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publisher_base.cpp
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430 lines (383 loc) · 13.1 KB
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// Copyright 2015 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 "rclcpp/publisher_base.hpp"
#include <rmw/error_handling.h>
#include <rmw/rmw.h>
#include <iostream>
#include <memory>
#include <mutex>
#include <sstream>
#include <string>
#include <unordered_map>
#include <vector>
#include "rcutils/logging_macros.h"
#include "rmw/impl/cpp/demangle.hpp"
#include "rclcpp/allocator/allocator_common.hpp"
#include "rclcpp/allocator/allocator_deleter.hpp"
#include "rclcpp/exceptions.hpp"
#include "rclcpp/expand_topic_or_service_name.hpp"
#include "rclcpp/experimental/intra_process_manager.hpp"
#include "rclcpp/logging.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/network_flow_endpoint.hpp"
#include "rclcpp/node.hpp"
#include "rclcpp/event_handler.hpp"
using rclcpp::PublisherBase;
PublisherBase::PublisherBase(
rclcpp::node_interfaces::NodeBaseInterface * node_base,
const std::string & topic,
const rosidl_message_type_support_t & type_support,
const rcl_publisher_options_t & publisher_options,
const PublisherEventCallbacks & event_callbacks,
bool use_default_callbacks)
: rcl_node_handle_(node_base->get_shared_rcl_node_handle()),
intra_process_is_enabled_(false),
intra_process_publisher_id_(0),
type_support_(type_support),
event_callbacks_(event_callbacks)
{
auto custom_deleter = [node_handle = this->rcl_node_handle_](rcl_publisher_t * rcl_pub)
{
if (rcl_publisher_fini(rcl_pub, node_handle.get()) != RCL_RET_OK) {
RCLCPP_ERROR(
rclcpp::get_node_logger(node_handle.get()).get_child("rclcpp"),
"Error in destruction of rcl publisher handle: %s",
rcl_get_error_string().str);
rcl_reset_error();
}
delete rcl_pub;
};
publisher_handle_ = std::shared_ptr<rcl_publisher_t>(
new rcl_publisher_t, custom_deleter);
*publisher_handle_.get() = rcl_get_zero_initialized_publisher();
rcl_ret_t ret = rcl_publisher_init(
publisher_handle_.get(),
rcl_node_handle_.get(),
&type_support,
topic.c_str(),
&publisher_options);
if (ret != RCL_RET_OK) {
if (ret == RCL_RET_TOPIC_NAME_INVALID) {
auto rcl_node_handle = rcl_node_handle_.get();
// this will throw on any validation problem
rcl_reset_error();
expand_topic_or_service_name(
topic,
rcl_node_get_name(rcl_node_handle),
rcl_node_get_namespace(rcl_node_handle));
}
rclcpp::exceptions::throw_from_rcl_error(ret, "could not create publisher");
}
// Life time of this object is tied to the publisher handle.
rmw_publisher_t * publisher_rmw_handle = rcl_publisher_get_rmw_handle(publisher_handle_.get());
if (!publisher_rmw_handle) {
auto msg = std::string("failed to get rmw handle: ") + rcl_get_error_string().str;
rcl_reset_error();
throw std::runtime_error(msg);
}
if (rmw_get_gid_for_publisher(publisher_rmw_handle, &rmw_gid_) != RMW_RET_OK) {
auto msg = std::string("failed to get publisher gid: ") + rmw_get_error_string().str;
rmw_reset_error();
throw std::runtime_error(msg);
}
bind_event_callbacks(event_callbacks_, use_default_callbacks);
}
PublisherBase::~PublisherBase()
{
// must fini the events before fini-ing the publisher
event_handlers_.clear();
auto ipm = weak_ipm_.lock();
if (!intra_process_is_enabled_) {
return;
}
if (!ipm) {
// TODO(ivanpauno): should this raise an error?
