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Fix service client delay by opening it in skill start #19

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Merged
randaz81 merged 4 commits into from
Nov 25, 2025
Merged

Fix service client delay by opening it in skill start #19

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f0ad936
fix: fixed template so that skill service server and component servic…
fbrand-new Nov 24, 2025
87b8969
added debug message
randaz81 Nov 24, 2025
d24bc2b
fix: now substitutes the service client list in the TemplateSkill.h
fbrand-new Nov 25, 2025
1065bea
fix: call_succeeded
randaz81 Nov 25, 2025
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1 change: 1 addition & 0 deletions include/Data.h
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Original file line number Diff line number Diff line change
Expand Up @@ -133,6 +133,7 @@ struct savedCodeStr{
std::string topicCallbackH;
std::string topicInterfaceH;
std::string topicParamList;
std::string serviceClientH;
std::string actionC;
std::string actionH;
std::string actionInterfaceH;
Expand Down
8 changes: 8 additions & 0 deletions src/Replacer.cpp
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Expand Up @@ -316,6 +316,11 @@ void handleGenericEvent(const eventDataStr eventData, const savedCodeStr savedCo

writeAfterCommand(str, "/*SEND_EVENT_LIST*/", eventCodeC);

// Service client header code
std::string serviceClientH = savedCode.serviceClientH;
replaceCommonEventPlaceholders(serviceClientH, eventData);
writeAfterCommand(str, "/*SERVICE_CLIENTS_LIST*/", serviceClientH);

//H
replaceAll(interfaceCodeH, "$eventData.interfaceName$", eventData.interfaceName);
replaceAll(interfaceCodeH, "$eventData.functionNameSnakeCase$", eventData.functionNameSnakeCase);
Expand Down Expand Up @@ -609,6 +614,8 @@ void saveCode(savedCodeStr& savedCode, std::string& code)
deleteSection(code, "/*TOPIC_CALLBACK_H*/", "/*END_TOPIC_CALLBACK_H*/");
saveSection(code, "/*TOPIC_SUBSCRIPTION_H*/", "/*END_TOPIC_SUBSCRIPTION_H*/", savedCode.topicSubscriptionH);
deleteSection(code, "/*TOPIC_SUBSCRIPTION_H*/", "/*END_TOPIC_SUBSCRIPTION_H*/");
saveSection(code, "/*SERVICE_CLIENT*/", "/*END_SERVICE_CLIENT*/", savedCode.serviceClientH);
deleteSection(code, "/*SERVICE_CLIENT*/", "/*END_SERVICE_CLIENT*/");
saveSection(code, "/*ACTION_H*/", "/*END_ACTION_H*/", savedCode.actionH);
deleteSection(code, "/*ACTION_H*/", "/*END_ACTION_H*/");
saveSection(code, "/*ACTION_INTERFACE*/", "/*END_ACTION_INTERFACE*/", savedCode.actionInterfaceH);
Expand Down Expand Up @@ -663,6 +670,7 @@ void replaceEventCode(std::map <std::string, std::string>& codeMap, fileDataStr
deleteCommand(it->second, "/*ACTION_FNC_LIST*/");
//H
deleteCommand(it->second, "/*INTERFACES_LIST*/");
deleteCommand(it->second, "/*SERVICE_CLIENTS_LIST*/");
deleteCommand(it->second, "/*TOPIC_SUBSCRIPTIONS_LIST_H*/");
deleteCommand(it->second, "/*TOPIC_CALLBACK_LIST_H*/");
deleteCommand(it->second, "/*ACTION_LIST_H*/");
Expand Down
3 changes: 3 additions & 0 deletions template_skill/include/TemplateSkill.h
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Expand Up @@ -61,6 +61,9 @@ class $className$
/*TOPIC_SUBSCRIPTIONS_LIST_H*/
/*TOPIC_SUBSCRIPTION_H*/
rclcpp::Subscription<$eventData.interfaceName$::msg::$eventData.messageNameSnakeCase$>::SharedPtr m_subscription_$eventData.functionName$;/*END_TOPIC_SUBSCRIPTION_H*/
/*SERVICE_CLIENTS_LIST*//*SERVICE_CLIENT*/
std::shared_ptr<rclcpp::Node> $eventData.nodeName$;
std::shared_ptr<rclcpp::Client<$eventData.interfaceName$::srv::$eventData.functionName$>> $eventData.clientName$;/*END_SERVICE_CLIENT*/
/*ACTION_LIST_H*//*ACTION_H*/
std::shared_ptr<rclcpp::Node> m_node_action;
std::mutex m_actionMutex;
Expand Down
88 changes: 50 additions & 38 deletions template_skill/src/TemplateSkill.cpp
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Expand Up @@ -7,7 +7,7 @@
#include <QTime>
#include <iostream>
#include <QStateMachine>

