/
generic_client.hpp
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/
generic_client.hpp
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// Copyright 2023 Sony Group Corporation.
//
// 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__GENERIC_CLIENT_HPP_
#define RCLCPP__GENERIC_CLIENT_HPP_
#include <map>
#include <memory>
#include <future>
#include <string>
#include <vector>
#include <utility>
#include "rcl/client.h"
#include "rclcpp/client.hpp"
#include "rclcpp/visibility_control.hpp"
#include "rcpputils/shared_library.hpp"
#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
namespace rclcpp
{
class GenericClient : public ClientBase
{
public:
using Request = void *; // Serialized data pointer of request message
using Response = void *; // Serialized data pointer of response message
using SharedResponse = std::shared_ptr<void>;
using Promise = std::promise<SharedResponse>;
using SharedPromise = std::shared_ptr<Promise>;
using Future = std::future<SharedResponse>;
using SharedFuture = std::shared_future<SharedResponse>;
RCLCPP_SMART_PTR_DEFINITIONS(GenericClient)
/// A convenient GenericClient::Future and request id pair.
/**
* Public members:
* - future: a std::future<void *>.
* - request_id: the request id associated with the future.
*
* All the other methods are equivalent to the ones std::future provides.
*/
struct FutureAndRequestId
: detail::FutureAndRequestId<Future>
{
using detail::FutureAndRequestId<Future>::FutureAndRequestId;
/// See std::future::share().
SharedFuture share() noexcept {return this->future.share();}
/// Move constructor.
FutureAndRequestId(FutureAndRequestId && other) noexcept = default;
/// Deleted copy constructor, each instance is a unique owner of the future.
FutureAndRequestId(const FutureAndRequestId & other) = delete;
/// Move assignment.
FutureAndRequestId & operator=(FutureAndRequestId && other) noexcept = default;
/// Deleted copy assignment, each instance is a unique owner of the future.
FutureAndRequestId & operator=(const FutureAndRequestId & other) = delete;
/// Destructor.
~FutureAndRequestId() = default;
};
GenericClient(
rclcpp::node_interfaces::NodeBaseInterface * node_base,
rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
const std::string & service_name,
const std::string & service_type,
rcl_client_options_t & client_options);
RCLCPP_PUBLIC
SharedResponse create_response() override;
RCLCPP_PUBLIC
std::shared_ptr<rmw_request_id_t> create_request_header() override;
RCLCPP_PUBLIC
void handle_response(
std::shared_ptr<rmw_request_id_t> request_header,
std::shared_ptr<void> response) override;
/// Send a request to the service server.
/**
* This method returns a `FutureAndRequestId` instance
* that can be passed to Executor::spin_until_future_complete() to
* wait until it has been completed.
*
* If the future never completes,
* e.g. the call to Executor::spin_until_future_complete() times out,
* GenericClient::remove_pending_request() must be called to clean the client internal state.
* Not doing so will make the `Client` instance to use more memory each time a response is not
* received from the service server.
*
* ```cpp
* auto future = client->async_send_request(my_request);
* if (
* rclcpp::FutureReturnCode::TIMEOUT ==
* executor->spin_until_future_complete(future, timeout))
* {
* client->remove_pending_request(future);
* // handle timeout
* } else {
* handle_response(future.get());
* }
* ```
*
* \param[in] request request to be send.
* \return a FutureAndRequestId instance.
*/
RCLCPP_PUBLIC
FutureAndRequestId async_send_request(const Request request);
/// Clean all pending requests older than a time_point.
/**
* \param[in] time_point Requests that were sent before this point are going to be removed.
* \param[inout] pruned_requests Removed requests id will be pushed to the vector
* if a pointer is provided.
* \return number of pending requests that were removed.
*/
template<typename AllocatorT = std::allocator<int64_t>>
size_t
prune_requests_older_than(
std::chrono::time_point<std::chrono::system_clock> time_point,
std::vector<int64_t, AllocatorT> * pruned_requests = nullptr)
{
std::lock_guard guard(pending_requests_mutex_);
auto old_size = pending_requests_.size();
for (auto it = pending_requests_.begin(), last = pending_requests_.end(); it != last; ) {
if (it->second.first < time_point) {
if (pruned_requests) {
pruned_requests->push_back(it->first);
}
it = pending_requests_.erase(it);
} else {
++it;
}
}
return old_size - pending_requests_.size();
}
RCLCPP_PUBLIC
size_t prune_pending_requests();
RCLCPP_PUBLIC
bool remove_pending_request(int64_t request_id);
/// 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 associate 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_response(Response response_out, rmw_request_id_t & request_header_out)
{
return this->take_type_erased_response(response_out, request_header_out);
}
protected:
using CallbackInfoVariant = std::variant<
std::promise<SharedResponse>>; // Use variant for extension
int64_t
async_send_request_impl(const Request request, CallbackInfoVariant value);
std::optional<CallbackInfoVariant>
get_and_erase_pending_request(int64_t request_number);
RCLCPP_DISABLE_COPY(GenericClient)
std::map<int64_t, std::pair<
std::chrono::time_point<std::chrono::system_clock>,
CallbackInfoVariant>> pending_requests_;
std::mutex pending_requests_mutex_;
private:
std::shared_ptr<rcpputils::SharedLibrary> ts_lib_;
const rosidl_typesupport_introspection_cpp::MessageMembers * response_members_;
};
} // namespace rclcpp
#endif // RCLCPP__GENERIC_CLIENT_HPP_