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QoS for Clients and Services #404

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QoS for Clients and Services #404

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8146bae
* added qos parameters to create_client and create_service. Updated a…
samouwow May 20, 2024
964bf10
* Added linting fixes
samouwow May 20, 2024
0a9bcb4
* Updated example minimal_client_server
samouwow May 20, 2024
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5 changes: 4 additions & 1 deletion examples/minimal_client_service/src/minimal_client.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,10 @@ fn main() -> Result<(), Error> {

let node = rclrs::create_node(&context, "minimal_client")?;

let client = node.create_client::<example_interfaces::srv::AddTwoInts>("add_two_ints")?;
let client = node.create_client::<example_interfaces::srv::AddTwoInts>(
"add_two_ints",
rclrs::QOS_PROFILE_SERVICES_DEFAULT,
)?;

let request = example_interfaces::srv::AddTwoInts_Request { a: 41, b: 1 };

Expand Down
5 changes: 4 additions & 1 deletion examples/minimal_client_service/src/minimal_client_async.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,10 @@ async fn main() -> Result<(), Error> {

let node = rclrs::create_node(&context, "minimal_client")?;

let client = node.create_client::<example_interfaces::srv::AddTwoInts>("add_two_ints")?;
let client = node.create_client::<example_interfaces::srv::AddTwoInts>(
"add_two_ints",
rclrs::QOS_PROFILE_SERVICES_DEFAULT,
)?;

println!("Starting client");

Expand Down
7 changes: 5 additions & 2 deletions examples/minimal_client_service/src/minimal_service.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -17,8 +17,11 @@ fn main() -> Result<(), Error> {

let node = rclrs::create_node(&context, "minimal_service")?;

let _server = node
.create_service::<example_interfaces::srv::AddTwoInts, _>("add_two_ints", handle_service)?;
let _server = node.create_service::<example_interfaces::srv::AddTwoInts, _>(
"add_two_ints",
rclrs::QOS_PROFILE_SERVICES_DEFAULT,
handle_service,
)?;

println!("Starting server");
rclrs::spin(node).map_err(|err| err.into())
Expand Down
14 changes: 10 additions & 4 deletions rclrs/src/client.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@ use rosidl_runtime_rs::Message;

use crate::{
error::{RclReturnCode, ToResult},
qos::QoSProfile,
rcl_bindings::*,
MessageCow, NodeHandle, RclrsError, ENTITY_LIFECYCLE_MUTEX,
};
Expand Down Expand Up @@ -83,7 +84,11 @@ where
T: rosidl_runtime_rs::Service,
{
/// Creates a new client.
pub(crate) fn new(node_handle: Arc<NodeHandle>, topic: &str) -> Result<Self, RclrsError>
pub(crate) fn new(
node_handle: Arc<NodeHandle>,
topic: &str,
qos: QoSProfile,
) -> Result<Self, RclrsError>
// This uses pub(crate) visibility to avoid instantiating this struct outside
// [`Node::create_client`], see the struct's documentation for the rationale
where
Expand All @@ -99,7 +104,8 @@ where
})?;

// SAFETY: No preconditions for this function.
let client_options = unsafe { rcl_client_get_default_options() };
let mut client_options = unsafe { rcl_client_get_default_options() };
client_options.qos = qos.into();

{
let rcl_node = node_handle.rcl_node.lock().unwrap();
Expand Down Expand Up @@ -310,7 +316,7 @@ where
#[cfg(test)]
mod tests {
use super::*;
use crate::test_helpers::*;
use crate::{test_helpers::*, QOS_PROFILE_SERVICES_DEFAULT};
use test_msgs::srv;

#[test]
Expand All @@ -325,7 +331,7 @@ mod tests {
let graph = construct_test_graph(namespace)?;
let _node_2_empty_client = graph
.node2
.create_client::<srv::Empty>("graph_test_topic_4")?;
.create_client::<srv::Empty>("graph_test_topic_4", QOS_PROFILE_SERVICES_DEFAULT)?;

std::thread::sleep(std::time::Duration::from_millis(200));