RCLCPP_WARN(
rclcpp::get_logger("rclcpp"),
"Intra process manager died before a publisher.");
return;
}
ipm->remove_publisher(intra_process_publisher_id_);
}
const char *
PublisherBase::get_topic_name() const
{
return rcl_publisher_get_topic_name(publisher_handle_.get());
}
void
PublisherBase::bind_event_callbacks(
const PublisherEventCallbacks & event_callbacks, bool use_default_callbacks)
{
try {
if (event_callbacks.deadline_callback) {
this->add_event_handler(
event_callbacks.deadline_callback,
RCL_PUBLISHER_OFFERED_DEADLINE_MISSED);
}
} catch (const UnsupportedEventTypeException & /*exc*/) {
RCLCPP_WARN(
rclcpp::get_logger("rclcpp"),
"Failed to add event handler for deadline; not supported");
}
try {
if (event_callbacks.liveliness_callback) {
this->add_event_handler(
event_callbacks.liveliness_callback,
RCL_PUBLISHER_LIVELINESS_LOST);
}
} catch (const UnsupportedEventTypeException & /*exc*/) {
RCLCPP_WARN(
rclcpp::get_logger("rclcpp"),
"Failed to add event handler for liveliness; not supported");
}
QOSOfferedIncompatibleQoSCallbackType incompatible_qos_cb;
if (event_callbacks.incompatible_qos_callback) {
incompatible_qos_cb = event_callbacks.incompatible_qos_callback;
} else if (use_default_callbacks) {
// Register default callback when not specified
incompatible_qos_cb = [this](QOSOfferedIncompatibleQoSInfo & info) {
this->default_incompatible_qos_callback(info);
};
}
try {
if (incompatible_qos_cb) {
this->add_event_handler(incompatible_qos_cb, RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS);
}
} catch (const UnsupportedEventTypeException & /*exc*/) {
RCLCPP_WARN(
rclcpp::get_logger("rclcpp"),
"Failed to add event handler for incompatible qos; not supported");
}
IncompatibleTypeCallbackType incompatible_type_cb;
if (event_callbacks.incompatible_type_callback) {
incompatible_type_cb = event_callbacks.incompatible_type_callback;
} else if (use_default_callbacks) {
// Register default callback when not specified
incompatible_type_cb = [this](IncompatibleTypeInfo & info) {
this->default_incompatible_type_callback(info);
};
}
try {
if (incompatible_type_cb) {
this->add_event_handler(incompatible_type_cb, RCL_PUBLISHER_INCOMPATIBLE_TYPE);
}
} catch (UnsupportedEventTypeException & /*exc*/) {
RCLCPP_WARN(
rclcpp::get_logger("rclcpp"),
"Failed to add event handler for incompatible type; not supported");
}
try {
if (event_callbacks.matched_callback) {
this->add_event_handler(
event_callbacks.matched_callback,
RCL_PUBLISHER_MATCHED);
}
} catch (const UnsupportedEventTypeException & /*exc*/) {
RCLCPP_WARN(
rclcpp::get_logger("rclcpp"),
"Failed to add event handler for matched; not supported");
}
}
size_t
PublisherBase::get_queue_size() const
{
const rcl_publisher_options_t * publisher_options = rcl_publisher_get_options(
publisher_handle_.get());
if (!publisher_options) {
auto msg = std::string("failed to get publisher options: ") + rcl_get_error_string().str;
rcl_reset_error();
throw std::runtime_error(msg);
}
return publisher_options->qos.depth;
}
const rmw_gid_t &
PublisherBase::get_gid() const
{
return rmw_gid_;
}
std::shared_ptr<rcl_publisher_t>
PublisherBase::get_publisher_handle()
{
return publisher_handle_;
}
std::shared_ptr<const rcl_publisher_t>
PublisherBase::get_publisher_handle() const
{
return publisher_handle_;
}
const
std::unordered_map<rcl_publisher_event_type_t, std::shared_ptr<rclcpp::EventHandlerBase>> &
PublisherBase::get_event_handlers() const
{
return event_handlers_;
}
size_t
PublisherBase::get_subscription_count() const
{
size_t inter_process_subscription_count = 0;
rcl_ret_t status = rcl_publisher_get_subscription_count(
publisher_handle_.get(),
&inter_process_subscription_count);
if (RCL_RET_PUBLISHER_INVALID == status) {
rcl_reset_error(); /* next call will reset error message if not context */
if (rcl_publisher_is_valid_except_context(publisher_handle_.get())) {
rcl_context_t * context = rcl_publisher_get_context(publisher_handle_.get());
if (nullptr != context && !rcl_context_is_valid(context)) {
/* publisher is invalid due to context being shutdown */
return 0;
}
}
}
if (RCL_RET_OK != status) {
rclcpp::exceptions::throw_from_rcl_error(status, "failed to get get subscription count");
}
return inter_process_subscription_count;
}
size_t
PublisherBase::get_intra_process_subscription_count() const
{
auto ipm = weak_ipm_.lock();
if (!intra_process_is_enabled_) {
return 0;
}
if (!ipm) {
// TODO(ivanpauno): should this just return silently? Or maybe return with a warning?
