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client.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__CLIENT_HPP_
#define RCLCPP__CLIENT_HPP_
#include <atomic>
#include <future>
#include <map>
#include <memory>
#include <sstream>
#include <string>
#include <tuple>
#include <utility>
#include "rcl/client.h"
#include "rcl/error_handling.h"
#include "rcl/wait.h"
#include "rclcpp/exceptions.hpp"
#include "rclcpp/function_traits.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/node_interfaces/node_graph_interface.hpp"
#include "rclcpp/type_support_decl.hpp"
#include "rclcpp/utilities.hpp"
#include "rclcpp/expand_topic_or_service_name.hpp"
#include "rclcpp/visibility_control.hpp"
#include "rcutils/logging_macros.h"
#include "rmw/error_handling.h"
#include "rmw/rmw.h"
namespace rclcpp
{
namespace node_interfaces
{
class NodeBaseInterface;
} // namespace node_interfaces
class ClientBase
{
public:
RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(ClientBase)
RCLCPP_PUBLIC
ClientBase(
rclcpp::node_interfaces::NodeBaseInterface * node_base,
rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph);
RCLCPP_PUBLIC
virtual ~ClientBase();
/// Take the next response for this client as a type erased pointer.
/**
* The type erased pointer allows for this method to be used in a type
* agnostic way along with ClientBase::create_response(),
* ClientBase::create_request_header(), and ClientBase::handle_response().
* The typed version of this can be used if the Service type is known,
* \sa Client::take_response().
*
* \param[out] response_out The type erased pointer to a Service Response into
* which the middleware will copy the response being taken.
* \param[out] request_header_out The request header to be filled by the
* middleware when taking, and which can be used to associte the response
* to a specific request.
* \returns true if the response was taken, otherwise false.
* \throws rclcpp::exceptions::RCLError based exceptions if the underlying
* rcl function fail.
*/
RCLCPP_PUBLIC
bool
take_type_erased_response(void * response_out, rmw_request_id_t & request_header_out);
/// Return the name of the service.
/** \return The name of the service. */
RCLCPP_PUBLIC
const char *
get_service_name() const;
/// Return the rcl_client_t client handle in a std::shared_ptr.
/**
* This handle remains valid after the Client is destroyed.
* The actual rcl client is not finalized until it is out of scope everywhere.
*/
RCLCPP_PUBLIC
std::shared_ptr<rcl_client_t>
get_client_handle();
/// Return the rcl_client_t client handle in a std::shared_ptr.
/**
* This handle remains valid after the Client is destroyed.
* The actual rcl client is not finalized until it is out of scope everywhere.
*/
RCLCPP_PUBLIC
std::shared_ptr<const rcl_client_t>
get_client_handle() const;
/// Return if the service is ready.
/**
* \return `true` if the service is ready, `false` otherwise
*/
RCLCPP_PUBLIC
bool
service_is_ready() const;
/// Wait for a service to be ready.
/**
* \param timeout maximum time to wait
* \return `true` if the service is ready and the timeout is not over, `false` otherwise
*/
template<typename RepT = int64_t, typename RatioT = std::milli>
bool
wait_for_service(
std::chrono::duration<RepT, RatioT> timeout = std::chrono::duration<RepT, RatioT>(-1))
{
return wait_for_service_nanoseconds(
std::chrono::duration_cast<std::chrono::nanoseconds>(timeout)
);
}
virtual std::shared_ptr<void> create_response() = 0;
virtual std::shared_ptr<rmw_request_id_t> create_request_header() = 0;
virtual void handle_response(
std::shared_ptr<rmw_request_id_t> request_header, std::shared_ptr<void> response) = 0;
/// Exchange the "in use by wait set" state for this client.
/**
* This is used to ensure this client 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(ClientBase)
RCLCPP_PUBLIC
bool
wait_for_service_nanoseconds(std::chrono::nanoseconds timeout);
RCLCPP_PUBLIC
rcl_node_t *
get_rcl_node_handle();
RCLCPP_PUBLIC
const rcl_node_t *
get_rcl_node_handle() const;
rclcpp::node_interfaces::NodeGraphInterface::WeakPtr node_graph_;
std::shared_ptr<rcl_node_t> node_handle_;
std::shared_ptr<rclcpp::Context> context_;
std::shared_ptr<rcl_client_t> client_handle_;
std::atomic<bool> in_use_by_wait_set_{false};
};
template<typename ServiceT>
class Client : public ClientBase
{
public:
using SharedRequest = typename ServiceT::Request::SharedPtr;
using SharedResponse = typename ServiceT::Response::SharedPtr;
using Promise = std::promise<SharedResponse>;
using PromiseWithRequest = std::promise<std::pair<SharedRequest, SharedResponse>>;
using SharedPromise = std::shared_ptr<Promise>;
using SharedPromiseWithRequest = std::shared_ptr<PromiseWithRequest>;
using SharedFuture = std::shared_future<SharedResponse>;
using SharedFutureWithRequest = std::shared_future<std::pair<SharedRequest, SharedResponse>>;
using CallbackType = std::function<void (SharedFuture)>;
using CallbackWithRequestType = std::function<void (SharedFutureWithRequest)>;
RCLCPP_SMART_PTR_DEFINITIONS(Client)
/// Default constructor.