Expand Down
10 changes: 8 additions & 2 deletions rclrs/src/node.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -201,11 +201,15 @@ impl Node {
///
/// [1]: crate::Client
// TODO: make client's lifetime depend on node's lifetime
pub fn create_client<T>(&self, topic: &str) -> Result<Arc<Client<T>>, RclrsError>
pub fn create_client<T>(
&self,
topic: &str,
qos: QoSProfile,
) -> Result<Arc<Client<T>>, RclrsError>
where
T: rosidl_runtime_rs::Service,
{
let client = Arc::new(Client::<T>::new(Arc::clone(&self.handle), topic)?);
let client = Arc::new(Client::<T>::new(Arc::clone(&self.handle), topic, qos)?);
{ self.clients_mtx.lock().unwrap() }.push(Arc::downgrade(&client) as Weak<dyn ClientBase>);
Ok(client)
}
Expand Down Expand Up @@ -274,6 +278,7 @@ impl Node {
pub fn create_service<T, F>(
&self,
topic: &str,
qos: QoSProfile,
callback: F,
) -> Result<Arc<Service<T>>, RclrsError>
where
Expand All @@ -283,6 +288,7 @@ impl Node {
let service = Arc::new(Service::<T>::new(
Arc::clone(&self.handle),
topic,
qos,
callback,
)?);
{ self.services_mtx.lock().unwrap() }
Expand Down
43 changes: 32 additions & 11 deletions rclrs/src/parameter/service.rs
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Expand Up @@ -9,7 +9,7 @@ use rosidl_runtime_rs::Sequence;
use super::ParameterMap;
use crate::{
parameter::{DeclaredValue, ParameterKind, ParameterStorage},
rmw_request_id_t, Node, RclrsError, Service,
rmw_request_id_t, Node, RclrsError, Service, QOS_PROFILE_SERVICES_DEFAULT,
};

// The variables only exist to keep a strong reference to the services and are technically unused.
Expand Down Expand Up @@ -248,6 +248,7 @@ impl ParameterService {
let map = parameter_map.clone();
let describe_parameters_service = node.create_service(
&(fqn.clone() + "/describe_parameters"),
QOS_PROFILE_SERVICES_DEFAULT,
move |_req_id: &rmw_request_id_t, req: DescribeParameters_Request| {
let map = map.lock().unwrap();
describe_parameters(req, &map)
Expand All @@ -256,6 +257,7 @@ impl ParameterService {
let map = parameter_map.clone();
let get_parameter_types_service = node.create_service(
&(fqn.clone() + "/get_parameter_types"),
QOS_PROFILE_SERVICES_DEFAULT,
move |_req_id: &rmw_request_id_t, req: GetParameterTypes_Request| {
let map = map.lock().unwrap();
get_parameter_types(req, &map)
Expand All @@ -264,6 +266,7 @@ impl ParameterService {
let map = parameter_map.clone();
let get_parameters_service = node.create_service(
&(fqn.clone() + "/get_parameters"),
QOS_PROFILE_SERVICES_DEFAULT,
move |_req_id: &rmw_request_id_t, req: GetParameters_Request| {
let map = map.lock().unwrap();
get_parameters(req, &map)
Expand All @@ -272,6 +275,7 @@ impl ParameterService {
let map = parameter_map.clone();
let list_parameters_service = node.create_service(
&(fqn.clone() + "/list_parameters"),
QOS_PROFILE_SERVICES_DEFAULT,
move |_req_id: &rmw_request_id_t, req: ListParameters_Request| {
let map = map.lock().unwrap();
list_parameters(req, &map)
Expand All @@ -280,13 +284,15 @@ impl ParameterService {
let map = parameter_map.clone();
let set_parameters_service = node.create_service(
&(fqn.clone() + "/set_parameters"),
QOS_PROFILE_SERVICES_DEFAULT,
move |_req_id: &rmw_request_id_t, req: SetParameters_Request| {
let mut map = map.lock().unwrap();
set_parameters(req, &mut map)
},
)?;
let set_parameters_atomically_service = node.create_service(
&(fqn.clone() + "/set_parameters_atomically"),
QOS_PROFILE_SERVICES_DEFAULT,
move |_req_id: &rmw_request_id_t, req: SetParametersAtomically_Request| {
let mut map = parameter_map.lock().unwrap();
set_parameters_atomically(req, &mut map)
Expand All @@ -313,7 +319,7 @@ mod tests {
srv::rmw::*,
},
Context, MandatoryParameter, Node, NodeBuilder, ParameterRange, ParameterValue, RclrsError,
ReadOnlyParameter,
ReadOnlyParameter, QOS_PROFILE_SERVICES_DEFAULT,
};
use rosidl_runtime_rs::{seq, Sequence};
use std::sync::{Arc, RwLock};
Expand Down Expand Up @@ -431,7 +437,10 @@ mod tests {
async fn test_list_parameters_service() -> Result<(), RclrsError> {
let context = Context::new([]).unwrap();
let (node, client) = construct_test_nodes(&context, "list");
let list_client = client.create_client::<ListParameters>("/list/node/list_parameters")?;
let list_client = client.create_client::<ListParameters>(
"/list/node/list_parameters",
QOS_PROFILE_SERVICES_DEFAULT,
)?;

