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Sq: Async+Cancelable Lifecycle Transitions
Signed-off-by: Tom Groechel <tgroeche@umich.edu>
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rclcpp_lifecycle/include/rclcpp_lifecycle/change_state_handler.hpp
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| // Copyright 2023 Open Source Robotics Foundation, Inc. | ||
| // | ||
| // 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. | ||
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| #ifndef RCLCPP_LIFECYCLE__CHANGE_STATE_HANDLER_HPP_ | ||
| #define RCLCPP_LIFECYCLE__CHANGE_STATE_HANDLER_HPP_ | ||
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| #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" | ||
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| namespace rclcpp_lifecycle | ||
| { | ||
| /// The object passed to asynchronous change_state user transition functions | ||
| class ChangeStateHandler | ||
| { | ||
| public: | ||
| /// Continues the change state process handling proper callback order | ||
| /** Used within the user defined transition callback to continue the change state process | ||
| * similar to a service call response | ||
| * Note this only allows sending a single response callback per object | ||
| * and will not send further responses if called mutiple times on the object | ||
| * \param[in] cb_return_code result of user defined transition callback | ||
| * \return true if the response was successfully sent | ||
| */ | ||
| virtual bool send_callback_resp( | ||
| node_interfaces::LifecycleNodeInterface::CallbackReturn cb_return_code) = 0; | ||
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| /// Updates the state machine based on the handling of a cancelled transition | ||
| /** | ||
| * \param[in] success true if the transition cancel request was successfully handled | ||
| * \return true if the response was successfully sent to the state handler | ||
| */ | ||
| virtual bool handle_canceled(bool success) = 0; | ||
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| /// Check to see if a send_callback_resp has been cancelled | ||
| /** | ||
| * @return true if response has been cancelled | ||
| */ | ||
| virtual bool is_canceling() const = 0; | ||
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| // Check to see if the response has been sent | ||
| /** | ||
| * @return true if response has not been sent | ||
| */ | ||
| virtual bool is_executing() const = 0; | ||
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| virtual ~ChangeStateHandler() = default; | ||
| }; | ||
| } // namespace rclcpp_lifecycle | ||
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| #endif // RCLCPP_LIFECYCLE__CHANGE_STATE_HANDLER_HPP_ |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,81 @@ | ||
| // Copyright 2023 Open Source Robotics Foundation, Inc. | ||
| // | ||
| // 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. | ||
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| #include <memory> | ||
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| #include "change_state_handler_impl.hpp" | ||
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| namespace rclcpp_lifecycle | ||
| { | ||
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| ChangeStateHandlerImpl::ChangeStateHandlerImpl( | ||
| const std::weak_ptr<LifecycleNodeStateManager> state_manager_hdl) | ||
| : state_manager_hdl_(state_manager_hdl) | ||
| { | ||
| } | ||
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| bool | ||
| ChangeStateHandlerImpl::send_callback_resp( | ||
| node_interfaces::LifecycleNodeInterface::CallbackReturn cb_return_code) | ||
| { | ||
| if (!is_canceling() && is_executing()) { | ||
| auto state_manager_hdl = state_manager_hdl_.lock(); | ||
| if (state_manager_hdl) { | ||
| response_sent_.store(true); | ||
| state_manager_hdl->process_callback_resp(cb_return_code); | ||
| return true; | ||
| } | ||
| } | ||
| return false; | ||
| } | ||
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| bool | ||
| ChangeStateHandlerImpl::handle_canceled(bool success) | ||
| { | ||
| if (is_canceling() && is_executing()) { | ||
| auto state_manager_hdl = state_manager_hdl_.lock(); | ||
| if (state_manager_hdl) { | ||
| response_sent_.store(true); | ||
| state_manager_hdl->user_handled_transition_cancel(success); | ||
| return true; | ||
| } | ||
| } | ||
| return false; | ||
| } | ||
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| bool | ||
| ChangeStateHandlerImpl::is_canceling() const | ||
| { | ||
| return transition_is_cancelled_.load(); | ||
| } | ||
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| bool | ||
| ChangeStateHandlerImpl::is_executing() const | ||
| { | ||
| return !response_sent_.load(); | ||
| } | ||
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| void | ||
| ChangeStateHandlerImpl::cancel_transition() | ||
| { | ||
| transition_is_cancelled_.store(true); | ||
| } | ||
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| void | ||
| ChangeStateHandlerImpl::invalidate() | ||
| { | ||
| response_sent_.store(true); | ||
| } | ||
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| } // namespace rclcpp_lifecycle |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,59 @@ | ||
| // Copyright 2023 Open Source Robotics Foundation, Inc. | ||
| // | ||
| // 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. | ||
|
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| #ifndef CHANGE_STATE_HANDLER_IMPL_HPP_ | ||
| #define CHANGE_STATE_HANDLER_IMPL_HPP_ | ||
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| #include <memory> | ||
| #include <atomic> | ||
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| #include "rclcpp_lifecycle/change_state_handler.hpp" | ||
| #include "rclcpp/node_interfaces/node_base_interface.hpp" | ||
| #include "lifecycle_node_state_manager.hpp" | ||
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| namespace rclcpp_lifecycle | ||
| { | ||
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| class ChangeStateHandlerImpl : public ChangeStateHandler | ||
| { | ||
| public: | ||
| explicit ChangeStateHandlerImpl(const std::weak_ptr<LifecycleNodeStateManager> state_manager_hdl); | ||
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| bool send_callback_resp( | ||
| node_interfaces::LifecycleNodeInterface::CallbackReturn cb_return_code) override; | ||
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| bool handle_canceled(bool success) override; | ||
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| bool is_canceling() const override; | ||
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| bool is_executing() const override; | ||
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| /** | ||
| * @brief Marks this transition as cancelled. It is up to the user to check if the transition | ||
| * has been cancelled and attempt to handle it. | ||
| */ | ||
| void cancel_transition(); | ||
|
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| /** | ||
| * @brief Invalidate the handler by setting the response_sent_ flag to true | ||
| */ | ||
| void invalidate(); | ||
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| private: | ||
| std::weak_ptr<LifecycleNodeStateManager> state_manager_hdl_; | ||
| std::atomic<bool> response_sent_{false}; | ||
| std::atomic<bool> transition_is_cancelled_{false}; | ||
| }; | ||
| } // namespace rclcpp_lifecycle | ||
| #endif // CHANGE_STATE_HANDLER_IMPL_HPP_ |
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