Type hash in interface codegen (rep2011) (#722)

First part of type hash generation. Adds in a new generator that will generate the type hashes for every type, as well as supporting structures for that. This will all be written out to a generated file at compile time. Some additional details: * Generate type hash during code gen * Include referenced type descriptions * Add type version hash to all 3 generators * Output json * rosidl generator creating and installing expected files * Generate action struct * Type hash depended upon and loaded by C and C++ generators * Add rosidl_type_hash_t to rosidl_runtime_c * Add type hash to introspection * Parse type hash string utility * Add schema checking test * Generate hashes in C for services and actions Signed-off-by: Emerson Knapp <[email protected]>
ros2 · Mar 15, 2023 · b93c518 · b93c518
1 parent 383ca18
commit b93c518
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diff --git a/README.md b/README.md
@@ -13,6 +13,8 @@ See [documentation](https://docs.ros.org/en/rolling/Concepts/About-Internal-Inte
   * Generate the ROS interfaces in C
 * [rosidl_generator_cpp](./rosidl_generator_cpp)
   * Generate the ROS interfaces in C++
+* [rosidl_generator_type_description](./rosidl_generator_type_desrciption)
+  * Generate SHA256 hash values and ROS 2 interface descriptions for use by other generators
 * [rosidl_parser](./rosidl_parser)
   * Parser for `.idl` ROS interface files
 * [rosidl_runtime_c](./rosidl_runtime_c)

diff --git a/rosidl_cmake/cmake/rosidl_write_generator_arguments.cmake b/rosidl_cmake/cmake/rosidl_write_generator_arguments.cmake
@@ -32,6 +32,8 @@ function(rosidl_write_generator_arguments output_file)
   set(OPTIONAL_MULTI_VALUE_KEYWORDS
     "ROS_INTERFACE_DEPENDENCIES"  # since the dependencies can be empty
     "TARGET_DEPENDENCIES"
+    "TYPE_HASH_TUPLES"
+    "INCLUDE_PATHS"
     "ADDITIONAL_FILES")
 
   cmake_parse_arguments(

diff --git a/rosidl_generator_c/cmake/register_c.cmake b/rosidl_generator_c/cmake/register_c.cmake
@@ -14,6 +14,7 @@
 
 macro(rosidl_generator_c_extras BIN GENERATOR_FILES TEMPLATE_DIR)
   find_package(ament_cmake_core QUIET REQUIRED)
+  find_package(rosidl_generator_type_description QUIET REQUIRED)
   ament_register_extension(
     "rosidl_generate_idl_interfaces"
     "rosidl_generator_c"

diff --git a/rosidl_generator_c/cmake/rosidl_generator_c_generate_interfaces.cmake b/rosidl_generator_c/cmake/rosidl_generator_c_generate_interfaces.cmake
@@ -83,6 +83,7 @@ rosidl_write_generator_arguments(
   OUTPUT_DIR "${_output_path}"
   TEMPLATE_DIR "${rosidl_generator_c_TEMPLATE_DIR}"
   TARGET_DEPENDENCIES ${target_dependencies}
+  TYPE_HASH_TUPLES "${${rosidl_generate_interfaces_TARGET}__HASH_TUPLES}"
 )
 
 find_package(Python3 REQUIRED COMPONENTS Interpreter)
@@ -142,6 +143,9 @@ target_link_libraries(${rosidl_generate_interfaces_TARGET}${_target_suffix} PUBL
   rosidl_runtime_c::rosidl_runtime_c
   rosidl_typesupport_interface::rosidl_typesupport_interface
   rcutils::rcutils)
+add_dependencies(
+  ${rosidl_generate_interfaces_TARGET}${_target_suffix}
+  ${rosidl_generate_interfaces_TARGET}__rosidl_generator_type_description)
 
 # Make top level generation target depend on this generated library
 add_dependencies(

diff --git a/rosidl_generator_c/package.xml b/rosidl_generator_c/package.xml
@@ -24,13 +24,15 @@
   <buildtool_export_depend>python3</buildtool_export_depend>
   <buildtool_export_depend>rosidl_pycommon</buildtool_export_depend>
 
