Extend spec with services capability #344
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achim-k
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Jan 17, 2023
jhurliman
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Jan 17, 2023
| @@ -60,6 +64,7 @@ Each JSON message must be an object containing a field called `op` which identif | |||
| - `parameters`: Allow clients to get & set parameters | |||
| - `parametersSubscribe`: Allow clients to subscribe to parameter changes | |||
| - `time`: The server may publish binary [time](#time) messages | |||
| - `services`: Allow clients to call services | |||
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Alternatively, if the server never advertises a service there are no services for the client to call :)
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Suggested change
| - `services`: Allow clients to call services | |
| - `services`: Server can advertise services which clients may call |
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This capability seems redundant. If a server can't advertise services, then it won't advertise any services. If it does advertise a service, why should a client make an additional check to ensure the services capability was set? And what should it do if a service is advertised, but the capability is not?
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It may help a client to know whether the server will potentially announce services or not. But I do not have a strong opinion on this. @jtbandes what do you think?
achim-k
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Jan 17, 2023
achim-k
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Jan 17, 2023
jtbandes
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Jan 19, 2023
achim-k
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Co-authored-by: Jacob Bandes-Storch <[email protected]>
jhurliman
approved these changes
Jan 23, 2023
| - `op`: string `"advertiseServices"` | ||
| - `services`: array of: | ||
| - `id`: number. The server may reuse ids when services disappear and reappear, but only if the services keeps the exact same name, type, and schema. Clients will use this unique id to cache schema info and deserialization routines. | ||
| - `name`: string |
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This should explain that the service name does not need to be unique. If services are uniquely named, let's drop the duplicate unique identifier id.
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It may happen that a service is unadvertised and a new service with the same name but different type is advertised. In this case the name is not unique.
This was referenced Jan 26, 2023
achim-k
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Feb 7, 2023
**Public-Facing Changes** - Add ROS1 support for calling server-advertised services **Description** - Adds ROS1 support for advertising/unadvertising services and allowing clients to call them - Implements the services spec that was added in foxglove/ws-protocol#344 Implementation details: - The service type is unfortunately not stored on the ROS master, so for every new service, a connection to the service server has to be opened to fetch the service type from the connection header - For ROS1, one can call services with a custom type (here `GenericService`) when one defines the `ros::service_traits` and `ros::serialization` traits Fixes #10 (together with #142)
achim-k
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Feb 7, 2023
**Public-Facing Changes** - Add ROS2 support for calling server-advertised services **Description** Based on #136 - Adds experimental ROS2 support for advertising/unadvertising services and allowing clients to call them - Implements the services spec that was added in foxglove/ws-protocol#344 Implementation details: The main problem is, that symbols from getting the service type support are missing from the `rosidl_typesupport_cpp` libraries that are generated for each msg/srv package (see ros2/rosidl_typesupport#122). There is an open pull request (ros2/rosidl_typesupport#114) to fix that, but so far it hasn't been merged. I found a working, yet little bit hacky, workaround for this problem which is described more in detail here: https://github.com/foxglove/ros-foxglove-bridge/blob/f978c182185e5deda93a6518132b6d3c339dcaeb/ros2_foxglove_bridge/src/generic_client.cpp#L59-L89 All in all, the implementation is working, but I would consider it as experimental for now. I am not sure if this approach would work on windows / mac
pezy
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Jul 27, 2023
**Public-Facing Changes** - Adds additional operations to allow clients to call services that are advertised by the server **Description** Adds additional operations to allow clients to call services that are advertised by the server FG-1456 Co-authored-by: Jacob Bandes-Storch <[email protected]>
pezy
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Jul 27, 2023
…ve#347) **Public-Facing Changes** - Updates `@foxglove/ws-protocol` to implement service operations added in foxglove#344 **Description** - Updates `@foxglove/ws-protocol` to implement service operations added in foxglove#344 - Minor cleanup in the way client messages are being handled
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Public-Facing Changes
Description
Adds additional operations to allow clients to call services that are advertised by the server
FG-1456