Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Add new node interface TypeDescriptionsInterface to provide GetTypeDescription service #2224

Merged
Merged
Show file tree
Hide file tree
Changes from 11 commits
Commits
File filter

Filter by extension

Filter by extension

Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
1 change: 1 addition & 0 deletions rclcpp/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -92,6 +92,7 @@ set(${PROJECT_NAME}_SRCS
src/rclcpp/node_interfaces/node_time_source.cpp
src/rclcpp/node_interfaces/node_timers.cpp
src/rclcpp/node_interfaces/node_topics.cpp
src/rclcpp/node_interfaces/node_type_descriptions.cpp
src/rclcpp/node_interfaces/node_waitables.cpp
src/rclcpp/node_options.cpp
src/rclcpp/parameter.cpp
Expand Down
7 changes: 7 additions & 0 deletions rclcpp/include/rclcpp/node.hpp
Original file line number Diff line number Diff line change
Expand Up @@ -56,6 +56,7 @@
#include "rclcpp/node_interfaces/node_time_source_interface.hpp"
#include "rclcpp/node_interfaces/node_timers_interface.hpp"
#include "rclcpp/node_interfaces/node_topics_interface.hpp"
#include "rclcpp/node_interfaces/node_type_descriptions_interface.hpp"
#include "rclcpp/node_interfaces/node_waitables_interface.hpp"
#include "rclcpp/node_options.hpp"
#include "rclcpp/parameter.hpp"
Expand Down Expand Up @@ -1456,6 +1457,11 @@ class Node : public std::enable_shared_from_this<Node>
rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr
get_node_time_source_interface();

/// Return the Node's internal NodeTypeDescriptionsInterface implementation.
RCLCPP_PUBLIC
rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr
get_node_type_descriptions_interface();

/// Return the sub-namespace, if this is a sub-node, otherwise an empty string.
/**
* The returned sub-namespace is either the accumulated sub-namespaces which
Expand Down Expand Up @@ -1588,6 +1594,7 @@ class Node : public std::enable_shared_from_this<Node>
rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock_;
rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters_;
rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr node_time_source_;
rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr node_type_descriptions_;
rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr node_waitables_;

const rclcpp::NodeOptions node_options_;
Expand Down
2 changes: 2 additions & 0 deletions rclcpp/include/rclcpp/node_interfaces/node_interfaces.hpp
Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,7 @@
rclcpp::node_interfaces::NodeTimeSourceInterface, \
rclcpp::node_interfaces::NodeTimersInterface, \
rclcpp::node_interfaces::NodeTopicsInterface, \
rclcpp::node_interfaces::NodeTypeDescriptionsInterface, \
rclcpp::node_interfaces::NodeWaitablesInterface


Expand Down Expand Up @@ -118,6 +119,7 @@ class NodeInterfaces
* - rclcpp::node_interfaces::NodeTimeSourceInterface
* - rclcpp::node_interfaces::NodeTimersInterface
* - rclcpp::node_interfaces::NodeTopicsInterface
* - rclcpp::node_interfaces::NodeTypeDescriptionsInterface
* - rclcpp::node_interfaces::NodeWaitablesInterface
*
* Or you use custom interfaces as long as you make a template specialization
Expand Down
Original file line number Diff line number Diff line change
@@ -0,0 +1,94 @@
// 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.

#ifndef RCLCPP__NODE_INTERFACES__NODE_TYPE_DESCRIPTIONS_HPP_
#define RCLCPP__NODE_INTERFACES__NODE_TYPE_DESCRIPTIONS_HPP_

#include <memory>

#include "rclcpp/macros.hpp"
#include "rclcpp/node_interfaces/node_base_interface.hpp"
#include "rclcpp/node_interfaces/node_logging_interface.hpp"
#include "rclcpp/node_interfaces/node_parameters_interface.hpp"
#include "rclcpp/node_interfaces/node_services_interface.hpp"
#include "rclcpp/node_interfaces/node_topics_interface.hpp"
#include "rclcpp/node_interfaces/node_type_descriptions_interface.hpp"
#include "rclcpp/visibility_control.hpp"

#include "type_description_interfaces/srv/get_type_description.h"


namespace type_description_interfaces
{
namespace srv
{
// Helper wrapper for rclcpp::Service to access ::Request and ::Response types for allocation.
struct GetTypeDescription__C
{
using Request = type_description_interfaces__srv__GetTypeDescription_Request;
using Response = type_description_interfaces__srv__GetTypeDescription_Response;
using Event = type_description_interfaces__srv__GetTypeDescription_Event;
};
} // namespace srv
} // namespace type_description_interfaces

namespace rosidl_typesupport_cpp
{
// Helper function for C typesupport.
template<>
RCLCPP_PUBLIC
rosidl_service_type_support_t const *
get_service_type_support_handle<type_description_interfaces::srv::GetTypeDescription__C>();
} // namespace rosidl_typesupport_cpp

namespace rclcpp
{
namespace node_interfaces
{

/// Implementation of the NodeTypeDescriptions part of the Node API.
class NodeTypeDescriptions : public NodeTypeDescriptionsInterface
{
public:
RCLCPP_SMART_PTR_ALIASES_ONLY(NodeTypeDescriptions)