+  <build_export_depend>rosidl_generator_type_description</build_export_depend>
   <build_export_depend>rosidl_typesupport_interface</build_export_depend>
   <build_export_depend>rcutils</build_export_depend>
 
   <exec_depend>ament_index_python</exec_depend>
   <exec_depend>rosidl_cli</exec_depend>
   <exec_depend>rosidl_parser</exec_depend>
   <exec_depend>rcutils</exec_depend>
+  <exec_depend>rosidl_generator_type_description</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

diff --git a/rosidl_generator_c/resource/idl__struct.h.em b/rosidl_generator_c/resource/idl__struct.h.em
@@ -11,6 +11,8 @@
 @#  - content (IdlContent, list of elements, e.g. Messages or Services)
 @#######################################################################
 @{
+from rosidl_generator_c import idl_structure_type_to_c_typename
+from rosidl_generator_c import type_hash_to_c_definition
 from rosidl_pycommon import convert_camel_case_to_lower_case_underscore
 include_parts = [package_name] + list(interface_path.parents[0].parts) + [
     'detail', convert_camel_case_to_lower_case_underscore(interface_path.stem)]
@@ -32,6 +34,8 @@ extern "C"
 #include <stddef.h>
 #include <stdint.h>
 
+#include "rosidl_runtime_c/type_hash.h"
+
 @#######################################################################
 @# Handle message
 @#######################################################################
@@ -43,7 +47,7 @@ from rosidl_parser.definition import Message
 TEMPLATE(
     'msg__struct.h.em',
     package_name=package_name, interface_path=interface_path,
-    message=message, include_directives=include_directives)
+    message=message, include_directives=include_directives, type_hash=type_hash)
 }@
 
 @[end for]@
@@ -55,25 +59,34 @@ TEMPLATE(
 from rosidl_parser.definition import Service
 }@
 @[for service in content.get_elements_of_type(Service)]@
+
+@{ hash_var = idl_structure_type_to_c_typename(service.namespaced_type) + '__TYPE_VERSION_HASH' }@
+// Note: this define is for MSVC, where the static const var can't be used in downstream aggregate initializers
+#define @(hash_var)__INIT @(type_hash_to_c_definition(type_hash['service'], line_final_backslash=True))
+static const rosidl_type_hash_t @(hash_var) = @(hash_var)__INIT;
+
 @{
 TEMPLATE(
     'msg__struct.h.em',
     package_name=package_name, interface_path=interface_path,
-    message=service.request_message, include_directives=include_directives)
+    message=service.request_message, include_directives=include_directives,
+    type_hash=type_hash['request_message'])
 }@
 
 @{
 TEMPLATE(
     'msg__struct.h.em',
     package_name=package_name, interface_path=interface_path,
-    message=service.response_message, include_directives=include_directives)
+    message=service.response_message, include_directives=include_directives,
+    type_hash=type_hash['response_message'])
 }@
 
 @{
 TEMPLATE(
     'msg__struct.h.em',
     package_name=package_name, interface_path=interface_path,
-    message=service.event_message, include_directives=include_directives)
+    message=service.event_message, include_directives=include_directives,
+    type_hash=type_hash['event_message'])
 }@
 
 @[end for]@
@@ -85,74 +98,99 @@ TEMPLATE(
 from rosidl_parser.definition import Action
 }@
 @[for action in content.get_elements_of_type(Action)]@
+
+@{ hash_var = idl_structure_type_to_c_typename(action.namespaced_type) + '__TYPE_VERSION_HASH' }@
+#define @(hash_var)__INIT @(type_hash_to_c_definition(type_hash['action'], line_final_backslash=True))
+static const rosidl_type_hash_t @(hash_var) = @(hash_var)__INIT;
+
 @{
 TEMPLATE(
     'msg__struct.h.em',
     package_name=package_name, interface_path=interface_path,
-    message=action.goal, include_directives=include_directives)
+    message=action.goal, include_directives=include_directives,
+    type_hash=type_hash['goal'])
 }@
 
