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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/subscription_base.hpp"
#include <cstdio>
#include <memory>
#include <string>
#include <unordered_map>
#include <vector>
#include "rcpputils/scope_exit.hpp"
#include "rclcpp/dynamic_typesupport/dynamic_message.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/node_interfaces/node_base_interface.hpp"
#include "rclcpp/event_handler.hpp"
#include "rmw/error_handling.h"
#include "rmw/rmw.h"
#include "rosidl_dynamic_typesupport/types.h"
using rclcpp::SubscriptionBase;
SubscriptionBase::SubscriptionBase(
rclcpp::node_interfaces::NodeBaseInterface * node_base,
const rosidl_message_type_support_t & type_support_handle,
const std::string & topic_name,
const rcl_subscription_options_t & subscription_options,
const SubscriptionEventCallbacks & event_callbacks,
bool use_default_callbacks,
DeliveredMessageKind delivered_message_kind)
: node_base_(node_base),
node_handle_(node_base_->get_shared_rcl_node_handle()),
node_logger_(rclcpp::get_node_logger(node_handle_.get())),
use_intra_process_(false),
intra_process_subscription_id_(0),
event_callbacks_(event_callbacks),
type_support_(type_support_handle),
delivered_message_kind_(delivered_message_kind)
{
auto custom_deletor = [node_handle = this->node_handle_](rcl_subscription_t * rcl_subs)
{
if (rcl_subscription_fini(rcl_subs, node_handle.get()) != RCL_RET_OK) {
RCLCPP_ERROR(
rclcpp::get_node_logger(node_handle.get()).get_child("rclcpp"),
"Error in destruction of rcl subscription handle: %s",
rcl_get_error_string().str);
rcl_reset_error();
}
delete rcl_subs;
};
subscription_handle_ = std::shared_ptr<rcl_subscription_t>(
new rcl_subscription_t, custom_deletor);
*subscription_handle_.get() = rcl_get_zero_initialized_subscription();
rcl_ret_t ret = rcl_subscription_init(
subscription_handle_.get(),
node_handle_.get(),
&type_support_handle,
topic_name.c_str(),
&subscription_options);
if (ret != RCL_RET_OK) {
if (ret == RCL_RET_TOPIC_NAME_INVALID) {
auto rcl_node_handle = node_handle_.get();
// this will throw on any validation problem
rcl_reset_error();
expand_topic_or_service_name(
topic_name,
rcl_node_get_name(rcl_node_handle),
rcl_node_get_namespace(rcl_node_handle));
}
rclcpp::exceptions::throw_from_rcl_error(ret, "could not create subscription");
}
bind_event_callbacks(event_callbacks_, use_default_callbacks);
}
SubscriptionBase::~SubscriptionBase()
{
if (!use_intra_process_) {
return;
}
auto ipm = weak_ipm_.lock();
if (!ipm) {
// TODO(ivanpauno): should this raise an error?
