From d0475df75ffc4cfa97651575fe55607759c81a1d Mon Sep 17 00:00:00 2001 From: "Tomoya.Fujita" Date: Fri, 1 May 2020 14:06:38 +0900 Subject: [PATCH 01/17] Content Filtering Proposal 1st Draft. Signed-off-by: Tomoya.Fujita --- articles/content_filtering.md | 320 ++++++++++++++++++ .../action_architecture_overview.png | Bin 0 -> 74554 bytes .../contents_filter_overview.png | Bin 0 -> 136417 bytes .../parameter_event_overview.png | Bin 0 -> 109795 bytes img/content_filter/responsibility.png | Bin 0 -> 44870 bytes 5 files changed, 320 insertions(+) create mode 100755 articles/content_filtering.md create mode 100755 img/content_filter/action_architecture_overview.png create mode 100755 img/content_filter/contents_filter_overview.png create mode 100755 img/content_filter/parameter_event_overview.png create mode 100755 img/content_filter/responsibility.png diff --git a/articles/content_filtering.md b/articles/content_filtering.md new file mode 100755 index 000000000..1c2800e41 --- /dev/null +++ b/articles/content_filtering.md @@ -0,0 +1,320 @@ +--- +layout: default +title: ContentFilteringTopic in ROS2 +permalink: articles/content_filtering.html +abstract: Description draft of the current problem for /parameter_events and action feedback/status topics. Design proposal using ContentFilteringTopic. +author: '[Tomoya Fujita](https://github.com/fujitatomoya)' +published: true +--- + +{:toc} + +# {{ page.title }} + +
+{{ page.abstract }} +
+ +Original Author: {{ page.author }} + +# ContentFilteredTopic Feasibility for ROS2 + +This is a note to consider DDS ContentFilteredTopic optimization for ros2 parameter event topic and action topics. The goal of this note is to see if it is suitable and feasible to use DDS ContentFilteredTopic against the problems that we have ros2 as described below. And describe the consideration in detail and basic design how actually we could integrate ContentFilteredTopic in ros2 core system such as rmw, rcl and rclcpp. + + + + + +- [{{ page.title }}](#pagetitle) +- [ContentFilteredTopic Feasibility for ROS2](#contentfilteredtopic-feasibility-for-ros2) + - [Author](#author) + - [Problems](#problems) + - [Parameter Event Topic](#parameter-event-topic) + - [Action Topics](#action-topics) + - [ContentFilteredTopic](#contentfilteredtopic) + - [Requirement](#requirement) + - [Spec Description](#spec-description) + - [DDS](#dds) + - [DDSI-RTPS](#ddsi-rtps) + - [Reference](#reference) + - [ROS2 Consideration](#ros2-consideration) + - [Requirement](#requirement-1) + - [Design](#design) + - [Namespace](#namespace) + - [Action](#action) + - [Parameter Events](#parameter-events) + - [Interfaces](#interfaces) + - [rcl](#rcl) + - [rmw](#rmw) + - [rclcpp(rclpy)](#rclcpprclpy) + - [Implementation](#implementation) + - [Action](#action-1) + - [Parameter Event](#parameter-event) + - [Questions](#questions) + - [Responsibility](#responsibility) + - [Related Works](#related-works) + + + +## Author + +- + +## Problems + +Here describes the current problems that we have in ros2 system, they are already well-known issues. issues are not related to functionalities but efficiency like cpu consumption and network transmission. These efficiency is dependent on the platform capability, but once it comes to embedded devices and IoT platform, these problems could be a huge pain to consume resources. +Currently, at least there are following two main problems exist in ros2, the one is /parameter_events topic transmission and the other is action topics feedback and status message transmission. the detail is described as following. + +### Parameter Event Topic + +Each node will publish and subscribe parameter events topic (this is configurable via node option). This topic is to support monitoring parameters for change. It is expected that client libraries will implement the ability to register a callback for specific parameter changes using this topic. there will be an internal subscription for each node for /parameter_evetns topic to handle the TimeSource via "use_sim_time" parameter. rclcpp::ParameterEventsFilter is used to filter the parameter with specific names such as "use_sim_time". As user interface, AsyncParametersClient::on_parameter_event is provided to handle parameter events. + + + +The problem can be broken down into the following two parts, + +- Network activity on /parameter_events topic + Since nobody cares who needs to receive which messages, there will be all of the parameter activity, everyone publishes and subscribes all of the events with this giant topic /parameter_events. This leads to a lot of unnecessary message transmission over the network. +- Subscriber needs to filter unnecessary (not interesting) messages + Subscriber does not know if the message is something interesting or not without checking the contents of the message via user callback. This filtering needs to be done every single time the message comes in. In expectation, most likely parameter event callback is interested on specific parameter only, so that there will be a lot of unnecessary message receives and filtering process needs to be done. + +as described above, we could imagine that if the number of node are 10, 20 and 100 and so are the parameters for each nodes. This will be a huge burden and pain for entire ros2 system, passing unnecessary messages via limited bandwidth network with edge devices and filtering messages to drop is not something user application wants to do. + +### Action Topics + +Each action server will provide two topics named feedback and status as followings, + + + +feedback and status are single topic each mapped to action name and published by action server, and action clients subscribe those topics to get feedback and status. When there are many goals from many clients, the choice to have a single feedback (and status) topic per action server is suboptimal in terms of processing and bandwidth resource. It is up to clients to filter out feedback/status messages that are not pertinent to them. In this scenario, M goals are sent to N clients there is an unnecessary use of bandwidth and processing. especially in extreme cases where M and N are large. (each goal is identified by goal ID based on uuid, filtering out the goal id is done by client library so user application does not need to care.) + +## ContentFilteredTopic + +ContentFilteredTopic describes a more sophisticated subscription that indicates the subscriber does not want to necessarily see all values of each instance published under the Topic. Rather, it wants to see only the values whose contents satisfy certain criteria. This class therefore can be used to request content-based subscriptions. + +### Requirement + +- ContentFilteredTopicDataWriter does filtering for each ContentFilteredTopicDataReader endpoint. + OpenSplice community version supports reader side filtering, but with this, transmission does happen anyway to subscription. Filtering is integrated in the implementation but not well efficiency enough. + +- Multiple ContentFilteredTopicDataReader exist and filtering is dependent on each ContentFilteredTopicDataReader's logical filtering expression and parameters. +- Subscriber is responsible to create ContentFilteredTopic. +- The filtering is done by means of evaluating a logical expression that involves the values f some of the data-fields in the sample. The logical expression is derived from the filter_expression and expression_parameters arguments. +- Multiple filter_expression and expression_parameters can be supported on single ContentFilteredTopic. + ``` + [parameter use cases] + "node = %0 OR node = %1" spinal_node attention_node : subscribe all parameter events from spinal and attention nodes + "node = %0 OR name = %1" audio_node attention_level : subscribe all parameter events from audio_node and parameter named attention_level of all nodes. + "(node = %0 AND name = %1) OR (node = %2 AND name = %3)" eye_node brightness ear_node loudness : subscribe brightness parameter of eye_node and loudness parameter of ear_node only. + [action use case] + "uuid = %0 OR uuid = %1" DEADBEEF CAFEFEED : subscribe only interest goal ids which client handlers possess. + ``` +- Multiple filter_expression and expression_parameters can be modified dynamically at runtime. + This is because of use cases for ros2 parameter and action, parameter filtering expression is dependent on user application, and action client has multiple goal id to handle. + +### Spec Description + +#### DDS + +the following create/delete API's are defined, + +- create_contentfilteredtopic() +- delete_contentfilteredtopic() + +**[T.B.D] ContentFilteredTopic is also defined to do a more sophisticated subscription, but according to the specification, filter_expression can be only initialized at constructor and it is read_only. so not possible to change the filter_expression at runtime.** + +#### DDSI-RTPS + +The ContentFilterProperty_t field provides all the required information to enable content filtering on the Writer side. DDS allows the user to modify the filter expression parameters at run-time. Each time the parameters are modified, the updated information is exchanged using the Endpoint discovery protocol. This is identical to updating a mutable QoS value. + +### Reference + +[DDS v1.4 Specification](https://www.omg.org/spec/DDS/1.4/PDF) +[DDSI-RTPS v2.3 Specification](https://www.omg.org/spec/DDSI-RTPS/2.3/PDF) + +## ROS2 Consideration + +This part is ros2 related consideration how to integrate and port the ContentFilteredTopic into rclcpp, rcl and rmw layer along current implementation. at 1st step, requirement needs to be clarified and discussed very well. This is just a draft feasibility and design ideas so that this needs to be discussed with Open Robotics and ROS2 Community in public space. + +### Requirement + +- Do not break user space. + Current application must be able to run without any change on ros2 supported rmw implementation such as rmw_cyclonedds, rmw_fastrtps, rmw_opensplice, rmw_connext and rmw_iceoryx. (But might require rebuilding since some built-in message needs to be modified.) +- Frontend interfaces are compatible. (parameter client) + [T.B.D] If rmw implementation does not support ContentFilteredTopic interfaces, filtering should be done internally on subscriber side? or it can leave it for user application responsibility. +- Parameter subscription interface, method or class will be provided as frontend. + This is to set/get the filter_expression and expression_parameters on each parameter client. +- Filtering expression and expression parameters can be set and get at runtime. + - [T.B.D] According to DDS specification filtering expression may not be changed dynamically, in that case, recreating ContentFilteredTopic would be required to change filtering expression, or with specific filtering expression such as node name and parameter name for parameter events and goal id for action, there would be no need to reset filtering expression. +- Filtering goal id for action feedback and status will be perfectly concealed for user. +- User can specify node name and parameter name for parameter event. + [T.B.D] This needs to be discussed more, if user should be able to filter arbitrary parameter or not. + +### Design + +#### Namespace + +Since ContentFilteredTopic is based on related parent topic (more like base topic), it will create ContentFilteredTopic internally. + +#### Action + +There will be no need to expose ContentFilter concept for user. ContentFilteredTopic name would be action_name/_action/feedback_or_status_ActionClient_ID then ActionClient always get feedback events related to goal handler. This granularity is mandatory for action feedback and status topic to get more transport efficiency. + +| ContentFilterTopic Name | Description | +| :--- | :--- | +| action_name/_action/feedback_ActionClient_ID | feedback ContentFilteredTopic for ActionClient ID, ActionClient_ID would be uuid (consistent with status id for the same client) | +| action_name/_action/status_ActionClient_ID | status ContentFilteredTopic for ActionClient ID, ActionClient_ID would be uuid (consistent with feedback id for the same client) | + +(*) These ContentFilteredTopic should not show up to user. (e.g ros2 topic list) + +feedback topic is user defined message type dependent on action name but it also includes goal id([GoalInfo](https://github.com/ros2/rcl_interfaces/blob/master/action_msgs/msg/GoalInfo.msg)). Goal id will be internally handled and client issues ContentFilteredTopic API to notify the publication(server) what subscription(client) is interested in. status topic is constructed with [GoalStatus](https://github.com/ros2/rcl_interfaces/blob/master/action_msgs/msg/GoalStatus.msg), this can be also taken care with feedback mostly same design. + +```sequence +ActionServer->ActionClient: server ready +ActionClient->ActionServer: subscribe feedback & status topic +ActionClient-->ActionServer: ask if ContentFilteredTopic supported +ActionClient-->ActionServer: set filter expression and parameter based on goal id +ActionServer->ActionClient: publish feedback & status +Note over ActionClient: Filtering Process(if not filtered) +``` + +#### Parameter Events + +There are two types of parameter events subscription, one is for system(TimeSource) which is controlled and taken care by rclcpp and rclpy internally. And the other is user application to register user callback to be fired when parameter events come in. + +It would be good to create ContentFilteredTopic for each of them. This can make responsibility clear and simple, can avoid the complication about filtering expression merge between user filtering and system filtering. + +| ContentFilterTopic | Description | +| :--- | :--- | +| /parameter_events_system_Node_ID | parameter events ContentFilteredTopic for system internal usage, Node ID would be uuid to identify this NodeBase. (same with user uuid) | +| /parameter_events_user_Node_ID | parameter events ContentFilteredTopic for user callback usage, Node ID would be uuid to identify this NodeBase. (same with system uuid) | + +(*) These ContentFilteredTopic should not show up to user. (e.g ros2 topic list) + +- TimeSource + **use_sim_time** event on self-node_base is subscribed internally to check if **use_sim_time** parameter is changed or not. so internally this **use_sim_time** AND self node name always must be in filter_expression and expression_parameters via ContentFilteredTopic if it is supported. see [here](https://github.com/ros2/rclcpp/blob/99286978f92c30fe171313bf0785d6b6272c3257/rclcpp/src/rclcpp/time_source.cpp#L123-L125). + **use_sim_time** parameter event must be guaranteed by system to keep that in the filter and parameter expression when using ContentFilteredTopic. + +- User frontend (rclcpp/rclpy) + User API will be added to manage filtering configuration, so that user application can set its own filter_expression and expression_parameters. Also using AsyncParametersClient::on_parameter_event, user can take care of the parameter event with user callback only for filtered parameter events. + **[T.B.D] Filtering should be compatible for user even if rmw_implementation does not support ContentFilteredTopic, this can be done with using ParameterEventsFilter. But the problem here is ParameterEventsFilter only filters parameter name and event type such as NEW, DELETED, CHANGED. there is a huge gap of the flexibility that dds filtering expression and parameter expression possesses. This is what we need to discuss.** + +```sequence +ParameterEventSubscription->ParameterEventPublication: subscribe /parameter_events +ParameterEventSubscription-->ParameterEventPublication: ask if ContentFilteredTopic is supported +ParameterEventSubscription-->ParameterEventPublication: set filter expression on /parameter_events +ParameterEventPublication->ParameterEventSubscription: publish /parameter_events +Note over ParameterEventSubscription: Internal Filtering Process(if not filtered) +Note over ParameterEventSubscription: user callback fired(via on_parameter_event) +``` + +### Interfaces + +#### rcl + +Since ContentFilteredTopic is dds specification and rmw_implementation, rcl will be basically just a bridge to connect interfaces between rclcpp/rclpy and rmw. So far, it is not expected to take care of specific implementation in rcl but interface glue. + +#### rmw + +- rmw_ret_t rmw_publisher_content_aware(const char *related_topic_name) + Ask if rmw_implementation on the publisher supports ContentsFilteredTopic or not. + return RMW_RET_OK if publication is contents aware, or + return RMW_RET_UNSUPPORTED if publication is NOT contents aware. + + Or we should add the api negotiation interface for other extension to avoid redundant code? + ``` + #define RMW_EXT_PUBLICATION_CONTENTS_AWARE 0x00000001 + + rmw_ret_t rmw_ext_supported(uint64_t *flag) + + uint64_t flag; + flag = flag | RMW_EXT_PUBLICATION_CONTENTS_AWARE; + rmw_ret_t rmw_ext_supported(&flag); + if (flag & RMW_EXT_PUBLICATION_CONTENTS_AWARE) { + // rmw_implementation supports RMW_EXT_PUBLICATION_CONTENTS_AWARE + } + ``` + +- rmw_ret_t rmw_set_contentfilter_expression(const char *topic_name, char *filter_expression, char **expression_parameters) + IN: content filtered topic name that's been subscribed. + IN: filter_expression attribute is a string that specifies the criteria to select the data samples of interest. It is similar to the WHERE part of an SQL clause. + IN: expression_parameters attribute is a sequence of strings that give values to the ‘parameters’ (i.e., "%n" tokens) in the filter_expression. The number of supplied parameters must fit with the requested values in the filter_expression(i.e., the number of %n tokens). + +- rmw_ret_t rmw_get_contentfilter_expression(const char *topic_name, char *filter_expression, char **expression_parameters) + IN: content filtered topic name that's been subscribed. + OUT: filter_expression attribute is a string that specifies the criteria to select the data samples of interest. It is similar to the WHERE part of an SQL clause. + OUT: expression_parameters attribute is a sequence of strings that give values to the ‘parameters’ (i.e., "%n" tokens) in the filter_expression. The number of supplied parameters must fit with the requested values in the filter_expression(i.e., the number of %n tokens). + +- rmw_ret_t rmw_create/delete_contentfilteredtopic(const char *name, const char *related_topic) + According to dds specification, ContentFilteredTopic needs to be constructed based on related_topic which is parent topic. + +#### rclcpp(rclpy) + +The following methods will be provided as user interfaces, so that user application can filter the parameter events with their own filter_expression and expression_parameters. rclcpp and rclpy should have the compatible class and method. + +User should be aware of parameter event filtering, but no need to aware of ContentFilteredTopic. So providing filtering setter and getter interfaces based on Parameter Client. (Also this should be discussed in community, but we do not see any requirement to expose ContentFilteredTopic to user application.) + +- AsyncParametersClient::set_parameter_event_filter(string filter_expression, StringSeq expression_parameters) + **[T.B.D] maybe node names and paramter names are good enough for user interface, this needs to be discussed in community.** + IN: filter_expression attribute is a string that specifies the criteria to select the data samples of interest. It is similar to the WHERE part of an SQL clause. + IN: expression_parameters attribute is a sequence of strings that give values to the ‘parameters’ (i.e., "%n" tokens) in the filter_expression. The number of supplied parameters must fit with the requested values in the filter_expression(i.e., the number of %n tokens). +- AsyncParametersClient::get_parameter_event_filter + **[T.B.D] maybe node names and paramter names are good enough for user interface, this needs to be discussed in community.