 @{
 TEMPLATE(
     'msg__struct.h.em',
     package_name=package_name, interface_path=interface_path,
-    message=action.result, include_directives=include_directives)
+    message=action.result, include_directives=include_directives,
+    type_hash=type_hash['result'])
 }@
 
 @{
 TEMPLATE(
     'msg__struct.h.em',
     package_name=package_name, interface_path=interface_path,
-    message=action.feedback, include_directives=include_directives)
+    message=action.feedback, include_directives=include_directives,
+    type_hash=type_hash['feedback'])
 }@
 
+@{ hash_var = idl_structure_type_to_c_typename(action.send_goal_service.namespaced_type) + '__TYPE_VERSION_HASH' }@
+// Note: this define is for MSVC, where the static const var can't be used in downstream aggregate initializers
+#define @(hash_var)__INIT @(type_hash_to_c_definition(type_hash['send_goal_service']['service'], line_final_backslash=True))
+static const rosidl_type_hash_t @(hash_var) = @(hash_var)__INIT;
+
 @{
 TEMPLATE(
     'msg__struct.h.em',
     package_name=package_name, interface_path=interface_path,
-    message=action.send_goal_service.request_message, include_directives=include_directives)
+    message=action.send_goal_service.request_message, include_directives=include_directives,
+    type_hash=type_hash['send_goal_service']['request_message'])
 }@
 
 @{
 TEMPLATE(
     'msg__struct.h.em',
     package_name=package_name, interface_path=interface_path,
-    message=action.send_goal_service.response_message, include_directives=include_directives)
+    message=action.send_goal_service.response_message, include_directives=include_directives,
+    type_hash=type_hash['send_goal_service']['response_message'])
 }@
 
 @{
 TEMPLATE(
     'msg__struct.h.em',
     package_name=package_name, interface_path=interface_path,
-    message=action.send_goal_service.event_message, include_directives=include_directives)
+    message=action.send_goal_service.event_message, include_directives=include_directives,
+    type_hash=type_hash['send_goal_service']['event_message'])
 }@
 
+@{ hash_var = idl_structure_type_to_c_typename(action.get_result_service.namespaced_type) + '__TYPE_VERSION_HASH' }@
+// Note: this define is for MSVC, where the static const var can't be used in downstream aggregate initializers
+#define @(hash_var)__INIT @(type_hash_to_c_definition(type_hash['get_result_service']['service'], line_final_backslash=True))
+static const rosidl_type_hash_t @(hash_var) = @(hash_var)__INIT;
+
 @{
 TEMPLATE(
     'msg__struct.h.em',
     package_name=package_name, interface_path=interface_path,
-    message=action.get_result_service.request_message, include_directives=include_directives)
+    message=action.get_result_service.request_message, include_directives=include_directives,
+    type_hash=type_hash['get_result_service']['request_message'])
 }@
 
 @{
 TEMPLATE(
     'msg__struct.h.em',
     package_name=package_name, interface_path=interface_path,
-    message=action.get_result_service.response_message, include_directives=include_directives)
+    message=action.get_result_service.response_message, include_directives=include_directives,
+    type_hash=type_hash['get_result_service']['response_message'])
 }@
 
 @{
 TEMPLATE(
     'msg__struct.h.em',
     package_name=package_name, interface_path=interface_path,
-    message=action.get_result_service.event_message, include_directives=include_directives)
+    message=action.get_result_service.event_message, include_directives=include_directives,
+    type_hash=type_hash['get_result_service']['event_message'])
 }@
 
 @{
 TEMPLATE(
     'msg__struct.h.em',
     package_name=package_name, interface_path=interface_path,
-    message=action.feedback_message, include_directives=include_directives)
+    message=action.feedback_message, include_directives=include_directives,
+    type_hash=type_hash['feedback_message'])
 }@
 
