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Qos configurability (take 2) #1465

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merged 6 commits into from
Nov 17, 2020
Merged

Qos configurability (take 2) #1465

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838ee83
Revert "Revert "Qos configurability (#1408)" (#1459)"
ivanpauno Nov 17, 2020
b7f12c1
Visibility macros
ivanpauno Nov 17, 2020
7ef0259
Modify API to avoid windows ABI issues. Fix bug printing null cstring.
ivanpauno Nov 17, 2020
6e59225
typo
ivanpauno Nov 17, 2020
afe1913
typo
ivanpauno Nov 17, 2020
8d9f1db
typo
ivanpauno Nov 17, 2020
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1 change: 1 addition & 0 deletions rclcpp/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -85,6 +85,7 @@ set(${PROJECT_NAME}_SRCS
src/rclcpp/publisher_base.cpp
src/rclcpp/qos.cpp
src/rclcpp/qos_event.cpp
src/rclcpp/qos_overriding_options.cpp
src/rclcpp/serialization.cpp
src/rclcpp/serialized_message.cpp
src/rclcpp/service.cpp
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78 changes: 66 additions & 12 deletions rclcpp/include/rclcpp/create_publisher.hpp
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Expand Up @@ -17,54 +17,108 @@

#include <memory>
#include <string>
#include <utility>

#include "rclcpp/node_interfaces/get_node_topics_interface.hpp"
#include "rclcpp/node_interfaces/node_topics_interface.hpp"
#include "rclcpp/node_options.hpp"
#include "rclcpp/publisher_factory.hpp"
#include "rclcpp/publisher_options.hpp"
#include "rclcpp/qos.hpp"
#include "rclcpp/qos_overriding_options.hpp"
#include "rclcpp/detail/qos_parameters.hpp"

#include "rmw/qos_profiles.h"

namespace rclcpp
{

namespace detail
{
/// Create and return a publisher of the given MessageT type.
/**
* The NodeT type only needs to have a method called get_node_topics_interface()
* which returns a shared_ptr to a NodeTopicsInterface.
*/
template<
typename MessageT,
typename AllocatorT = std::allocator<void>,
typename PublisherT = rclcpp::Publisher<MessageT, AllocatorT>,
typename NodeT>
typename NodeParametersT,
typename NodeTopicsT>
std::shared_ptr<PublisherT>
create_publisher(
NodeT & node,
NodeParametersT & node_parameters,
NodeTopicsT & node_topics,
const std::string & topic_name,
const rclcpp::QoS & qos,
const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = (
rclcpp::PublisherOptionsWithAllocator<AllocatorT>()
)
)
{
// Extract the NodeTopicsInterface from the NodeT.
using rclcpp::node_interfaces::get_node_topics_interface;
auto node_topics = get_node_topics_interface(node);
auto node_topics_interface = rclcpp::node_interfaces::get_node_topics_interface(node_topics);
const rclcpp::QoS & actual_qos = options.qos_overriding_options.get_policy_kinds().size() ?
rclcpp::detail::declare_qos_parameters(
options.qos_overriding_options, node_parameters,
node_topics_interface->resolve_topic_name(topic_name),
qos, rclcpp::detail::PublisherQosParametersTraits{}) :
qos;

// Create the publisher.
auto pub = node_topics->create_publisher(
auto pub = node_topics_interface->create_publisher(
topic_name,
rclcpp::create_publisher_factory<MessageT, AllocatorT, PublisherT>(options),
qos
actual_qos
);

// Add the publisher to the node topics interface.
node_topics->add_publisher(pub, options.callback_group);
node_topics_interface->add_publisher(pub, options.callback_group);

return std::dynamic_pointer_cast<PublisherT>(pub);
}
} // namespace detail


/// Create and return a publisher of the given MessageT type.
/**
* The NodeT type only needs to have a method called get_node_topics_interface()
* which returns a shared_ptr to a NodeTopicsInterface.
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I think this needs to be updated.