** + OUT: filter_expression attribute is a string that specifies the criteria to select the data samples of interest. It is similar to the WHERE part of an SQL clause. + OUT: expression_parameters attribute is a sequence of strings that give values to the ‘parameters’ (i.e., "%n" tokens) in the filter_expression. The number of supplied parameters must fit with the requested values in the filter_expression(i.e., the number of %n tokens). + +### Implementation + +#### Action + +- Action Server + Nothing needs to be changed, even with ContentFilteredTopic it should not be aware of that, just publishes feedback and status message, the rest will be taken care by rmw_implementation. if rmw_implementation does not support ContentFilteredTopic, filtering process is done by subscriber side which is Action Client. + +- Action Client + User interface(rclcpp and rclpy) should not be changed, everything can be integrated into internal implementation. + - rclcpp/rclpy + Needs to check if ContentFilter is done by rmw_implementation internally. If ContentFilter is supported by by rmw_implementation, it will create ContentFilteredTopic internally based on ActionClient ID (uuid) so that no need to filter goal id.(saying there will be no unknown goal id event.) But w/o ContentFilter [current filtering](https://github.com/ros2/rclcpp/blob/99286978f92c30fe171313bf0785d6b6272c3257/rclcpp_action/include/rclcpp_action/client.hpp#L536-L553) needs to stay put since there would be unnecessary message from publisher. + at [send_goal_request](https://github.com/ros2/rclcpp/blob/99286978f92c30fe171313bf0785d6b6272c3257/rclcpp_action/include/rclcpp_action/client.hpp#L352-L388), it will set the filter_expression and expression_parameters based on goal id, again the goal handler might have multiple goal ids, so that get current filtering configuration, modify and set new filtering configuration. (the finalization is also needed when goal id is being unregistered from goal handler.) + - rcl + most likely, it will provide bridge interface between rclcpp/rclpy and rmw_implementation. one thing to consider is that rcl possibly calls create/delete_contentfilteredtopic internally because currently feedback/status subscription initialization will be done by rcl internally via rcl_action_client_init. + +#### Parameter Event + +- Publication + +Nothing will be required to change or modify on publication side. It will publish parameter events always, filtering should be done in rmw_implementation dds writer side transparently. + +- Subscription + +At 1st call set_parameter_event_filter from user application, if rmw_implementation supports ContentFilteredTopic, it will make ContentFilteredTopic internally and also call rcl/rmw to set the filter expression and parameter expressions. user callback via on_parameter_event will be registered on ContentFilteredTopic if filtering is requested. +[T.B.D] on_parameter_event needs to be extended to call filter_callback internally, then call user callback after filtering is done. with this filter_callback, it can internally filter the parameter event even if ContentFilteredTopic is not supported. (if ContentFilteredTopic is supported, only filtered parameter events are delivered.) + +If user application wants to change filter expression and parameter expressions, it will need to get them via get_parameter_event_filter, then modify or append the expression, and set via set_parameter_event_filter. + +without setting filtering, it will subscribe related topic which is /parameter_events and user callback will be fired once any event comes in. Clearing filter is to call set_parameter_event_filter with both arguments NULL. + +### Questions + +- what if different rmw_implementation is used on remote node? + As long as it is dds, this is responsibility for dds implementation and it has to be able to know if remote nodes support ContentFilteredTopic or not. DDS is sets of API and specification to support and include this requirement. Once it comes to the non-dds implementation, this is not only problem for ContentFilteredTopic but also message transport cannot be supported. + +- how much flexibility of filtering expression for user? + dds filter_expression and expression_parameters are really flexible, it is designed to support arbitrary user filtering. but thinking of ros2 frontend interface rclcpp and rclpy, maybe node name and parameter name would be good enough? + +- ParameterEventSubscription + Kinda off topic, this should be integrated into rcl layer? so that all frontend rclpy can take advantage of that, also we can reduce the redundancy for maintenance. (I believe this is the main focus on rcl implementation.) + +- Side effect for making bunch of ContentFilteredTopic + There will be always trading-off, with user aspect, making ContentFilteredTopic is really good not to filter the event. But thinking about dds responsibility, this will increase the complexity and complication for ContentFilteredTopic writer to comprehend which reader needs to receive what events. this needs to be discussed with dds vendor, to try to get to the sweetest spot for ros2 use cases. + +- User interface for ContentFilteredTopic + It should provide ContentFilteredTopic in general interfaces for topic? not only for action and parameter events? this could be discussed in community. (this is not a focus on this task, but it can be extended if requested.) + +## Responsibility + + + +## Related Works + +- [Parameter Subscription Class](https://github.com/ros2/rclcpp/pull/829) + User friendly interfaces to handle parameters with node and parameter identification. PR is really old and suspended for monthes. 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9d7db4c50e482d82dea063d336adce832a9a8579 Mon Sep 17 00:00:00 2001 From: "Tomoya.Fujita" Date: Fri, 1 May 2020 14:58:11 +0900 Subject: [PATCH 02/17] fix sequence diagrams. Signed-off-by: Tomoya.Fujita --- articles/content_filtering.md | 18 ++---------------- .../action_sequence_with_filter.png | Bin 0 -> 18279 bytes .../parameter_event_sequence_with_filter.png | Bin 0 -> 21676 bytes 3 files changed, 2 insertions(+), 16 deletions(-) create mode 100755 img/content_filter/action_sequence_with_filter.png create mode 100755 img/content_filter/parameter_event_sequence_with_filter.png diff --git a/articles/content_filtering.md b/articles/content_filtering.md index 1c2800e41..980066666 100755 --- a/articles/content_filtering.md +++ b/articles/content_filtering.md @@ -169,14 +169,7 @@ There will be no need to expose ContentFilter concept for user. ContentFilteredT feedback topic is user defined message type dependent on action name but it also includes goal id([GoalInfo](https://github.com/ros2/rcl_interfaces/blob/master/action_msgs/msg/GoalInfo.msg)). Goal id will be internally handled and client issues ContentFilteredTopic API to notify the publication(server) what subscription(client) is interested in. status topic is constructed with [GoalStatus](https://github.com/ros2/rcl_interfaces/blob/master/action_msgs/msg/GoalStatus.msg), this can be also taken care with feedback mostly same design. -```sequence -ActionServer->ActionClient: server ready -ActionClient->ActionServer: subscribe feedback & status topic -ActionClient-->ActionServer: ask if ContentFilteredTopic supported -ActionClient-->ActionServer: set filter expression and parameter based on goal id -ActionServer->ActionClient: publish feedback & status -Note over ActionClient: Filtering Process(if not filtered) -``` + #### Parameter Events @@ -199,14 +192,7 @@ It would be good to create ContentFilteredTopic for each of them. This can make User API will be added to manage filtering configuration, so that user application can set its own filter_expression and expression_parameters. Also using AsyncParametersClient::on_parameter_event, user can take care of the parameter event with user callback only for filtered parameter events. **[T.B.D] Filtering should be compatible for user even if rmw_implementation does not support ContentFilteredTopic, this can be done with using ParameterEventsFilter. But the problem here is ParameterEventsFilter only filters parameter name and event type such as NEW, DELETED, CHANGED. there is a huge gap of the flexibility that dds filtering expression and parameter expression possesses. This is what we need to discuss.** -```sequence -ParameterEventSubscription->ParameterEventPublication: subscribe /parameter_events -ParameterEventSubscription-->ParameterEventPublication: ask if ContentFilteredTopic is supported -ParameterEventSubscription-->ParameterEventPublication: set filter expression on /parameter_events -ParameterEventPublication->ParameterEventSubscription: publish /parameter_events -Note over ParameterEventSubscription: Internal Filtering Process(if not filtered) -Note over ParameterEventSubscription: user callback fired(via on_parameter_event) -``` + ### Interfaces diff --git a/img/content_filter/action_sequence_with_filter.png b/img/content_filter/action_sequence_with_filter.png new file mode 100755 index 0000000000000000000000000000000000000000..a8e359c9ea133eeadc0f40ae4e22bbb3e2b50b57 GIT binary patch literal 18279 zcmd74XIPWz*Do3?ND*wHND;eqks@7DP>}%Ady^tvkQ$nfAR+>y0uq{tbV4VQ5)cs) zA|i%_5{goVP=pwI*(=P<|2=14r+nD&wa>|ikqIF@dG7mO>(>^MI$GD*S$J3w2n73$ 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update. Signed-off-by: Tomoya.Fujita --- articles/content_filtering.md | 178 +++++++++------------------------- 1 file changed, 47 insertions(+), 131 deletions(-) diff --git a/articles/content_filtering.md b/articles/content_filtering.md index 980066666..aa60d3813 100755 --- a/articles/content_filtering.md +++ b/articles/content_filtering.md @@ -17,53 +17,10 @@ published: true Original Author: {{ page.author }} -# ContentFilteredTopic Feasibility for ROS2 - -This is a note to consider DDS ContentFilteredTopic optimization for ros2 parameter event topic and action topics. The goal of this note is to see if it is suitable and feasible to use DDS ContentFilteredTopic against the problems that we have ros2 as described below. And describe the consideration in detail and basic design how actually we could integrate ContentFilteredTopic in ros2 core system such as rmw, rcl and rclcpp. - - - - - -- [{{ page.title }}](#pagetitle) -- [ContentFilteredTopic Feasibility for ROS2](#contentfilteredtopic-feasibility-for-ros2) - - [Author](#author) - - [Problems](#problems) - - [Parameter Event Topic](#parameter-event-topic) - - [Action Topics](#action-topics) - - [ContentFilteredTopic](#contentfilteredtopic) - - [Requirement](#requirement) - - [Spec Description](#spec-description) - - [DDS](#dds) - - [DDSI-RTPS](#ddsi-rtps) - - [Reference](#reference) - - [ROS2 Consideration](#ros2-consideration) - - [Requirement](#requirement-1) - - [Design](#design) - - [Namespace](#namespace) - - [Action](#action) - - [Parameter Events](#parameter-events) - - [Interfaces](#interfaces) - - [rcl](#rcl) - - [rmw](#rmw) - - [rclcpp(rclpy)](#rclcpprclpy) - - [Implementation](#implementation) - - [Action](#action-1) - - [Parameter Event](#parameter-event) - - [Questions](#questions) - - [Responsibility](#responsibility) - - [Related Works](#related-works) - - - -## Author - -- - ## Problems -Here describes the current problems that we have in ros2 system, they are already well-known issues. issues are not related to functionalities but efficiency like cpu consumption and network transmission. These efficiency is dependent on the platform capability, but once it comes to embedded devices and IoT platform, these problems could be a huge pain to consume resources. -Currently, at least there are following two main problems exist in ros2, the one is /parameter_events topic transmission and the other is action topics feedback and status message transmission. the detail is described as following. +Here describes the current problems that we have, they are already well-known issues. issues are not related to functionalities but efficiency like cpu consumption and network transmission. The efficiency is dependent on the platform capability, but once it comes to embedded devices and IoT platform, these problems could be a huge pain to consume resources. +Currently, at least there are following two main problems exist in ROS2, the one is /parameter_events topic transmission and the other is action topics feedback and status message transmission. the detail is described as following. ### Parameter Event Topic @@ -78,7 +35,7 @@ The problem can be broken down into the following two parts, - Subscriber needs to filter unnecessary (not interesting) messages Subscriber does not know if the message is something interesting or not without checking the contents of the message via user callback. This filtering needs to be done every single time the message comes in. In expectation, most likely parameter event callback is interested on specific parameter only, so that there will be a lot of unnecessary message receives and filtering process needs to be done. -as described above, we could imagine that if the number of node are 10, 20 and 100 and so are the parameters for each nodes. This will be a huge burden and pain for entire ros2 system, passing unnecessary messages via limited bandwidth network with edge devices and filtering messages to drop is not something user application wants to do. +as described above, we could imagine that if the number of node are 10, 20 and 100 and so are the parameters for each nodes. This will be a huge burden and pain for entire system, passing unnecessary messages via limited bandwidth network with edge devices and filtering messages to drop is not something user application wants to do. ### Action Topics @@ -112,7 +69,7 @@ ContentFilteredTopic describes a more sophisticated subscription that indicates - Multiple filter_expression and expression_parameters can be modified dynamically at runtime. This is because of use cases for ros2 parameter and action, parameter filtering expression is dependent on user application, and action client has multiple goal id to handle. -### Spec Description +### Specification #### DDS @@ -121,7 +78,7 @@ the following create/delete API's are defined, - create_contentfilteredtopic() - delete_contentfilteredtopic() -**[T.B.D] ContentFilteredTopic is also defined to do a more sophisticated subscription, but according to the specification, filter_expression can be only initialized at constructor and it is read_only. so not possible to change the filter_expression at runtime.** +**According to the specification, filter_expression can be only initialized at constructor and it is read_only. so not possible to change the filter_expression at runtime.** #### DDSI-RTPS @@ -132,33 +89,29 @@ The ContentFilterProperty_t field provides all the required information to enabl [DDS v1.4 Specification](https://www.omg.org/spec/DDS/1.4/PDF) [DDSI-RTPS v2.3 Specification](https://www.omg.org/spec/DDSI-RTPS/2.3/PDF) -## ROS2 Consideration - -This part is ros2 related consideration how to integrate and port the ContentFilteredTopic into rclcpp, rcl and rmw layer along current implementation. at 1st step, requirement needs to be clarified and discussed very well. This is just a draft feasibility and design ideas so that this needs to be discussed with Open Robotics and ROS2 Community in public space. +## Design ### Requirement -- Do not break user space. - Current application must be able to run without any change on ros2 supported rmw implementation such as rmw_cyclonedds, rmw_fastrtps, rmw_opensplice, rmw_connext and rmw_iceoryx. (But might require rebuilding since some built-in message needs to be modified.) -- Frontend interfaces are compatible. (parameter client) - [T.B.D] If rmw implementation does not support ContentFilteredTopic interfaces, filtering should be done internally on subscriber side? or it can leave it for user application responsibility. -- Parameter subscription interface, method or class will be provided as frontend. - This is to set/get the filter_expression and expression_parameters on each parameter client. +- ContentFilteredTopic interfaces can be used only if implementation supports. + - [T.B.D] If rmw implementation does not support ContentFilteredTopic interfaces, filtering should be done internally on subscriber side? or it can leave it for user application responsibility. +- User can create/destroy ContentFilteredTopic based on parent topic. +- User can set/get the filter_expression and expression_parameters for ContentFilteredTopic. - Filtering expression and expression parameters can be set and get at runtime. - [T.B.D] According to DDS specification filtering expression may not be changed dynamically, in that case, recreating ContentFilteredTopic would be required to change filtering expression, or with specific filtering expression such as node name and parameter name for parameter events and goal id for action, there would be no need to reset filtering expression. - Filtering goal id for action feedback and status will be perfectly concealed for user. -- User can specify node name and parameter name for parameter event. - [T.B.D] This needs to be discussed more, if user should be able to filter arbitrary parameter or not. +- User can specify node name and parameter name for parameter event to filter the parameter evetns. + - [T.B.D] This needs to be discussed more, if user should be able to filter arbitrary parameter or not. -### Design +### Proposal #### Namespace -Since ContentFilteredTopic is based on related parent topic (more like base topic), it will create ContentFilteredTopic internally. +Since ContentFilteredTopic is based on parent topic (more like base topic), it will create ContentFilteredTopic internally, not exposed as generic topic. #### Action -There will be no need to expose ContentFilter concept for user. ContentFilteredTopic name would be action_name/_action/feedback_or_status_ActionClient_ID then ActionClient always get feedback events related to goal handler. This granularity is mandatory for action feedback and status topic to get more transport efficiency. +There will be no need to expose ContentFilter concept for user. ContentFilteredTopic name would be action_name/_action/feedback_or_status_ActionClient_ID then ActionClient always get feedback events related to goal handler. This granularity is mandatory for action feedback and status topic to have more transport efficiency. | ContentFilterTopic Name | Description | | :--- | :--- | @@ -198,58 +151,40 @@ It would be good to create ContentFilteredTopic for each of them. This can make #### rcl -Since ContentFilteredTopic is dds specification and rmw_implementation, rcl will be basically just a bridge to connect interfaces between rclcpp/rclpy and rmw. So far, it is not expected to take care of specific implementation in rcl but interface glue. +- add API `is_cft_supported` to allow frontend(rclcpp/rclpy) can know CFT is supported or not. + e.g) `rcl_subscription_is_cft_supported` to access `is_cft_supported`. +- add `rcl_create_cft_subscription` to call `rmw_create_cft_subscription`. +- add `rcl_cft_set/get_expression_parameters` to call `rmw_cft_set/get_expression_parameters`. #### rmw -- rmw_ret_t rmw_publisher_content_aware(const char *related_topic_name) - Ask if rmw_implementation on the publisher supports ContentsFilteredTopic or not. - return RMW_RET_OK if publication is contents aware, or - return RMW_RET_UNSUPPORTED if publication is NOT contents aware. - - Or we should add the api negotiation interface for other extension to avoid redundant code? - ``` - #define RMW_EXT_PUBLICATION_CONTENTS_AWARE 0x00000001 - - rmw_ret_t rmw_ext_supported(uint64_t *flag) - - uint64_t flag; - flag = flag | RMW_EXT_PUBLICATION_CONTENTS_AWARE; - rmw_ret_t rmw_ext_supported(&flag); - if (flag & RMW_EXT_PUBLICATION_CONTENTS_AWARE) { - // rmw_implementation supports RMW_EXT_PUBLICATION_CONTENTS_AWARE - } - ``` - -- rmw_ret_t rmw_set_contentfilter_expression(const char *topic_name, char *filter_expression, char **expression_parameters) - IN: content filtered topic name that's been subscribed. - IN: filter_expression attribute is a string that specifies the criteria to select the data samples of interest. It is similar to the WHERE part of an SQL clause. - IN: expression_parameters attribute is a sequence of strings that give values to the ‘parameters’ (i.e., "%n" tokens) in the filter_expression. The number of supplied parameters must fit with the requested values in the filter_expression(i.e., the number of %n tokens). +- add new member `is_cft_supported` into `rmw_subscription_t` which indicates if CTF is supported by rmw_implementation or not. + e.g) see `can_loan_masseges` member as reference. + support status will be set when parent subscription is created. then support status can be used to notify the upper layer if CFT is supported or not. -- rmw_ret_t rmw_get_contentfilter_expression(const char *topic_name, char *filter_expression, char **expression_parameters) - IN: content filtered topic name that's been subscribed. - OUT: filter_expression attribute is a string that specifies the criteria to select the data samples of interest. It is similar to the WHERE part of an SQL clause. - OUT: expression_parameters attribute is a sequence of strings that give values to the ‘parameters’ (i.e., "%n" tokens) in the filter_expression. The number of supplied parameters must fit with the requested values in the filter_expression(i.e., the number of %n tokens). +| Implementation | `is_cft_supported` | +| :--: | :--: | +| rmw_connext | true | +| rmw_fastrtps | false | +| rmw_cyclonedds | false | -- rmw_ret_t rmw_create/delete_contentfilteredtopic(const char *name, const char *related_topic) - According to dds specification, ContentFilteredTopic needs to be constructed based on related_topic which is parent topic. +- new `DDSContentFilteredTopic` object needs to be managed in implementation. +- parent topic information should be cached so that we can create CFT based on that parent topic. +- `rmw_create_cft_subscription` interface. + - input: rmw_subscription_t, rmw_node_t, parent topic information. + - output: rmw_subscription_t (with new data reader) +- `rmw_cft_set/get_expression_parameters` interface. + - input: `DDSContentFilteredTopic`, (string sequence) expression parameters. #### rclcpp(rclpy) -The following methods will be provided as user interfaces, so that user application can filter the parameter events with their own filter_expression and expression_parameters. rclcpp and rclpy should have the compatible class and method. - -User should be aware of parameter event filtering, but no need to aware of ContentFilteredTopic. So providing filtering setter and getter interfaces based on Parameter Client. (Also this should be discussed in community, but we do not see any requirement to expose ContentFilteredTopic to user application.) - -- AsyncParametersClient::set_parameter_event_filter(string filter_expression, StringSeq expression_parameters) - **[T.B.D] maybe node names and paramter names are good enough for user interface, this needs to be discussed in community.