 @[end for]@

diff --git a/rosidl_generator_c/resource/msg__struct.h.em b/rosidl_generator_c/resource/msg__struct.h.em
@@ -21,6 +21,7 @@ from rosidl_generator_c import idl_structure_type_sequence_to_c_typename
 from rosidl_generator_c import idl_structure_type_to_c_include_prefix
 from rosidl_generator_c import idl_structure_type_to_c_typename
 from rosidl_generator_c import interface_path_to_string
+from rosidl_generator_c import type_hash_to_c_definition
 from rosidl_generator_c import value_to_c
 }@
 @#<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
@@ -62,6 +63,12 @@ for member in message.structure.members:
 @#>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
 
 @#<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
+// Type Version Hash for interface
+@{ hash_var = idl_structure_type_to_c_typename(message.structure.namespaced_type) + '__TYPE_VERSION_HASH' }@
+// Note: this define is for MSVC, where the static const var can't be used in downstream aggregate initializers
+#define @(hash_var)__INIT @(type_hash_to_c_definition(type_hash['message'], line_final_backslash=True))
+static const rosidl_type_hash_t @(hash_var) = @(hash_var)__INIT;
+
 // Constants defined in the message
 @[for constant in message.constants]@
 

diff --git a/rosidl_generator_c/rosidl_generator_c/__init__.py b/rosidl_generator_c/rosidl_generator_c/__init__.py
@@ -12,6 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from rosidl_generator_type_description import parse_rihs_string
+from rosidl_generator_type_description import RIHS01_HASH_VALUE_SIZE
 from rosidl_parser.definition import AbstractGenericString
 from rosidl_parser.definition import AbstractSequence
 from rosidl_parser.definition import AbstractString
@@ -219,3 +221,28 @@ def escape_string(s):
 
 def escape_wstring(s):
     return escape_string(s)
+
+
+def type_hash_to_c_definition(hash_string, *, line_final_backslash=False):
+    """Generate empy for rosidl_type_hash_t instance with 8 bytes per line for readability."""
+    bytes_per_row = 8
+    rows = 4
+    assert bytes_per_row * rows == RIHS01_HASH_VALUE_SIZE, 'This function is outdated.'
+    indent = 4  # Uncrustify prefers this indentation
+    version, value = parse_rihs_string(hash_string)
+    assert version == 1, 'This function only knows how to generate RIHS01 definitions.'
+
+    result = f'{{{version}, {{'
+    if line_final_backslash:
+        result += ' \\'
+    result += '\n'
+    for row in range(rows):
+        result += ' ' * (indent + 1)
+        for i in range(row * bytes_per_row, (row + 1) * bytes_per_row):
+            result += f' 0x{value[i * 2]}{value[i * 2 + 1]},'
+        if line_final_backslash:
+            result += ' \\'
+        result += '\n'
+    result += ' ' * indent
+    result += '}}'
+    return result
diff --git a/rosidl_generator_cpp/cmake/register_cpp.cmake b/rosidl_generator_cpp/cmake/register_cpp.cmake
@@ -14,6 +14,7 @@
 
 macro(rosidl_generator_cpp_extras BIN GENERATOR_FILES TEMPLATE_DIR)
   find_package(ament_cmake_core QUIET REQUIRED)
+  find_package(rosidl_generator_type_description QUIET REQUIRED)
   ament_register_extension(
     "rosidl_generate_idl_interfaces"
     "rosidl_generator_cpp"

diff --git a/rosidl_generator_cpp/cmake/rosidl_generator_cpp_generate_interfaces.cmake b/rosidl_generator_cpp/cmake/rosidl_generator_cpp_generate_interfaces.cmake
@@ -75,6 +75,7 @@ rosidl_write_generator_arguments(
   OUTPUT_DIR "${_output_path}"
   TEMPLATE_DIR "${rosidl_generator_cpp_TEMPLATE_DIR}"
   TARGET_DEPENDENCIES ${target_dependencies}
+  TYPE_HASH_TUPLES "${${rosidl_generate_interfaces_TARGET}__HASH_TUPLES}"
 )
 
