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Don't auto-activate ROS time if clock topic is being published #559

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merged 5 commits into from
Sep 25, 2018
Merged

Don't auto-activate ROS time if clock topic is being published #559

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ac4132b
Don't auto-activate ROS time if clock topic is being published
dhood Sep 20, 2018
9ddb1ae
Destroy subscription when not needed, avoid re-creating it
dhood Sep 21, 2018
e2947fc
Additional tests
dhood Sep 21, 2018
e34e0d7
Always reset pointer
dhood Sep 24, 2018
73d4a7b
Initialise sub in initialiser list
dhood Sep 24, 2018
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7 changes: 7 additions & 0 deletions rclcpp/include/rclcpp/time_source.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -80,10 +80,17 @@ class TimeSource
using Alloc = std::allocator<void>;
using SubscriptionT = rclcpp::Subscription<MessageT, Alloc>;
std::shared_ptr<SubscriptionT> clock_subscription_;
std::mutex clock_sub_lock_;

// The clock callback itself
void clock_cb(const rosgraph_msgs::msg::Clock::SharedPtr msg);

// Create the subscription for the clock topic
void create_clock_sub();

// Destroy the subscription for the clock topic
void destroy_clock_sub();

// Parameter Client pointer
std::shared_ptr<rclcpp::AsyncParametersClient> parameter_client_;

Expand Down
72 changes: 45 additions & 27 deletions rclcpp/src/rclcpp/time_source.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,8 @@ namespace rclcpp
{

TimeSource::TimeSource(std::shared_ptr<rclcpp::Node> node)
: ros_time_active_(false)
: clock_subscription_(nullptr),
ros_time_active_(false)
{
this->attachNode(node);
}
Expand Down Expand Up @@ -65,28 +66,6 @@ void TimeSource::attachNode(
node_services_ = node_services_interface;
// TODO(tfoote): Update QOS

const std::string topic_name = "/clock";

rclcpp::callback_group::CallbackGroup::SharedPtr group;
using rclcpp::message_memory_strategy::MessageMemoryStrategy;
auto msg_mem_strat = MessageMemoryStrategy<MessageT, Alloc>::create_default();
auto allocator = std::make_shared<Alloc>();

auto cb = std::bind(&TimeSource::clock_cb, this, std::placeholders::_1);

clock_subscription_ = rclcpp::create_subscription<
MessageT, decltype(cb), Alloc, MessageT, SubscriptionT
>(
node_topics_.get(),
topic_name,
std::move(cb),
rmw_qos_profile_default,
group,
false,
false,
msg_mem_strat,
allocator);

parameter_client_ = std::make_shared<rclcpp::AsyncParametersClient>(
node_base_,
node_topics_,
Expand Down Expand Up @@ -163,19 +142,56 @@ void TimeSource::set_clock(

void TimeSource::clock_cb(const rosgraph_msgs::msg::Clock::SharedPtr msg)
{
if (!this->ros_time_active_) {
if (!this->ros_time_active_ && SET_TRUE == this->parameter_state_) {
enable_ros_time();
}
// Cache the last message in case a new clock is attached.
last_msg_set_ = msg;
auto time_msg = std::make_shared<builtin_interfaces::msg::Time>(msg->clock);

std::lock_guard<std::mutex> guard(clock_list_lock_);
for (auto it = associated_clocks_.begin(); it != associated_clocks_.end(); ++it) {
set_clock(time_msg, true, *it);
if (SET_TRUE == this->parameter_state_) {
std::lock_guard<std::mutex> guard(clock_list_lock_);
for (auto it = associated_clocks_.begin(); it != associated_clocks_.end(); ++it) {
set_clock(time_msg, true, *it);
}
}
}

void TimeSource::create_clock_sub()
{
std::lock_guard<std::mutex> guard(clock_sub_lock_);
if (clock_subscription_) {
// Subscription already created.
return;
}
const std::string topic_name = "/clock";

