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service.hpp
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// Copyright 2014 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__SERVICE_HPP_
#define RCLCPP__SERVICE_HPP_
#include <atomic>
#include <functional>
#include <iostream>
#include <memory>
#include <sstream>
#include <string>
#include "rcl/error_handling.h"
#include "rcl/service.h"
#include "rclcpp/any_service_callback.hpp"
#include "rclcpp/exceptions.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/type_support_decl.hpp"
#include "rclcpp/expand_topic_or_service_name.hpp"
#include "rclcpp/visibility_control.hpp"
#include "rclcpp/logging.hpp"
#include "rmw/error_handling.h"
#include "rmw/rmw.h"
#include "tracetools/tracetools.h"
namespace rclcpp
{
class ServiceBase
{
public:
RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(ServiceBase)
RCLCPP_PUBLIC
explicit ServiceBase(std::shared_ptr<rcl_node_t> node_handle);
RCLCPP_PUBLIC
virtual ~ServiceBase();
/// Return the name of the service.
/** \return The name of the service. */
RCLCPP_PUBLIC
const char *
get_service_name();
/// Return the rcl_service_t service handle in a std::shared_ptr.
/**
* This handle remains valid after the Service is destroyed.
* The actual rcl service is not finalized until it is out of scope everywhere.
*/
RCLCPP_PUBLIC
std::shared_ptr<rcl_service_t>
get_service_handle();
/// Return the rcl_service_t service handle in a std::shared_ptr.
/**
* This handle remains valid after the Service is destroyed.
* The actual rcl service is not finalized until it is out of scope everywhere.
*/
RCLCPP_PUBLIC
std::shared_ptr<const rcl_service_t>
get_service_handle() const;
/// Take the next request from the service as a type erased pointer.
/**
* This type erased version of \sa Service::take_request() is useful when
* using the service in a type agnostic way with methods like
* ServiceBase::create_request(), ServiceBase::create_request_header(), and
* ServiceBase::handle_request().
*
* \param[out] request_out The type erased pointer to a service request object
* into which the middleware will copy the taken request.
* \param[out] request_id_out The output id for the request which can be used
* to associate response with this request in the future.
* \returns true if the request was taken, otherwise false.
* \throws rclcpp::exceptions::RCLError based exceptions if the underlying
* rcl calls fail.
*/
RCLCPP_PUBLIC
bool
take_type_erased_request(void * request_out, rmw_request_id_t & request_id_out);
virtual
std::shared_ptr<void>
create_request() = 0;
virtual
std::shared_ptr<rmw_request_id_t>
create_request_header() = 0;
virtual
void
handle_request(
std::shared_ptr<rmw_request_id_t> request_header,
std::shared_ptr<void> request) = 0;
/// Exchange the "in use by wait set" state for this service.
/**
* This is used to ensure this service is not used by multiple
* wait sets at the same time.
*
* \param[in] in_use_state the new state to exchange into the state, true
* indicates it is now in use by a wait set, and false is that it is no
* longer in use by a wait set.
* \returns the previous state.
*/
RCLCPP_PUBLIC
bool
exchange_in_use_by_wait_set_state(bool in_use_state);
protected:
RCLCPP_DISABLE_COPY(ServiceBase)
RCLCPP_PUBLIC
rcl_node_t *
get_rcl_node_handle();
RCLCPP_PUBLIC
const rcl_node_t *
get_rcl_node_handle() const;
std::shared_ptr<rcl_node_t> node_handle_;
std::shared_ptr<rcl_service_t> service_handle_;
bool owns_rcl_handle_ = true;
std::atomic<bool> in_use_by_wait_set_{false};
};
template<typename ServiceT>
class Service
: public ServiceBase,
public std::enable_shared_from_this<Service<ServiceT>>
{
public:
using CallbackType = std::function<
void (
const std::shared_ptr<typename ServiceT::Request>,
std::shared_ptr<typename ServiceT::Response>)>;
using CallbackWithHeaderType = std::function<
void (
const std::shared_ptr<rmw_request_id_t>,
const std::shared_ptr<typename ServiceT::Request>,
std::shared_ptr<typename ServiceT::Response>)>;
RCLCPP_SMART_PTR_DEFINITIONS(Service)
/// Default constructor.
/**
* The constructor for a Service is almost never called directly.
* Instead, services should be instantiated through the function
* rclcpp::create_service().
*
* \param[in] node_handle NodeBaseInterface pointer that is used in part of the setup.
* \param[in] service_name Name of the topic to publish to.
* \param[in] any_callback User defined callback to call when a client request is received.
* \param[in] service_options options for the subscription.