RCLCPP_WARN(
rclcpp::get_logger("rclcpp"),
"Intra process manager died before than a subscription.");
return;
}
ipm->remove_subscription(intra_process_subscription_id_);
}
void
SubscriptionBase::bind_event_callbacks(
const SubscriptionEventCallbacks & event_callbacks, bool use_default_callbacks)
{
try {
if (event_callbacks.deadline_callback) {
this->add_event_handler(
event_callbacks.deadline_callback,
RCL_SUBSCRIPTION_REQUESTED_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_SUBSCRIPTION_LIVELINESS_CHANGED);
}
} catch (const UnsupportedEventTypeException & /*exc*/) {
RCLCPP_WARN(
rclcpp::get_logger("rclcpp"),
"Failed to add event handler for liveliness; not supported");
}
QOSRequestedIncompatibleQoSCallbackType 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](QOSRequestedIncompatibleQoSInfo & info) {
this->default_incompatible_qos_callback(info);
};
}
// Register default callback when not specified
try {
if (incompatible_qos_cb) {
this->add_event_handler(incompatible_qos_cb, RCL_SUBSCRIPTION_REQUESTED_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_SUBSCRIPTION_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.message_lost_callback) {
this->add_event_handler(
event_callbacks.message_lost_callback,
RCL_SUBSCRIPTION_MESSAGE_LOST);
}
} catch (const UnsupportedEventTypeException & /*exc*/) {
RCLCPP_WARN(
rclcpp::get_logger("rclcpp"),
"Failed to add event handler for message lost; not supported");
}
try {
if (event_callbacks.matched_callback) {
this->add_event_handler(
event_callbacks.matched_callback,
RCL_SUBSCRIPTION_MATCHED);
}
} catch (const UnsupportedEventTypeException & /*exc*/) {
RCLCPP_WARN(
rclcpp::get_logger("rclcpp"),
"Failed to add event handler for matched; not supported");
}
}
const char *
SubscriptionBase::get_topic_name() const
{
return rcl_subscription_get_topic_name(subscription_handle_.get());
}
std::shared_ptr<rcl_subscription_t>
SubscriptionBase::get_subscription_handle()
{
return subscription_handle_;
}
std::shared_ptr<const rcl_subscription_t>
SubscriptionBase::get_subscription_handle() const
{
return subscription_handle_;
}
const
std::unordered_map<rcl_subscription_event_type_t, std::shared_ptr<rclcpp::EventHandlerBase>> &
SubscriptionBase::get_event_handlers() const
{
return event_handlers_;
}
rclcpp::QoS
SubscriptionBase::get_actual_qos() const
{
const rmw_qos_profile_t * qos = rcl_subscription_get_actual_qos(subscription_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
SubscriptionBase::take_type_erased(void * message_out, rclcpp::MessageInfo & message_info_out)
{
rcl_ret_t ret = rcl_take(
this->get_subscription_handle().get(),
message_out,
&message_info_out.get_rmw_message_info(),
nullptr // rmw_subscription_allocation_t is unused here
);
TRACETOOLS_TRACEPOINT(rclcpp_take, static_cast<const void *>(message_out));
if (RCL_RET_SUBSCRIPTION_TAKE_FAILED == ret) {
return false;
} else if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret);
}
if (
matches_any_intra_process_publishers(&message_info_out.get_rmw_message_info().publisher_gid))
{
// In this case, the message will be delivered via intra-process and
// we should ignore this copy of the message.
return false;
}
return true;
}
bool
SubscriptionBase::take_serialized(
rclcpp::SerializedMessage & message_out,
rclcpp::MessageInfo & message_info_out)
{
rcl_ret_t ret = rcl_take_serialized_message(
this->get_subscription_handle().get(),
&message_out.get_rcl_serialized_message(),
&message_info_out.get_rmw_message_info(),
nullptr);
TRACETOOLS_TRACEPOINT(
rclcpp_take,
static_cast<const void *>(&message_out.get_rcl_serialized_message()));
if (RCL_RET_SUBSCRIPTION_TAKE_FAILED == ret) {
return false;
} else if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret);
}
return true;
}
const rosidl_message_type_support_t &
SubscriptionBase::get_message_type_support_handle() const
{
return type_support_;
}
bool
SubscriptionBase::is_serialized() const
{
return delivered_message_kind_ == rclcpp::DeliveredMessageKind::SERIALIZED_MESSAGE;
}
rclcpp::DeliveredMessageKind
SubscriptionBase::get_delivered_message_kind() const
{
return delivered_message_kind_;
}
size_t
SubscriptionBase::get_publisher_count() const
{
size_t inter_process_publisher_count = 0;
rmw_ret_t status = rcl_subscription_get_publisher_count(
subscription_handle_.get(),
&inter_process_publisher_count);
if (RCL_RET_OK != status) {
rclcpp::exceptions::throw_from_rcl_error(status, "failed to get get publisher count");
}
return inter_process_publisher_count;
}
void
SubscriptionBase::setup_intra_process(
uint64_t intra_process_subscription_id,
IntraProcessManagerWeakPtr weak_ipm)
{
intra_process_subscription_id_ = intra_process_subscription_id;
weak_ipm_ = std::move(weak_ipm);
use_intra_process_ = true;
}
bool
SubscriptionBase::can_loan_messages() const
{
bool retval = rcl_subscription_can_loan_messages(subscription_handle_.get());
if (retval) {
// TODO(clalancette): The loaned message interface is currently not safe to use with
// shared_ptr callbacks. If a user takes a copy of the shared_ptr, it can get freed from
// underneath them via rcl_return_loaned_message_from_subscription(). The correct solution is
// to return the loaned message in a custom deleter, but that needs to be carefully handled
// with locking. Warn the user about this until we fix it.
