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improve SimpleActionServer #2459

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merged 3 commits into from
Jul 26, 2021
Merged

improve SimpleActionServer #2459

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c171a5e
improve SimpleActionServer
gezp Jul 19, 2021
36c6c8b
use Nodethread for executor
gezp Jul 23, 2021
df7a4ac
add constructor's arg options and member variable executor_
gezp Jul 23, 2021
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2 changes: 1 addition & 1 deletion nav2_recoveries/include/nav2_recoveries/recovery.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -51,7 +51,7 @@ template<typename ActionT>
class Recovery : public nav2_core::Recovery
{
public:
using ActionServer = nav2_util::SimpleActionServer<ActionT, rclcpp_lifecycle::LifecycleNode>;
using ActionServer = nav2_util::SimpleActionServer<ActionT>;

/**
* @brief A Recovery constructor
Expand Down
44 changes: 37 additions & 7 deletions nav2_util/include/nav2_util/simple_action_server.hpp
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Expand Up @@ -24,6 +24,7 @@

#include "rclcpp/rclcpp.hpp"
#include "rclcpp_action/rclcpp_action.hpp"
#include "nav2_util/node_thread.hpp"

namespace nav2_util
{
Expand All @@ -32,7 +33,7 @@ namespace nav2_util
* @class nav2_util::SimpleActionServer
* @brief An action server wrapper to make applications simpler using Actions
*/
template<typename ActionT, typename nodeT = rclcpp::Node>
template<typename ActionT>
class SimpleActionServer
{
public:
Expand All @@ -54,19 +55,22 @@ class SimpleActionServer
* @param action_name Name of the action to call
* @param execute_callback Execution callback function of Action
* @param server_timeout Timeout to to react to stop or preemption requests
* @param spin_thread Whether to spin with a dedicated thread internally
*/
template<typename NodeT>
explicit SimpleActionServer(
typename nodeT::SharedPtr node,
NodeT node,
const std::string & action_name,
ExecuteCallback execute_callback,
CompletionCallback completion_callback = nullptr,
std::chrono::milliseconds server_timeout = std::chrono::milliseconds(500))
std::chrono::milliseconds server_timeout = std::chrono::milliseconds(500),
bool spin_thread = false)
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: SimpleActionServer(
node->get_node_base_interface(),
node->get_node_clock_interface(),
node->get_node_logging_interface(),
node->get_node_waitables_interface(),
action_name, execute_callback, completion_callback, server_timeout)
action_name, execute_callback, completion_callback, server_timeout, spin_thread)
{}

/**
Expand All @@ -75,6 +79,7 @@ class SimpleActionServer
* @param action_name Name of the action to call
* @param execute_callback Execution callback function of Action
* @param server_timeout Timeout to to react to stop or preemption requests
* @param spin_thread Whether to spin with a dedicated thread internally
*/
explicit SimpleActionServer(
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
Expand All @@ -84,17 +89,23 @@ class SimpleActionServer
const std::string & action_name,
ExecuteCallback execute_callback,
CompletionCallback completion_callback = nullptr,
std::chrono::milliseconds server_timeout = std::chrono::milliseconds(500))
std::chrono::milliseconds server_timeout = std::chrono::milliseconds(500),
bool spin_thread = false)
: node_base_interface_(node_base_interface),
node_clock_interface_(node_clock_interface),
node_logging_interface_(node_logging_interface),
node_waitables_interface_(node_waitables_interface),
action_name_(action_name),
execute_callback_(execute_callback),
completion_callback_(completion_callback),
server_timeout_(server_timeout)
server_timeout_(server_timeout),
spin_thread_(spin_thread)
{
using namespace std::placeholders; // NOLINT
if (spin_thread_) {
callback_group_ = node_base_interface->create_callback_group(
rclcpp::CallbackGroupType::MutuallyExclusive, false);
}
action_server_ = rclcpp_action::create_server<ActionT>(
node_base_interface_,
node_clock_interface_,
Expand All @@ -103,9 +114,25 @@ class SimpleActionServer
action_name_,
std::bind(&SimpleActionServer::handle_goal, this, _1, _2),
std::bind(&SimpleActionServer::handle_cancel, this, _1),
std::bind(&SimpleActionServer::handle_accepted, this, _1));
std::bind(&SimpleActionServer::handle_accepted, this, _1),
rcl_action_server_get_default_options(),
callback_group_);
if (spin_thread_) {
auto executor = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
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executor->add_callback_group(callback_group_, node_base_interface_);
executor_thread_ = std::make_unique<nav2_util::NodeThread>(executor);
}
}

/**
* @brief A destructor
*/
~SimpleActionServer()
{
if (spin_thread_) {
executor_thread_.reset();
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}
}
/**
* @brief handle the goal requested: accept or reject. This implementation always accepts.
* @param uuid Goal ID
Expand Down Expand Up @@ -485,6 +512,9 @@ class SimpleActionServer
std::shared_ptr<rclcpp_action::ServerGoalHandle<ActionT>> pending_handle_;

typename rclcpp_action::Server<ActionT>::SharedPtr action_server_;
bool spin_thread_;
rclcpp::CallbackGroup::SharedPtr callback_group_{nullptr};
std::unique_ptr<nav2_util::NodeThread> executor_thread_;

/**
* @brief Generate an empty result object for an action type
Expand Down