*/
Service(
std::shared_ptr<rcl_node_t> node_handle,
const std::string & service_name,
AnyServiceCallback<ServiceT> any_callback,
rcl_service_options_t & service_options)
: ServiceBase(node_handle), any_callback_(any_callback)
{
using rosidl_typesupport_cpp::get_service_type_support_handle;
auto service_type_support_handle = get_service_type_support_handle<ServiceT>();
// rcl does the static memory allocation here
service_handle_ = std::shared_ptr<rcl_service_t>(
new rcl_service_t, [handle = node_handle_, service_name](rcl_service_t * service)
{
if (rcl_service_fini(service, handle.get()) != RCL_RET_OK) {
RCLCPP_ERROR(
rclcpp::get_node_logger(handle.get()).get_child("rclcpp"),
"Error in destruction of rcl service handle: %s",
rcl_get_error_string().str);
rcl_reset_error();
}
delete service;
});
*service_handle_.get() = rcl_get_zero_initialized_service();
rcl_ret_t ret = rcl_service_init(
service_handle_.get(),
node_handle.get(),
service_type_support_handle,
service_name.c_str(),
&service_options);
if (ret != RCL_RET_OK) {
if (ret == RCL_RET_SERVICE_NAME_INVALID) {
auto rcl_node_handle = get_rcl_node_handle();
// this will throw on any validation problem
rcl_reset_error();
expand_topic_or_service_name(
service_name,
rcl_node_get_name(rcl_node_handle),
rcl_node_get_namespace(rcl_node_handle),
true);
}
rclcpp::exceptions::throw_from_rcl_error(ret, "could not create service");
}
TRACEPOINT(
rclcpp_service_callback_added,
static_cast<const void *>(get_service_handle().get()),
static_cast<const void *>(&any_callback_));
#ifndef TRACETOOLS_DISABLED
any_callback_.register_callback_for_tracing();
#endif
}
/// Default constructor.
/**
* The constructor for a Service is almost never called directly.
* Instead, services should be instantiated through the function
* rclcpp::create_service().
*
* \param[in] node_handle NodeBaseInterface pointer that is used in part of the setup.
* \param[in] service_handle service handle.
* \param[in] any_callback User defined callback to call when a client request is received.
*/
Service(
std::shared_ptr<rcl_node_t> node_handle,
std::shared_ptr<rcl_service_t> service_handle,
AnyServiceCallback<ServiceT> any_callback)
: ServiceBase(node_handle),
any_callback_(any_callback)
{
// check if service handle was initialized
if (!rcl_service_is_valid(service_handle.get())) {
// *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
throw std::runtime_error(
std::string("rcl_service_t in constructor argument must be initialized beforehand."));
// *INDENT-ON*
}
service_handle_ = service_handle;
TRACEPOINT(
rclcpp_service_callback_added,
static_cast<const void *>(get_service_handle().get()),
static_cast<const void *>(&any_callback_));
#ifndef TRACETOOLS_DISABLED
any_callback_.register_callback_for_tracing();
#endif
}
/// Default constructor.
/**
* The constructor for a Service is almost never called directly.
* Instead, services should be instantiated through the function
* rclcpp::create_service().
*
* \param[in] node_handle NodeBaseInterface pointer that is used in part of the setup.
* \param[in] service_handle service handle.
* \param[in] any_callback User defined callback to call when a client request is received.
*/
Service(
std::shared_ptr<rcl_node_t> node_handle,
rcl_service_t * service_handle,
AnyServiceCallback<ServiceT> any_callback)
: ServiceBase(node_handle),
any_callback_(any_callback)
{
// check if service handle was initialized
if (!rcl_service_is_valid(service_handle)) {
// *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
throw std::runtime_error(
std::string("rcl_service_t in constructor argument must be initialized beforehand."));
// *INDENT-ON*
}
// In this case, rcl owns the service handle memory
service_handle_ = std::shared_ptr<rcl_service_t>(new rcl_service_t);
service_handle_->impl = service_handle->impl;
TRACEPOINT(
rclcpp_service_callback_added,
static_cast<const void *>(get_service_handle().get()),
static_cast<const void *>(&any_callback_));
#ifndef TRACETOOLS_DISABLED
any_callback_.register_callback_for_tracing();
#endif
}
Service() = delete;
virtual ~Service()
{
}
/// Take the next request from the service.
/**
* \sa ServiceBase::take_type_erased_request().
*
* \param[out] request_out The reference to a service request object
* into which the middleware will copy the taken request.
* \param[out] request_id_out The output id for the request which can be used
* to associate response with this request in the future.
* \returns true if the request was taken, otherwise false.
* \throws rclcpp::exceptions::RCLError based exceptions if the underlying
* rcl calls fail.
*/
bool
take_request(typename ServiceT::Request & request_out, rmw_request_id_t & request_id_out)
{
return this->take_type_erased_request(&request_out, request_id_out);
}
std::shared_ptr<void>
create_request() override
{
return std::make_shared<typename ServiceT::Request>();
}
std::shared_ptr<rmw_request_id_t>
create_request_header() override
{
return std::make_shared<rmw_request_id_t>();
}
void
handle_request(
std::shared_ptr<rmw_request_id_t> request_header,
std::shared_ptr<void> request) override
{
auto typed_request = std::static_pointer_cast<typename ServiceT::Request>(request);
auto response = any_callback_.dispatch(this->shared_from_this(), request_header, typed_request);
if (response) {
send_response(*request_header, *response);
}
}
void
send_response(rmw_request_id_t & req_id, typename ServiceT::Response & response)
{
rcl_ret_t ret = rcl_send_response(get_service_handle().get(), &req_id, &response);
if (ret != RCL_RET_OK) {
rclcpp::exceptions::throw_from_rcl_error(ret, "failed to send response");
}
}
private:
RCLCPP_DISABLE_COPY(Service)
AnyServiceCallback<ServiceT> any_callback_;
};
} // namespace rclcpp
#endif // RCLCPP__SERVICE_HPP_