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node_impl.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__NODE_IMPL_HPP_
#define RCLCPP__NODE_IMPL_HPP_
#include <rmw/error_handling.h>
#include <rmw/rmw.h>
#include <algorithm>
#include <cstdlib>
#include <iostream>
#include <limits>
#include <map>
#include <memory>
#include <sstream>
#include <stdexcept>
#include <string>
#include <utility>
#include <vector>
#include "rcl/publisher.h"
#include "rcl/subscription.h"
#include "rcl_interfaces/msg/intra_process_message.hpp"
#include "rclcpp/contexts/default_context.hpp"
#include "rclcpp/create_publisher.hpp"
#include "rclcpp/create_service.hpp"
#include "rclcpp/create_subscription.hpp"
#include "rclcpp/intra_process_manager.hpp"
#include "rclcpp/parameter.hpp"
#include "rclcpp/qos.hpp"
#include "rclcpp/type_support_decl.hpp"
#include "rclcpp/visibility_control.hpp"
#ifndef RCLCPP__NODE_HPP_
#include "node.hpp"
#endif
namespace rclcpp
{
RCLCPP_LOCAL
inline
std::string
extend_name_with_sub_namespace(const std::string & name, const std::string & sub_namespace)
{
std::string name_with_sub_namespace(name);
if (sub_namespace != "" && name.front() != '/' && name.front() != '~') {
name_with_sub_namespace = sub_namespace + "/" + name;
}
return name_with_sub_namespace;
}
template<typename MessageT, typename AllocatorT, typename PublisherT>
std::shared_ptr<PublisherT>
Node::create_publisher(
const std::string & topic_name,
const rclcpp::QoS & qos,
const PublisherOptionsWithAllocator<AllocatorT> & options)
{
return rclcpp::create_publisher<MessageT, AllocatorT, PublisherT>(
*this,
extend_name_with_sub_namespace(topic_name, this->get_sub_namespace()),
qos,
options);
}
template<typename MessageT, typename AllocatorT, typename PublisherT>
std::shared_ptr<PublisherT>
Node::create_publisher(
const std::string & topic_name,
size_t qos_history_depth,
std::shared_ptr<AllocatorT> allocator)
{
PublisherOptionsWithAllocator<AllocatorT> pub_options;
pub_options.allocator = allocator;
return this->create_publisher<MessageT, AllocatorT, PublisherT>(
topic_name, rclcpp::QoS(rclcpp::KeepLast(qos_history_depth)), pub_options);
}
template<typename MessageT, typename AllocatorT, typename PublisherT>
std::shared_ptr<PublisherT>
Node::create_publisher(
const std::string & topic_name,
const rmw_qos_profile_t & qos_profile,
std::shared_ptr<AllocatorT> allocator)
{
rclcpp::QoS qos(rclcpp::QoSInitialization::from_rmw(qos_profile));
qos.get_rmw_qos_profile() = qos_profile;
PublisherOptionsWithAllocator<AllocatorT> pub_options;
pub_options.allocator = allocator;
return this->create_publisher<MessageT, AllocatorT, PublisherT>(topic_name, qos, pub_options);
}
template<
typename MessageT,
typename CallbackT,
typename AllocatorT,
typename SubscriptionT>
std::shared_ptr<SubscriptionT>
Node::create_subscription(
const std::string & topic_name,
const rclcpp::QoS & qos,
CallbackT && callback,
const SubscriptionOptionsWithAllocator<AllocatorT> & options,
typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, AllocatorT>::SharedPtr
msg_mem_strat)
{
return rclcpp::create_subscription<MessageT>(
*this,
extend_name_with_sub_namespace(topic_name, this->get_sub_namespace()),
qos,
std::forward<CallbackT>(callback),
options,
msg_mem_strat);
}
template<
typename MessageT,
typename CallbackT,
typename Alloc,
typename SubscriptionT>
std::shared_ptr<SubscriptionT>
Node::create_subscription(
const std::string & topic_name,
CallbackT && callback,
const rmw_qos_profile_t & qos_profile,
rclcpp::callback_group::CallbackGroup::SharedPtr group,
bool ignore_local_publications,
typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
msg_mem_strat,
std::shared_ptr<Alloc> allocator)