try_until_timeout(|| list_client.service_is_ready().unwrap())
.await
Expand Down Expand Up @@ -566,10 +575,18 @@ mod tests {
async fn test_get_set_parameters_service() -> Result<(), RclrsError> {
let context = Context::new([]).unwrap();
let (node, client) = construct_test_nodes(&context, "get_set");
let get_client = client.create_client::<GetParameters>("/get_set/node/get_parameters")?;
let set_client = client.create_client::<SetParameters>("/get_set/node/set_parameters")?;
let set_atomically_client = client
.create_client::<SetParametersAtomically>("/get_set/node/set_parameters_atomically")?;
let get_client = client.create_client::<GetParameters>(
"/get_set/node/get_parameters",
QOS_PROFILE_SERVICES_DEFAULT,
)?;
let set_client = client.create_client::<SetParameters>(
"/get_set/node/set_parameters",
QOS_PROFILE_SERVICES_DEFAULT,
)?;
let set_atomically_client = client.create_client::<SetParametersAtomically>(
"/get_set/node/set_parameters_atomically",
QOS_PROFILE_SERVICES_DEFAULT,
)?;

try_until_timeout(|| {
get_client.service_is_ready().unwrap()
Expand Down Expand Up @@ -799,10 +816,14 @@ mod tests {
async fn test_describe_get_types_parameters_service() -> Result<(), RclrsError> {
let context = Context::new([]).unwrap();
let (node, client) = construct_test_nodes(&context, "describe");
let describe_client =
client.create_client::<DescribeParameters>("/describe/node/describe_parameters")?;
let get_types_client =
client.create_client::<GetParameterTypes>("/describe/node/get_parameter_types")?;
let describe_client = client.create_client::<DescribeParameters>(
"/describe/node/describe_parameters",
QOS_PROFILE_SERVICES_DEFAULT,
)?;
let get_types_client = client.create_client::<GetParameterTypes>(
"/describe/node/get_parameter_types",
QOS_PROFILE_SERVICES_DEFAULT,
)?;

try_until_timeout(|| {
describe_client.service_is_ready().unwrap()
Expand Down
24 changes: 13 additions & 11 deletions rclrs/src/service.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@ use rosidl_runtime_rs::Message;

use crate::{
error::{RclReturnCode, ToResult},
qos::QoSProfile,
rcl_bindings::*,
MessageCow, NodeHandle, RclrsError, ENTITY_LIFECYCLE_MUTEX,
};
Expand Down Expand Up @@ -83,6 +84,7 @@ where
pub(crate) fn new<F>(
node_handle: Arc<NodeHandle>,
topic: &str,
qos: QoSProfile,
callback: F,
) -> Result<Self, RclrsError>
// This uses pub(crate) visibility to avoid instantiating this struct outside
Expand All @@ -101,7 +103,8 @@ where
})?;

// SAFETY: No preconditions for this function.
let service_options = unsafe { rcl_service_get_default_options() };
let mut service_options = unsafe { rcl_service_get_default_options() };
service_options.qos = qos.into();

{
let rcl_node = node_handle.rcl_node.lock().unwrap();
Expand Down Expand Up @@ -230,7 +233,7 @@ mod tests {

#[test]
fn test_services() -> Result<(), RclrsError> {
use crate::TopicNamesAndTypes;
use crate::{TopicNamesAndTypes, QOS_PROFILE_SERVICES_DEFAULT};
use test_msgs::srv;

let namespace = "/test_services_graph";
Expand All @@ -242,17 +245,16 @@ mod tests {
assert!(types.contains(&"test_msgs/srv/Empty".to_string()));
};

let _node_1_empty_service =
graph
.node1
.create_service::<srv::Empty, _>("graph_test_topic_4", |_, _| {
srv::Empty_Response {
structure_needs_at_least_one_member: 0,
}
})?;
let _node_1_empty_service = graph.node1.create_service::<srv::Empty, _>(
"graph_test_topic_4",
QOS_PROFILE_SERVICES_DEFAULT,
|_, _| srv::Empty_Response {
structure_needs_at_least_one_member: 0,
},
)?;
let _node_2_empty_client = graph
.node2
.create_client::<srv::Empty>("graph_test_topic_4")?;
.create_client::<srv::Empty>("graph_test_topic_4", QOS_PROFILE_SERVICES_DEFAULT)?;

std::thread::sleep(std::time::Duration::from_millis(100));

Expand Down
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