** - IN: filter_expression attribute is a string that specifies the criteria to select the data samples of interest. It is similar to the WHERE part of an SQL clause. - IN: expression_parameters attribute is a sequence of strings that give values to the ‘parameters’ (i.e., "%n" tokens) in the filter_expression. The number of supplied parameters must fit with the requested values in the filter_expression(i.e., the number of %n tokens). -- AsyncParametersClient::get_parameter_event_filter - **[T.B.D] maybe node names and paramter names are good enough for user interface, this needs to be discussed in community.** - OUT: filter_expression attribute is a string that specifies the criteria to select the data samples of interest. It is similar to the WHERE part of an SQL clause. - OUT: expression_parameters attribute is a sequence of strings that give values to the ‘parameters’ (i.e., "%n" tokens) in the filter_expression. The number of supplied parameters must fit with the requested values in the filter_expression(i.e., the number of %n tokens). +- `create_cft_subscription` method in `Node` & `Subscription` class to allow user application to user CFT feature based on parent topics and subscription. + - if the platform does not support CFT, the return NOT_SUPPORTED. + - this will override the subscription (datareader in dds), so that we can have single datareader in dds. this means that subscription can only subscribe content filtered data. +- `set_cft_set/get_expression_parameters` method in `Node` class to set and get expression parameters. (Not possible set filtering expression at runtime this is specification of DDS.) +- Deletion/Destruction of CFT subscription is exactly same with current subscription routine. -### Implementation +### Components #### Action @@ -258,43 +193,24 @@ User should be aware of parameter event filtering, but no need to aware of Conte - Action Client User interface(rclcpp and rclpy) should not be changed, everything can be integrated into internal implementation. - - rclcpp/rclpy - Needs to check if ContentFilter is done by rmw_implementation internally. If ContentFilter is supported by by rmw_implementation, it will create ContentFilteredTopic internally based on ActionClient ID (uuid) so that no need to filter goal id.(saying there will be no unknown goal id event.) But w/o ContentFilter [current filtering](https://github.com/ros2/rclcpp/blob/99286978f92c30fe171313bf0785d6b6272c3257/rclcpp_action/include/rclcpp_action/client.hpp#L536-L553) needs to stay put since there would be unnecessary message from publisher. - at [send_goal_request](https://github.com/ros2/rclcpp/blob/99286978f92c30fe171313bf0785d6b6272c3257/rclcpp_action/include/rclcpp_action/client.hpp#L352-L388), it will set the filter_expression and expression_parameters based on goal id, again the goal handler might have multiple goal ids, so that get current filtering configuration, modify and set new filtering configuration. (the finalization is also needed when goal id is being unregistered from goal handler.) - - rcl - most likely, it will provide bridge interface between rclcpp/rclpy and rmw_implementation. one thing to consider is that rcl possibly calls create/delete_contentfilteredtopic internally because currently feedback/status subscription initialization will be done by rcl internally via rcl_action_client_init. + It will check if ContentFilter is supported by rmw_implementation internally. If ContentFilter is supported by rmw_implementation, create ContentFilteredTopic internally based on ActionClient ID (uuid) so that no need to filter goal id. (saying there will be no unknown goal id event.) But w/o ContentFilter [current filtering](https://github.com/ros2/rclcpp/blob/99286978f92c30fe171313bf0785d6b6272c3257/rclcpp_action/include/rclcpp_action/client.hpp#L536-L553) needs to stay since there would be unnecessary message from publisher.At [send_goal_request](https://github.com/ros2/rclcpp/blob/99286978f92c30fe171313bf0785d6b6272c3257/rclcpp_action/include/rclcpp_action/client.hpp#L352-L388), it will set the filter_expression and expression_parameters based on goal id. The goal handler might have multiple goal ids, so that get current filtering configuration, modify and set new filtering configuration. (the finalization is also needed when goal id is being unregistered from goal handler.) #### Parameter Event - Publication - -Nothing will be required to change or modify on publication side. It will publish parameter events always, filtering should be done in rmw_implementation dds writer side transparently. + Nothing will be required to change or modify on publication side. It will publish parameter events as it does, filtering should be done in rmw_implementation dds writer side transparently. - Subscription - -At 1st call set_parameter_event_filter from user application, if rmw_implementation supports ContentFilteredTopic, it will make ContentFilteredTopic internally and also call rcl/rmw to set the filter expression and parameter expressions. user callback via on_parameter_event will be registered on ContentFilteredTopic if filtering is requested. -[T.B.D] on_parameter_event needs to be extended to call filter_callback internally, then call user callback after filtering is done. with this filter_callback, it can internally filter the parameter event even if ContentFilteredTopic is not supported. (if ContentFilteredTopic is supported, only filtered parameter events are delivered.) - -If user application wants to change filter expression and parameter expressions, it will need to get them via get_parameter_event_filter, then modify or append the expression, and set via set_parameter_event_filter. - -without setting filtering, it will subscribe related topic which is /parameter_events and user callback will be fired once any event comes in. Clearing filter is to call set_parameter_event_filter with both arguments NULL. + It will check if ContentFilteredTopic is supported by rmw_implementation. If rmw_implementation supports ContentFilteredTopic, it will create ContentFilteredTopic internally and also set the filter expression and parameter expressions. user callback will be registered on ContentFilteredTopic. + If user application wants to change filter expression and parameter expressions, it will need to get the current filter setting, then modify or append the expression, and set. ### Questions -- what if different rmw_implementation is used on remote node? - As long as it is dds, this is responsibility for dds implementation and it has to be able to know if remote nodes support ContentFilteredTopic or not. DDS is sets of API and specification to support and include this requirement. Once it comes to the non-dds implementation, this is not only problem for ContentFilteredTopic but also message transport cannot be supported. - -- how much flexibility of filtering expression for user? - dds filter_expression and expression_parameters are really flexible, it is designed to support arbitrary user filtering. but thinking of ros2 frontend interface rclcpp and rclpy, maybe node name and parameter name would be good enough? - -- ParameterEventSubscription - Kinda off topic, this should be integrated into rcl layer? so that all frontend rclpy can take advantage of that, also we can reduce the redundancy for maintenance. (I believe this is the main focus on rcl implementation.) +- How much flexibility of filtering expression for /parameter_events? + dds filter_expression and expression_parameters are really flexible, it is designed to support arbitrary user filtering. but thinking of /parameter_events, maybe node name and parameter name would be good enough? - Side effect for making bunch of ContentFilteredTopic - There will be always trading-off, with user aspect, making ContentFilteredTopic is really good not to filter the event. But thinking about dds responsibility, this will increase the complexity and complication for ContentFilteredTopic writer to comprehend which reader needs to receive what events. this needs to be discussed with dds vendor, to try to get to the sweetest spot for ros2 use cases. - -- User interface for ContentFilteredTopic - It should provide ContentFilteredTopic in general interfaces for topic? not only for action and parameter events? this could be discussed in community. (this is not a focus on this task, but it can be extended if requested.) + There will be always trading-off, with user aspect, making ContentFilteredTopic is really good not to filter the event. But thinking about dds responsibility, this will increase the complexity and complication for ContentFilteredTopic writer to comprehend which reader needs to receive what events. ## Responsibility From 8fa668ba3dce0fd4ad5a994cb3973d61dd91258f Mon Sep 17 00:00:00 2001 From: "Tomoya.Fujita" Date: Mon, 27 Jul 2020 10:47:59 +0900 Subject: [PATCH 04/17] types in rmw should not be DDS types. Signed-off-by: Tomoya.Fujita --- articles/content_filtering.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/articles/content_filtering.md b/articles/content_filtering.md index aa60d3813..e21980b12 100755 --- a/articles/content_filtering.md +++ b/articles/content_filtering.md @@ -174,7 +174,7 @@ It would be good to create ContentFilteredTopic for each of them. This can make - input: rmw_subscription_t, rmw_node_t, parent topic information. - output: rmw_subscription_t (with new data reader) - `rmw_cft_set/get_expression_parameters` interface. - - input: `DDSContentFilteredTopic`, (string sequence) expression parameters. + - input: rmw_subscription_t, (string sequence) expression parameters. #### rclcpp(rclpy) From eeba915f6ccdf5242b0feacbc0b0305a67b43c81 Mon Sep 17 00:00:00 2001 From: "Tomoya.Fujita" Date: Tue, 18 Aug 2020 15:14:57 +0900 Subject: [PATCH 05/17] update design based on the previous comments. Signed-off-by: Tomoya.Fujita --- articles/content_filtering.md | 68 +++++++++++++++++++---------------- 1 file changed, 38 insertions(+), 30 deletions(-) diff --git a/articles/content_filtering.md b/articles/content_filtering.md index e21980b12..9408ebc29 100755 --- a/articles/content_filtering.md +++ b/articles/content_filtering.md @@ -19,31 +19,31 @@ Original Author: {{ page.author }} ## Problems -Here describes the current problems that we have, they are already well-known issues. issues are not related to functionalities but efficiency like cpu consumption and network transmission. The efficiency is dependent on the platform capability, but once it comes to embedded devices and IoT platform, these problems could be a huge pain to consume resources. -Currently, at least there are following two main problems exist in ROS2, the one is /parameter_events topic transmission and the other is action topics feedback and status message transmission. the detail is described as following. +Here describes the current problems that we have, these are already well-known issues. issues are not related to functionalities but efficiency like CPU consumption and network resource. The efficiency is dependent on the platform capability, but once it comes to embedded devices and IoT platform, these problems could be a huge pain to consume resources. +Currently, at least there are following two main problems exist in ROS2, the one is `/parameter_events` topic and the other is action topics `feedback` and `status`. the detail is described as following. ### Parameter Event Topic -Each node will publish and subscribe parameter events topic (this is configurable via node option). This topic is to support monitoring parameters for change. It is expected that client libraries will implement the ability to register a callback for specific parameter changes using this topic. there will be an internal subscription for each node for /parameter_evetns topic to handle the TimeSource via "use_sim_time" parameter. rclcpp::ParameterEventsFilter is used to filter the parameter with specific names such as "use_sim_time". As user interface, AsyncParametersClient::on_parameter_event is provided to handle parameter events. +Each node will publish and subscribe parameter events topic (this is configurable via node option). This topic is to support monitoring parameters for change. It is expected that client libraries will implement the ability to register a callback for specific parameter changes using this topic. there is an internal subscription for each node for /parameter_evetns topic to handle the TimeSource via "use_sim_time" parameter. `rclcpp::ParameterEventsFilter` is used to filter the parameter with specific names such as "use_sim_time". As user interface, `AsyncParametersClient::on_parameter_event` is provided to handle parameter events. -The problem can be broken down into the following two parts, +The problem can be broken into the following two parts, -- Network activity on /parameter_events topic - Since nobody cares who needs to receive which messages, there will be all of the parameter activity, everyone publishes and subscribes all of the events with this giant topic /parameter_events. This leads to a lot of unnecessary message transmission over the network. -- Subscriber needs to filter unnecessary (not interesting) messages - Subscriber does not know if the message is something interesting or not without checking the contents of the message via user callback. This filtering needs to be done every single time the message comes in. In expectation, most likely parameter event callback is interested on specific parameter only, so that there will be a lot of unnecessary message receives and filtering process needs to be done. +- Network activity on `/parameter_events` topic + Since nobody cares who needs to receive which messages, there will be all of the parameter activity. That said everyone publishes and subscribes all of the events with this giant topic `/parameter_events`. This leads to a lot of unnecessary message transmission over the network. +- Subscriber needs to filter unnecessary (not interested) messages + Subscriber does not know if the message is something it needs or not without checking the contents of the message via user callback. This filtering needs to be done every single time the message comes in. In expectation, it is likely that parameter event callback is interested on specific parameter only, so that there will be a lot of unnecessary message receives and filtering process needs to be done. as described above, we could imagine that if the number of node are 10, 20 and 100 and so are the parameters for each nodes. This will be a huge burden and pain for entire system, passing unnecessary messages via limited bandwidth network with edge devices and filtering messages to drop is not something user application wants to do. ### Action Topics -Each action server will provide two topics named feedback and status as followings, +Each action server will provide two topics named `feedback` and `status` as followings, -feedback and status are single topic each mapped to action name and published by action server, and action clients subscribe those topics to get feedback and status. When there are many goals from many clients, the choice to have a single feedback (and status) topic per action server is suboptimal in terms of processing and bandwidth resource. It is up to clients to filter out feedback/status messages that are not pertinent to them. In this scenario, M goals are sent to N clients there is an unnecessary use of bandwidth and processing. especially in extreme cases where M and N are large. (each goal is identified by goal ID based on uuid, filtering out the goal id is done by client library so user application does not need to care.) +`feedback` and `status` are topics each mapped with action name and published by action server, and action clients subscribe those topics to get feedback and status. When there are many goals from many clients, the choice to have a single `feedback` and `status` topic per action server is suboptimal in terms of processing and bandwidth resource. It is up to clients to filter out feedback/status messages that are not pertinent to them. In this scenario, M goals are sent to N clients there is an unnecessary use of bandwidth and processing. especially in extreme cases where M and N are large. (each goal is identified by goal ID based on uuid, filtering out the goal id is done by client library so user application does not need to care.) ## ContentFilteredTopic @@ -56,7 +56,7 @@ ContentFilteredTopic describes a more sophisticated subscription that indicates - Multiple ContentFilteredTopicDataReader exist and filtering is dependent on each ContentFilteredTopicDataReader's logical filtering expression and parameters. - Subscriber is responsible to create ContentFilteredTopic. -- The filtering is done by means of evaluating a logical expression that involves the values f some of the data-fields in the sample. The logical expression is derived from the filter_expression and expression_parameters arguments. +- The filtering is done by means of evaluating a logical expression that involves the values some of the data-fields in the sample. The logical expression is derived from the filter_expression and expression_parameters arguments. - Multiple filter_expression and expression_parameters can be supported on single ContentFilteredTopic. ``` [parameter use cases] @@ -67,7 +67,7 @@ ContentFilteredTopic describes a more sophisticated subscription that indicates "uuid = %0 OR uuid = %1" DEADBEEF CAFEFEED : subscribe only interest goal ids which client handlers possess. ``` - Multiple filter_expression and expression_parameters can be modified dynamically at runtime. - This is because of use cases for ros2 parameter and action, parameter filtering expression is dependent on user application, and action client has multiple goal id to handle. + This is because of use cases for `/parameter_events` and action `feedback` and `status` topics, parameter filtering expression is dependent on user application, and action client has multiple goal id to handle. ### Specification @@ -78,11 +78,11 @@ the following create/delete API's are defined, - create_contentfilteredtopic() - delete_contentfilteredtopic() -**According to the specification, filter_expression can be only initialized at constructor and it is read_only. so not possible to change the filter_expression at runtime.