RCLCPP_PUBLIC
explicit NodeTypeDescriptions(
NodeBaseInterface::SharedPtr node_base,
NodeLoggingInterface::SharedPtr node_logging,
NodeParametersInterface::SharedPtr node_parameters,
NodeServicesInterface::SharedPtr node_services);

RCLCPP_PUBLIC
virtual
~NodeTypeDescriptions();

private:
RCLCPP_DISABLE_COPY(NodeTypeDescriptions)

// Pimpl for future backport ABI stability assistance, not for general functionality
class NodeTypeDescriptionsImpl;
using ServiceT = type_description_interfaces::srv::GetTypeDescription__C;

rclcpp::Logger logger_;
rclcpp::Service<ServiceT>::SharedPtr type_description_srv_;
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;

std::unique_ptr<NodeTypeDescriptionsImpl> impl_;
clalancette marked this conversation as resolved.
Show resolved Hide resolved
};

} // namespace node_interfaces
} // namespace rclcpp

#endif // RCLCPP__NODE_INTERFACES__NODE_TYPE_DESCRIPTIONS_HPP_
Original file line number Diff line number Diff line change
@@ -0,0 +1,44 @@
// 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.

#ifndef RCLCPP__NODE_INTERFACES__NODE_TYPE_DESCRIPTIONS_INTERFACE_HPP_
#define RCLCPP__NODE_INTERFACES__NODE_TYPE_DESCRIPTIONS_INTERFACE_HPP_

#include "rclcpp/macros.hpp"
#include "rclcpp/node_interfaces/detail/node_interfaces_helpers.hpp"
#include "rclcpp/visibility_control.hpp"

namespace rclcpp
{
namespace node_interfaces
{

/// Pure virtual interface class for the NodeTypeDescriptions part of the Node API.
class NodeTypeDescriptionsInterface
{
public:
RCLCPP_SMART_PTR_ALIASES_ONLY(NodeTypeDescriptionsInterface)

RCLCPP_PUBLIC
virtual
~NodeTypeDescriptionsInterface() = default;
};

} // namespace node_interfaces
} // namespace rclcpp

RCLCPP_NODE_INTERFACE_HELPERS_SUPPORT(
rclcpp::node_interfaces::NodeTypeDescriptionsInterface, type_descriptions)

#endif // RCLCPP__NODE_INTERFACES__NODE_TYPE_DESCRIPTIONS_INTERFACE_HPP_
13 changes: 13 additions & 0 deletions rclcpp/src/rclcpp/node.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,7 @@
#include "rclcpp/node_interfaces/node_time_source.hpp"
#include "rclcpp/node_interfaces/node_timers.hpp"
#include "rclcpp/node_interfaces/node_topics.hpp"
#include "rclcpp/node_interfaces/node_type_descriptions.hpp"
#include "rclcpp/node_interfaces/node_waitables.hpp"
#include "rclcpp/qos_overriding_options.hpp"

Expand Down Expand Up @@ -206,6 +207,12 @@ Node::Node(
options.clock_qos(),
options.use_clock_thread()
)),
node_type_descriptions_(new rclcpp::node_interfaces::NodeTypeDescriptions(
node_base_,
node_logging_,
node_parameters_,
node_services_
)),
node_waitables_(new rclcpp::node_interfaces::NodeWaitables(node_base_.get())),
node_options_(options),
sub_namespace_(""),
Expand Down Expand Up @@ -591,6 +598,12 @@ Node::get_node_topics_interface()
return node_topics_;
}

rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr
Node::get_node_type_descriptions_interface()
{
return node_type_descriptions_;
}

rclcpp::node_interfaces::NodeServicesInterface::SharedPtr
Node::get_node_services_interface()
{
Expand Down
1 change: 1 addition & 0 deletions rclcpp/src/rclcpp/node_interfaces/node_base.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
#include "rclcpp/node_interfaces/node_base.hpp"

#include "rcl/arguments.h"
#include "rcl/node_type_cache.h"
#include "rclcpp/exceptions.hpp"
#include "rcutils/logging_macros.h"
#include "rmw/validate_namespace.h"
Expand Down
123 changes: 123 additions & 0 deletions rclcpp/src/rclcpp/node_interfaces/node_type_descriptions.cpp
Original file line number Diff line number Diff line change
@@ -0,0 +1,123 @@
// 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.

