AimRT · AimRT · Dec 3, 2024 · Dec 3, 2024 · Dec 3, 2024 · Dec 3, 2024
diff --git a/.gitignore b/.gitignore
@@ -25,6 +25,7 @@ __pycache__/
 *_pb2_grpc.py
 *_aimrt_rpc_ros2.py
 log/
+test_log/
 tmp/
 
 compile_commands.json
diff --git a/src/examples/py/py_tests.py b/src/examples/py/py_tests.py
diff --git a/src/examples/py/ros2_chn/examples_py_ros2_chn_subscriber_app.py b/src/examples/py/ros2_chn/examples_py_ros2_chn_subscriber_app.py
@@ -62,7 +62,7 @@ def EventHandle(ctx_ref: aimrt_py.ContextRef, msg: RosTestMsg):
         nonlocal count
         count += 1
         aimrt_py.info(module_handle.GetLogger(),
-                      f"Get new ros2 message, ctx: {ctx_ref.ToString()}, data: {msg.data}, count: {count}")
+                      f"Get new ros2 message, data: {msg.data}, ctx: {ctx_ref.ToString()}, count: {count}")
 
     aimrt_py.Subscribe(subscriber, RosTestMsg, EventHandle)
 

diff --git a/src/examples/py/ros2_rpc/examples_py_ros2_rpc_server_app.py b/src/examples/py/ros2_rpc/examples_py_ros2_rpc_server_app.py
@@ -42,9 +42,9 @@ def RosTestRpc(self, ctx_ref, req):
         RosTestRpcImpl.PrintMetaInfo(self.logger, ctx_ref)
         aimrt_py.info(self.logger,
                       f"Server handle new rpc call. "
-                      f"context: {ctx_ref.ToString()}, "
                       f"req: {req}, "
-                      f"return rsp: {rsp}")
+                      f"return rsp: {rsp}, "
+                      f"context: {ctx_ref.ToString()}")
 
         return aimrt_py.RpcStatus(), rsp
 

diff --git a/src/examples/utils/common.py b/src/examples/utils/common.py
@@ -57,14 +57,47 @@ class TestResult:
 ]
 
 # Default expected outputs for pb_chn_python
-default_pb_chn_sub_expected_outputs_python = ["Get new pb event, data: {", '"msg": "example msg"', '"num": 123456']
-default_pb_chn_pub_expected_outputs_python = ["Publish new pb event, data: {", '"msg": "example msg"', '"num": 123456']
+default_pb_chn_sub_expected_outputs_python = [
+    "Get new pb event, ctx: Subscriber context, meta:",
+    "Get new pb event, ctx: Subscriber context, meta:",
+    "Get new pb event, ctx: Subscriber context, meta:",
+    "Get new pb event, ctx: Subscriber context, meta:",
+]
+default_pb_chn_pub_expected_outputs_python = [
+    "Publish new pb event, data: {",
+    "Publish new pb event, data: {",
+    "Publish new pb event, data: {",
+    "Publish new pb event, data: {",
+]
 
+# Default expected outputs for ros2_chn_python
+default_ros2_chn_sub_expected_outputs_python = [
+    "Get new ros2 message, data:",
+    "Get new ros2 message, data:",
+    "Get new ros2 message, data:",
+    "Get new ros2 message, data:",
+]
+default_ros2_chn_pub_expected_outputs_python = [
+    R"Publish new ros2 message, data: [b'\x01', b'\x02', b'\x03', b'\x04']",
+    R"Publish new ros2 message, data: [b'\x05', b'\x06', b'\x07', b'\x08']",
+    R"Publish new ros2 message, data: [b'\t', b'\n', b'\x0b', b'\x0c']",
+    R"Publish new ros2 message, data: [b'\r', b'\x0e', b'\x0f', b'\x10']",
+]
 
 # Default expected outputs for pb_rpc_python
 default_pb_rpc_srv_expected_outputs_python = ["Server handle new rpc call."]
 default_pb_rpc_cli_expected_outputs_python = ["Call rpc done, status: suc, code 0, msg: OK"]
 
+# Default expected outputs for ros2_rpc_python
+default_ros2_rpc_srv_expected_outputs_python = [
+    R"Server handle new rpc call. "
+    R"req: example_ros2.srv.RosTestRpc_Request(data=[b'H', b'e', b'l', b'l', b'o', b' ', b'A', b'i', b'm', b'R', b'T', b'!']), "
+    R"return rsp: example_ros2.srv.RosTestRpc_Response(code=1000)"]
+default_ros2_rpc_cli_expected_outputs_python = [
+    R"Call rpc done, status: suc, code 0, msg: OK, "
+    R"req: example_ros2.srv.RosTestRpc_Request(data=[b'H', b'e', b'l', b'l', b'o', b' ', b'A', b'i', b'm', b'R', b'T', b'!']), "
+    R"rsp: example_ros2.srv.RosTestRpc_Response(code=1000)"]
+
 # Default exit string
 default_exit_string = "AimRT exit."
 
