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Signed-off-by: Prajakta Gokhale <prajaktg@amazon.com>
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rclcpp/test/topic_statistics/test_topic_stats_utils.hpp
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| // Copyright 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. | ||
| // | ||
| // 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 <atomic> | ||
| #include <functional> | ||
| #include <future> | ||
| #include <memory> | ||
| #include <mutex> | ||
| #include <string> | ||
| #include <vector> | ||
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| #include "statistics_msgs/msg/metrics_message.hpp" | ||
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| #ifndef TOPIC_STATISTICS__TEST_TOPIC_STATS_UTILS_HPP_ | ||
| #define TOPIC_STATISTICS__TEST_TOPIC_STATS_UTILS_HPP_ | ||
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| namespace rclcpp | ||
| { | ||
| namespace topic_statistics | ||
| { | ||
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| using statistics_msgs::msg::MetricsMessage; | ||
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| /** | ||
| * Provide an interface to wait for a promise to be satisfied via its future. | ||
| */ | ||
| class PromiseSetter | ||
| { | ||
| public: | ||
| /** | ||
| * Reassign the promise member and return it's future. Acquires a mutex in order | ||
| * to mutate member variables. | ||
| * | ||
| * \return the promise member's future, called upon PeriodicMeasurement | ||
| */ | ||
| std::shared_future<bool> GetFuture() | ||
| { | ||
| std::unique_lock<std::mutex> ulock{mutex_}; | ||
| use_future_ = true; | ||
| promise_ = std::promise<bool>(); | ||
| return promise_.get_future(); | ||
| } | ||
|
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| protected: | ||
| /** | ||
| * Set the promise to true, which signals the corresponding future. Acquires a mutex and sets | ||
| * the promise to true iff GetFuture was invoked before this. | ||
| */ | ||
| void SetPromise() | ||
| { | ||
| std::unique_lock<std::mutex> ulock{mutex_}; | ||
| if (use_future_) { | ||
| // only set if GetFuture was called | ||
| promise_.set_value(true); | ||
| use_future_ = false; // the promise needs to be reassigned to set again | ||
| } | ||
| } | ||
|
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| private: | ||
| mutable std::mutex mutex_; | ||
| std::promise<bool> promise_; | ||
| bool use_future_{false}; | ||
| }; | ||
|
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| /** | ||
| * Node which listens for published MetricsMessages. This uses the PromiseSetter API | ||
| * in order to signal, via a future, that rclcpp should stop spinning upon | ||
| * message handling. | ||
| */ | ||
| class MetricsMessageSubscriber : public rclcpp::Node, public PromiseSetter | ||
| { | ||
| public: | ||
| /** | ||
| * Constructs a MetricsMessageSubscriber. | ||
| * \param name the node name | ||
| * \param name the topic name | ||
| * \param number of messages to receive to trigger the PromiseSetter future | ||
| */ | ||
| MetricsMessageSubscriber( | ||
| const std::string & name, | ||
| const std::string & topic_name, | ||
| const int number_of_messages_to_receive = 2) | ||
| : rclcpp::Node(name), | ||
| number_of_messages_to_receive_(number_of_messages_to_receive) | ||
| { | ||
| auto callback = [this](MetricsMessage::UniquePtr msg) { | ||
| this->MetricsMessageCallback(*msg); | ||
| }; | ||
| subscription_ = create_subscription<MetricsMessage, | ||
| std::function<void(MetricsMessage::UniquePtr)>>( | ||
| topic_name, | ||
| 10 /*history_depth*/, | ||
| callback); | ||
| } | ||
|
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| /** | ||
| * Acquires a mutex in order to get the last message received member. | ||
| * \return the last message received | ||
| */ | ||
| std::vector<MetricsMessage> GetReceivedMessages() const | ||
| { | ||
| std::unique_lock<std::mutex> ulock{mutex_}; | ||
| return received_messages_; | ||
| } | ||
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| /** | ||
| * Return the number of messages received by this subscriber. | ||
| * \return the number of messages received by the subscriber callback | ||
| */ | ||
| int GetNumberOfMessagesReceived() const | ||
| { | ||
| return num_messages_received_; | ||
| } | ||
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| private: | ||
| /** | ||
| * Subscriber callback. Acquires a mutex to set the last message received and | ||
| * sets the promise to true. | ||
| * \param msg | ||
| */ | ||
| void MetricsMessageCallback(const MetricsMessage & msg) | ||
| { | ||
| std::unique_lock<std::mutex> ulock{mutex_}; | ||
| ++num_messages_received_; | ||
| received_messages_.push_back(msg); | ||
| if (num_messages_received_ >= number_of_messages_to_receive_) { | ||
| PromiseSetter::SetPromise(); | ||
| } | ||
| } | ||
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| std::vector<MetricsMessage> received_messages_; | ||
| rclcpp::Subscription<MetricsMessage>::SharedPtr subscription_; | ||
| mutable std::mutex mutex_; | ||
| std::atomic<int> num_messages_received_{0}; | ||
| const int number_of_messages_to_receive_; | ||
| }; | ||
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| } // namespace topic_statistics | ||
| } // namespace rclcpp | ||
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| #endif // TOPIC_STATISTICS__TEST_TOPIC_STATS_UTILS_HPP_ |