rclcpp::callback_group::CallbackGroup::SharedPtr group;
using rclcpp::message_memory_strategy::MessageMemoryStrategy;
auto msg_mem_strat = MessageMemoryStrategy<MessageT, Alloc>::create_default();
auto allocator = std::make_shared<Alloc>();
auto cb = std::bind(&TimeSource::clock_cb, this, std::placeholders::_1);

clock_subscription_ = rclcpp::create_subscription<
MessageT, decltype(cb), Alloc, MessageT, SubscriptionT
>(
node_topics_.get(),
topic_name,
std::move(cb),
rmw_qos_profile_default,
group,
false,
false,
msg_mem_strat,
allocator);
}

void TimeSource::destroy_clock_sub()
{
std::lock_guard<std::mutex> guard(clock_sub_lock_);
clock_subscription_.reset();
}

void TimeSource::on_parameter_event(const rcl_interfaces::msg::ParameterEvent::SharedPtr event)
{
// Filter for only 'use_sim_time' being added or changed.
Expand All @@ -190,9 +206,11 @@ void TimeSource::on_parameter_event(const rcl_interfaces::msg::ParameterEvent::S
if (it.second->value.bool_value) {
parameter_state_ = SET_TRUE;
enable_ros_time();
create_clock_sub();
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Is this in danger of being called more than once and therefore recreating the topic?

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for posterity: 9ddb1ae

} else {
parameter_state_ = SET_FALSE;
disable_ros_time();
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Should the topic be destroyed here explicitly? (opposite of create_clock_sub())

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I had reasoned that if the sim param had been set at some point then it wouldn't be so bad to leave the subscription around, but being symmetric might be better hey (so it reflects the same state a node that never had sim time set would have).

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Yeah, I'm not sure it will ever come up, but conversely I don't think it would be wrong to remove the subscription if the parameter were allowed to be changed during runtime (not sure where we landed on that point).

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yeah, it can be changed at runtime (there are parameter callbacks that will get triggered): 9ddb1ae

destroy_clock_sub();
}
}
// Handle the case that use_sim_time was deleted.
Expand Down
121 changes: 59 additions & 62 deletions rclcpp/test/test_time_source.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -73,6 +73,24 @@ void trigger_clock_changes(
}
}

void set_use_sim_time_parameter(rclcpp::Node::SharedPtr node, rclcpp::ParameterValue value)
{
auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);

using namespace std::chrono_literals;
EXPECT_TRUE(parameters_client->wait_for_service(2s));
auto set_parameters_results = parameters_client->set_parameters({
rclcpp::Parameter("use_sim_time", value)
});
for (auto & result : set_parameters_results) {
EXPECT_TRUE(result.successful);
}
// SyncParametersClient returns when parameters have been set on the node_parameters interface,
// but it doesn't mean the on_parameter_event subscription in TimeSource has been called.
// Spin some to handle that subscription.
rclcpp::spin_some(node);
}

TEST_F(TestTimeSource, detachUnattached) {
rclcpp::TimeSource ts;

Expand Down Expand Up @@ -117,14 +135,21 @@ TEST_F(TestTimeSource, clock) {

trigger_clock_changes(node);

auto t_low = rclcpp::Time(1, 0, RCL_ROS_TIME);
auto t_high = rclcpp::Time(10, 100000, RCL_ROS_TIME);
// Even now that we've recieved a message, ROS time should still not be active since the
// parameter has not been explicitly set.
EXPECT_FALSE(ros_clock->ros_time_is_active());

// Now that we've recieved a message it should be active with parameter unset
// Activate ROS time.
set_use_sim_time_parameter(node, rclcpp::ParameterValue(true));
EXPECT_TRUE(ros_clock->ros_time_is_active());

trigger_clock_changes(node);

auto t_out = ros_clock->now();