// Same as wjwwood comment in publisher_factory create_shared_publish_callback.
throw std::runtime_error(
"intra process subscriber count called after "
"destruction of intra process manager");
}
return ipm->get_subscription_count(intra_process_publisher_id_);
}
bool
PublisherBase::is_durability_transient_local() const
{
return rcl_publisher_get_actual_qos(publisher_handle_.get())->durability ==
RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
}
rclcpp::QoS
PublisherBase::get_actual_qos() const
{
const rmw_qos_profile_t * qos = rcl_publisher_get_actual_qos(publisher_handle_.get());
if (!qos) {
auto msg = std::string("failed to get qos settings: ") + rcl_get_error_string().str;
rcl_reset_error();
throw std::runtime_error(msg);
}
return rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(*qos), *qos);
}
bool
PublisherBase::assert_liveliness() const
{
return RCL_RET_OK == rcl_publisher_assert_liveliness(publisher_handle_.get());
}
bool
PublisherBase::can_loan_messages() const
{
return !intra_process_is_enabled_ && rcl_publisher_can_loan_messages(publisher_handle_.get());
}
bool
PublisherBase::operator==(const rmw_gid_t & gid) const
{
return *this == &gid;
}
bool
PublisherBase::operator==(const rmw_gid_t * gid) const
{
bool result = false;
auto ret = rmw_compare_gids_equal(gid, &this->get_gid(), &result);
if (ret != RMW_RET_OK) {
auto msg = std::string("failed to compare gids: ") + rmw_get_error_string().str;
rmw_reset_error();
throw std::runtime_error(msg);
}
return result;
}
void
PublisherBase::setup_intra_process(
uint64_t intra_process_publisher_id,
const IntraProcessManagerSharedPtr & ipm)
{
intra_process_publisher_id_ = intra_process_publisher_id;
weak_ipm_ = ipm;
intra_process_is_enabled_ = true;
}
void
PublisherBase::default_incompatible_qos_callback(
rclcpp::QOSOfferedIncompatibleQoSInfo & event) const
{
std::string policy_name = qos_policy_name_from_kind(event.last_policy_kind);
RCLCPP_WARN(
rclcpp::get_logger(rcl_node_get_logger_name(rcl_node_handle_.get())),
"New subscription discovered on topic '%s', requesting incompatible QoS. "
"No messages will be sent to it. "
"Last incompatible policy: %s",
get_topic_name(),
policy_name.c_str());
}
void
PublisherBase::default_incompatible_type_callback(
[[maybe_unused]] rclcpp::IncompatibleTypeInfo & event) const
{
RCLCPP_WARN(
rclcpp::get_logger(rcl_node_get_logger_name(rcl_node_handle_.get())),
"Incompatible type on topic '%s', no messages will be sent to it.", get_topic_name());
}
std::vector<rclcpp::NetworkFlowEndpoint> PublisherBase::get_network_flow_endpoints() const
{
rcutils_allocator_t allocator = rcutils_get_default_allocator();
rcl_network_flow_endpoint_array_t network_flow_endpoint_array =
rcl_get_zero_initialized_network_flow_endpoint_array();
rcl_ret_t ret = rcl_publisher_get_network_flow_endpoints(
publisher_handle_.get(), &allocator, &network_flow_endpoint_array);
if (RCL_RET_OK != ret) {
auto error_msg = std::string("error obtaining network flows of publisher: ") +
rcl_get_error_string().str;
rcl_reset_error();
if (RCL_RET_OK !=
rcl_network_flow_endpoint_array_fini(&network_flow_endpoint_array))
{
error_msg += std::string(", also error cleaning up network flow array: ") +
rcl_get_error_string().str;
rcl_reset_error();
}
rclcpp::exceptions::throw_from_rcl_error(ret, error_msg);
}
std::vector<rclcpp::NetworkFlowEndpoint> network_flow_endpoint_vector;
network_flow_endpoint_vector.reserve(network_flow_endpoint_array.size);
for (size_t i = 0; i < network_flow_endpoint_array.size; ++i) {
network_flow_endpoint_vector.emplace_back(
network_flow_endpoint_array.network_flow_endpoint[i]);
}
ret = rcl_network_flow_endpoint_array_fini(&network_flow_endpoint_array);
if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret, "error cleaning up network flow array");
}
return network_flow_endpoint_vector;
}
size_t PublisherBase::lowest_available_ipm_capacity() const
{
if (!intra_process_is_enabled_) {
return 0u;
}
auto ipm = weak_ipm_.lock();
if (!ipm) {
// TODO(ivanpauno): should this raise an error?
RCLCPP_WARN(
rclcpp::get_logger("rclcpp"),
"Intra process manager died for a publisher.");
return 0u;
}
return ipm->lowest_available_capacity(intra_process_publisher_id_);
}