRos2TypeSupport({{package_name}}.srv.{{service_name}}.Request)
{{service_name}}_req_aimrt_ts.SetTypeName(aimrt_py.GetRos2MessageTypeName({{package_name}}.srv.{{service_name}}.Request))
{{service_name}}_req_aimrt_ts.SetSerializationTypesSupportedList(["ros2"])

{{service_name}}_rsp_aimrt_ts = aimrt_py.PyRos2TypeSupport({{package_name}}.srv.{{service_name}}.Response)
{{service_name}}_rsp_aimrt_ts = aimrt_py_ros2.PyRos2TypeSupport({{package_name}}.srv.{{service_name}}.Response)
{{service_name}}_rsp_aimrt_ts.SetTypeName(aimrt_py.GetRos2MessageTypeName({{package_name}}.srv.{{service_name}}.Response))
{{service_name}}_rsp_aimrt_ts.SetSerializationTypesSupportedList(["ros2"])

if not aimrt_py.check_is_valid_srv_type({{package_name}}.srv.{{service_name}}):
raise RuntimeError("The service type provided is not valid")

aimrt_py.Ros2RegisterServiceFunc(
aimrt_py_ros2.Ros2RegisterServiceFunc(
self,
"{{service_name}}",
{{package_name}}.srv.{{service_name}},
Expand Down Expand Up @@ -92,7 +93,7 @@ def {{service_name}}(self, *args) -> tuple[aimrt_py.RpcStatus, {{package_name}}.
ctx_ref = aimrt_py.RpcContextRef(real_ctx)
ctx_ref.SetSerializationType("ros2")

status, rsp = aimrt_py.Ros2Invoke(
status, rsp = aimrt_py_ros2.Ros2Invoke(
self.rpc_handle_ref,
"ros2:/{{package_name}}/srv/{{service_name}}",
ctx_ref,
Expand All @@ -105,15 +106,15 @@ def {{service_name}}(self, *args) -> tuple[aimrt_py.RpcStatus, {{package_name}}.
@staticmethod
def RegisterClientFunc(rpc_handle):
# {{service_name}}
{{service_name}}_req_aimrt_ts = aimrt_py.PyRos2TypeSupport({{package_name}}.srv.{{service_name}}.Request)
{{service_name}}_req_aimrt_ts = aimrt_py_ros2.PyRos2TypeSupport({{package_name}}.srv.{{service_name}}.Request)
{{service_name}}_req_aimrt_ts.SetTypeName(aimrt_py.GetRos2MessageTypeName({{package_name}}.srv.{{service_name}}.Request))
{{service_name}}_req_aimrt_ts.SetSerializationTypesSupportedList(["ros2"])

{{service_name}}_rsp_aimrt_ts = aimrt_py.PyRos2TypeSupport({{package_name}}.srv.{{service_name}}.Response)
{{service_name}}_rsp_aimrt_ts = aimrt_py_ros2.PyRos2TypeSupport({{package_name}}.srv.{{service_name}}.Response)
{{service_name}}_rsp_aimrt_ts.SetTypeName(aimrt_py.GetRos2MessageTypeName({{package_name}}.srv.{{service_name}}.Response))
{{service_name}}_rsp_aimrt_ts.SetSerializationTypesSupportedList(["ros2"])

return aimrt_py.Ros2RegisterClientFunc(
return aimrt_py_ros2.Ros2RegisterClientFunc(
rpc_handle,
"ros2:/{{package_name}}/srv/{{service_name}}",
{{package_name}}.srv.{{service_name}},
Expand Down