** +**According to the specification, filter_expression can be only initialized at constructor and it is read_only. so not possible to change the filter_exThis needs to be discussed to see if we have our specific requirement for expression syntax. but that will make conversion overhead.ed at runtime. [RTI v5.3.0](https://community.rti.com/static/documentation/connext-dds/5.3.0/doc/api/connext_dds/api_cpp2/classdds_1_1topic_1_1ContentFilteredTopic.html#a76310bf0b7123dd89afbacf43dbabf4a) can support this requirement.** #### DDSI-RTPS -The ContentFilterProperty_t field provides all the required information to enable content filtering on the Writer side. DDS allows the user to modify the filter expression parameters at run-time. Each time the parameters are modified, the updated information is exchanged using the Endpoint discovery protocol. This is identical to updating a mutable QoS value. +The ContentFilterProperty_t field provides all the required information to enable content filtering on the Writer side. DDS allows the user to modify the filter expression parameter at runtime. Each time the parameters are modified, the updated information is exchanged using the Endpoint discovery protocol. This is identical to updating a mutable QoS value. ### Reference @@ -94,33 +94,33 @@ The ContentFilterProperty_t field provides all the required information to enabl ### Requirement - ContentFilteredTopic interfaces can be used only if implementation supports. - - [T.B.D] If rmw implementation does not support ContentFilteredTopic interfaces, filtering should be done internally on subscriber side? or it can leave it for user application responsibility. -- User can create/destroy ContentFilteredTopic based on parent topic. -- User can set/get the filter_expression and expression_parameters for ContentFilteredTopic. +- If rmw implementation does not support ContentFilteredTopic interfaces, filtering will be done internally on subscriber side in `rcl`. +- It can create/destroy ContentFilteredTopic based on parent topic. +- It can set/get the filter_expression and expression_parameters for ContentFilteredTopic. - Filtering expression and expression parameters can be set and get at runtime. - - [T.B.D] According to DDS specification filtering expression may not be changed dynamically, in that case, recreating ContentFilteredTopic would be required to change filtering expression, or with specific filtering expression such as node name and parameter name for parameter events and goal id for action, there would be no need to reset filtering expression. -- Filtering goal id for action feedback and status will be perfectly concealed for user. -- User can specify node name and parameter name for parameter event to filter the parameter evetns. - - [T.B.D] This needs to be discussed more, if user should be able to filter arbitrary parameter or not. + - As decribed above, according to DDS specification, it implies that filtering expression may not be able to be changed dynamically. But to support requirements in ROS2, it must support dynamic reconfiguration for filtering expression and paramter. +- Filtering goal id for action `feedback` and `status` will be done ROS2 system. +- User can specify node name and parameter name to filter the parameter evetns. +- Filtering expression and parameter grammer will be the same with DDS standard between `rcl` and `rmw`. ### Proposal #### Namespace -Since ContentFilteredTopic is based on parent topic (more like base topic), it will create ContentFilteredTopic internally, not exposed as generic topic. +Since ContentFilteredTopic is based on parent topic (more like base topic), it will create ContentFilteredTopic internally, not exposed as ordinary topic. #### Action -There will be no need to expose ContentFilter concept for user. ContentFilteredTopic name would be action_name/_action/feedback_or_status_ActionClient_ID then ActionClient always get feedback events related to goal handler. This granularity is mandatory for action feedback and status topic to have more transport efficiency. +Each action client id to ContentFilteredTopic based on `action_name/_action/feedback_or_status`. ContentFilteredTopic name would be action_name/_action/feedback_or_status_ActionClient_ID then ActionClient always get feedback events related to goal handler. This granularity is mandatory for action feedback and status topic to have more transport efficiency. | ContentFilterTopic Name | Description | | :--- | :--- | | action_name/_action/feedback_ActionClient_ID | feedback ContentFilteredTopic for ActionClient ID, ActionClient_ID would be uuid (consistent with status id for the same client) | | action_name/_action/status_ActionClient_ID | status ContentFilteredTopic for ActionClient ID, ActionClient_ID would be uuid (consistent with feedback id for the same client) | -(*) These ContentFilteredTopic should not show up to user. (e.g ros2 topic list) +(*) These ContentFilteredTopic should not show up to user. (e.g `ros2 topic list`) -feedback topic is user defined message type dependent on action name but it also includes goal id([GoalInfo](https://github.com/ros2/rcl_interfaces/blob/master/action_msgs/msg/GoalInfo.msg)). Goal id will be internally handled and client issues ContentFilteredTopic API to notify the publication(server) what subscription(client) is interested in. status topic is constructed with [GoalStatus](https://github.com/ros2/rcl_interfaces/blob/master/action_msgs/msg/GoalStatus.msg), this can be also taken care with feedback mostly same design. +`feedback` topic is user defined message type but it also includes goal id([GoalInfo](https://github.com/ros2/rcl_interfaces/blob/master/action_msgs/msg/GoalInfo.msg)). Goal id will be internally handled and client issues ContentFilteredTopic API to notify the publication(server) what subscription(client) is interested in. `st- [T.B.D] This needs to be discussed more, if user should be able to filter arbitrary parameter or not. if to support any expression and parameter, it means that `rcl` needs to have DDS standard expression and parameter filtering function. new goal id will be applied to ContentFilteredTopic object based on action client ID. @@ -132,18 +132,24 @@ It would be good to create ContentFilteredTopic for each of them. This can make | ContentFilterTopic | Description | | :--- | :--- | -| /parameter_events_system_Node_ID | parameter events ContentFilteredTopic for system internal usage, Node ID would be uuid to identify this NodeBase. (same with user uuid) | -| /parameter_events_user_Node_ID | parameter events ContentFilteredTopic for user callback usage, Node ID would be uuid to identify this NodeBase. (same with system uuid) | +| /parameter_events_system_Node_ID | parameter events ContentFilteredTopic for system internal usage, Node ID would be uuid to identify this NodeBase. | +| /parameter_events_user_Node_ID | parameter events ContentFilteredTopic for user callback usage, Node ID would be uuid to identify this NodeBase. | -(*) These ContentFilteredTopic should not show up to user. (e.g ros2 topic list) +(*) These ContentFilteredTopic should not show up to user. (e.g `ros2 topic list`) - TimeSource **use_sim_time** event on self-node_base is subscribed internally to check if **use_sim_time** parameter is changed or not. so internally this **use_sim_time** AND self node name always must be in filter_expression and expression_parameters via ContentFilteredTopic if it is supported. see [here](https://github.com/ros2/rclcpp/blob/99286978f92c30fe171313bf0785d6b6272c3257/rclcpp/src/rclcpp/time_source.cpp#L123-L125). **use_sim_time** parameter event must be guaranteed by system to keep that in the filter and parameter expression when using ContentFilteredTopic. + (Off topic from ContentFilteredTopic) + This `use_sim_time` can be supported local callbacks, it does not have to use `/parameter_events` at all. + - User frontend (rclcpp/rclpy) - User API will be added to manage filtering configuration, so that user application can set its own filter_expression and expression_parameters. Also using AsyncParametersClient::on_parameter_event, user can take care of the parameter event with user callback only for filtered parameter events. - **[T.B.D] Filtering should be compatible for user even if rmw_implementation does not support ContentFilteredTopic, this can be done with using ParameterEventsFilter. But the problem here is ParameterEventsFilter only filters parameter name and event type such as NEW, DELETED, CHANGED. there is a huge gap of the flexibility that dds filtering expression and parameter expression possesses. This is what we need to discuss.** + User API will be added to manage filtering configuration, so that user application can set its own filter_expression and expression_parameters. Also using AsyncParametersClient::on_parameter_event, user can take care of the parameter event with user callback only for filtered parameter events. It should be compatible interface for user application even if rmw_implementation does not support ContentFilteredTopic. If rmw_impelementation does not support ContentFilteredTopic, `rcl` will take care of filtering instead based on fitlering expression and parameters. + +- Filtering Expression and Parameters + User can specify node name and parameter name to filter the parameter evetns. + - [T.B.D] This needs to be discussed more, if user should be able to filter arbitrary parameter or not. if to support any expression and parameter, it means that `rcl` needs to have DDS standard expression and parameter filtering function. @@ -178,6 +184,8 @@ It would be good to create ContentFilteredTopic for each of them. This can make #### rclcpp(rclpy) +**[T.B.D] Do we need to expose ContentFilteredTopic for user classes?** + - `create_cft_subscription` method in `Node` & `Subscription` class to allow user application to user CFT feature based on parent topics and subscription. - if the platform does not support CFT, the return NOT_SUPPORTED. - this will override the subscription (datareader in dds), so that we can have single datareader in dds. this means that subscription can only subscribe content filtered data. From 036527ab4e20b8a9e5aae4831d40a0ab070a968c Mon Sep 17 00:00:00 2001 From: "Tomoya.Fujita" Date: Wed, 21 Oct 2020 14:07:45 +0900 Subject: [PATCH 06/17] add typical improvement result via ContentFilteredTopic. Signed-off-by: Tomoya.Fujita --- articles/content_filtering.md | 52 ++++++++++++++++++++++ img/content_filter/improvement_cpu.png | Bin 0 -> 22632 bytes img/content_filter/improvement_memory.png | Bin 0 -> 22936 bytes img/content_filter/improvement_tx.png | Bin 0 -> 22935 bytes 4 files changed, 52 insertions(+) create mode 100755 img/content_filter/improvement_cpu.png create mode 100755 img/content_filter/improvement_memory.png create mode 100755 img/content_filter/improvement_tx.png diff --git a/articles/content_filtering.md b/articles/content_filtering.md index 9408ebc29..4160f55a4 100755 --- a/articles/content_filtering.md +++ b/articles/content_filtering.md @@ -69,6 +69,58 @@ ContentFilteredTopic describes a more sophisticated subscription that indicates - Multiple filter_expression and expression_parameters can be modified dynamically at runtime. This is because of use cases for `/parameter_events` and action `feedback` and `status` topics, parameter filtering expression is dependent on user application, and action client has multiple goal id to handle. +### Improvement Result + +This result indicates if ContentFilteredTopic provides the improvement for CPU consumption and network traffic as we described above. Using single writer and multiple readers up to 10 with filtering expression and expression parameters. + +#### Environment + +- Intel(R) Core(TM) i7-7700 CPU @ 3.60GHz / 8GB memory +- Ubuntu 18.04.5 LTS +- docker 19.03.6 +- ubuntu:20.04 container +- ros2:rolling, rti-connext-dds-5.3.1 + +#### IDL + +``` +struct cft { + long count; + string flag; + string cmd; + long data_size; + string<8 * 1024 * 1024> data; +}; +``` + +#### Result + +`flag` means how many **readers** setup with filtering parameter `yes`. (means that receive will receive the message) `no filter` means in `normal topic` w/o content filtering. `improvement rate` means how much network traffic bytes to be saved compare to `no filter` mode, below is the formula: + +$$improvement\_rate = \frac{no\_filter\_transfer\_rate - reader\_transfer\_rate}{no\_filter\_transfer\_rate}$$ + +- Publication Frequency: 10Hz, Data Size: 1KByte, Count: 3000 times + +| flags | cpu | memory | tx (Network load) | improvement | +| -- | -- | -- | -- | -- | -- | +| 1/10 'yes' | 0.40% | 0.2% | 11.49 KByte/s | 90% | +| 2/10 'yes' | 0.46% | 0.2% | 22.9 KByte/s | 80% | +| 3/10 'yes' | 0.48% | 0.2% | 34.28 KByte/s | 70% | +| 4/10 'yes' | 0.55% | 0.2% | 45.69 KByte/s | 60% | +| 5/10 'yes' | 0.60% | 0.2% | 57.09 KByte/s | 50% | +| 6/10 'yes' | 0.69% | 0.2% | 68.49 KByte/s | 40% | +| 7/10 'yes' | 0.73% | 0.2% | 79.89 KByte/s | 30% | +| 8/10 'yes' | 0.79% | 0.2% | 91.29 KByte/s | 20% | +| 9/10 'yes' | 0.84% | 0.2% | 102.69 KByte/s | 10% | +| 10/10 'yes' | 0.85% | 0.2% | 114.09 KByte/s | 0% | +| no filter | 0.85% | 0.2% | 114.05 KByte/s | Baseline | + +![improvement_cpu](../img/content_filter/improvement_cpu.png) +![improvement_memory](../img/content_filter/improvement_memory.png) +![improvement_tx](../img/content_filter/improvement_tx.png) + +**The bigger data it handles, the more improvement we can have.** + ### Specification #### DDS diff --git a/img/content_filter/improvement_cpu.png b/img/content_filter/improvement_cpu.png new file mode 100755 index 0000000000000000000000000000000000000000..426a0e0e64701ffca4f73f906e142266f14cd085 GIT binary patch literal 22632 zcmdqJWmHye8!h?(A_@o+QVQrJDcv0kN`ruk(jeX4WzkAYhe!wr2ndLz0@5H-BHhy6 zwXcQW-rpX3oN>naan7H^81L(V^{ln-ysml8IqxUvzOu|ETq;}?3Ux_NR$2{(!t_I- zFvc&OhrjT34^P8C=N#|IJ-7frUKfl4;rEMnvQHdQC_)3|Ka39&+2-&^L8rTqoz!hj zoLmhYj8WDGPIgwdPFCiI*IkSq9L;TQc-XnvxmmB9IXT%0b8!6kI=iidDF=PXJ9!l9 zI!aFZ_5-)1r4d&*Qs>F0^xY&n$5XmrbX`{Ua;97i!8>fsb9dxq$Cf%*2|L|{g0HtI7azKdsiXuXC&wSR 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Signed-off-by: Tomoya.Fujita --- articles/content_filtering.md | 4 ++-- img/content_filter/formula.png | Bin 0 -> 10604 bytes 2 files changed, 2 insertions(+), 2 deletions(-) create mode 100755 img/content_filter/formula.png diff --git a/articles/content_filtering.md b/articles/content_filtering.md index 4160f55a4..3483db26f 100755 --- a/articles/content_filtering.md +++ b/articles/content_filtering.md @@ -97,12 +97,12 @@ struct cft { `flag` means how many **readers** setup with filtering parameter `yes`. (means that receive will receive the message) `no filter` means in `normal topic` w/o content filtering. `improvement rate` means how much network traffic bytes to be saved compare to `no filter` mode, below is the formula: -$$improvement\_rate = \frac{no\_filter\_transfer\_rate - reader\_transfer\_rate}{no\_filter\_transfer\_rate}$$ +![formula](../img/content_filter/formula.png) - Publication Frequency: 10Hz, Data Size: 1KByte, Count: 3000 times | flags | cpu | memory | tx (Network load) | improvement | -| -- | -- | -- | -- | -- | -- | +| --- | --- | --- | --- | --- | | 1/10 'yes' | 0.40% | 0.2% | 11.49 KByte/s | 90% | | 2/10 'yes' | 0.46% | 0.2% | 22.9 KByte/s | 80% | | 3/10 'yes' | 0.48% | 0.2% | 34.28 KByte/s | 70% | diff --git a/img/content_filter/formula.png b/img/content_filter/formula.png new file mode 100755 index 0000000000000000000000000000000000000000..dc3ac99e2e12967f2d21f48a66eacf9772d5b410 GIT binary patch literal 10604 zcmch7XFQ$l*QM?xgd=J^!a<@(??H5e=+PsHgy^C~^e%b}qDOB*5G{HqqDAjSkLbNb zX6O0O%Meit|Z1CZ*0?fA`+tF{2B>MYx@q5mugrfwhe}# z<9}>rJ~1q=I?5R}42@67cVe}v@u|~Bl9Eb@ON%3rs5{7*C}a$>{M)yk$b*K1q^B5C zsxA3zziD{dQq0nNga(An`p-mO2u9E&5$y;~mN=~<5Bj38#Kc>v%GFg>o}+={s3;pw zH~Q(@2rLXA@i~fbPb<-p|Gv-n&Y*;kP{>%EK#PArQKFJ@9=y_DQcw`=Uij&g-S$jvTwEN&*SvD7!RjvVY!UQl;T_NqZJT1 zx%zz(O3uN~&i?#WyMiAwa1hWA(=N!eDfw5yTSVE>gumwN(RG2LuJNofip8R z=$w4_@84%;ewd+(FRt6!wzTKGHC5@dXM*2GE#{s-YVovEM${yUz+J-E&+qll+-)Rs zVP)mHwe_qQ_M)KYa(DFBbanC+Yi@okLx*@3DH_Ds7NJ*M_2EPF`1tFIPsR@)J~TEq zUanx(E)j894J$3>I351}J*IaB2M1?rdYX9Lu6AaB|J8o9C!f>c2MK(ftft_GPNe+I zI3J5qu1@Z!AnX?N?aW6%`bHgjisMI ze{OHj&F6ky*@w3uKA>Vlc$q@t-@Q9MKX-L=<9OQW-W^3-I+aPy^$53-#6=`6CnqN; zNUkZK?q)D0CFOaY)Sz~L(Wi%8M%LKq_@hw*SQ)BJNW|skWmqi*?_;STg1ZqPnDq4Z zH+Oa(pxyA7zjHHKx-Ia==8o?<)_UXN$;hT+3ooo}LD109aC>V@)Ma!?c~f% zebap`j~tc9r=;9b*4RF`B9<_Z&*lB@D2k50gc#9w|YousD`?Fwt9gM+ws9c#ivg?)i$%I zdrL%EE%uj?K|zExxx*XD{MP$>d+2{+Vq+`J2GZWWBeAvJsj8}i-FB#*2@J%6D7v{_ zYz*gd=vRH4nW2(E22008N2?had>k@|wewp|EG#Ub$U?pT{60B9Klk^?B9T!^6%JT( zQCC+tH)pCWNZ@!X1{nc0+`HoG=}AC9@YLfdE-!Db(sKO!@Nf|Rt()ZJuYXN&asHV6 zWb79gM|#>77#KJ*qUj@!Bq8B7?T#ueEPRyA&qaaX8WaAHfUAp3c1{i-FRwXolGEl` zKu}O@s1{3{*Y6{3dwZ@xd8N*gf6bGi%k zj6Oc8b3R-j5{x*pa8|JsOi8`}nkDY*z=J>ag@r$-DlNyx#^yavQmd;4)Zh|wjwfGC zjg7gyt}c@WY)cFqT;bYT;lbWsJP9Oz+jTrV9&T<(^S*E2AP-@4;7!;isoL=7KRaVG zBLf)yzR%ISB5rH2#4Ro^Ldp90`253fg<@MfID?Oiii<}#9G5!7^&4FIVtam#`po(o zPh?01ZO=9IF6|+)_6`pZkB{eS?6Xo+Z|CR5GO9#`h0Rpkrfaf~6>q~n4h8@*FZ*OQsgpGy8PYvAy z0K?$m+qZ8o`%w|BO_V+3PGl1j5~8Qaq-y81+L>$U>FH6(iK*F#WYfq~zN?R|6doS# zvAcjCXe=1WPq04zWcak@8Zm>Zsp-h*=)EUjc<r=P2w>I(am znVAU-HGBU2R(!rzk=NNu!eoWn_~_`-viPp|#mUZ}#UL7Q+-&s?l?T7?#3_Wop>OyO z$6=}*0{ zt))dqP2Ko%I5$2%zF5Dyv#SdeHzvHD^VjZT8vx8bCZ=Y414s`Mm#D5KkBhD9zgRPr zB{yop7ie7fdS}c{VjxX)8md#3X=KAOF)?wv%6izG*EP^dKVZ)@KXBm5QnT*T^z~mCJ`1F4^NvtRU4<>BW>;Rbg!$IW@ZAfw+#jZ zPIh-ynMj})bdqNenL~@OtE-!H*@g!oA|kT3wzlG*?(4fjrCFd!MbI@rpDr@oyYdP$ zsRyt1?#&)ZZ8B0)KKmciJUl$n@=%!c4<0-SkQ|zv-1zyE1&N@eqkGYpl%vYzFS+=Z zh(3&q^xgK-k`%thq?NO|dA$z72!6e4|qgP9rq&*;R& z#N3?C#JsJIjkBZU$o+`S^}VI8=iIthR&0JPszsw`XJ;iPC9okQFEju@t*xxAtgW#z zBs4WOrKO>JWDc2MU0or37X&>wzUKe}%7l^u0^;~_xu4o;YipY*PYn7Xd<~jBML9S) zxVWM_Onf4@l^BTGPQC2&=LG{oT|MFfp}&3m_PjT~Ooxp!oQ#ZY70`NP<61vIFYhm? 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Signed-off-by: Tomoya.Fujita --- articles/content_filtering.md | 57 +++++++++++++++++------------------ 1 file changed, 27 insertions(+), 30 deletions(-) diff --git a/articles/content_filtering.md b/articles/content_filtering.md index 3483db26f..26a736533 100755 --- a/articles/content_filtering.md +++ b/articles/content_filtering.md @@ -130,7 +130,7 @@ the following create/delete API's are defined, - create_contentfilteredtopic() - delete_contentfilteredtopic() -**According to the specification, filter_expression can be only initialized at constructor and it is read_only. so not possible to change the filter_exThis needs to be discussed to see if we have our specific requirement for expression syntax. but that will make conversion overhead.ed at runtime. [RTI v5.3.0](https://community.rti.com/static/documentation/connext-dds/5.3.0/doc/api/connext_dds/api_cpp2/classdds_1_1topic_1_1ContentFilteredTopic.html#a76310bf0b7123dd89afbacf43dbabf4a) can support this requirement.** +**According to the specification, filter_expression can be only initialized at constructor and it is read_only. probably it is not possible to change the filter_expression at runtime based on the specification but [RTI v5.3.0](https://community.rti.com/static/documentation/connext-dds/5.3.0/doc/api/connext_dds/api_cpp2/classdds_1_1topic_1_1ContentFilteredTopic.html#a76310bf0b7123dd89afbacf43dbabf4a) can support this requirement. After all, it seems that it is dependent on implementation.