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See #1494

*/
template<
typename MessageT,
typename AllocatorT = std::allocator<void>,
typename PublisherT = rclcpp::Publisher<MessageT, AllocatorT>,
typename NodeT>
std::shared_ptr<PublisherT>
create_publisher(
NodeT & node,
const std::string & topic_name,
const rclcpp::QoS & qos,
const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = (
rclcpp::PublisherOptionsWithAllocator<AllocatorT>()
)
)
{
return detail::create_publisher<MessageT, AllocatorT, PublisherT>(
node, node, topic_name, qos, options);
}

/// Create and return a publisher of the given MessageT type.
template<
typename MessageT,
typename AllocatorT = std::allocator<void>,
typename PublisherT = rclcpp::Publisher<MessageT, AllocatorT>>
std::shared_ptr<PublisherT>
create_publisher(
rclcpp::node_interfaces::NodeParametersInterface::SharedPtr & node_parameters,
rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr & node_topics,
const std::string & topic_name,
const rclcpp::QoS & qos,
const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = (
rclcpp::PublisherOptionsWithAllocator<AllocatorT>()
)
)
{
return detail::create_publisher<MessageT, AllocatorT, PublisherT>(
node_parameters, node_topics, topic_name, qos, options);
}

} // namespace rclcpp

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162 changes: 119 additions & 43 deletions rclcpp/include/rclcpp/create_subscription.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -41,44 +41,21 @@
namespace rclcpp
{

/// Create and return a subscription of the given MessageT type.
/**
* The NodeT type only needs to have a method called get_node_topics_interface()
* which returns a shared_ptr to a NodeTopicsInterface, or be a
* NodeTopicsInterface pointer itself.
*
* \tparam MessageT
* \tparam CallbackT
* \tparam AllocatorT
* \tparam CallbackMessageT
* \tparam SubscriptionT
* \tparam MessageMemoryStrategyT
* \tparam NodeT
* \param node
* \param topic_name
* \param qos
* \param callback
* \param options
* \param msg_mem_strat
* \return the created subscription
* \throws std::invalid_argument if topic statistics is enabled and the publish period is
* less than or equal to zero.
*/
namespace detail
{
template<
typename MessageT,
typename CallbackT,
typename AllocatorT = std::allocator<void>,
typename CallbackMessageT =
typename rclcpp::subscription_traits::has_message_type<CallbackT>::type,
typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>,
typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
CallbackMessageT,
AllocatorT
>,
typename NodeT>
typename AllocatorT,
typename CallbackMessageT,
typename SubscriptionT,
typename MessageMemoryStrategyT,
typename NodeParametersT,
typename NodeTopicsT>
typename std::shared_ptr<SubscriptionT>
create_subscription(
NodeT && node,
NodeParametersT & node_parameters,
NodeTopicsT & node_topics,
const std::string & topic_name,
const rclcpp::QoS & qos,
CallbackT && callback,
Expand All @@ -91,14 +68,14 @@ create_subscription(
)
{
using rclcpp::node_interfaces::get_node_topics_interface;
auto node_topics = get_node_topics_interface(std::forward<NodeT>(node));
auto node_topics_interface = get_node_topics_interface(node_topics);

std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<CallbackMessageT>>
subscription_topic_stats = nullptr;

if (rclcpp::detail::resolve_enable_topic_statistics(
options,
*node_topics->get_node_base_interface()))
*node_topics_interface->get_node_base_interface()))
{
if (options.topic_stats_options.publish_period <= std::chrono::milliseconds(0)) {
throw std::invalid_argument(
Expand All @@ -107,15 +84,16 @@ create_subscription(
" ms");
}

std::shared_ptr<Publisher<statistics_msgs::msg::MetricsMessage>> publisher =
create_publisher<statistics_msgs::msg::MetricsMessage>(
node,
std::shared_ptr<Publisher<statistics_msgs::msg::MetricsMessage>>
publisher = rclcpp::detail::create_publisher<statistics_msgs::msg::MetricsMessage>(
node_parameters,
node_topics_interface,
options.topic_stats_options.publish_topic,
qos);

subscription_topic_stats = std::make_shared<
rclcpp::topic_statistics::SubscriptionTopicStatistics<CallbackMessageT>
>(node_topics->get_node_base_interface()->get_name(), publisher);
>(node_topics_interface->get_node_base_interface()->get_name(), publisher);

std::weak_ptr<
rclcpp::topic_statistics::SubscriptionTopicStatistics<CallbackMessageT>
Expand All @@ -127,14 +105,14 @@ create_subscription(
}
};

auto node_timer_interface = node_topics->get_node_timers_interface();
auto node_timer_interface = node_topics_interface->get_node_timers_interface();

auto timer = create_wall_timer(
std::chrono::duration_cast<std::chrono::nanoseconds>(
options.topic_stats_options.publish_period),
sub_call_back,
options.callback_group,
node_topics->get_node_base_interface(),
node_topics_interface->get_node_base_interface(),
node_timer_interface
);