@@ -95,9 +128,9 @@ def upwards_find_aim_directory(aim: str = "build", start_directory: str = os.get
 
 
 # Default build path
-defualt_build_path = upwards_find_aim_directory()
+default_build_path = upwards_find_aim_directory()
 
 # Default py_path
-py_cwd = defualt_build_path + "/../src/examples/py"
+py_cwd = default_build_path + "/../src/examples/py"
 
 default_save_path = os.path.join(os.getcwd(), "test_log")
diff --git a/src/examples/utils/example_items.py b/src/examples/utils/example_items.py
@@ -617,7 +617,7 @@
             default_pb_rpc_srv_expected_outputs_python,
             default_pb_rpc_cli_expected_outputs_python,
         ],
-        "tags": ["all", "python", "http", "pb", "rpc"],
+        "tags": ["all", "python", "plugins", "net_plugin", "http", "pb", "rpc"],
         "cwd": py_cwd + "/pb_rpc",
         "limit": "port:50080",
     },
@@ -631,7 +631,7 @@
             default_pb_rpc_srv_expected_outputs_python,
             default_pb_rpc_cli_expected_outputs_python,
         ],
-        "tags": ["all", "python", "grpc", "pb", "rpc"],
+        "tags": ["all", "python", "plugins", "grpc_plugin", "pb", "rpc"],
         "cwd": py_cwd + "/pb_rpc",
         "limit": "port:50050",
     },
@@ -645,7 +645,7 @@
             default_pb_rpc_srv_expected_outputs_python,
             default_pb_rpc_cli_expected_outputs_python,
         ],
-        "tags": ["all", "python", "ros_pluginc", "pb", "rpc"],
+        "tags": ["all", "python", "plugins", "ros2_plugin", "pb", "rpc"],
         "cwd": py_cwd + "/pb_rpc",
     },
     # ---------------------------------python_http_pb_chn----------------------------------------
@@ -658,7 +658,7 @@
             default_pb_chn_sub_expected_outputs_python,
             default_pb_chn_pub_expected_outputs_python,
         ],
-        "tags": ["all", "python", "http", "pb", "chn"],
+        "tags": ["all", "python", "plugins", "net_plugin", "http", "pb", "chn"],
         "cwd": py_cwd + "/pb_chn",
         "limit": "port:50080",
     },
@@ -672,7 +672,7 @@
             default_pb_chn_sub_expected_outputs_python,
             default_pb_chn_pub_expected_outputs_python,
         ],
-        "tags": ["all", "python", "ros2_plugin", "pb", "chn"],
+        "tags": ["all", "python", "plugins", "ros2_plugin", "pb", "chn"],
         "cwd": py_cwd + "/pb_chn",
     },
     # ---------------------------------python_parameter----------------------------------------
@@ -693,4 +693,72 @@
         "tags": ["all", "python", "parameter"],
         "cwd": py_cwd + "/parameter",
     },
+    # ---------------------------------python_http_ros2_chn----------------------------------------
+    {
+        "script_path": [
+            "./start_examples_py_ros2_chn_http_sub.sh",
+            "./start_examples_py_ros2_chn_http_pub.sh",
+        ],
+        "expected_outputs": [
+            default_ros2_chn_sub_expected_outputs_python,
+            default_ros2_chn_pub_expected_outputs_python,
+        ],
+        "tags": ["all", "python", "plugins", "net_plugin", "http", "ros2", "chn"],
+        "cwd": py_cwd + "/ros2_chn",
+        "limit": "port:50080",
+    },
+    # ---------------------------------python_ros2_ros2_chn----------------------------------------
+    {
+        "script_path": [
+            "./start_examples_py_ros2_chn_ros2_sub.sh",
+            "./start_examples_py_ros2_chn_ros2_pub.sh",
+        ],
+        "expected_outputs": [
+            default_ros2_chn_sub_expected_outputs_python,
+            default_ros2_chn_pub_expected_outputs_python,
+        ],
+        "tags": ["all", "python", "plugins", "ros2_plugin", "ros2", "chn"],
+        "cwd": py_cwd + "/ros2_chn",
+    },
+    # ---------------------------------python_http_ros2_rpc----------------------------------------
+    {
+        "script_path": [
+            "./start_examples_py_ros2_rpc_http_server.sh",
+            "./start_examples_py_ros2_rpc_http_client.sh",
+        ],
+        "expected_outputs": [
+            default_ros2_rpc_srv_expected_outputs_python,
+            default_ros2_rpc_cli_expected_outputs_python,
+        ],
+        "tags": ["all", "python", "plugins", "net_plugin", "http", "ros2", "rpc"],
+        "cwd": py_cwd + "/ros2_rpc",
+        "limit": "port:50080",
+    },
+    # ---------------------------------python_grpc_ros2_rpc----------------------------------------
+    {
+        "script_path": [
+            "./start_examples_py_ros2_rpc_grpc_server.sh",
+            "./start_examples_py_ros2_rpc_grpc_client.sh",
+        ],
+        "expected_outputs": [
+            default_ros2_rpc_srv_expected_outputs_python,
+            default_ros2_rpc_cli_expected_outputs_python,
+        ],
+        "tags": ["all", "python", "plugins", "grpc_plugin", "ros2", "rpc"],
+        "cwd": py_cwd + "/ros2_rpc",
+        "limit": "port:50050",
+    },
+    # ---------------------------------python_ros2_ros2_rpc----------------------------------------
+    {
+        "script_path": [
+            "./start_examples_py_ros2_rpc_ros2_server.sh",
+            "./start_examples_py_ros2_rpc_ros2_client.sh",
+        ],
+        "expected_outputs": [
+            default_ros2_rpc_srv_expected_outputs_python,
+            default_ros2_rpc_cli_expected_outputs_python,
+        ],
+        "tags": ["all", "python", "plugins", "ros2_plugin", "ros2", "rpc"],
+        "cwd": py_cwd + "/ros2_rpc",
+    },
 ]
diff --git a/src/examples/utils/run_all_example.py b/src/examples/utils/run_all_example.py
@@ -2,17 +2,18 @@
 # All rights reserved.
 