** #### DDSI-RTPS @@ -145,22 +145,18 @@ The ContentFilterProperty_t field provides all the required information to enabl ### Requirement -- ContentFilteredTopic interfaces can be used only if implementation supports. +- ContentFilteredTopic interfaces can be used only if rmw implementation supports. - If rmw implementation does not support ContentFilteredTopic interfaces, filtering will be done internally on subscriber side in `rcl`. - It can create/destroy ContentFilteredTopic based on parent topic. - It can set/get the filter_expression and expression_parameters for ContentFilteredTopic. - Filtering expression and expression parameters can be set and get at runtime. - - As decribed above, according to DDS specification, it implies that filtering expression may not be able to be changed dynamically. But to support requirements in ROS2, it must support dynamic reconfiguration for filtering expression and paramter. + - As described above, according to DDS specification, it implies that filtering expression may not be able to be changed dynamically. But to support requirements in ROS2, it should be able to support dynamic reconfiguration for filtering expression and parameter. - Filtering goal id for action `feedback` and `status` will be done ROS2 system. -- User can specify node name and parameter name to filter the parameter evetns. -- Filtering expression and parameter grammer will be the same with DDS standard between `rcl` and `rmw`. +- User can specify node name and parameter name to filter the parameter events. +- Filtering expression and parameter grammar will be the same with DDS standard. ### Proposal -#### Namespace - -Since ContentFilteredTopic is based on parent topic (more like base topic), it will create ContentFilteredTopic internally, not exposed as ordinary topic. - #### Action Each action client id to ContentFilteredTopic based on `action_name/_action/feedback_or_status`. ContentFilteredTopic name would be action_name/_action/feedback_or_status_ActionClient_ID then ActionClient always get feedback events related to goal handler. This granularity is mandatory for action feedback and status topic to have more transport efficiency. @@ -170,9 +166,9 @@ Each action client id to ContentFilteredTopic based on `action_name/_action/feed | action_name/_action/feedback_ActionClient_ID | feedback ContentFilteredTopic for ActionClient ID, ActionClient_ID would be uuid (consistent with status id for the same client) | | action_name/_action/status_ActionClient_ID | status ContentFilteredTopic for ActionClient ID, ActionClient_ID would be uuid (consistent with feedback id for the same client) | -(*) These ContentFilteredTopic should not show up to user. (e.g `ros2 topic list`) +(*) These ContentFilteredTopic should not show up to user but parent topic. (e.g `ros2 topic list`) -`feedback` topic is user defined message type but it also includes goal id([GoalInfo](https://github.com/ros2/rcl_interfaces/blob/master/action_msgs/msg/GoalInfo.msg)). Goal id will be internally handled and client issues ContentFilteredTopic API to notify the publication(server) what subscription(client) is interested in. `st- [T.B.D] This needs to be discussed more, if user should be able to filter arbitrary parameter or not. if to support any expression and parameter, it means that `rcl` needs to have DDS standard expression and parameter filtering function. new goal id will be applied to ContentFilteredTopic object based on action client ID. +`feedback` topic is user defined message type but it also includes goal id([GoalInfo](https://github.com/ros2/rcl_interfaces/blob/master/action_msgs/msg/GoalInfo.msg)). Goal id will be internally handled and action client internally issues ContentFilteredTopic API to notify the publication(server) what subscription(client) is interested in. Once new goal id is generated, that will be applied to ContentFilteredTopic object based on action client ID at runtime. In action use case, it does not need to change filtering expression at runtime. instead of that it can use `MATCH` syntax with goal ids in expression parameters. @@ -180,14 +176,14 @@ Each action client id to ContentFilteredTopic based on `action_name/_action/feed There are two types of parameter events subscription, one is for system(TimeSource) which is controlled and taken care by rclcpp and rclpy internally. And the other is user application to register user callback to be fired when parameter events come in. -It would be good to create ContentFilteredTopic for each of them. This can make responsibility clear and simple, can avoid the complication about filtering expression merge between user filtering and system filtering. +It would be good to create ContentFilteredTopic for each of them. This can make responsibility clear and simple, it also can avoid the complication about filtering expression merge between user filtering and system filtering. | ContentFilterTopic | Description | | :--- | :--- | | /parameter_events_system_Node_ID | parameter events ContentFilteredTopic for system internal usage, Node ID would be uuid to identify this NodeBase. | | /parameter_events_user_Node_ID | parameter events ContentFilteredTopic for user callback usage, Node ID would be uuid to identify this NodeBase. | -(*) These ContentFilteredTopic should not show up to user. (e.g `ros2 topic list`) +(*) These ContentFilteredTopic should not show up to user but ordinary topic. (e.g `ros2 topic list`) - TimeSource **use_sim_time** event on self-node_base is subscribed internally to check if **use_sim_time** parameter is changed or not. so internally this **use_sim_time** AND self node name always must be in filter_expression and expression_parameters via ContentFilteredTopic if it is supported. see [here](https://github.com/ros2/rclcpp/blob/99286978f92c30fe171313bf0785d6b6272c3257/rclcpp/src/rclcpp/time_source.cpp#L123-L125). @@ -197,11 +193,11 @@ It would be good to create ContentFilteredTopic for each of them. This can make This `use_sim_time` can be supported local callbacks, it does not have to use `/parameter_events` at all. - User frontend (rclcpp/rclpy) - User API will be added to manage filtering configuration, so that user application can set its own filter_expression and expression_parameters. Also using AsyncParametersClient::on_parameter_event, user can take care of the parameter event with user callback only for filtered parameter events. It should be compatible interface for user application even if rmw_implementation does not support ContentFilteredTopic. If rmw_impelementation does not support ContentFilteredTopic, `rcl` will take care of filtering instead based on fitlering expression and parameters. + User API will be added to manage filtering configuration, so that user application can set its own filter_expression and expression_parameters. Also using AsyncParametersClient::on_parameter_event, user can take care of the parameter event with user callback only for filtered parameter events. It should be compatible interface for user application even if rmw_implementation does not support ContentFilteredTopic. If rmw_implementation does not support ContentFilteredTopic, `rcl` will take care of filtering instead based on filtering expression and parameters. - Filtering Expression and Parameters - User can specify node name and parameter name to filter the parameter evetns. - - [T.B.D] This needs to be discussed more, if user should be able to filter arbitrary parameter or not. if to support any expression and parameter, it means that `rcl` needs to have DDS standard expression and parameter filtering function. + User can specify node name and parameter name to filter the parameter events. + - ***This needs to be discussed more, if user should be able to filter arbitrary parameter or not.*** @@ -211,14 +207,16 @@ It would be good to create ContentFilteredTopic for each of them. This can make - add API `is_cft_supported` to allow frontend(rclcpp/rclpy) can know CFT is supported or not. e.g) `rcl_subscription_is_cft_supported` to access `is_cft_supported`. -- add `rcl_create_cft_subscription` to call `rmw_create_cft_subscription`. -- add `rcl_cft_set/get_expression_parameters` to call `rmw_cft_set/get_expression_parameters`. +- extend `rcl_create_subscription` with optional filtering expression and parameter expressions. +- add `rcl__expression_parameters` to call `rmw__expression_parameters`. #### rmw - add new member `is_cft_supported` into `rmw_subscription_t` which indicates if CTF is supported by rmw_implementation or not. e.g) see `can_loan_masseges` member as reference. - support status will be set when parent subscription is created. then support status can be used to notify the upper layer if CFT is supported or not. + support status will be set when parent subscription is created. then support status can be read from upper layer to know if CFT is supported or not. + +- current support status | Implementation | `is_cft_supported` | | :--: | :--: | @@ -228,20 +226,20 @@ It would be good to create ContentFilteredTopic for each of them. This can make - new `DDSContentFilteredTopic` object needs to be managed in implementation. - parent topic information should be cached so that we can create CFT based on that parent topic. -- `rmw_create_cft_subscription` interface. - - input: rmw_subscription_t, rmw_node_t, parent topic information. - - output: rmw_subscription_t (with new data reader) -- `rmw_cft_set/get_expression_parameters` interface. +- extemd `rmw_create_subscription` with optional fileds. + - const char * filter_expression + - const rcutils_string_array_t * expression_parameters +- `rmw__expression_parameters` interface. - input: rmw_subscription_t, (string sequence) expression parameters. -#### rclcpp(rclpy) +#### rclcpp (rclpy) **[T.B.D] Do we need to expose ContentFilteredTopic for user classes?** -- `create_cft_subscription` method in `Node` & `Subscription` class to allow user application to user CFT feature based on parent topics and subscription. +- extend `create_subscription` method with optional fields in `Node` & `Subscription` class to allow user application to user CFT feature based on parent topics and subscription. - if the platform does not support CFT, the return NOT_SUPPORTED. - - this will override the subscription (datareader in dds), so that we can have single datareader in dds. this means that subscription can only subscribe content filtered data. -- `set_cft_set/get_expression_parameters` method in `Node` class to set and get expression parameters. (Not possible set filtering expression at runtime this is specification of DDS.) + - if optional fields are specified, ContentFilteredTopic and corresponding subscription (datareader in dds) this means that subscription can only subscribe content filtered data. +- `set__expression_parameters` method in `Node` class to set and get expression parameters. - Deletion/Destruction of CFT subscription is exactly same with current subscription routine. ### Components @@ -249,11 +247,10 @@ It would be good to create ContentFilteredTopic for each of them. This can make #### Action - Action Server - Nothing needs to be changed, even with ContentFilteredTopic it should not be aware of that, just publishes feedback and status message, the rest will be taken care by rmw_implementation. if rmw_implementation does not support ContentFilteredTopic, filtering process is done by subscriber side which is Action Client. + Nothing needs to be changed, even with ContentFilteredTopic it should not be aware of that, just publishes feedback and status message, the rest will be taken care by rmw_implementation. if rmw_implementation does not support ContentFilteredTopic, filtering process is done by subscriber side which is Action Client as it does now. - Action Client - User interface(rclcpp and rclpy) should not be changed, everything can be integrated into internal implementation. - It will check if ContentFilter is supported by rmw_implementation internally. If ContentFilter is supported by rmw_implementation, create ContentFilteredTopic internally based on ActionClient ID (uuid) so that no need to filter goal id. (saying there will be no unknown goal id event.) But w/o ContentFilter [current filtering](https://github.com/ros2/rclcpp/blob/99286978f92c30fe171313bf0785d6b6272c3257/rclcpp_action/include/rclcpp_action/client.hpp#L536-L553) needs to stay since there would be unnecessary message from publisher.At [send_goal_request](https://github.com/ros2/rclcpp/blob/99286978f92c30fe171313bf0785d6b6272c3257/rclcpp_action/include/rclcpp_action/client.hpp#L352-L388), it will set the filter_expression and expression_parameters based on goal id. The goal handler might have multiple goal ids, so that get current filtering configuration, modify and set new filtering configuration. (the finalization is also needed when goal id is being unregistered from goal handler.) + User interface(rclcpp and rclpy) should not be changed, everything can be integrated into internal implementation. It will check if ContentFilter is supported by rmw_implementation internally. If ContentFilter is supported by rmw_implementation, create ContentFilteredTopic internally based on ActionClient ID (uuid) so that no need to filter goal id. (technically there will be no unknown goal id event.) But w/o ContentFilter [current filtering](https://github.com/ros2/rclcpp/blob/99286978f92c30fe171313bf0785d6b6272c3257/rclcpp_action/include/rclcpp_action/client.hpp#L536-L553) needs to stay just in case, there would be unnecessary message from publisher or different rmw_implementation which does not support ContentFilteredTopic is used on Action Server side. At [send_goal_request](https://github.com/ros2/rclcpp/blob/99286978f92c30fe171313bf0785d6b6272c3257/rclcpp_action/include/rclcpp_action/client.hpp#L352-L388), it will set the filter_expression and expression_parameters based on goal id. The goal handler might have multiple goal ids, so that get current filtering configuration, modify and set new filtering configuration. (the un-registration is also needed when goal id is being unregistered from goal handler.) #### Parameter Event From 5e69b82056c42084034c24e9f001061dab17a84c Mon Sep 17 00:00:00 2001 From: "Tomoya.Fujita" Date: Thu, 5 Nov 2020 19:25:15 +0900 Subject: [PATCH 09/17] fix typo. Signed-off-by: Tomoya.Fujita --- articles/content_filtering.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/articles/content_filtering.md b/articles/content_filtering.md index 26a736533..969aa63be 100755 --- a/articles/content_filtering.md +++ b/articles/content_filtering.md @@ -226,7 +226,7 @@ It would be good to create ContentFilteredTopic for each of them. This can make - new `DDSContentFilteredTopic` object needs to be managed in implementation. - parent topic information should be cached so that we can create CFT based on that parent topic. -- extemd `rmw_create_subscription` with optional fileds. +- extemd `rmw_create_subscription` with optional fields. - const char * filter_expression - const rcutils_string_array_t * expression_parameters - `rmw__expression_parameters` interface. From c4502c4141ed69802107b431b8cbcbe8a8cc4ed6 Mon Sep 17 00:00:00 2001 From: "Tomoya.Fujita" Date: Mon, 7 Dec 2020 11:14:03 +0900 Subject: [PATCH 10/17] fix typo. Signed-off-by: Tomoya.Fujita --- articles/content_filtering.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/articles/content_filtering.md b/articles/content_filtering.md index 969aa63be..486c03999 100755 --- a/articles/content_filtering.md +++ b/articles/content_filtering.md @@ -226,7 +226,7 @@ It would be good to create ContentFilteredTopic for each of them. This can make - new `DDSContentFilteredTopic` object needs to be managed in implementation. - parent topic information should be cached so that we can create CFT based on that parent topic. -- extemd `rmw_create_subscription` with optional fields. +- extend `rmw_create_subscription` with optional fields. - const char * filter_expression - const rcutils_string_array_t * expression_parameters - `rmw__expression_parameters` interface. From b861af317d0051206f0e33ffc3af98f6644acb76 Mon Sep 17 00:00:00 2001 From: Tomoya Fujita Date: Fri, 12 Mar 2021 15:29:06 +0900 Subject: [PATCH 11/17] update design along with implementation. Signed-off-by: Tomoya Fujita --- articles/content_filtering.md | 153 +++++++++++++++++++++------------- 1 file changed, 94 insertions(+), 59 deletions(-) diff --git a/articles/content_filtering.md b/articles/content_filtering.md index 486c03999..0ead4ca7c 100755 --- a/articles/content_filtering.md +++ b/articles/content_filtering.md @@ -19,23 +19,35 @@ Original Author: {{ page.author }} ## Problems -Here describes the current problems that we have, these are already well-known issues. issues are not related to functionalities but efficiency like CPU consumption and network resource. The efficiency is dependent on the platform capability, but once it comes to embedded devices and IoT platform, these problems could be a huge pain to consume resources. +Here describes the current problems that we have, these are already well-known issues. +Issues are not related to functionalities but efficiency like CPU consumption and network resource. +The efficiency is dependent on the platform capability, but once it comes to embedded devices and IoT platform, these problems could be a huge pain to consume resources. Currently, at least there are following two main problems exist in ROS2, the one is `/parameter_events` topic and the other is action topics `feedback` and `status`. the detail is described as following. ### Parameter Event Topic -Each node will publish and subscribe parameter events topic (this is configurable via node option). This topic is to support monitoring parameters for change. It is expected that client libraries will implement the ability to register a callback for specific parameter changes using this topic. there is an internal subscription for each node for /parameter_evetns topic to handle the TimeSource via "use_sim_time" parameter. `rclcpp::ParameterEventsFilter` is used to filter the parameter with specific names such as "use_sim_time". As user interface, `AsyncParametersClient::on_parameter_event` is provided to handle parameter events. +Each node will publish (this is configurable via `NodeOptions`) and subscribe parameter events topic with `AsyncParametersClient` or `ParameterEventHandler`. +This topic is to support monitoring parameters for change. +It is expected that client libraries will implement the ability to register a callback for specific parameter changes using this topic. +And there is an internal subscription for each node for `/parameter_events` topic to handle the TimeSource via "use_sim_time" parameter. +`rclcpp::ParameterEventsFilter` is used to filter the parameter with specific name "use_sim_time". +As user interface, `AsyncParametersClient::on_parameter_event` is provided to handle parameter events. The problem can be broken into the following two parts, -- Network activity on `/parameter_events` topic - Since nobody cares who needs to receive which messages, there will be all of the parameter activity. That said everyone publishes and subscribes all of the events with this giant topic `/parameter_events`. This leads to a lot of unnecessary message transmission over the network. +- Network resource consumption on `/parameter_events` topic + Since nobody cares who needs to receive which messages, all of the parameter activity will be published and subscribed. + That said everyone publishes and subscribes all of the events with this giant topic `/parameter_events`. + This leads to a lot of unnecessary message transmission over the network. - Subscriber needs to filter unnecessary (not interested) messages - Subscriber does not know if the message is something it needs or not without checking the contents of the message via user callback. This filtering needs to be done every single time the message comes in. In expectation, it is likely that parameter event callback is interested on specific parameter only, so that there will be a lot of unnecessary message receives and filtering process needs to be done. + Subscriber does not know if the message is something it needs or not without checking the contents of the message via user callback. + This filtering needs to be done every single time the message comes in. + In expectation, it is likely that parameter event callback is interested on specific parameter only, so that there will be a lot of unnecessary message receives and filtering process needs to be done. -as described above, we could imagine that if the number of node are 10, 20 and 100 and so are the parameters for each nodes. This will be a huge burden and pain for entire system, passing unnecessary messages via limited bandwidth