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Add new node interface TypeDescriptionsInterface to provide GetTypeDe…
…scription service (#2224) * TypeDescriptions interface with readonly param configuration * Add parameter descriptor, to make read only * example of spinning in thread for get_type_description service * Add a basic test for the new interface * Fix tests with new parameter * Add comments about builtin parameters Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com> Signed-off-by: William Woodall <william@osrfoundation.org>
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63 changes: 63 additions & 0 deletions
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rclcpp/include/rclcpp/node_interfaces/node_type_descriptions.hpp
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| // Copyright 2023 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. | ||
|
|
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| #ifndef RCLCPP__NODE_INTERFACES__NODE_TYPE_DESCRIPTIONS_HPP_ | ||
| #define RCLCPP__NODE_INTERFACES__NODE_TYPE_DESCRIPTIONS_HPP_ | ||
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| #include <memory> | ||
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| #include "rclcpp/macros.hpp" | ||
| #include "rclcpp/node_interfaces/node_base_interface.hpp" | ||
| #include "rclcpp/node_interfaces/node_logging_interface.hpp" | ||
| #include "rclcpp/node_interfaces/node_parameters_interface.hpp" | ||
| #include "rclcpp/node_interfaces/node_services_interface.hpp" | ||
| #include "rclcpp/node_interfaces/node_topics_interface.hpp" | ||
| #include "rclcpp/node_interfaces/node_type_descriptions_interface.hpp" | ||
| #include "rclcpp/visibility_control.hpp" | ||
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| namespace rclcpp | ||
| { | ||
| namespace node_interfaces | ||
| { | ||
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| /// Implementation of the NodeTypeDescriptions part of the Node API. | ||
| class NodeTypeDescriptions : public NodeTypeDescriptionsInterface | ||
| { | ||
| public: | ||
| RCLCPP_SMART_PTR_ALIASES_ONLY(NodeTypeDescriptions) | ||
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| RCLCPP_PUBLIC | ||
| explicit NodeTypeDescriptions( | ||
| NodeBaseInterface::SharedPtr node_base, | ||
| NodeLoggingInterface::SharedPtr node_logging, | ||
| NodeParametersInterface::SharedPtr node_parameters, | ||
| NodeServicesInterface::SharedPtr node_services); | ||
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| RCLCPP_PUBLIC | ||
| virtual | ||
| ~NodeTypeDescriptions(); | ||
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| private: | ||
| RCLCPP_DISABLE_COPY(NodeTypeDescriptions) | ||
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| // Pimpl hides helper types and functions used for wrapping a C service, which would be | ||
| // awkward to expose in this header. | ||
| class NodeTypeDescriptionsImpl; | ||
| std::unique_ptr<NodeTypeDescriptionsImpl> impl_; | ||
| }; | ||
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| } // namespace node_interfaces | ||
| } // namespace rclcpp | ||
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| #endif // RCLCPP__NODE_INTERFACES__NODE_TYPE_DESCRIPTIONS_HPP_ |
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rclcpp/include/rclcpp/node_interfaces/node_type_descriptions_interface.hpp
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| // Copyright 2023 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. | ||
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| #ifndef RCLCPP__NODE_INTERFACES__NODE_TYPE_DESCRIPTIONS_INTERFACE_HPP_ | ||
| #define RCLCPP__NODE_INTERFACES__NODE_TYPE_DESCRIPTIONS_INTERFACE_HPP_ | ||
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| #include "rclcpp/macros.hpp" | ||
| #include "rclcpp/node_interfaces/detail/node_interfaces_helpers.hpp" | ||
| #include "rclcpp/visibility_control.hpp" | ||
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| namespace rclcpp | ||
| { | ||
| namespace node_interfaces | ||
| { | ||
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| /// Pure virtual interface class for the NodeTypeDescriptions part of the Node API. | ||
| class NodeTypeDescriptionsInterface | ||
| { | ||
| public: | ||
| RCLCPP_SMART_PTR_ALIASES_ONLY(NodeTypeDescriptionsInterface) | ||
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| RCLCPP_PUBLIC | ||
| virtual | ||
| ~NodeTypeDescriptionsInterface() = default; | ||
| }; | ||
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| } // namespace node_interfaces | ||
| } // namespace rclcpp | ||
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| RCLCPP_NODE_INTERFACE_HELPERS_SUPPORT( | ||
| rclcpp::node_interfaces::NodeTypeDescriptionsInterface, type_descriptions) | ||
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| #endif // RCLCPP__NODE_INTERFACES__NODE_TYPE_DESCRIPTIONS_INTERFACE_HPP_ |
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157 changes: 157 additions & 0 deletions
157
rclcpp/src/rclcpp/node_interfaces/node_type_descriptions.cpp
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| // Copyright 2023 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. | ||
|
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| #include <memory> | ||
| #include <string> | ||
| #include <thread> | ||
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| #include "rclcpp/node_interfaces/node_type_descriptions.hpp" | ||
| #include "rclcpp/parameter_client.hpp" | ||