#include <memory>
#include <string>
#include <thread>

#include "rclcpp/node_interfaces/node_type_descriptions.hpp"
#include "rclcpp/parameter_client.hpp"

#include "type_description_interfaces/srv/get_type_description.h"

namespace rosidl_typesupport_cpp
{
template<>
rosidl_service_type_support_t const *
get_service_type_support_handle<type_description_interfaces::srv::GetTypeDescription__C>()
{
return ROSIDL_GET_SRV_TYPE_SUPPORT(type_description_interfaces, srv, GetTypeDescription);
}
} // namespace rosidl_typesupport_cpp

namespace rclcpp
{
namespace node_interfaces
{

class NodeTypeDescriptions::NodeTypeDescriptionsImpl
{};

NodeTypeDescriptions::NodeTypeDescriptions(
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging,
rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters,
rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services)
: logger_(node_logging->get_logger()),
node_base_(node_base)
{
const std::string enable_param_name = "start_type_description_service";

bool enabled = false;
try {
auto enable_param = node_parameters->declare_parameter(
enable_param_name,
rclcpp::ParameterValue(true),
rcl_interfaces::msg::ParameterDescriptor()
.set__name(enable_param_name)
.set__type(rclcpp::PARAMETER_BOOL)
.set__description("Start the ~/get_type_description service for this node.")
.set__read_only(true));
enabled = enable_param.get<bool>();
} catch (const rclcpp::exceptions::InvalidParameterTypeException & exc) {
RCLCPP_ERROR(logger_, "%s", exc.what());
throw;
}

if (enabled) {
auto rcl_node = node_base->get_rcl_node_handle();
rcl_ret_t rcl_ret = rcl_node_type_description_service_init(rcl_node);
if (rcl_ret != RCL_RET_OK) {
RCLCPP_ERROR(
logger_, "Failed to initialize ~/get_type_description_service: %s",
rcl_get_error_string().str);
throw std::runtime_error(
"Failed to initialize ~/get_type_description service.");
}

rcl_service_t * rcl_srv = nullptr;
rcl_ret = rcl_node_get_type_description_service(rcl_node, &rcl_srv);
if (rcl_ret != RCL_RET_OK) {
throw std::runtime_error(
"Failed to get initialized ~/get_type_description service from rcl.");
}

rclcpp::AnyServiceCallback<ServiceT> cb;
cb.set(
[this](
std::shared_ptr<rmw_request_id_t> header,
std::shared_ptr<ServiceT::Request> request,
std::shared_ptr<ServiceT::Response> response
) {
rcl_node_type_description_service_handle_request(
node_base_->get_rcl_node_handle(),
header.get(),
request.get(),
response.get());
});

type_description_srv_ = std::make_shared<Service<ServiceT>>(
node_base_->get_shared_rcl_node_handle(),
rcl_srv,
cb);
node_services->add_service(
std::dynamic_pointer_cast<ServiceBase>(type_description_srv_),
nullptr);
}
}

NodeTypeDescriptions::~NodeTypeDescriptions()
{
if (
type_description_srv_ &&
RCL_RET_OK != rcl_node_type_description_service_fini(node_base_->get_rcl_node_handle()))
{
RCUTILS_LOG_ERROR_NAMED(
"rclcpp",
"Error in shutdown of get_type_description service: %s", rcl_get_error_string().str);
}
}

} // namespace node_interfaces
} // namespace rclcpp
5 changes: 5 additions & 0 deletions rclcpp/test/rclcpp/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -262,6 +262,11 @@ if(TARGET test_node_interfaces__node_topics)
"test_msgs")
target_link_libraries(test_node_interfaces__node_topics ${PROJECT_NAME} mimick)
endif()
ament_add_gtest(test_node_interfaces__node_type_descriptions
node_interfaces/test_node_type_descriptions.cpp)
if(TARGET test_node_interfaces__node_type_descriptions)
target_link_libraries(test_node_interfaces__node_type_descriptions ${PROJECT_NAME} mimick)
endif()
ament_add_gtest(test_node_interfaces__node_waitables
node_interfaces/test_node_waitables.cpp)
if(TARGET test_node_interfaces__node_waitables)
Expand Down
4 changes: 2 additions & 2 deletions rclcpp/test/rclcpp/node_interfaces/test_node_parameters.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -77,9 +77,9 @@ TEST_F(TestNodeParameters, list_parameters)
std::vector<std::string> prefixes;
const auto list_result = node_parameters->list_parameters(prefixes, 1u);

// Currently the only default parameter is 'use_sim_time', but that may change.
// currently 'use_sim_time' and 'start_type_description_service'
emersonknapp marked this conversation as resolved.
Show resolved Hide resolved
size_t number_of_parameters = list_result.names.size();
EXPECT_GE(1u, number_of_parameters);
EXPECT_GE(2u, number_of_parameters);

const std::string parameter_name = "new_parameter";
const rclcpp::ParameterValue value(true);
Expand Down
Loading