/**
* The constructor for a Client is almost never called directly.
* Instead, clients should be instantiated through the function
* rclcpp::create_client().
*
* \param[in] node_base NodeBaseInterface pointer that is used in part of the setup.
* \param[in] node_graph The node graph interface of the corresponding node.
* \param[in] service_name Name of the topic to publish to.
* \param[in] client_options options for the subscription.
*/
Client(
rclcpp::node_interfaces::NodeBaseInterface * node_base,
rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
const std::string & service_name,
rcl_client_options_t & client_options)
: ClientBase(node_base, node_graph)
{
using rosidl_typesupport_cpp::get_service_type_support_handle;
auto service_type_support_handle =
get_service_type_support_handle<ServiceT>();
rcl_ret_t ret = rcl_client_init(
this->get_client_handle().get(),
this->get_rcl_node_handle(),
service_type_support_handle,
service_name.c_str(),
&client_options);
if (ret != RCL_RET_OK) {
if (ret == RCL_RET_SERVICE_NAME_INVALID) {
auto rcl_node_handle = this->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 client");
}
}
virtual ~Client()
{
}
/// Take the next response for this client.
/**
* \sa ClientBase::take_type_erased_response().
*
* \param[out] response_out The reference to a Service Response into
* which the middleware will copy the response being taken.
* \param[out] request_header_out The request header to be filled by the
* middleware when taking, and which can be used to associte the response
* to a specific request.
* \returns true if the response was taken, otherwise false.
* \throws rclcpp::exceptions::RCLError based exceptions if the underlying
* rcl function fail.
*/
bool
take_response(typename ServiceT::Response & response_out, rmw_request_id_t & request_header_out)
{
return this->take_type_erased_response(&response_out, request_header_out);
}
/// Create a shared pointer with the response type
/**
* \return shared pointer with the response type
*/
std::shared_ptr<void>
create_response() override
{
return std::shared_ptr<void>(new typename ServiceT::Response());
}
/// Create a shared pointer with a rmw_request_id_t
/**
* \return shared pointer with a rmw_request_id_t
*/
std::shared_ptr<rmw_request_id_t>
create_request_header() override
{
// TODO(wjwwood): This should probably use rmw_request_id's allocator.
// (since it is a C type)
return std::shared_ptr<rmw_request_id_t>(new rmw_request_id_t);
}
/// Handle a server response
/**
* \param[in] request_header used to check if the secuence number is valid
* \param[in] response message with the server response
*/
void
handle_response(
std::shared_ptr<rmw_request_id_t> request_header,
std::shared_ptr<void> response) override
{
std::unique_lock<std::mutex> lock(pending_requests_mutex_);
auto typed_response = std::static_pointer_cast<typename ServiceT::Response>(response);
int64_t sequence_number = request_header->sequence_number;
// TODO(esteve) this should throw instead since it is not expected to happen in the first place
if (this->pending_requests_.count(sequence_number) == 0) {
RCUTILS_LOG_ERROR_NAMED(
"rclcpp",
"Received invalid sequence number. Ignoring...");
return;
}
auto tuple = this->pending_requests_[sequence_number];
auto call_promise = std::get<0>(tuple);
auto callback = std::get<1>(tuple);
auto future = std::get<2>(tuple);
this->pending_requests_.erase(sequence_number);
// Unlock here to allow the service to be called recursively from one of its callbacks.
lock.unlock();
call_promise->set_value(typed_response);
callback(future);
}
SharedFuture
async_send_request(SharedRequest request)
{
return async_send_request(request, [](SharedFuture) {});
}
template<
typename CallbackT,
typename std::enable_if<
rclcpp::function_traits::same_arguments<
CallbackT,
CallbackType
>::value
>::type * = nullptr
>
SharedFuture
async_send_request(SharedRequest request, CallbackT && cb)
{
std::lock_guard<std::mutex> lock(pending_requests_mutex_);
int64_t sequence_number;
rcl_ret_t ret = rcl_send_request(get_client_handle().get(), request.get(), &sequence_number);
if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret, "failed to send request");
}
SharedPromise call_promise = std::make_shared<Promise>();
SharedFuture f(call_promise->get_future());
pending_requests_[sequence_number] =
std::make_tuple(call_promise, std::forward<CallbackType>(cb), f);
return f;
}
template<
typename CallbackT,
typename std::enable_if<
rclcpp::function_traits::same_arguments<
CallbackT,
CallbackWithRequestType
>::value
>::type * = nullptr
>
SharedFutureWithRequest
async_send_request(SharedRequest request, CallbackT && cb)
{
SharedPromiseWithRequest promise = std::make_shared<PromiseWithRequest>();
SharedFutureWithRequest future_with_request(promise->get_future());
auto wrapping_cb = [future_with_request, promise, request,
cb = std::forward<CallbackWithRequestType>(cb)](SharedFuture future) {
auto response = future.get();
promise->set_value(std::make_pair(request, response));
cb(future_with_request);
};
async_send_request(request, wrapping_cb);
return future_with_request;
}
private:
RCLCPP_DISABLE_COPY(Client)
std::map<int64_t, std::tuple<SharedPromise, CallbackType, SharedFuture>> pending_requests_;
std::mutex pending_requests_mutex_;
};
} // namespace rclcpp
#endif // RCLCPP__CLIENT_HPP_