#include <cstdlib>
#include <type_traits>

template<typename T>
Expand Down Expand Up @@ -92,47 +92,53 @@ bool $className$::start(int argc, char*argv[])
"$eventData.topicName$", 10, std::bind(&$className$::topic_callback_$eventData.functionName$, this, std::placeholders::_1));
/*END_TOPIC_SUBSCRIPTION*/
/*SEND_EVENT_LIST*//*SEND_EVENT_SRV*/
$eventData.nodeName$ = rclcpp::Node::make_shared(m_name + "SkillNode$eventData.functionName$");
$eventData.clientName$ = $eventData.nodeName$->create_client<$eventData.interfaceName$::srv::$eventData.functionName$>($eventData.serverName$);
$eventData.clientName$->configure_introspection($eventData.nodeName$->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_CONTENTS);

bool wait_succeded{true};
int retries = 0;
while (!$eventData.clientName$->wait_for_service(std::chrono::seconds(1))) {
if (!rclcpp::ok()) {
RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "Interrupted while waiting for the service '$eventData.functionName$'. Exiting.");
wait_succeded = false;
break;
}
retries++;
if(retries == SERVICE_TIMEOUT) {
RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "Timed out while waiting for the service '$eventData.functionName$'.");
wait_succeded = false;
break;
}
}
if (!wait_succeded) {
RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "Service '$eventData.componentName$/$eventData.functionName$' not available.");
std::exit(1);
}
/*SEND_EVENT_LIST*//*SEND_EVENT_SRV*/
m_stateMachine.connectToEvent("$eventData.event$", [this]([[maybe_unused]]const QScxmlEvent & event){
std::shared_ptr<rclcpp::Node> $eventData.nodeName$ = rclcpp::Node::make_shared(m_name + "SkillNode$eventData.functionName$");
std::shared_ptr<rclcpp::Client<$eventData.interfaceName$::srv::$eventData.serviceTypeName$>> $eventData.clientName$ = $eventData.nodeName$->create_client<$eventData.interfaceName$::srv::$eventData.serviceTypeName$>($eventData.serverName$);
auto request = std::make_shared<$eventData.interfaceName$::srv::$eventData.serviceTypeName$::Request>();
$eventData.clientName$->configure_introspection($eventData.nodeName$->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_CONTENTS);
auto request = std::make_shared<$eventData.interfaceName$::srv::$eventData.functionName$::Request>();
auto eventParams = event.data().toMap();
/*PARAM_LIST*//*PARAM*/
request->$IT->FIRST$ = convert<decltype(request->$IT->FIRST$)>(eventParams["$IT->FIRST$"].toString().toStdString());/*END_PARAM*/
bool wait_succeded{true};
int retries = 0;
while (!$eventData.clientName$->wait_for_service(std::chrono::seconds(1))) {
if (!rclcpp::ok()) {
RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "Interrupted while waiting for the service '$eventData.functionName$'. Exiting.");
wait_succeded = false;
break;
}
retries++;
if(retries == SERVICE_TIMEOUT) {
RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "Timed out while waiting for the service '$eventData.functionName$'.");
wait_succeded = false;
break;
}
auto result = $eventData.clientName$->async_send_request(request);
const std::chrono::seconds timeout_duration(SERVICE_TIMEOUT);
auto futureResult = rclcpp::spin_until_future_complete($eventData.nodeName$, result, timeout_duration);
if (futureResult == rclcpp::FutureReturnCode::SUCCESS)
{
auto response = result.get();
QVariantMap data;
data.insert("call_succeeded", true);/*RETURN_PARAM_LIST*//*RETURN_PARAM*/
data.insert("$eventData.interfaceDataField$", response->$eventData.interfaceDataField$);/*END_RETURN_PARAM*/
m_stateMachine.submitEvent("$eventData.componentName$.$eventData.functionName$.Return", data);
RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "$eventData.componentName$.$eventData.functionName$.Return");
return;
}
else if(futureResult == rclcpp::FutureReturnCode::TIMEOUT){
RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "Timed out while future complete for the service '$eventData.functionName$'.");
}
if (wait_succeded) {
auto result = $eventData.clientName$->async_send_request(request);
const std::chrono::seconds timeout_duration(SERVICE_TIMEOUT);
auto futureResult = rclcpp::spin_until_future_complete($eventData.nodeName$, result, timeout_duration);
if (futureResult == rclcpp::FutureReturnCode::SUCCESS)
{
auto response = result.get();
QVariantMap data;
data.insert("call_succeeded", true);/*RETURN_PARAM_LIST*//*RETURN_PARAM*/
data.insert("$eventData.interfaceDataField$", response->$eventData.interfaceDataField$);/*END_RETURN_PARAM*/
m_stateMachine.submitEvent("$eventData.componentName$.$eventData.functionName$.Return", data);
RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "$eventData.componentName$.$eventData.functionName$.Return");
return;

}
else if(futureResult == rclcpp::FutureReturnCode::TIMEOUT){
RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "Timed out while future complete for the service '$eventData.functionName$'.");
}
else {
RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "Failed to call service '$eventData.functionName$'.");
}
QVariantMap data;
data.insert("call_succeeded", false);
Expand Down Expand Up @@ -212,9 +218,14 @@ void $className$::tick( [[maybe_unused]] const std::shared_ptr<bt_interfaces_dum
m_tickResult.store(Status::undefined);
m_stateMachine.submitEvent("CMD_TICK");

int load_counter=0;
auto start_timer = std::chrono::steady_clock::now();
while(m_tickResult.load()== Status::undefined) {
std::this_thread::sleep_for (std::chrono::milliseconds(100));
std::this_thread::sleep_for (std::chrono::milliseconds(5));
load_counter++;
}
auto end_timer = std::chrono::steady_clock::now();
auto duration_ms = std::chrono::duration_cast<std::chrono::milliseconds>(end_timer - start_timer).count();
switch(m_tickResult.load())
{
/*ACTION*/case Status::running:
Expand All @@ -231,6 +242,7 @@ void $className$::tick( [[maybe_unused]] const std::shared_ptr<bt_interfaces_dum
break;
}
RCLCPP_INFO(m_node->get_logger(), "$className$::tickDone");
RCLCPP_DEBUG(m_node->get_logger(), "$className$ num_retry: %d tick time: %ld", load_counter, duration_ms);
response->is_ok = true;
}/*END_TICK_CMD*/
/*HALT_CMD*/
Expand Down