network with edge devices and filtering messages to drop is not something user application wants to do. +As described above, we could imagine that if the number of node are 10, 20 and 100 and so are the parameters for each nodes. +This will be a huge burden and pain for entire system, passing unnecessary messages via limited bandwidth network with edge devices and filtering messages to drop is not something user application wants to do. ### Action Topics @@ -43,20 +55,31 @@ Each action server will provide two topics named `feedback` and `status` as foll -`feedback` and `status` are topics each mapped with action name and published by action server, and action clients subscribe those topics to get feedback and status. When there are many goals from many clients, the choice to have a single `feedback` and `status` topic per action server is suboptimal in terms of processing and bandwidth resource. It is up to clients to filter out feedback/status messages that are not pertinent to them. In this scenario, M goals are sent to N clients there is an unnecessary use of bandwidth and processing. especially in extreme cases where M and N are large. (each goal is identified by goal ID based on uuid, filtering out the goal id is done by client library so user application does not need to care.) +`feedback` and `status` are topics mapped with action name and published by action server, and action clients subscribe those topics to get feedback and status. +When there are many goals from many clients, the choice to have a single `feedback` and `status` topic per action server is suboptimal in terms of processing and bandwidth resource. +It is up to clients to filter out feedback/status messages that are not pertinent to them. +In this scenario, M goals are sent to N clients there is an unnecessary use of bandwidth and processing. +Especially in extreme cases where M and N are large. (each goal is identified by goal ID based on uuid, filtering out the goal id is done by client library so user application does not need to care.) ## ContentFilteredTopic -ContentFilteredTopic describes a more sophisticated subscription that indicates the subscriber does not want to necessarily see all values of each instance published under the Topic. Rather, it wants to see only the values whose contents satisfy certain criteria. This class therefore can be used to request content-based subscriptions. +ContentFilteredTopic describes a more sophisticated subscription that indicates the subscriber does not want to necessarily see all values of each instance published under the Topic. +Rather, it wants to see only the values whose contents satisfy certain criteria. +This class therefore can be used to request content-based subscriptions. -### Requirement +### Specification -- ContentFilteredTopicDataWriter does filtering for each ContentFilteredTopicDataReader endpoint. - OpenSplice community version supports reader side filtering, but with this, transmission does happen anyway to subscription. Filtering is integrated in the implementation but not well efficiency enough. - - Multiple ContentFilteredTopicDataReader exist and filtering is dependent on each ContentFilteredTopicDataReader's logical filtering expression and parameters. - Subscriber is responsible to create ContentFilteredTopic. -- The filtering is done by means of evaluating a logical expression that involves the values some of the data-fields in the sample. The logical expression is derived from the filter_expression and expression_parameters arguments. +- ContentFilteredTopicDataWriter does filtering for each ContentFilteredTopicDataReader endpoint. + Basically it is likely that ContentFilteredTopicDataWriter does filtering on writer side, so that it can provide the improvement and efficiency. + But it is dependent on imnplementation if always ContentFilteredTopicDataWriter does filtering. + This is because if there is a lot of ContentFilteredTopicDataReader with complicated filtering expression and parameter, it would be probably more efficient just to send the messages to all ContentFilteredTopicDataReader. + And ContentFilteredTopicDataReader can filter out the message if not necessary based on filtering expression and parameter. + This is also said that ContentFilteredTopicDataReader does need to do filtering always just in case ContentFilteredTopicDataWriter ends up sending w/o filitering. + +- The filtering is done by means of evaluating a logical expression that involves the values some of the data-fields in the sample. + The logical expression is derived from the filter_expression and expression_parameters arguments. - Multiple filter_expression and expression_parameters can be supported on single ContentFilteredTopic. ``` [parameter use cases] @@ -130,11 +153,16 @@ the following create/delete API's are defined, - create_contentfilteredtopic() - delete_contentfilteredtopic() -**According to the specification, filter_expression can be only initialized at constructor and it is read_only. probably it is not possible to change the filter_expression at runtime based on the specification but [RTI v5.3.0](https://community.rti.com/static/documentation/connext-dds/5.3.0/doc/api/connext_dds/api_cpp2/classdds_1_1topic_1_1ContentFilteredTopic.html#a76310bf0b7123dd89afbacf43dbabf4a) can support this requirement. After all, it seems that it is dependent on implementation.** +**According to the specification, filter_expression can be only initialized at constructor and it is read_only. +Probably it is not possible to change the filter_expression at runtime based on the specification but [RTI v5.3.0](https://community.rti.com/static/documentation/connext-dds/5.3.0/doc/api/connext_dds/api_cpp2/classdds_1_1topic_1_1ContentFilteredTopic.html#a76310bf0b7123dd89afbacf43dbabf4a) can support this requirement. +After all, it seems that it is dependent on implementation.** #### DDSI-RTPS -The ContentFilterProperty_t field provides all the required information to enable content filtering on the Writer side. DDS allows the user to modify the filter expression parameter at runtime. Each time the parameters are modified, the updated information is exchanged using the Endpoint discovery protocol. This is identical to updating a mutable QoS value. +`ContentFilterProperty_t` field provides all the required information to enable content filtering on the Writer side. +DDS allows the user to modify the filter expression parameter at runtime. +Each time the parameters are modified, the updated information is exchanged using the endpoint discovery protocol. +This is identical to updating a mutable QoS value. ### Reference @@ -146,20 +174,25 @@ The ContentFilterProperty_t field provides all the required information to enabl ### Requirement - ContentFilteredTopic interfaces can be used only if rmw implementation supports. -- If rmw implementation does not support ContentFilteredTopic interfaces, filtering will be done internally on subscriber side in `rcl`. -- It can create/destroy ContentFilteredTopic based on parent topic. -- It can set/get the filter_expression and expression_parameters for ContentFilteredTopic. +- If rmw implementation does not support ContentFilteredTopic interfaces, filtering will be done internally on subscriber side in `rcl` before callback is fired. +- User can specify filtering expression and expression parameters for subscription. + - Simply, application can set/get the filter_expression and expression_parameters for subscription. - Filtering expression and expression parameters can be set and get at runtime. - - As described above, according to DDS specification, it implies that filtering expression may not be able to be changed dynamically. But to support requirements in ROS2, it should be able to support dynamic reconfiguration for filtering expression and parameter. + - As described above, according to DDS specification, it implies that filtering expression may not be able to be changed dynamically. + But to support requirements in ROS2, it should be able to support dynamic reconfiguration for filtering expression and parameter. - Filtering goal id for action `feedback` and `status` will be done ROS2 system. -- User can specify node name and parameter name to filter the parameter events. -- Filtering expression and parameter grammar will be the same with DDS standard. +- Filtering expression and parameter grammar will be compatible with DDS standard. ### Proposal #### Action -Each action client id to ContentFilteredTopic based on `action_name/_action/feedback_or_status`. ContentFilteredTopic name would be action_name/_action/feedback_or_status_ActionClient_ID then ActionClient always get feedback events related to goal handler. This granularity is mandatory for action feedback and status topic to have more transport efficiency. +Each action client id to ContentFilteredTopic based on `action_name/_action/feedback_or_status`. +ContentFilteredTopic name would be decided by implementation such as action_name/_action/feedback_or_status_ActionClient_ID. +And filtering expression and parameters are constructed by UUID then ActionClient always get feedback events related to goal handler. +Filtering based on UUID is mandatory for action feedback and status topic to have more transport efficiency. + +e.g) | ContentFilterTopic Name | Description | | :--- | :--- | @@ -168,15 +201,22 @@ Each action client id to ContentFilteredTopic based on `action_name/_action/feed (*) These ContentFilteredTopic should not show up to user but parent topic. (e.g `ros2 topic list`) -`feedback` topic is user defined message type but it also includes goal id([GoalInfo](https://github.com/ros2/rcl_interfaces/blob/master/action_msgs/msg/GoalInfo.msg)). Goal id will be internally handled and action client internally issues ContentFilteredTopic API to notify the publication(server) what subscription(client) is interested in. Once new goal id is generated, that will be applied to ContentFilteredTopic object based on action client ID at runtime. In action use case, it does not need to change filtering expression at runtime. instead of that it can use `MATCH` syntax with goal ids in expression parameters. +`feedback` topic is user defined message type but it also includes goal id([GoalInfo](https://github.com/ros2/rcl_interfaces/blob/master/action_msgs/msg/GoalInfo.msg)). +Goal id will be internally handled and action client internally issues ContentFilteredTopic API to notify the publication(server) what subscription(client) is interested in. +Once new goal id is generated, that will be applied to ContentFilteredTopic object based on action client ID at runtime. +In action use case, it does not need to change filtering expression at runtime. +Instead of that it can use `MATCH` syntax with goal ids in expression parameters. #### Parameter Events -There are two types of parameter events subscription, one is for system(TimeSource) which is controlled and taken care by rclcpp and rclpy internally. And the other is user application to register user callback to be fired when parameter events come in. +There are two types of parameter events subscription, one is for system(TimeSource) which is controlled and taken care by rclcpp and rclpy internally. +And the other is user application to register user callback to be fired when parameter events come in. -It would be good to create ContentFilteredTopic for each of them. This can make responsibility clear and simple, it also can avoid the complication about filtering expression merge between user filtering and system filtering. +ContentFilterTopic name would be decided by implementation internally based on parent topic name. + +e.g) | ContentFilterTopic | Description | | :--- | :--- | @@ -186,18 +226,18 @@ It would be good to create ContentFilteredTopic for each of them. This can make (*) These ContentFilteredTopic should not show up to user but ordinary topic. (e.g `ros2 topic list`) - TimeSource - **use_sim_time** event on self-node_base is subscribed internally to check if **use_sim_time** parameter is changed or not. so internally this **use_sim_time** AND self node name always must be in filter_expression and expression_parameters via ContentFilteredTopic if it is supported. see [here](https://github.com/ros2/rclcpp/blob/99286978f92c30fe171313bf0785d6b6272c3257/rclcpp/src/rclcpp/time_source.cpp#L123-L125). + **use_sim_time** event is subscribed internally to check if **use_sim_time** parameter is enabled or disabled.S + So internally this **use_sim_time** AND self node name always must be in filter_expression and expression_parameters via ContentFilteredTopic if it is supported. see [here](https://github.com/ros2/rclcpp/blob/99286978f92c30fe171313bf0785d6b6272c3257/rclcpp/src/rclcpp/time_source.cpp#L123-L125). **use_sim_time** parameter event must be guaranteed by system to keep that in the filter and parameter expression when using ContentFilteredTopic. - (Off topic from ContentFilteredTopic) - This `use_sim_time` can be supported local callbacks, it does not have to use `/parameter_events` at all. - - User frontend (rclcpp/rclpy) - User API will be added to manage filtering configuration, so that user application can set its own filter_expression and expression_parameters. Also using AsyncParametersClient::on_parameter_event, user can take care of the parameter event with user callback only for filtered parameter events. It should be compatible interface for user application even if rmw_implementation does not support ContentFilteredTopic. If rmw_implementation does not support ContentFilteredTopic, `rcl` will take care of filtering instead based on filtering expression and parameters. + User API will be added to manage filtering configuration, so that user application can set its own filter_expression and expression_parameters for subscription. + Also using AsyncParametersClient::on_parameter_event, user can take care of the parameter event with user callback only for filtered parameter events. + It should be compatible interface for user application even if rmw_implementation does not support ContentFilteredTopic. + If rmw_implementation does not support ContentFilteredTopic, `rcl` will take care of filtering instead based on filtering expression and parameters. - Filtering Expression and Parameters - User can specify node name and parameter name to filter the parameter events. - - ***This needs to be discussed more, if user should be able to filter arbitrary parameter or not.*** + User can specify filtering expression and expression parameters. @@ -205,13 +245,15 @@ It would be good to create ContentFilteredTopic for each of them. This can make #### rcl -- add API `is_cft_supported` to allow frontend(rclcpp/rclpy) can know CFT is supported or not. - e.g) `rcl_subscription_is_cft_supported` to access `is_cft_supported`. -- extend `rcl_create_subscription` with optional filtering expression and parameter expressions. -- add `rcl__expression_parameters` to call `rmw__expression_parameters`. +- `rcl_subscription_is_cft_supported` to see if ContentFilteredTopic is supported or not. +- extend node option with filtering expression and parameter expressions so that it can allow user to create ContentFilteredTopic during `rcl_create_subscription`. +- `rcl_subscription_set_cft_expression_parameters` to set filitering expression and parameter expressions to subscription. +- `rcl_subscription_get_cft_expression_parameters` to get filitering expression and parameter expressions from subscription. #### rmw +- `rmw_subscription_set_cft_expression_parameters` to set filitering expression and parameter expressions to subscription. +- `rmw_subscription_get_cft_expression_parameters` to get filitering expression and parameter expressions from subscription. - add new member `is_cft_supported` into `rmw_subscription_t` which indicates if CTF is supported by rmw_implementation or not. e.g) see `can_loan_masseges` member as reference. support status will be set when parent subscription is created. then support status can be read from upper layer to know if CFT is supported or not. @@ -221,31 +263,26 @@ It would be good to create ContentFilteredTopic for each of them. This can make | Implementation | `is_cft_supported` | | :--: | :--: | | rmw_connext | true | +| rmw_connextdds | true | | rmw_fastrtps | false | | rmw_cyclonedds | false | -- new `DDSContentFilteredTopic` object needs to be managed in implementation. -- parent topic information should be cached so that we can create CFT based on that parent topic. -- extend `rmw_create_subscription` with optional fields. - - const char * filter_expression - - const rcutils_string_array_t * expression_parameters -- `rmw__expression_parameters` interface. - - input: rmw_subscription_t, (string sequence) expression parameters. #### rclcpp (rclpy) -**[T.B.D] Do we need to expose ContentFilteredTopic for user classes?** - -- extend `create_subscription` method with optional fields in `Node` & `Subscription` class to allow user application to user CFT feature based on parent topics and subscription. - - if the platform does not support CFT, the return NOT_SUPPORTED. - - if optional fields are specified, ContentFilteredTopic and corresponding subscription (datareader in dds) this means that subscription can only subscribe content filtered data. -- `set__expression_parameters` method in `Node` class to set and get expression parameters. -- Deletion/Destruction of CFT subscription is exactly same with current subscription routine. +- `ContentFilterOptions` is added to `SubscriptionOptionsBase`. + This option will be used during subscription construction. + If `ContentFilterOptions` is specified with filtering expression and parameter expression parameters, it will create ContentFilteredTopic at the same with parent topic. +- `is_cft_supported` method to `SubscriptionBase` to see if the subscription can support ContentFilteredTopic. +- `set_cft_expression_parameters` method to `SubscriptionBase` to set filitering expression and parameter expressions to subscription. +- `get_cft_expression_parameters` method to `SubscriptionBase` to get filitering expression and parameter expressions from subscription. ### Components #### Action +***W.I.P*** + - Action Server Nothing needs to be changed, even with ContentFilteredTopic it should not be aware of that, just publishes feedback and status message, the rest will be taken care by rmw_implementation. if rmw_implementation does not support ContentFilteredTopic, filtering process is done by subscriber side which is Action Client as it does now. @@ -255,16 +292,19 @@ It would be good to create ContentFilteredTopic for each of them. This can make #### Parameter Event - Publication - Nothing will be required to change or modify on publication side. It will publish parameter events as it does, filtering should be done in rmw_implementation dds writer side transparently. + Nothing will be required to change or modify on publication side. + It will publish parameter events as it does, filtering should be done in rmw_implementation dds writer side transparently. - Subscription - It will check if ContentFilteredTopic is supported by rmw_implementation. If rmw_implementation supports ContentFilteredTopic, it will create ContentFilteredTopic internally and also set the filter expression and parameter expressions. user callback will be registered on ContentFilteredTopic. + It will check if ContentFilteredTopic is supported by rmw_implementation. + If rmw_implementation supports ContentFilteredTopic, it will create ContentFilteredTopic internally and also set the filter expression and parameter expressions. + User callback will be registered on ContentFilteredTopic. If user application wants to change filter expression and parameter expressions, it will need to get the current filter setting, then modify or append the expression, and set. -### Questions +### Notes - How much flexibility of filtering expression for /parameter_events? - dds filter_expression and expression_parameters are really flexible, it is designed to support arbitrary user filtering. but thinking of /parameter_events, maybe node name and parameter name would be good enough? + dds filter_expression and expression_parameters are really flexible, it is designed to support arbitrary user filtering. - Side effect for making bunch of