 import argparse
-from concurrent.futures import ThreadPoolExecutor, as_completed
-from datetime import datetime
-from example_items import *
-from multiprocessing import Process, Queue
 import signal
 import subprocess
+import sys
 import tempfile
 import threading
 import time
+from concurrent.futures import ThreadPoolExecutor, as_completed
+from datetime import datetime
+from multiprocessing import Process, Queue
 from typing import Dict, List, Tuple
-import sys
+
+from example_items import *
 
 
 class ExampleRunner:
@@ -32,7 +33,7 @@ def __init__(self):
             self.check_and_create_directory(self.args.save)  # todo ...
         subprocess.run(
             ["pip3", "install", "./aimrt_py_pkg/dist/aimrt_py-0.9.0-cp310-cp310-linux_x86_64.whl", "--force-reinstall"],
-            cwd=defualt_build_path,
+            cwd=default_build_path,
         )
         subprocess.run(
             ["bash", os.path.join("build_examples_py_pb_rpc.sh")],
@@ -42,6 +43,10 @@ def __init__(self):
             ["bash", os.path.join("build_examples_py_pb_chn.sh")],
             cwd=os.path.join(py_cwd, "pb_chn"),
         )
+        subprocess.run(
+            ["bash", os.path.join("build_examples_py_ros2_rpc.sh")],
+            cwd=os.path.join(py_cwd, "ros2_rpc"),
+        )
 
     def check_and_create_directory(self, test_log_save_path: str) -> None:
         if test_log_save_path and not os.path.exists(test_log_save_path):
@@ -155,7 +160,7 @@ def check_item_format(self, item: dict) -> None:
 
         # add default parameters:build directory path, if not exist
         if "cwd" not in item:
-            item["cwd"] = defualt_build_path
+            item["cwd"] = default_build_path
 
         if "limit" in item and item["limit"] not in self.lock_dict:
             self.lock_dict[item["limit"]] = threading.Lock()

diff --git a/src/examples/utils/run_all_example.sh b/src/examples/utils/run_all_example.sh
@@ -4,7 +4,7 @@
 # -s <string>  : fault test log output directory (default: "build/test_log")
 # -t <string1> <string2> ...  : test tags, with logic is "AND" (default: "all")
 # -i <string1> <string2> ... : ignore test tags, with logic is "OR" (default: None)
-# -p : print test log to console (default: False), we don't suggest to use this option with n > 1 
+# -p : print test log to console (default: False), we don't suggest to use this option with n > 1
 
 source ../../../build/install/share/ros2_plugin_proto/local_setup.bash
 

diff --git a/src/runtime/python_runtime/CMakeLists.txt b/src/runtime/python_runtime/CMakeLists.txt
@@ -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)
@@ -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()
diff --git a/src/runtime/python_runtime/aimrt_py_chn.py b/src/runtime/python_runtime/aimrt_py_chn.py
@@ -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.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 publisher.Ros2RegisterPublishType(py_ros2_ts)
+        return aimrt_py_ros2.Ros2RegisterPublishType(publisher, py_ros2_ts)
     else:
         raise TypeError(f"Invalid message type: {type(msg_type)}")
 
@@ -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")
-        publisher.Ros2PublishWithCtx(GetRos2MessageTypeName(msg.__class__), ctx_ref, msg)
+        aimrt_py_ros2.Ros2PublishWithCtx(publisher, GetRos2MessageTypeName(msg.__class__), ctx_ref, msg)
 
 
 def Subscribe(subscriber: aimrt_python_runtime.SubscriberRef,
@@ -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.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"])
 
@@ -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)
 
-        subscriber.Ros2SubscribeWithCtx(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")