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| #include "type_description_interfaces/srv/get_type_description.h" | ||
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| namespace | ||
| { | ||
| // Helper wrapper for rclcpp::Service to access ::Request and ::Response types for allocation. | ||
| struct GetTypeDescription__C | ||
| { | ||
| using Request = type_description_interfaces__srv__GetTypeDescription_Request; | ||
| using Response = type_description_interfaces__srv__GetTypeDescription_Response; | ||
| using Event = type_description_interfaces__srv__GetTypeDescription_Event; | ||
| }; | ||
| } // namespace | ||
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| // Helper function for C typesupport. | ||
| namespace rosidl_typesupport_cpp | ||
| { | ||
| template<> | ||
| rosidl_service_type_support_t const * | ||
| get_service_type_support_handle<GetTypeDescription__C>() | ||
| { | ||
| return ROSIDL_GET_SRV_TYPE_SUPPORT(type_description_interfaces, srv, GetTypeDescription); | ||
| } | ||
| } // namespace rosidl_typesupport_cpp | ||
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| namespace rclcpp | ||
| { | ||
| namespace node_interfaces | ||
| { | ||
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| class NodeTypeDescriptions::NodeTypeDescriptionsImpl | ||
| { | ||
| public: | ||
| using ServiceT = GetTypeDescription__C; | ||
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| rclcpp::Logger logger_; | ||
| rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_; | ||
| rclcpp::Service<ServiceT>::SharedPtr type_description_srv_; | ||
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| NodeTypeDescriptionsImpl( | ||
| rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base, | ||
| rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging, | ||
| rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters, | ||
| rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services) | ||
| : logger_(node_logging->get_logger()), | ||
| node_base_(node_base) | ||
| { | ||
| const std::string enable_param_name = "start_type_description_service"; | ||
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| bool enabled = false; | ||
| try { | ||
| auto enable_param = node_parameters->declare_parameter( | ||
| enable_param_name, | ||
| rclcpp::ParameterValue(true), | ||
| rcl_interfaces::msg::ParameterDescriptor() | ||
| .set__name(enable_param_name) | ||
| .set__type(rclcpp::PARAMETER_BOOL) | ||
| .set__description("Start the ~/get_type_description service for this node.") | ||
| .set__read_only(true)); | ||
| enabled = enable_param.get<bool>(); | ||
| } catch (const rclcpp::exceptions::InvalidParameterTypeException & exc) { | ||
| RCLCPP_ERROR(logger_, "%s", exc.what()); | ||
| throw; | ||
| } | ||
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| if (enabled) { | ||
| auto rcl_node = node_base->get_rcl_node_handle(); | ||
| rcl_ret_t rcl_ret = rcl_node_type_description_service_init(rcl_node); | ||
| if (rcl_ret != RCL_RET_OK) { | ||
| RCLCPP_ERROR( | ||
| logger_, "Failed to initialize ~/get_type_description_service: %s", | ||
| rcl_get_error_string().str); | ||
| throw std::runtime_error( | ||
| "Failed to initialize ~/get_type_description service."); | ||
| } | ||
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| rcl_service_t * rcl_srv = nullptr; | ||
| rcl_ret = rcl_node_get_type_description_service(rcl_node, &rcl_srv); | ||
| if (rcl_ret != RCL_RET_OK) { | ||
| throw std::runtime_error( | ||
| "Failed to get initialized ~/get_type_description service from rcl."); | ||
| } | ||
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| rclcpp::AnyServiceCallback<ServiceT> cb; | ||
| cb.set( | ||
| [this]( | ||
| std::shared_ptr<rmw_request_id_t> header, | ||
| std::shared_ptr<ServiceT::Request> request, | ||
| std::shared_ptr<ServiceT::Response> response | ||
| ) { | ||
| rcl_node_type_description_service_handle_request( | ||
| node_base_->get_rcl_node_handle(), | ||
| header.get(), | ||
| request.get(), | ||
| response.get()); | ||
| }); | ||
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| type_description_srv_ = std::make_shared<Service<ServiceT>>( | ||
| node_base_->get_shared_rcl_node_handle(), | ||
| rcl_srv, | ||
| cb); | ||
| node_services->add_service( | ||
| std::dynamic_pointer_cast<ServiceBase>(type_description_srv_), | ||
| nullptr); | ||
| } | ||
| } | ||
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| ~NodeTypeDescriptionsImpl() | ||
| { | ||
| if ( | ||
| type_description_srv_ && | ||
| RCL_RET_OK != rcl_node_type_description_service_fini(node_base_->get_rcl_node_handle())) | ||
| { | ||
| RCLCPP_ERROR( | ||
| logger_, | ||
| "Error in shutdown of get_type_description service: %s", rcl_get_error_string().str); | ||
| } | ||
| } | ||
| }; | ||
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| NodeTypeDescriptions::NodeTypeDescriptions( | ||
| rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base, | ||
| rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging, | ||
| rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters, | ||
| rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services) | ||
| : impl_(new NodeTypeDescriptionsImpl( | ||
| node_base, | ||
| node_logging, | ||
| node_parameters, | ||
| node_services)) | ||
| {} | ||
|
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| NodeTypeDescriptions::~NodeTypeDescriptions() | ||
| {} | ||
|
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| } // namespace node_interfaces | ||
| } // namespace rclcpp |
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