ContentFilteredTopic There will be always trading-off, with user aspect, making ContentFilteredTopic is really good not to filter the event. But thinking about dds responsibility, this will increase the complexity and complication for ContentFilteredTopic writer to comprehend which reader needs to receive what events. @@ -272,8 +312,3 @@ It would be good to create ContentFilteredTopic for each of them. This can make ## Responsibility - -## Related Works - -- [Parameter Subscription Class](https://github.com/ros2/rclcpp/pull/829) - User friendly interfaces to handle parameters with node and parameter identification. PR is really old and suspended for monthes. This might be discarded. From 4c02b46d5c5e39a2dac8528dfe135b6b66fd93f7 Mon Sep 17 00:00:00 2001 From: Tomoya Fujita Date: Fri, 12 Mar 2021 16:01:05 +0900 Subject: [PATCH 12/17] add sequence diagram for action and parameter event. Signed-off-by: Tomoya Fujita --- articles/content_filtering.md | 36 +++++++++++++++++++++++++++++------ 1 file changed, 30 insertions(+), 6 deletions(-) diff --git a/articles/content_filtering.md b/articles/content_filtering.md index 0ead4ca7c..1771691ef 100755 --- a/articles/content_filtering.md +++ b/articles/content_filtering.md @@ -174,7 +174,6 @@ This is identical to updating a mutable QoS value. ### Requirement - ContentFilteredTopic interfaces can be used only if rmw implementation supports. -- If rmw implementation does not support ContentFilteredTopic interfaces, filtering will be done internally on subscriber side in `rcl` before callback is fired. - User can specify filtering expression and expression parameters for subscription. - Simply, application can set/get the filter_expression and expression_parameters for subscription. - Filtering expression and expression parameters can be set and get at runtime. @@ -207,7 +206,19 @@ Once new goal id is generated, that will be applied to ContentFilteredTopic obje In action use case, it does not need to change filtering expression at runtime. Instead of that it can use `MATCH` syntax with goal ids in expression parameters. + + +```sequence +ActionServer->ActionClient: server ready +ActionClient->ActionServer: subscribe feedback & status topic +ActionClient-->ActionClient: ask if ContentFilteredTopic supported +ActionClient-->ActionClient: set filter expression and parameter based on goal id +ActionClient-->ActionServer: set filter expression and parameter based on goal id +ActionServer->ActionClient: publish feedback & status +Note over ActionClient: Filtering Process(if not filtered) +``` #### Parameter Events @@ -231,15 +242,29 @@ e.g) **use_sim_time** parameter event must be guaranteed by system to keep that in the filter and parameter expression when using ContentFilteredTopic. - User frontend (rclcpp/rclpy) - User API will be added to manage filtering configuration, so that user application can set its own filter_expression and expression_parameters for subscription. - Also using AsyncParametersClient::on_parameter_event, user can take care of the parameter event with user callback only for filtered parameter events. - It should be compatible interface for user application even if rmw_implementation does not support ContentFilteredTopic. - If rmw_implementation does not support ContentFilteredTopic, `rcl` will take care of filtering instead based on filtering expression and parameters. + - User can use ContentFilteredTopic only if it is supported by implementaion. + It could be compatible interface for user application even if rmw_implementation does not support ContentFilteredTopic. + But providing compatible interface increases comlication in `rcl` such as adding callback before user callback and dealing with filtering expression / parameters. + Which will increse the maintenance cost in system. + Besides, there are already user friendly classes are ready for user application such as `ParameterEventHandler` and `ParameterEventsFilter`. + - User API will be added to manage filtering configuration, so that user application can set its own filter_expression and expression_parameters for subscription. + - using AsyncParametersClient::on_parameter_event, user can take care of the parameter event with user callback only for filtered parameter events. - Filtering Expression and Parameters User can specify filtering expression and expression parameters. + + +```sequence +ParameterEventSubscription->ParameterEventPublication: subscribe /parameter_events +ParameterEventSubscription-->ParameterEventSubscription: ask if ContentFilteredTopic is supported +ParameterEventSubscription-->ParameterEventSubscription: set filter expression on /parameter_events +ParameterEventSubscription-->ParameterEventPublication: set filter expression on /parameter_events +ParameterEventPublication->ParameterEventSubscription: publish /parameter_events +Note over ParameterEventSubscription: user callback fired(via on_parameter_event) +``` ### Interfaces @@ -267,7 +292,6 @@ e.g) | rmw_fastrtps | false | | rmw_cyclonedds | false | - #### rclcpp (rclpy) - `ContentFilterOptions` is added to `SubscriptionOptionsBase`. From 3379c8ac046d554c62214e102d7b55a224303a2d Mon Sep 17 00:00:00 2001 From: Tomoya Fujita Date: Fri, 12 Mar 2021 16:08:36 +0900 Subject: [PATCH 13/17] add images instead of sequence diagram. Signed-off-by: Tomoya Fujita --- articles/content_filtering.md | 23 ------------------ .../action_sequence_with_filter.png | Bin 18279 -> 7365 bytes .../parameter_event_sequence_with_filter.png | Bin 21676 -> 7100 bytes 3 files changed, 23 deletions(-) diff --git a/articles/content_filtering.md b/articles/content_filtering.md index 1771691ef..915a60102 100755 --- a/articles/content_filtering.md +++ b/articles/content_filtering.md @@ -206,19 +206,7 @@ Once new goal id is generated, that will be applied to ContentFilteredTopic obje In action use case, it does not need to change filtering expression at runtime. Instead of that it can use `MATCH` syntax with goal ids in expression parameters. - - -```sequence -ActionServer->ActionClient: server ready -ActionClient->ActionServer: subscribe feedback & status topic -ActionClient-->ActionClient: ask if ContentFilteredTopic supported -ActionClient-->ActionClient: set filter expression and parameter based on goal id -ActionClient-->ActionServer: set filter expression and parameter based on goal id -ActionServer->ActionClient: publish feedback & status -Note over ActionClient: Filtering Process(if not filtered) -``` #### Parameter Events @@ -253,18 +241,7 @@ e.g) - Filtering Expression and Parameters User can specify filtering expression and expression parameters. - - -```sequence -ParameterEventSubscription->ParameterEventPublication: subscribe /parameter_events -ParameterEventSubscription-->ParameterEventSubscription: ask if ContentFilteredTopic is supported -ParameterEventSubscription-->ParameterEventSubscription: set filter expression on /parameter_events -ParameterEventSubscription-->ParameterEventPublication: set filter expression on /parameter_events -ParameterEventPublication->ParameterEventSubscription: publish /parameter_events -Note over ParameterEventSubscription: user callback fired(via on_parameter_event) -``` ### Interfaces diff --git a/img/content_filter/action_sequence_with_filter.png b/img/content_filter/action_sequence_with_filter.png index a8e359c9ea133eeadc0f40ae4e22bbb3e2b50b57..6f2cadc6c686f53fb405f7e62233eeac2123f259 100755 GIT binary patch literal 7365 zcmcIpd03L^+JDv5%FLOmla(pWc+93UOU+!tre;iYDVNMtv|LCdGqc5|(o}Mx z#>zxU47^aFrW@mgi@iezmO4FGmzI~+UW5nn1``6pI1G1USFs4o%= zD2c7Nyj|+7>{(}e*h=iVinJ?N{N-%Psml%Vx38}p``SgA*sccvc2C&i{oq{tk5kov zwD=fv0C<&8Py%+AmudpQ`~(sJt{Ea!06QB?9RT>PmjM7@x&BWcon>C0GIQPpS5K*< zhtGbK7S`R}xJ@TL_8@LGkU|QANZDJ{mAtjItRY&n`zKB|8rF0+!xn}KRg!HIbv7eFqiB%}R zId2F1%$>YnHuIp%KaeC~b@vi)&C9EXyMq^r1w_+Yr2uKee3={Da%MU~$@k@1OOj5e z`uwE>R&hj5He?TyJja)p3^%9sj^Z6}gsC?-RpjKH!sn7WZ2G3dPu2(h_Hg 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zzv-T(l2cq<9B=?X@Y#XKS9jU`GkqnS9p`rc-n}o;p9|Pu{q9T-`(<-}^Mz?8R<*!& z&Q(>bCb>SC4IFAH+IeSf+w%2`wdB5i|GxY8o0u;#z=h<%J+k-ig`HITpbs1;_-^z5 z@84L}ZhPij(0;B7z((u-AiMe3`E7s)rvT5SNr=3*K2Ds$!Ft;C>Hq(Pr7;}1-(3Y- zCg1@+qY Date: Wed, 14 Jul 2021 14:09:19 -0700 Subject: [PATCH 14/17] fix DDS spec related descriptions. Signed-off-by: Tomoya.Fujita --- articles/content_filtering.md | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/articles/content_filtering.md b/articles/content_filtering.md index 915a60102..ba097d732 100755 --- a/articles/content_filtering.md +++ b/articles/content_filtering.md @@ -80,7 +80,7 @@ This class therefore can be used to request content-based subscriptions. - The filtering is done by means of evaluating a logical expression that involves the values some of the data-fields in the sample. The logical expression is derived from the filter_expression and expression_parameters arguments. -- Multiple filter_expression and expression_parameters can be supported on single ContentFilteredTopic. +- Each ContentFilteredTopic has a single filter_expression and a sequence of expression_parameters. ``` [parameter use cases] "node = %0 OR node = %1" spinal_node attention_node : subscribe all parameter events from spinal and attention nodes @@ -89,7 +89,7 @@ This class therefore can be used to request content-based subscriptions. [action use case] "uuid = %0 OR uuid = %1" DEADBEEF CAFEFEED : subscribe only interest goal ids which client handlers possess. ``` -- Multiple filter_expression and expression_parameters can be modified dynamically at runtime. +- A single filter_expression and a sequence of expression_parameters can be modified dynamically at runtime. This is because of use cases for `/parameter_events` and action `feedback` and `status` topics, parameter filtering expression is dependent on user application, and action client has multiple goal id to handle. ### Improvement Result @@ -153,9 +153,7 @@ the following create/delete API's are defined, - create_contentfilteredtopic() - delete_contentfilteredtopic() -**According to the specification, filter_expression can be only initialized at constructor and it is read_only. -Probably it is not possible to change the filter_expression at runtime based on the specification but [RTI v5.3.0](https://community.rti.com/static/documentation/connext-dds/5.3.0/doc/api/connext_dds/api_cpp2/classdds_1_1topic_1_1ContentFilteredTopic.html#a76310bf0b7123dd89afbacf43dbabf4a) can support this requirement. -After all, it seems that it is dependent on implementation.** +**According to the specification, filter_expression can be changed at runtime. [RTI v5.3.0](https://community.rti.com/static/documentation/connext-dds/5.3.0/doc/api/connext_dds/api_cpp2/classdds_1_1topic_1_1ContentFilteredTopic.html#a76310bf0b7123dd89afbacf43dbabf4a) can support this requirement.** #### DDSI-RTPS @@ -310,6 +308,9 @@ e.g) - Side effect for making bunch of ContentFilteredTopic There will be always trading-off, with user aspect, making ContentFilteredTopic is really good not to filter the event. But thinking about dds responsibility, this will increase the complexity and complication for ContentFilteredTopic writer to comprehend which reader needs to receive what events. +- Possible difference for expression parameters, depends on vendor implementation. + see [encountered problem](https://issues.omg.org/issues/spec/DDS/1.4#issue-47484). + ## Responsibility From 3161960dfec16c4eb5d8a460787cb6a9d5eabeb5 Mon Sep 17 00:00:00 2001 From: Tomoya Fujita Date: Wed, 2 Feb 2022 16:12:50 -0800 Subject: [PATCH 15/17] update design aligned with implementation. Signed-off-by: Tomoya Fujita --- articles/content_filtering.md | 112 ++++++++++++++++------------------ 1 file changed, 52 insertions(+), 60 deletions(-) diff --git a/articles/content_filtering.md b/articles/content_filtering.md index ba097d732..9126f5d02 100755 --- a/articles/content_filtering.md +++ b/articles/content_filtering.md @@ -1,8 +1,8 @@ --- layout: default -title: ContentFilteringTopic in ROS2 +title: ContentFilteredTopic in ROS 2 permalink: articles/content_filtering.html -abstract: Description draft of the current problem for /parameter_events and action feedback/status topics. Design proposal using ContentFilteringTopic. +abstract: Description draft of the current problem for /parameter_events and action feedback/status topics. Design proposal using DDS ContentFilteredTopic. author: '[Tomoya Fujita](https://github.com/fujitatomoya)' published: true --- @@ -19,15 +19,14 @@ Original Author: {{ page.author }} ## Problems -Here describes the current problems that we have, these are already well-known issues. -Issues are not related to functionalities but efficiency like CPU consumption and network resource. -The efficiency is dependent on the platform capability, but once it comes to embedded devices and IoT platform, these problems could be a huge pain to consume resources. -Currently, at least there are following two main problems exist in ROS2, the one is `/parameter_events` topic and the other is action topics `feedback` and `status`. the detail is described as following. +Here describes the current problems that we have, these are already well-known issues related to efficiency for CPU consumption and network resource. +The efficiency is dependent on the platform capability, but once it comes to embedded devices and IoT platform such as microcontrollers, these problems could be a huge pain to consume resources. +Currently, at least there are following two main problems exist in ROS 2, the one is `/parameter_events` topic and the other is action topics `feedback` and `status`. the detail is described as following. ### Parameter Event Topic Each node will publish (this is configurable via `NodeOptions`) and subscribe parameter events topic with `AsyncParametersClient` or `ParameterEventHandler`. -This topic is to support monitoring parameters for change. +This topic is to support monitoring parameters for any parameter changes. It is expected that client libraries will implement the ability to register a callback for specific parameter changes using this topic. And there is an internal subscription for each node for `/parameter_events` topic to handle the TimeSource via "use_sim_time" parameter. `rclcpp::ParameterEventsFilter` is used to filter the parameter with specific name "use_sim_time". @@ -38,17 +37,19 @@ As user interface, `AsyncParametersClient::on_parameter_event` is provided to ha The problem can be broken into the following two parts, - Network resource consumption on `/parameter_events` topic - Since nobody cares who needs to receive which messages, all of the parameter activity will be published and subscribed. - That said everyone publishes and subscribes all of the events with this giant topic `/parameter_events`. + Since publisher does not know who needs to receive which messages, all of the parameter activity will be published and subscribed. + That said everyone publishes and subscribes all of the events within this giant topic `/parameter_events`. This leads to a lot of unnecessary message transmission over the network. - Subscriber needs to filter unnecessary (not interested) messages Subscriber does not know if the message is something it needs or not without checking the contents of the message via user callback. This filtering needs to be done every single time the message comes in. - In expectation, it is likely that parameter event callback is interested on specific parameter only, so that there will be a lot of unnecessary message receives and filtering process needs to be done. + In expectation, it is likely that parameter event callback is interested on specific parameters only, so that there will be a lot of unnecessary message receives and filtering process needs to be done. As described above, we could imagine that if the number of node are 10, 20 and 100 and so are the parameters for each nodes. This will be a huge burden and pain for entire system, passing unnecessary messages via limited bandwidth network with edge devices and filtering messages to drop is not something user application wants to do. +Besides, this problem can be applied to user defined topics. + ### Action Topics Each action server will provide two topics named `feedback` and `status` as followings, @@ -56,7 +57,7 @@ Each action server will provide two topics named `feedback` and `status` as foll `feedback` and `status` are topics mapped with action name and published by action server, and action clients subscribe those topics to get feedback and status. -When there are many goals from many clients, the choice to have a single `feedback` and `status` topic per action server is suboptimal in terms of processing and bandwidth resource. +When there are many goals from multiple clients, the choice to have a single `feedback` and `status` topic per action server is suboptimal in terms of processing and bandwidth resource. It is up to clients to filter out feedback/status messages that are not pertinent to them. In this scenario, M goals are sent to N clients there is an unnecessary use of bandwidth and processing. Especially in extreme cases where M and N are large. (each goal is identified by goal ID based on uuid, filtering out the goal id is done by client library so user application does not need to care.) @@ -70,13 +71,13 @@ This class therefore can be used to request content-based subscriptions. ### Specification - Multiple ContentFilteredTopicDataReader exist and filtering is dependent on each ContentFilteredTopicDataReader's logical filtering expression and parameters. -- Subscriber is responsible to create ContentFilteredTopic. +- Subscription is responsible to create ContentFilteredTopic. - ContentFilteredTopicDataWriter does filtering for each ContentFilteredTopicDataReader endpoint. - Basically it is likely that ContentFilteredTopicDataWriter does filtering on writer side, so that it can provide the improvement and efficiency. - But it is dependent on imnplementation if always ContentFilteredTopicDataWriter does filtering. - This is because if there is a lot of ContentFilteredTopicDataReader with complicated filtering expression and parameter, it would be probably more efficient just to send the messages to all ContentFilteredTopicDataReader. + Basically it is likely that ContentFilteredTopicDataWriter does filtering on writer side, so that it can provide the improvement and efficiency especially for network resource. + But it is dependent on implementation if always ContentFilteredTopicDataWriter does filtering. + This is because if there is a lot of ContentFilteredTopicDataReader with complicated filtering expression and parameter, it would be probably more efficient just to send the messages to all ContentFilteredTopicDataReader. (for example, if the message type includes sequence, DataWriter needs to recreate the message for each DataReader based on filtering expression and parameters.) And ContentFilteredTopicDataReader can filter out the message if not necessary based on filtering expression and parameter. - This is also said that ContentFilteredTopicDataReader does need to do filtering always just in case ContentFilteredTopicDataWriter ends up sending w/o filitering. + This is also said that ContentFilteredTopicDataReader does need to do filtering always just in case ContentFilteredTopicDataWriter ends up sending w/o filtering. - The filtering is done by means of evaluating a logical expression that involves the values some of the data-fields in the sample. The logical expression is derived from the filter_expression and expression_parameters arguments. @@ -171,56 +172,45 @@ This is identical to updating a mutable QoS value. ### Requirement +- ContentFilteredTopic will be managed in rmw implementation internally. - ContentFilteredTopic interfaces can be used only if rmw implementation supports. - User can specify filtering expression and expression parameters for subscription. - - Simply, application can set/get the filter_expression and expression_parameters for subscription. + - Simply, application can set/get the filter expression and expression parameters for subscription. - Filtering expression and expression parameters can be set and get at runtime. - As described above, according to DDS specification, it implies that filtering expression may not be able to be changed dynamically. - But