SharedMemoryReqResp example not working on ESP32 Getting Assert Exception during test with freeRTOS

[ManvithRaj]

Hi @pablogs9,

This is thread is created to discuss issues facing on shared memory request response method

I am facing below issue at uxr_run_session_time

Here is my code . Could you please check and let me know anything i am missing

getting sometimes error at uxr_buffer_create_entity also as below

// Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"

#include <uxr/client/client.h>
#include <ucdr/microcdr.h>

#include <stdio.h> //printf
#include <string.h> //strcmp
#include <stdlib.h> //atoi
#include <unistd.h>

#define BUFFER_SIZE 1024
#define HISTORY_SIZE 8
#define SAMPLE_IDENTITY_SIZE 24

uxrObjectId replier_id;
uxrStreamId output_besteffort;

static bool send_msg_empty(
void* instance,
const uint8_t* buf,
size_t len)
{
(void) instance;
(void) buf;
(void) len;

return true;

}

static bool recv_msg_empty(
void* instance,
uint8_t** buf,
size_t* len,
int timeout)
{
(void) instance;
(void) buf;
(void) len;
(void) timeout;

return false;

}

static void on_request(
struct uxrSession* session,
uxrObjectId object_id,
uint16_t request_id,
SampleIdentity* sample_id,
struct ucdrBuffer* ub,
uint16_t length,
void* args)
{
// Process request
uint32_t in, out;
ucdr_deserialize_uint32_t(ub, &in);
out = in * 2;

// Send reply
ucdrBuffer replay_ub;
uxr_prepare_output_stream(session, output_besteffort, replier_id, &replay_ub,
        length + SAMPLE_IDENTITY_SIZE);
uxr_serialize_SampleIdentity(&replay_ub, sample_id);
ucdr_serialize_uint32_t(&replay_ub, out);

printf("Request received: %d. Sending reply: %d\n", in, out);
uxr_run_session_time(session, 1000);

}

static void on_reply(
struct uxrSession* session,
uxrObjectId object_id,
uint16_t request_id,
uint16_t reply_id,
struct ucdrBuffer* ub,
uint16_t length,
void* args)
{
(void) session;
(void) object_id;
(void) request_id;
(void) length;
(void) args;

// Process reply
uint32_t out;
ucdr_deserialize_uint32_t(ub, &out);
printf("Reply received: %d [id: %d]\n", out, reply_id);

}

void micro_ros_task(void * arg)
{

// Empty transport
uxrCommunication comm;
comm.send_msg = send_msg_empty;
comm.recv_msg = recv_msg_empty;

// Session
uxrSession session;
uxr_init_session(&session, &comm, 0xAAAABBBB);

// Streams
uint8_t output_besteffort_buffer[BUFFER_SIZE];
output_besteffort = uxr_create_output_best_effort_stream(&session, output_besteffort_buffer, BUFFER_SIZE);

uint8_t input_reliable_stream_buffer[BUFFER_SIZE * HISTORY_SIZE];
uxrStreamId reliable_in = uxr_create_input_reliable_stream(&session, input_reliable_stream_buffer, BUFFER_SIZE,
                HISTORY_SIZE);

// Create entities
uxrObjectId participant_id = uxr_object_id(0x01, UXR_PARTICIPANT_ID);

// Create requester
uxrObjectId requester_id = uxr_object_id(0x01, UXR_REQUESTER_ID);
uxrQoS_t qos = {
    .reliability = UXR_RELIABILITY_RELIABLE, .durability = UXR_DURABILITY_TRANSIENT_LOCAL,
    .history = UXR_HISTORY_KEEP_LAST, .depth = 1
};

uxr_buffer_create_requester_bin(&session, output_besteffort, requester_id, participant_id, "shared_memory_reqres",
        "req_type", "res_type", "", "", qos, UXR_REPLACE);
uxr_set_request_callback(&session, on_request, NULL);

// Create replier
replier_id = uxr_object_id(0x01, UXR_REPLIER_ID);
uxr_buffer_create_replier_bin(&session, reliable_in, replier_id, participant_id, "shared_memory_reqres", "req_type",
        "res_type","","", qos, UXR_REPLACE);

uxr_set_reply_callback(&session, on_reply, NULL);

// Publish topic
const size_t data_lenght = sizeof(uint32_t);
ucdrBuffer ub;
uint32_t i= 0;
while(1){

    uint8_t buffer[data_lenght];
    ucdr_init_buffer(&ub, buffer, sizeof(buffer));
    ucdr_serialize_uint32_t(&ub, i);

    uint16_t req_id = uxr_buffer_request(&session, output_besteffort, requester_id, buffer, data_lenght);

    printf("Sending request: %d [id: %d]\n", i, req_id);
    i++;
    uxr_run_session_time(&session, 1000);
}
// Delete resources
uxr_delete_session(&session);
vTaskDelete(NULL);

//return 0;

}

void app_main(void)
{
#if defined(CONFIG_MICRO_ROS_ESP_NETIF_WLAN) || defined(CONFIG_MICRO_ROS_ESP_NETIF_ENET)
// ESP_ERROR_CHECK(uros_network_interface_initialize());
#endif

//pin micro-ros task in APP_CPU to make PRO_CPU to deal with wifi:
xTaskCreate(micro_ros_task,
        "uros_task",
        CONFIG_MICRO_ROS_APP_STACK,
        NULL,
        CONFIG_MICRO_ROS_APP_TASK_PRIO,
        NULL);

}

Here is the setting of colon.meta

[ManvithRaj]

Hi @pablogs9

I am waiting for you reply. could you please reply to above issue ?