{
rclcpp::QoS qos(rclcpp::QoSInitialization::from_rmw(qos_profile));
qos.get_rmw_qos_profile() = qos_profile;
SubscriptionOptionsWithAllocator<Alloc> sub_options;
sub_options.callback_group = group;
sub_options.ignore_local_publications = ignore_local_publications;
sub_options.allocator = allocator;
return this->create_subscription<MessageT, CallbackT, Alloc, SubscriptionT>(
topic_name, qos, std::forward<CallbackT>(callback), sub_options, msg_mem_strat);
}
template<
typename MessageT,
typename CallbackT,
typename Alloc,
typename SubscriptionT>
std::shared_ptr<SubscriptionT>
Node::create_subscription(
const std::string & topic_name,
CallbackT && callback,
size_t qos_history_depth,
rclcpp::callback_group::CallbackGroup::SharedPtr group,
bool ignore_local_publications,
typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
msg_mem_strat,
std::shared_ptr<Alloc> allocator)
{
SubscriptionOptionsWithAllocator<Alloc> sub_options;
sub_options.callback_group = group;
sub_options.ignore_local_publications = ignore_local_publications;
sub_options.allocator = allocator;
return this->create_subscription<MessageT, CallbackT, Alloc, SubscriptionT>(
topic_name,
rclcpp::QoS(rclcpp::KeepLast(qos_history_depth)),
std::forward<CallbackT>(callback),
sub_options,
msg_mem_strat);
}
template<typename DurationRepT, typename DurationT, typename CallbackT>
typename rclcpp::WallTimer<CallbackT>::SharedPtr
Node::create_wall_timer(
std::chrono::duration<DurationRepT, DurationT> period,
CallbackT callback,
rclcpp::callback_group::CallbackGroup::SharedPtr group)
{
auto timer = rclcpp::WallTimer<CallbackT>::make_shared(
std::chrono::duration_cast<std::chrono::nanoseconds>(period),
std::move(callback),
this->node_base_->get_context());
node_timers_->add_timer(timer, group);
return timer;
}
template<typename ServiceT>
typename Client<ServiceT>::SharedPtr
Node::create_client(
const std::string & service_name,
const rmw_qos_profile_t & qos_profile,
rclcpp::callback_group::CallbackGroup::SharedPtr group)
{
rcl_client_options_t options = rcl_client_get_default_options();
options.qos = qos_profile;
using rclcpp::Client;
using rclcpp::ClientBase;
auto cli = Client<ServiceT>::make_shared(
node_base_.get(),
node_graph_,
extend_name_with_sub_namespace(service_name, this->get_sub_namespace()),
options);
auto cli_base_ptr = std::dynamic_pointer_cast<ClientBase>(cli);
node_services_->add_client(cli_base_ptr, group);
return cli;
}
template<typename ServiceT, typename CallbackT>
typename rclcpp::Service<ServiceT>::SharedPtr
Node::create_service(
const std::string & service_name,
CallbackT && callback,
const rmw_qos_profile_t & qos_profile,
rclcpp::callback_group::CallbackGroup::SharedPtr group)
{
return rclcpp::create_service<ServiceT, CallbackT>(
node_base_,
node_services_,
extend_name_with_sub_namespace(service_name, this->get_sub_namespace()),
std::forward<CallbackT>(callback),
qos_profile,
group);
}
template<typename ParameterT>
auto
Node::declare_parameter(
const std::string & name,
const ParameterT & default_value,
const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor)
{
return this->declare_parameter(
name,
rclcpp::ParameterValue(default_value),
parameter_descriptor
).get<ParameterT>();
}
template<typename ParameterT>
std::vector<ParameterT>
Node::declare_parameters(
const std::string & namespace_,
const std::map<std::string, ParameterT> & parameters)
{
std::vector<ParameterT> result;
std::string normalized_namespace = namespace_.empty() ? "" : (namespace_ + ".");
std::transform(
parameters.begin(), parameters.end(), std::back_inserter(result),
[this, &normalized_namespace](auto element) {
return this->declare_parameter(normalized_namespace + element.first, element.second);