to support requirements in ROS2, it should be able to support dynamic reconfiguration for filtering expression and parameter. -- Filtering goal id for action `feedback` and `status` will be done ROS2 system. + But to support requirements in ROS 2, it should be able to support dynamic reconfiguration for filtering expression and parameter. +- Filtering based on goal id for action `feedback` and `status` topics will be done ROS 2 system. - Filtering expression and parameter grammar will be compatible with DDS standard. +- ContentFilteredTopic should not show up to ROS 2 system. (for example, `ros2 topic list` does not include ContentFilteredTopics.) ### Proposal #### Action -Each action client id to ContentFilteredTopic based on `action_name/_action/feedback_or_status`. -ContentFilteredTopic name would be decided by implementation such as action_name/_action/feedback_or_status_ActionClient_ID. +ContentFilteredTopic for each action client topic will be created in rmw implementation internally. +So that ROS 2 system only set the filtering expression and expression parameters for the subscription object for the topic. And filtering expression and parameters are constructed by UUID then ActionClient always get feedback events related to goal handler. Filtering based on UUID is mandatory for action feedback and status topic to have more transport efficiency. -e.g) - -| ContentFilterTopic Name | Description | -| :--- | :--- | -| action_name/_action/feedback_ActionClient_ID | feedback ContentFilteredTopic for ActionClient ID, ActionClient_ID would be uuid (consistent with status id for the same client) | -| action_name/_action/status_ActionClient_ID | status ContentFilteredTopic for ActionClient ID, ActionClient_ID would be uuid (consistent with feedback id for the same client) | - -(*) These ContentFilteredTopic should not show up to user but parent topic. (e.g `ros2 topic list`) - `feedback` topic is user defined message type but it also includes goal id([GoalInfo](https://github.com/ros2/rcl_interfaces/blob/master/action_msgs/msg/GoalInfo.msg)). -Goal id will be internally handled and action client internally issues ContentFilteredTopic API to notify the publication(server) what subscription(client) is interested in. -Once new goal id is generated, that will be applied to ContentFilteredTopic object based on action client ID at runtime. -In action use case, it does not need to change filtering expression at runtime. +Goal id will be internally handled and action client internally issues ContentFilteredTopic API to set the filtering expression and expression parameters. +Once new goal id is generated, that will be applied to filtering expression and expression parameters based on action client ID at runtime. +In expectation, in action use case, it does not need to change filtering expression at runtime. Instead of that it can use `MATCH` syntax with goal ids in expression parameters. +`status` topic message type is [GoalStatusArray](https://github.com/ros2/rcl_interfaces/blob/master/action_msgs/msg/GoalStatusArray.msg) which includes goal ids([GoalInfo](https://github.com/ros2/rcl_interfaces/blob/master/action_msgs/msg/GoalInfo.msg)) as sequence. +ContentFilteredTopic for unbound array/sequence is not described in DDS Specification but nice to have as implementation extension. +So that ROS 2 cannot rely on it until it addresses in the spec for interoperability. +Besides, filtering and reconstructing array or sequence message for each subscription would be more cost for resource. +At this moment, because of all these reasons, we do not support ContentFilteredTopic on action `status` topic. (See discussion [here](https://github.com/ros2/rmw_connextdds/issues/11)) + #### Parameter Events There are two types of parameter events subscription, one is for system(TimeSource) which is controlled and taken care by rclcpp and rclpy internally. And the other is user application to register user callback to be fired when parameter events come in. - -ContentFilterTopic name would be decided by implementation internally based on parent topic name. - -e.g) - -| ContentFilterTopic | Description | -| :--- | :--- | -| /parameter_events_system_Node_ID | parameter events ContentFilteredTopic for system internal usage, Node ID would be uuid to identify this NodeBase. | -| /parameter_events_user_Node_ID | parameter events ContentFilteredTopic for user callback usage, Node ID would be uuid to identify this NodeBase. | - -(*) These ContentFilteredTopic should not show up to user but ordinary topic. (e.g `ros2 topic list`) +ContentFilterTopic will be managed by rmw implementation internally. - TimeSource **use_sim_time** event is subscribed internally to check if **use_sim_time** parameter is enabled or disabled.S @@ -245,16 +235,16 @@ e.g) #### rcl -- `rcl_subscription_is_cft_supported` to see if ContentFilteredTopic is supported or not. -- extend node option with filtering expression and parameter expressions so that it can allow user to create ContentFilteredTopic during `rcl_create_subscription`. -- `rcl_subscription_set_cft_expression_parameters` to set filitering expression and parameter expressions to subscription. -- `rcl_subscription_get_cft_expression_parameters` to get filitering expression and parameter expressions from subscription. +- `rcl_subscription_is_cft_enabled` to see if ContentFilteredTopic is enabled by rmw implementation. +- extend subscription option with filtering expression and parameter expressions. +- `rcl_subscription_set_content_filter` to set filtering expression and parameter expressions to subscription. +- `rcl_subscription_get_content_filter` to get filtering expression and parameter expressions from subscription. #### rmw -- `rmw_subscription_set_cft_expression_parameters` to set filitering expression and parameter expressions to subscription. -- `rmw_subscription_get_cft_expression_parameters` to get filitering expression and parameter expressions from subscription. -- add new member `is_cft_supported` into `rmw_subscription_t` which indicates if CTF is supported by rmw_implementation or not. +- `rmw_subscription_set_content_filter` to set filtering expression and parameter expressions to subscription. +- `rmw_subscription_get_content_filter` to get filtering expression and parameter expressions from subscription. +- add new member `is_cft_enabled` into `rmw_subscription_t` which indicates if CTF is enabled by rmw_implementation or not. e.g) see `can_loan_masseges` member as reference. support status will be set when parent subscription is created. then support status can be read from upper layer to know if CFT is supported or not. @@ -262,31 +252,28 @@ e.g) | Implementation | `is_cft_supported` | | :--: | :--: | -| rmw_connext | true | | rmw_connextdds | true | -| rmw_fastrtps | false | +| rmw_fastrtps | false (W.I.P) | | rmw_cyclonedds | false | -#### rclcpp (rclpy) +#### rclcpp - `ContentFilterOptions` is added to `SubscriptionOptionsBase`. This option will be used during subscription construction. If `ContentFilterOptions` is specified with filtering expression and parameter expression parameters, it will create ContentFilteredTopic at the same with parent topic. -- `is_cft_supported` method to `SubscriptionBase` to see if the subscription can support ContentFilteredTopic. -- `set_cft_expression_parameters` method to `SubscriptionBase` to set filitering expression and parameter expressions to subscription. -- `get_cft_expression_parameters` method to `SubscriptionBase` to get filitering expression and parameter expressions from subscription. +- `is_cft_enabled` method to `SubscriptionBase` to see if the subscription can support ContentFilteredTopic. +- `set_content_filter` method to `SubscriptionBase` to set filtering expression and parameter expressions to subscription. +- `get_content_filter` method to `SubscriptionBase` to get filtering expression and parameter expressions from subscription. ### Components #### Action -***W.I.P*** - - Action Server Nothing needs to be changed, even with ContentFilteredTopic it should not be aware of that, just publishes feedback and status message, the rest will be taken care by rmw_implementation. if rmw_implementation does not support ContentFilteredTopic, filtering process is done by subscriber side which is Action Client as it does now. - Action Client - User interface(rclcpp and rclpy) should not be changed, everything can be integrated into internal implementation. It will check if ContentFilter is supported by rmw_implementation internally. If ContentFilter is supported by rmw_implementation, create ContentFilteredTopic internally based on ActionClient ID (uuid) so that no need to filter goal id. (technically there will be no unknown goal id event.) But w/o ContentFilter [current filtering](https://github.com/ros2/rclcpp/blob/99286978f92c30fe171313bf0785d6b6272c3257/rclcpp_action/include/rclcpp_action/client.hpp#L536-L553) needs to stay just in case, there would be unnecessary message from publisher or different rmw_implementation which does not support ContentFilteredTopic is used on Action Server side. At [send_goal_request](https://github.com/ros2/rclcpp/blob/99286978f92c30fe171313bf0785d6b6272c3257/rclcpp_action/include/rclcpp_action/client.hpp#L352-L388), it will set the filter_expression and expression_parameters based on goal id. The goal handler might have multiple goal ids, so that get current filtering configuration, modify and set new filtering configuration. (the un-registration is also needed when goal id is being unregistered from goal handler.) + User interface should not be changed, everything can be integrated into internal implementation. It will check if ContentFilter is supported by rmw_implementation internally. If ContentFilter is supported by rmw_implementation, create ContentFilteredTopic internally based on ActionClient ID (uuid) so that no need to filter goal id. (technically there will be no unknown goal id event.) But w/o ContentFilter [current filtering](https://github.com/ros2/rclcpp/blob/99286978f92c30fe171313bf0785d6b6272c3257/rclcpp_action/include/rclcpp_action/client.hpp#L536-L553) needs to stay just in case, there would be unnecessary message from publisher or different rmw_implementation which does not support ContentFilteredTopic is used on Action Server side. At [send_goal_request](https://github.com/ros2/rclcpp/blob/99286978f92c30fe171313bf0785d6b6272c3257/rclcpp_action/include/rclcpp_action/client.hpp#L352-L388), it will set the filter_expression and expression_parameters based on goal id. The goal handler might have multiple goal ids, so that get current filtering configuration, modify and set new filtering configuration. (the un-registration is also needed when goal id is being unregistered from goal handler.) #### Parameter Event @@ -314,3 +301,8 @@ e.g) ## Responsibility + +## Slides / Talks + +- [ROS WOrld 2021 ROS 2 Content Filtered Topics](https://vimeo.com/649654533/c8104829db) +- [ROS 2 Content Filtered Topic Slides](https://www.slideshare.net/FujitaTomoya/ros-2-content-filtered-topics) From f3049041f2e63f0fa846e46481c786cbee785e13 Mon Sep 17 00:00:00 2001 From: "Tomoya.Fujita" Date: Fri, 4 Mar 2022 09:22:51 -0800 Subject: [PATCH 16/17] fix comments and add DDS specification for expression and parameters. Signed-off-by: Tomoya.Fujita --- articles/content_filtering.md | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/articles/content_filtering.md b/articles/content_filtering.md index 9126f5d02..d5bcd7e70 100755 --- a/articles/content_filtering.md +++ b/articles/content_filtering.md @@ -38,7 +38,7 @@ The problem can be broken into the following two parts, - Network resource consumption on `/parameter_events` topic Since publisher does not know who needs to receive which messages, all of the parameter activity will be published and subscribed. - That said everyone publishes and subscribes all of the events within this giant topic `/parameter_events`. + That said everyone publishes and subscribes all of the events in this high traffic `/parameter_events` topic. This leads to a lot of unnecessary message transmission over the network. - Subscriber needs to filter unnecessary (not interested) messages Subscriber does not know if the message is something it needs or not without checking the contents of the message via user callback. @@ -52,11 +52,11 @@ Besides, this problem can be applied to user defined topics. ### Action Topics -Each action server will provide two topics named `feedback` and `status` as followings, +Each action server provides two topics named `feedback` and `status` as followings, -`feedback` and `status` are topics mapped with action name and published by action server, and action clients subscribe those topics to get feedback and status. +`feedback` and `status` are topics mapped with action name and published by action server, and action clients subscribe to those topics to get feedback and status. When there are many goals from multiple clients, the choice to have a single `feedback` and `status` topic per action server is suboptimal in terms of processing and bandwidth resource. It is up to clients to filter out feedback/status messages that are not pertinent to them. In this scenario, M goals are sent to N clients there is an unnecessary use of bandwidth and processing. @@ -92,6 +92,7 @@ This class therefore can be used to request content-based subscriptions. ``` - A single filter_expression and a sequence of expression_parameters can be modified dynamically at runtime. This is because of use cases for `/parameter_events` and action `feedback` and `status` topics, parameter filtering expression is dependent on user application, and action client has multiple goal id to handle. +- You can see DDS Specification [Annex B - Syntax for Queries and Filters](https://www.omg.org/spec/DDS/1.4/PDF). ### Improvement Result From 918c09758ed4c0854aa128b9c8ed0051c21a6590 Mon Sep 17 00:00:00 2001 From: "Tomoya.Fujita" Date: Tue, 26 Apr 2022 17:41:24 -0700 Subject: [PATCH 17/17] add more description with current design. Signed-off-by: Tomoya.Fujita --- articles/content_filtering.md | 30 +++++++++++++++++--------- img/content_filter/responsibility.png | Bin 44870 -> 0 bytes 2 files changed, 20 insertions(+), 10 deletions(-) delete mode 100755 img/content_filter/responsibility.png diff --git a/articles/content_filtering.md b/articles/content_filtering.md index d5bcd7e70..612cebad9 100755 --- a/articles/content_filtering.md +++ b/articles/content_filtering.md @@ -20,7 +20,7 @@ Original Author: {{ page.author }} ## Problems Here describes the current problems that we have, these are already well-known issues related to efficiency for CPU consumption and network resource. -The efficiency is dependent on the platform capability, but once it comes to embedded devices and IoT platform such as microcontrollers, these problems could be a huge pain to consume resources. +The efficiency is dependent on the platform capability, but once it comes to embedded devices and IoT platform such as micro-controllers, these problems could be a huge pain to consume resources. Currently, at least there are following two main problems exist in ROS 2, the one is `/parameter_events` topic and the other is action topics `feedback` and `status`. the detail is described as following. ### Parameter Event Topic @@ -48,7 +48,7 @@ The problem can be broken into the following two parts, As described above, we could imagine that if the number of node are 10, 20 and 100 and so are the parameters for each nodes. This will be a huge burden and pain for entire system, passing unnecessary messages via limited bandwidth network with edge devices and filtering messages to drop is not something user application wants to do. -Besides, this problem can be applied to user defined topics. +Besides, these problems can be applied to user defined topics. ### Action Topics @@ -183,6 +183,7 @@ This is identical to updating a mutable QoS value. - Filtering based on goal id for action `feedback` and `status` topics will be done ROS 2 system. - Filtering expression and parameter grammar will be compatible with DDS standard. - ContentFilteredTopic should not show up to ROS 2 system. (for example, `ros2 topic list` does not include ContentFilteredTopics.) +- If rmw implementation does not support ContentFilteredTopic, ROS 2 fallback filtering will take care of the filtering process based on filtering expression and parameters. ### Proposal @@ -245,16 +246,16 @@ ContentFilterTopic will be managed by rmw implementation internally. - `rmw_subscription_set_content_filter` to set filtering expression and parameter expressions to subscription. - `rmw_subscription_get_content_filter` to get filtering expression and parameter expressions from subscription. -- add new member `is_cft_enabled` into `rmw_subscription_t` which indicates if CTF is enabled by rmw_implementation or not. - e.g) see `can_loan_masseges` member as reference. - support status will be set when parent subscription is created. then support status can be read from upper layer to know if CFT is supported or not. +- add new member `is_cft_enabled` into `rmw_subscription_t` which indicates if ContentFilteredTopic is enabled on subscription by rmw_implementation or not. + e.g) see `can_loan_messages` member as reference. + support status will be set when parent subscription is created. then support status can be read from upper layer to know if ContentFilteredTopic is supported or not. - current support status | Implementation | `is_cft_supported` | | :--: | :--: | | rmw_connextdds | true | -| rmw_fastrtps | false (W.I.P) | +| rmw_fastrtps | true | | rmw_cyclonedds | false | #### rclcpp @@ -268,6 +269,14 @@ ContentFilterTopic will be managed by rmw implementation internally. ### Components +#### Fallback filtering + +If rmw implementation does not support ContentFilteredTopic, ROS 2 internally process the filtering using the same filtering expression and parameters provided by user application. +Fallback filtering is required to provide the same behavior for user application even if rmw implementation does not support ContentFilteredTopic. +Basically fallback filtering will be integrated within `rcl`, so that it can be applied to any frontend libraries such as `rclcpp` and `rclpy`. +But it requires type support c/cpp to access the message field. For doing that, some methods will be implemented in c++ library such as `rmw_dds_common`, and then those methods can be issued by `rcl`. +See more details: https://github.com/ros2/design/pull/282#issuecomment-1062110693 + #### Action - Action Server @@ -290,6 +299,11 @@ ContentFilterTopic will be managed by rmw implementation internally. ### Notes +- Filtering expression and parameters race condition + When the filtering expression and/or the expression parameters are updated, there might be race condition and possibility that publisher might apply the old version of the filter only if filtering happens on publisher side. + This depends on rmw implementation. + [eProsima Fast-DDS](https://fast-dds.docs.eprosima.com/) provides the configuration to [disable filtering on publisher side](https://fast-dds.docs.eprosima.com/en/latest/fastdds/dds_layer/topic/contentFilteredTopic/writerFiltering.html#discovery-race-condition) for some mission critical application. + - How much flexibility of filtering expression for /parameter_events? dds filter_expression and expression_parameters are really flexible, it is designed to support arbitrary user filtering. @@ -299,10 +313,6 @@ ContentFilterTopic will be managed by rmw implementation internally. - Possible difference for expression parameters, depends on vendor implementation. see [encountered problem](https://issues.omg.org/issues/spec/DDS/1.4#issue-47484). -## Responsibility - - - ## Slides / Talks - [ROS WOrld 2021 ROS 2 Content Filtered Topics](https://vimeo.com/649654533/c8104829db) diff --git a/img/content_filter/responsibility.png b/img/content_filter/responsibility.png deleted file mode 100755 index 6f8f783dfeca2d7dcb5da572bab36e34db702c57..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 44870 zcmeFZd03Oz);>&6PwP2OoWTiYsP;IZ3<6bTOs%D;h*&6N2&gfjG6akel8|8QQK}%R zWfn;4092;Pln_FQErlQniHHzFAc#OBWD-IWLP+vG0or=rx8M86@B8Dse%JLr*QLOd 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