Expand All @@ -148,11 +126,109 @@ create_subscription(
subscription_topic_stats
);

auto sub = node_topics->create_subscription(topic_name, factory, qos);
node_topics->add_subscription(sub, options.callback_group);
const rclcpp::QoS & actual_qos = options.qos_overriding_options.get_policy_kinds().size() ?
rclcpp::detail::declare_qos_parameters(
options.qos_overriding_options, node_parameters,
node_topics_interface->resolve_topic_name(topic_name),
qos, rclcpp::detail::SubscriptionQosParametersTraits{}) :
qos;

auto sub = node_topics_interface->create_subscription(topic_name, factory, actual_qos);
node_topics_interface->add_subscription(sub, options.callback_group);

return std::dynamic_pointer_cast<SubscriptionT>(sub);
}
} // namespace detail

/// Create and return a subscription of the given MessageT type.
/**
* The NodeT type only needs to have a method called get_node_topics_interface()
* which returns a shared_ptr to a NodeTopicsInterface, or be a
* NodeTopicsInterface pointer itself.
*
* \tparam MessageT
* \tparam CallbackT
* \tparam AllocatorT
* \tparam CallbackMessageT
* \tparam SubscriptionT
* \tparam MessageMemoryStrategyT
* \tparam NodeT
* \param node
* \param topic_name
* \param qos
* \param callback
* \param options
* \param msg_mem_strat
* \return the created subscription
* \throws std::invalid_argument if topic statistics is enabled and the publish period is
* less than or equal to zero.
*/
template<
typename MessageT,
typename CallbackT,
typename AllocatorT = std::allocator<void>,
typename CallbackMessageT =
typename rclcpp::subscription_traits::has_message_type<CallbackT>::type,
typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>,
typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
CallbackMessageT,
AllocatorT
>,
typename NodeT>
typename std::shared_ptr<SubscriptionT>
create_subscription(
NodeT & node,
const std::string & topic_name,
const rclcpp::QoS & qos,
CallbackT && callback,
const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
),
typename MessageMemoryStrategyT::SharedPtr msg_mem_strat = (
MessageMemoryStrategyT::create_default()
)
)
{
return rclcpp::detail::create_subscription<
MessageT, CallbackT, AllocatorT, CallbackMessageT, SubscriptionT, MessageMemoryStrategyT>(
node, node, topic_name, qos, std::forward<CallbackT>(callback), options, msg_mem_strat);
}

/// Create and return a subscription of the given MessageT type.
/**
* See \ref create_subscription().
*/
template<
typename MessageT,
typename CallbackT,
typename AllocatorT = std::allocator<void>,
typename CallbackMessageT =
typename rclcpp::subscription_traits::has_message_type<CallbackT>::type,
typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>,
typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
CallbackMessageT,
AllocatorT
>>
typename std::shared_ptr<SubscriptionT>
create_subscription(
rclcpp::node_interfaces::NodeParametersInterface::SharedPtr & node_parameters,
rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr & node_topics,
const std::string & topic_name,
const rclcpp::QoS & qos,
CallbackT && callback,
const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
),
typename MessageMemoryStrategyT::SharedPtr msg_mem_strat = (
MessageMemoryStrategyT::create_default()
)
)
{
return rclcpp::detail::create_subscription<
MessageT, CallbackT, AllocatorT, CallbackMessageT, SubscriptionT, MessageMemoryStrategyT>(
node_parameters, node_topics, topic_name, qos,
std::forward<CallbackT>(callback), options, msg_mem_strat);
}

} // namespace rclcpp

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