}
);
return result;
}
template<typename ParameterT>
std::vector<ParameterT>
Node::declare_parameters(
const std::string & namespace_,
const std::map<
std::string,
std::pair<ParameterT, rcl_interfaces::msg::ParameterDescriptor>
> & parameters)
{
std::vector<ParameterT> result;
std::string normalized_namespace = namespace_.empty() ? "" : (namespace_ + ".");
std::transform(
parameters.begin(), parameters.end(), std::back_inserter(result),
[this, &normalized_namespace](auto element) {
return static_cast<ParameterT>(
this->declare_parameter(
normalized_namespace + element.first,
element.second.first,
element.second.second)
);
}
);
return result;
}
template<typename ParameterT>
void
Node::set_parameter_if_not_set(
const std::string & name,
const ParameterT & value)
{
if (
!this->has_parameter(name) ||
this->describe_parameter(name).type == PARAMETER_NOT_SET)
{
this->set_parameter(rclcpp::Parameter(name, value));
}
}
// this is a partially-specialized version of set_parameter_if_not_set above,
// where our concrete type for ParameterT is std::map, but the to-be-determined
// type is the value in the map.
template<typename ParameterT>
void
Node::set_parameters_if_not_set(
const std::string & name,
const std::map<std::string, ParameterT> & values)
{
std::vector<rclcpp::Parameter> params;
for (const auto & val : values) {
std::string parameter_name = name + "." + val.first;
if (
!this->has_parameter(parameter_name) ||
this->describe_parameter(parameter_name).type == PARAMETER_NOT_SET)
{
params.push_back(rclcpp::Parameter(parameter_name, val.second));
}
}
this->set_parameters(params);
}
template<typename ParameterT>
bool
Node::get_parameter(const std::string & name, ParameterT & parameter) const
{
std::string sub_name = extend_name_with_sub_namespace(name, this->get_sub_namespace());
rclcpp::Parameter parameter_variant;
bool result = get_parameter(sub_name, parameter_variant);
if (result) {
parameter = static_cast<ParameterT>(parameter_variant.get_value<ParameterT>());
}
return result;
}
template<typename ParameterT>
bool
Node::get_parameter_or(
const std::string & name,
ParameterT & parameter,
const ParameterT & alternative_value) const
{
std::string sub_name = extend_name_with_sub_namespace(name, this->get_sub_namespace());
bool got_parameter = get_parameter(sub_name, parameter);
if (!got_parameter) {
parameter = alternative_value;
}
return got_parameter;
}
// this is a partially-specialized version of get_parameter above,
// where our concrete type for ParameterT is std::map, but the to-be-determined
// type is the value in the map.
template<typename ParameterT>
bool
Node::get_parameters(
const std::string & prefix,
std::map<std::string, ParameterT> & values) const
{
std::map<std::string, rclcpp::Parameter> params;
bool result = node_parameters_->get_parameters_by_prefix(prefix, params);
if (result) {
for (const auto & param : params) {
values[param.first] = static_cast<ParameterT>(param.second.get_value<ParameterT>());
}
}
return result;
}
template<typename ParameterT>
void
Node::get_parameter_or_set(
const std::string & name,
ParameterT & value,
const ParameterT & alternative_value)
{
std::string sub_name = extend_name_with_sub_namespace(name, this->get_sub_namespace());
bool got_parameter = get_parameter(sub_name, value);
if (!got_parameter) {
this->set_parameters({
rclcpp::Parameter(sub_name, alternative_value),
});
value = alternative_value;
}
}
template<typename CallbackT>
void
Node::register_param_change_callback(CallbackT && callback)
{
this->node_parameters_->register_param_change_callback(std::forward<CallbackT>(callback));
}
} // namespace rclcpp
#endif // RCLCPP__NODE_IMPL_HPP_