RCLCPP_WARN_ONCE(
this->node_logger_,
"Loaned messages are only safe with const ref subscription callbacks. "
"If you are using any other kind of subscriptions, "
"set the ROS_DISABLE_LOANED_MESSAGES environment variable to 1 (the default).");
}
return retval;
}
rclcpp::Waitable::SharedPtr
SubscriptionBase::get_intra_process_waitable() const
{
// If not using intra process, shortcut to nullptr.
if (!use_intra_process_) {
return nullptr;
}
// Get the intra process manager.
auto ipm = weak_ipm_.lock();
if (!ipm) {
throw std::runtime_error(
"SubscriptionBase::get_intra_process_waitable() called "
"after destruction of intra process manager");
}
// Use the id to retrieve the subscription intra-process from the intra-process manager.
return ipm->get_subscription_intra_process(intra_process_subscription_id_);
}
void
SubscriptionBase::default_incompatible_qos_callback(
rclcpp::QOSRequestedIncompatibleQoSInfo & 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(node_handle_.get())),
"New publisher discovered on topic '%s', offering incompatible QoS. "
"No messages will be sent to it. "
"Last incompatible policy: %s",
get_topic_name(),
policy_name.c_str());
}
void
SubscriptionBase::default_incompatible_type_callback(
[[maybe_unused]] rclcpp::IncompatibleTypeInfo & event) const
{
RCLCPP_WARN(
rclcpp::get_logger(rcl_node_get_logger_name(node_handle_.get())),
"Incompatible type on topic '%s', no messages will be sent to it.", get_topic_name());
}
bool
SubscriptionBase::matches_any_intra_process_publishers(const rmw_gid_t * sender_gid) const
{
if (!use_intra_process_) {
return false;
}
auto ipm = weak_ipm_.lock();
if (!ipm) {
throw std::runtime_error(
"intra process publisher check called "
"after destruction of intra process manager");
}
return ipm->matches_any_publishers(sender_gid);
}
bool
SubscriptionBase::exchange_in_use_by_wait_set_state(
void * pointer_to_subscription_part,
bool in_use_state)
{
if (nullptr == pointer_to_subscription_part) {
throw std::invalid_argument("pointer_to_subscription_part is unexpectedly nullptr");
}
if (this == pointer_to_subscription_part) {
return subscription_in_use_by_wait_set_.exchange(in_use_state);
}
if (get_intra_process_waitable().get() == pointer_to_subscription_part) {
return intra_process_subscription_waitable_in_use_by_wait_set_.exchange(in_use_state);
}
for (const auto & key_event_pair : event_handlers_) {
auto qos_event = key_event_pair.second;
if (qos_event.get() == pointer_to_subscription_part) {
return qos_events_in_use_by_wait_set_[qos_event.get()].exchange(in_use_state);
}
}
throw std::runtime_error("given pointer_to_subscription_part does not match any part");
}
std::vector<rclcpp::NetworkFlowEndpoint>
SubscriptionBase::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_subscription_get_network_flow_endpoints(
subscription_handle_.get(), &allocator, &network_flow_endpoint_array);
if (RCL_RET_OK != ret) {
auto error_msg = std::string("Error obtaining network flows of subscription: ") +
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;
}
void
SubscriptionBase::set_on_new_message_callback(
rcl_event_callback_t callback,
const void * user_data)
{
rcl_ret_t ret = rcl_subscription_set_on_new_message_callback(
subscription_handle_.get(),
callback,
user_data);
if (RCL_RET_OK != ret) {
using rclcpp::exceptions::throw_from_rcl_error;
throw_from_rcl_error(ret, "failed to set the on new message callback for subscription");
}
}
bool
SubscriptionBase::is_cft_supported() const
{