 find_package(Python3 REQUIRED COMPONENTS Interpreter)
@@ -99,6 +100,9 @@ add_custom_target(
   DEPENDS
   ${_generated_headers}
 )
+add_dependencies(
+  ${rosidl_generate_interfaces_TARGET}__cpp
+  ${rosidl_generate_interfaces_TARGET}__rosidl_generator_type_description)
 
 set(_target_suffix "__rosidl_generator_cpp")
 add_library(${rosidl_generate_interfaces_TARGET}${_target_suffix} INTERFACE)

diff --git a/rosidl_generator_cpp/package.xml b/rosidl_generator_cpp/package.xml
@@ -28,6 +28,7 @@
 
   <exec_depend>ament_index_python</exec_depend>
   <exec_depend>rosidl_cli</exec_depend>
+  <exec_depend>rosidl_generator_type_description</exec_depend>
   <exec_depend>rosidl_parser</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>

diff --git a/rosidl_generator_cpp/resource/action__struct.hpp.em b/rosidl_generator_cpp/resource/action__struct.hpp.em
@@ -1,5 +1,6 @@
 @# Included from rosidl_generator_cpp/resource/idl__struct.hpp.em
 @{
+from rosidl_generator_c import type_hash_to_c_definition
 from rosidl_parser.definition import ACTION_FEEDBACK_MESSAGE_SUFFIX
 from rosidl_parser.definition import ACTION_FEEDBACK_SUFFIX
 from rosidl_parser.definition import ACTION_GOAL_SERVICE_SUFFIX
@@ -17,42 +18,48 @@ action_name = '::'.join(action.namespaced_type.namespaced_name())
 TEMPLATE(
     'msg__struct.hpp.em',
     package_name=package_name, interface_path=interface_path,
-    message=action.goal, include_directives=include_directives)
+    message=action.goal, include_directives=include_directives,
+    type_hash=type_hash['goal'])
 }@
 
 @{
 TEMPLATE(
     'msg__struct.hpp.em',
     package_name=package_name, interface_path=interface_path,
-    message=action.result, include_directives=include_directives)
+    message=action.result, include_directives=include_directives,
+    type_hash=type_hash['result'])
 }@
 
 @{
 TEMPLATE(
     'msg__struct.hpp.em',
     package_name=package_name, interface_path=interface_path,
-    message=action.feedback, include_directives=include_directives)
+    message=action.feedback, include_directives=include_directives,
+    type_hash=type_hash['feedback'])
 }@
 
 @{
 TEMPLATE(
     'srv__struct.hpp.em',
     package_name=package_name, interface_path=interface_path,
-    service=action.send_goal_service, include_directives=include_directives)
+    service=action.send_goal_service, include_directives=include_directives,
+    type_hash=type_hash['send_goal_service'])
 }@
 
 @{
 TEMPLATE(
     'srv__struct.hpp.em',
     package_name=package_name, interface_path=interface_path,
-    service=action.get_result_service, include_directives=include_directives)
+    service=action.get_result_service, include_directives=include_directives,
+    type_hash=type_hash['get_result_service'])
 }@
 
 @{
 TEMPLATE(
     'msg__struct.hpp.em',
     package_name=package_name, interface_path=interface_path,
-    message=action.feedback_message, include_directives=include_directives)
+    message=action.feedback_message, include_directives=include_directives,
+    type_hash=type_hash['feedback_message'])
 }@
 
 @[for header_file in action_includes]@
@@ -72,6 +79,8 @@ namespace @(ns)
 @[end for]@
 struct @(action.namespaced_type.name)
 {
+  static constexpr const rosidl_type_hash_t TYPE_VERSION_HASH = @(type_hash_to_c_definition(type_hash['action']));
+
   /// The goal message defined in the action definition.
   using Goal = @(action_name)@(ACTION_GOAL_SUFFIX);
   /// The result message defined in the action definition.