// Time from clock should now reflect what was published on the /clock topic.
auto t_low = rclcpp::Time(1, 0, RCL_ROS_TIME);
auto t_high = rclcpp::Time(10, 100000, RCL_ROS_TIME);
EXPECT_NE(0L, t_out.nanoseconds());
EXPECT_LT(t_low.nanoseconds(), t_out.nanoseconds());
EXPECT_GT(t_high.nanoseconds(), t_out.nanoseconds());
Expand Down Expand Up @@ -179,18 +204,25 @@ TEST_F(TestTimeSource, callbacks) {
auto t_low = rclcpp::Time(1, 0, RCL_ROS_TIME);
auto t_high = rclcpp::Time(10, 100000, RCL_ROS_TIME);

EXPECT_EQ(1, cbo.last_precallback_id_);
EXPECT_EQ(1, cbo.last_postcallback_id_);
// Callbacks will not be triggered since ROS time is not active.
EXPECT_EQ(0, cbo.last_precallback_id_);
EXPECT_EQ(0, cbo.last_postcallback_id_);

// Now that we've recieved a message it should be active with parameter unset
// Activate ROS time.
set_use_sim_time_parameter(node, rclcpp::ParameterValue(true));
EXPECT_TRUE(ros_clock->ros_time_is_active());

trigger_clock_changes(node);

auto t_out = ros_clock->now();

EXPECT_NE(0L, t_out.nanoseconds());
EXPECT_LT(t_low.nanoseconds(), t_out.nanoseconds());
EXPECT_GT(t_high.nanoseconds(), t_out.nanoseconds());

// Callbacks will now have been triggered since ROS time is active.
EXPECT_EQ(1, cbo.last_precallback_id_);
EXPECT_EQ(1, cbo.last_postcallback_id_);

// Change callbacks
rclcpp::JumpHandler::SharedPtr callback_handler2 = ros_clock->create_jump_callback(
Expand All @@ -203,7 +235,6 @@ TEST_F(TestTimeSource, callbacks) {
EXPECT_EQ(2, cbo.last_precallback_id_);
EXPECT_EQ(2, cbo.last_postcallback_id_);

// Now that we've recieved a message it should be active with parameter unset
EXPECT_TRUE(ros_clock->ros_time_is_active());

t_out = ros_clock->now();
Expand Down Expand Up @@ -258,24 +289,23 @@ TEST_F(TestTimeSource, callback_handler_erasure) {
std::bind(&CallbackObject::post_callback, &cbo, std::placeholders::_1, 1),
jump_threshold);


// Callbacks will not be triggered since ROS time is not active.
EXPECT_EQ(0, cbo.last_precallback_id_);
EXPECT_EQ(0, cbo.last_postcallback_id_);


EXPECT_FALSE(ros_clock->ros_time_is_active());
// Activate ROS time.
set_use_sim_time_parameter(node, rclcpp::ParameterValue(true));
EXPECT_TRUE(ros_clock->ros_time_is_active());

trigger_clock_changes(node);

auto t_low = rclcpp::Time(1, 0, RCL_ROS_TIME);
auto t_high = rclcpp::Time(10, 100000, RCL_ROS_TIME);

// Callbacks will now have been triggered since ROS time is active.
EXPECT_EQ(1, cbo.last_precallback_id_);
EXPECT_EQ(1, cbo.last_postcallback_id_);

// Now that we've recieved a message it should be active with parameter unset
EXPECT_TRUE(ros_clock->ros_time_is_active());

auto t_out = ros_clock->now();

EXPECT_NE(0L, t_out.nanoseconds());
Expand All @@ -293,11 +323,9 @@ TEST_F(TestTimeSource, callback_handler_erasure) {

trigger_clock_changes(node);


EXPECT_EQ(2, cbo.last_precallback_id_);
EXPECT_EQ(2, cbo.last_postcallback_id_);