return rcl_subscription_is_cft_supported(subscription_handle_.get());
}
bool
SubscriptionBase::is_cft_enabled() const
{
return rcl_subscription_is_cft_enabled(subscription_handle_.get());
}
void
SubscriptionBase::set_content_filter(
const std::string & filter_expression,
const std::vector<std::string> & expression_parameters)
{
rcl_subscription_content_filter_options_t options =
rcl_get_zero_initialized_subscription_content_filter_options();
std::vector<const char *> cstrings = get_c_vector_string(expression_parameters);
rcl_ret_t ret = rcl_subscription_content_filter_options_init(
subscription_handle_.get(),
get_c_string(filter_expression),
cstrings.size(),
cstrings.data(),
&options);
if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(
ret, "failed to init subscription content_filtered_topic option");
}
RCPPUTILS_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_subscription_content_filter_options_fini(
subscription_handle_.get(), &options);
if (RCL_RET_OK != ret) {
RCLCPP_ERROR(
rclcpp::get_logger("rclcpp"),
"Failed to fini subscription content_filtered_topic option: %s",
rcl_get_error_string().str);
rcl_reset_error();
}
});
ret = rcl_subscription_set_content_filter(
subscription_handle_.get(),
&options);
if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret, "failed to set cft expression parameters");
}
}
rclcpp::ContentFilterOptions
SubscriptionBase::get_content_filter() const
{
rclcpp::ContentFilterOptions ret_options;
rcl_subscription_content_filter_options_t options =
rcl_get_zero_initialized_subscription_content_filter_options();
rcl_ret_t ret = rcl_subscription_get_content_filter(
subscription_handle_.get(),
&options);
if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret, "failed to get cft expression parameters");
}
RCPPUTILS_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_subscription_content_filter_options_fini(
subscription_handle_.get(), &options);
if (RCL_RET_OK != ret) {
RCLCPP_ERROR(
rclcpp::get_logger("rclcpp"),
"Failed to fini subscription content_filtered_topic option: %s",
rcl_get_error_string().str);
rcl_reset_error();
}
});
rmw_subscription_content_filter_options_t & content_filter_options =
options.rmw_subscription_content_filter_options;
ret_options.filter_expression = content_filter_options.filter_expression;
for (size_t i = 0; i < content_filter_options.expression_parameters.size; ++i) {
ret_options.expression_parameters.push_back(
content_filter_options.expression_parameters.data[i]);
}
return ret_options;
}
// DYNAMIC TYPE ==================================================================================
bool
SubscriptionBase::take_dynamic_message(
rclcpp::dynamic_typesupport::DynamicMessage & /*message_out*/,
rclcpp::MessageInfo & /*message_info_out*/)
{
throw std::runtime_error("Unimplemented");
return false;
}
void
SubscriptionBase::disable_callbacks()
{
// Temporary remove the on_new_message_callback_ to prevent it from being called
std::lock_guard<std::recursive_mutex> lock(on_new_message_callback_mutex_);
if (on_new_message_callback_) {
set_on_new_message_callback(nullptr, nullptr);
}
}
void
SubscriptionBase::enable_callbacks()
{
// Set callback again if it was previously removed in disable_callbacks()
std::lock_guard<std::recursive_mutex> lock(on_new_message_callback_mutex_);
if (on_new_message_callback_) {
set_on_new_message_callback(
rclcpp::detail::cpp_callback_trampoline<
decltype(on_new_message_callback_), const void *, size_t>,
static_cast<const void *>(&on_new_message_callback_));
}
}