// Now that we've recieved a message it should be active with parameter unset
EXPECT_TRUE(ros_clock->ros_time_is_active());

t_out = ros_clock->now();
Expand All @@ -316,48 +344,28 @@ TEST_F(TestTimeSource, parameter_activation) {
ts.attachClock(ros_clock);
EXPECT_FALSE(ros_clock->ros_time_is_active());

auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);

using namespace std::chrono_literals;
EXPECT_TRUE(parameters_client->wait_for_service(2s));
auto set_parameters_results = parameters_client->set_parameters({
rclcpp::Parameter("use_sim_time", true)
});
for (auto & result : set_parameters_results) {
EXPECT_TRUE(result.successful);
}
// SyncParametersClient returns when parameters have been set on the node_parameters interface,
// but it doesn't mean the on_parameter_event subscription in TimeSource has been called.
// Spin some to handle that subscription.
rclcpp::spin_some(node);
set_use_sim_time_parameter(node, rclcpp::ParameterValue(true));
EXPECT_TRUE(ros_clock->ros_time_is_active());

set_parameters_results = parameters_client->set_parameters({
rclcpp::Parameter("use_sim_time", rclcpp::ParameterType::PARAMETER_NOT_SET)
});
for (auto & result : set_parameters_results) {
EXPECT_TRUE(result.successful);
}
rclcpp::spin_some(node);
set_use_sim_time_parameter(
node, rclcpp::ParameterValue(rclcpp::ParameterType::PARAMETER_NOT_SET));
EXPECT_TRUE(ros_clock->ros_time_is_active());

set_parameters_results = parameters_client->set_parameters({
rclcpp::Parameter("use_sim_time", false)
});
for (auto & result : set_parameters_results) {
EXPECT_TRUE(result.successful);
}
rclcpp::spin_some(node);
set_use_sim_time_parameter(node, rclcpp::ParameterValue(false));
EXPECT_FALSE(ros_clock->ros_time_is_active());

set_parameters_results = parameters_client->set_parameters({
rclcpp::Parameter("use_sim_time", rclcpp::ParameterType::PARAMETER_NOT_SET)
});
for (auto & result : set_parameters_results) {
EXPECT_TRUE(result.successful);
}
rclcpp::spin_some(node);
set_use_sim_time_parameter(
node, rclcpp::ParameterValue(rclcpp::ParameterType::PARAMETER_NOT_SET));
EXPECT_FALSE(ros_clock->ros_time_is_active());

// If the use_sim_time parameter is not explicitly set to True, this clock's use of sim time
// should not be affected by the presence of a clock publisher.
trigger_clock_changes(node);
EXPECT_FALSE(ros_clock->ros_time_is_active());
set_use_sim_time_parameter(node, rclcpp::ParameterValue(false));
EXPECT_FALSE(ros_clock->ros_time_is_active());
set_use_sim_time_parameter(node, rclcpp::ParameterValue(true));
EXPECT_TRUE(ros_clock->ros_time_is_active());
}

TEST_F(TestTimeSource, no_pre_jump_callback) {
Expand All @@ -381,18 +389,7 @@ TEST_F(TestTimeSource, no_pre_jump_callback) {
ts.attachClock(ros_clock);

// Activate ROS time
auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);
ASSERT_TRUE(parameters_client->wait_for_service(2s));
auto set_parameters_results = parameters_client->set_parameters({
rclcpp::Parameter("use_sim_time", true)
});
for (auto & result : set_parameters_results) {
EXPECT_TRUE(result.successful);
}
// SyncParametersClient returns when parameters have been set on the node_parameters interface,
// but it doesn't mean the on_parameter_event subscription in TimeSource has been called.
// Spin some to handle that subscription.
rclcpp::spin_some(node);
set_use_sim_time_parameter(node, rclcpp::ParameterValue(true));
ASSERT_TRUE(ros_clock->ros_time_is_active());

EXPECT_EQ(0, cbo.last_precallback_id_);
Expand Down